├── README.md ├── compute_distil_loss.py ├── config ├── config_baseline.txt ├── config_baseline_multimodal.txt ├── config_baseline_rgb.txt └── config_refined.txt ├── datasets ├── __pycache__ │ ├── augmentation.cpython-38.pyc │ ├── dataloader_dataset.cpython-38.pyc │ ├── dataloader_dataset_kitti.cpython-38.pyc │ ├── dataset_utils.cpython-38.pyc │ ├── make_collate_fn.cpython-38.pyc │ ├── make_dataloaders.cpython-38.pyc │ ├── oxford.cpython-38.pyc │ └── samplers.cpython-38.pyc ├── augmentation.py ├── dataloader_dataset.py ├── make_collate_fn.py ├── make_dataloaders.py ├── oxford.py └── samplers.py ├── evaluate.py ├── hyptorch ├── __pycache__ │ ├── nn.cpython-38.pyc │ └── pmath.cpython-38.pyc ├── delta.py ├── nn.py └── pmath.py ├── layers ├── __pycache__ │ ├── eca_block.cpython-38.pyc │ └── pooling.cpython-38.pyc ├── eca_block.py └── pooling.py ├── models ├── __pycache__ │ ├── loss.cpython-38.pyc │ ├── loss_utils.cpython-38.pyc │ ├── minkfpn.cpython-38.pyc │ ├── minkloc.cpython-38.pyc │ ├── minkloc_multimodal.cpython-38.pyc │ ├── minkloconly.cpython-38.pyc │ ├── model_factory.cpython-38.pyc │ └── resnet.cpython-38.pyc ├── loss.py ├── loss_utils.py ├── minkfpn.py ├── minkloc.py ├── minkloc3d.txt ├── minkloc_multimodal.py ├── minklocmultimodal.txt ├── minkloconly.py ├── minklocrgb.txt ├── model_factory.py └── resnet.py ├── multi_stage_train.py ├── network ├── __pycache__ │ ├── adaptor.cpython-38.pyc │ ├── distil_imagefes.cpython-38.pyc │ ├── ffb.cpython-38.pyc │ ├── ffb_local.cpython-38.pyc │ ├── gatt_block.cpython-38.pyc │ ├── gatt_image_block.cpython-38.pyc │ ├── general_imagefes.cpython-38.pyc │ ├── general_minkfpn.cpython-38.pyc │ ├── graph_attention_layer.cpython-38.pyc │ ├── graph_attention_layer_fusion.cpython-38.pyc │ ├── grids.cpython-38.pyc │ ├── image_pool_fns.cpython-38.pyc │ ├── later_cloud_branch.cpython-38.pyc │ ├── later_image_branch.cpython-38.pyc │ ├── minklocsimple.cpython-38.pyc │ ├── pointnet2mlp.cpython-38.pyc │ ├── pointnet_simple.cpython-38.pyc │ ├── pooling.cpython-38.pyc │ ├── resnetfpn_simple.cpython-38.pyc │ ├── swin_transformer.cpython-38.pyc │ ├── swinblock.cpython-38.pyc │ ├── univpr.cpython-38.pyc │ └── univpr_v2.cpython-38.pyc ├── distil_imagefes.py ├── general_imagefes.py ├── general_minkfpn.py ├── general_pointnet.py ├── image_pool_fns.py ├── minklocsimple.py ├── pooling.py └── resnetfpn_simple.py ├── selfagent ├── __pycache__ │ ├── afd.cpython-38.pyc │ ├── csd.cpython-38.pyc │ ├── epcnet.cpython-38.pyc │ ├── kd.cpython-38.pyc │ ├── lsdnet.cpython-38.pyc │ ├── mkd.cpython-38.pyc │ ├── rkd.cpython-38.pyc │ ├── rkdg.cpython-38.pyc │ └── rkdg2.cpython-38.pyc └── rkdg.py ├── teaser.png ├── third_party └── robotcardatasetsdk │ └── image.py ├── tools ├── __pycache__ │ ├── options.cpython-38.pyc │ ├── utils.cpython-38.pyc │ ├── utils_adafusion.cpython-38.pyc │ └── utils_minkloc3dv2.cpython-38.pyc ├── options.py ├── utils.py ├── utils_adafusion.py └── utils_minkloc3dv2.py └── train.py /README.md: 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