---
license: cc-by-nc-sa-4.0
tags:
  - point-cloud
  - semantic-segmentation
  - instance-segmentation
  - pointcept
---

# Checkpoints for the submission "relabelling voxel indices"

Weights of the models we trained for the paper, to be read with the code release (an overlay
on [Pointcept](https://github.com/Pointcept/Pointcept) `v1.7.0`). Every model here was trained
**from scratch** with Pointcept's unmodified model code; no third-party weights are included.

Layout: `exp/<dataset>/<config>/model/model_best.pth` plus the run's `train.log`. The directory
name is the Pointcept configuration that trained it; a second seed ends in `-seed1`. Each file
holds the model `state_dict` (plus `epoch` and `best_metric_value`); optimizer state is removed.
`SHA256SUMS` lists the hashes. The published LitePT-S checkpoints the paper also reads are not
copied here: they are on [prs-eth/LitePT](https://huggingface.co/prs-eth/LitePT).

| dataset | checkpoints |
|---|---|
| ScanNet v2 | `semseg-litept-v1m1-0-small`, `semseg-litept-v1m1-0b-small-scaleaug`, `semseg-litept-v1m1-0-small-train3tau`, `semseg-litept-v1m2-0-small` (+ `-seed1`), `semseg-pt-v3m1-0-base`, `semseg-spunet-v1m1-0-base`, `semseg-pt-v2m2-0-base`, `insseg-pointgroup-v1m1-0-spunet-base` |
| nuScenes | `semseg-litept-v1m1-0-small` (+ `-seed1`), `semseg-litept-v1m1-0b-small-scaleaug` (+ `-seed1`), `semseg-litept-v1m2-0-small`, `semseg-litept-v1m2-0b-small-scaleaug`, `semseg-pt-v3m1-0-base`, `semseg-spunet-v1m1-0-base` |

## Licence and data terms

These weights are released for **non-commercial research only**, under
[CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/), because of the data
they were trained on:

* **nuScenes** is provided by Motional under CC BY-NC-SA 4.0 and the
  [nuScenes Terms of Use](https://www.nuscenes.org/terms-of-use). The nuScenes checkpoints are
  shared under the same licence. This release is not endorsed by Motional.
  Caesar et al., *nuScenes: A multimodal dataset for autonomous driving*, CVPR 2020.
* **ScanNet** may be used for non-commercial research and educational purposes only, under
  the [ScanNet Terms of Use](https://kaldir.vc.in.tum.de/scannet/ScanNet_TOS.pdf). No ScanNet
  data is included here. Dai et al., *ScanNet: Richly-annotated 3D Reconstructions of Indoor
  Scenes*, CVPR 2017.

The training and model code (Pointcept, LitePT) is MIT-licensed and is not included here.