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README.md

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+---
+license: llama3.2
+library_name: transformers
+base_model:
+  - meta-llama/Llama-3.2-1B-Instruct
+---
+
+# SpatialLM-Llama-1B
+
+<!-- markdownlint-disable first-line-h1 -->
+<!-- markdownlint-disable html -->
+<!-- markdownlint-disable no-duplicate-header -->
+
+<div align="center">
+  <picture>
+    <source srcset="https://cdn-uploads.huggingface.co/production/uploads/63efbb1efc92a63ac81126d0/_dK14CT3do8rBG3QrHUjN.png" media="(prefers-color-scheme: dark)">
+    <img src="https://cdn-uploads.huggingface.co/production/uploads/63efbb1efc92a63ac81126d0/bAZyeIXOMVASHR6-xVlQU.png" width="60%" alt="SpatialLM""/>
+  </picture>
+</div>
+<hr style="margin-top: 0; margin-bottom: 8px;">
+<div align="center" style="margin-top: 0; padding-top: 0; line-height: 1;">
+    <a href="https://manycore-research.github.io/SpatialLM" target="_blank" style="margin: 2px;"><img alt="Project"
+    src="https://img.shields.io/badge/🌐%20Website-SpatialLM-ffc107?color=42a5f5&logoColor=white" style="display: inline-block; vertical-align: middle;"/></a>
+    <a href="https://github.com/manycore-research/SpatialLM" target="_blank" style="margin: 2px;"><img alt="GitHub"
+    src="https://img.shields.io/badge/GitHub-SpatialLM-24292e?logo=github&logoColor=white" style="display: inline-block; vertical-align: middle;"/></a>
+</div>
+<div align="center" style="line-height: 1;">
+    <a href="https://huggingface.co/manycore-research/SpatialLM-Llama-1B" target="_blank" style="margin: 2px;"><img alt="Hugging Face"
+    src="https://img.shields.io/badge/%F0%9F%A4%97%20Hugging%20Face-SpatialLM%201B-ffc107?color=ffc107&logoColor=white" style="display: inline-block; vertical-align: middle;"/></a>
+    <a href="https://huggingface.co/datasets/manycore-research/SpatialLM-Testset" target="_blank" style="margin: 2px;"><img alt="Dataset"
+    src="https://img.shields.io/badge/%F0%9F%A4%97%20Dataset-SpatialLM-ffc107?color=ffc107&logoColor=white" style="display: inline-block; vertical-align: middle;"/></a>
+</div>
+
+## Introduction
+
+SpatialLM is a 3D large language model designed to process 3D point cloud data and generate structured 3D scene understanding outputs. These outputs include architectural elements like walls, doors, windows, and oriented object bounding boxes with their semantic categories. Unlike previous methods that require specialized equipment for data collection, SpatialLM can handle point clouds from diverse sources such as monocular video sequences, RGBD images, and LiDAR sensors. This multimodal architecture effectively bridges the gap between unstructured 3D geometric data and structured 3D representations, offering high-level semantic understanding. It enhances spatial reasoning capabilities for applications in embodied robotics, autonomous navigation, and other complex 3D scene analysis tasks.
+
+<div align="center">
+  <video controls autoplay src="https://cdn-uploads.huggingface.co/production/uploads/63efbb1efc92a63ac81126d0/3bz_jNRCLD2L9uj11HPnP.mp4" poster="https://cdn-uploads.huggingface.co/production/uploads/63efbb1efc92a63ac81126d0/euo94dNx28qBNe51_oiB1.png"></video>
+</div>
+
+## SpatialLM Models
+
+<div align="center">
+
+|      **Model**      | **Download**                                                                   |
+| :-----------------: | ------------------------------------------------------------------------------ |
+| SpatialLM-Llama-1B  | [🤗 HuggingFace](https://huggingface.co/manycore-research/SpatialLM-Llama-1B)  |
+| SpatialLM-Qwen-0.5B | [🤗 HuggingFace](https://huggingface.co/manycore-research/SpatialLM-Qwen-0.5B) |
+
+</div>
+
+## Usage
+
+### Installation
+
+Tested with the following environment:
+
+- Python 3.11
+- Pytorch 2.4.1
+- CUDA Version 12.4
+
+```bash
+# clone the repository
+git clone https://github.com/manycore-research/SpatialLM.git
+cd SpatialLM
+
+# create a conda environment with cuda 12.4
+conda create -n spatiallm python=3.11
+conda activate spatiallm
+conda install -y nvidia/label/cuda-12.4.0::cuda-toolkit conda-forge::sparsehash
+
+# Install dependencies with poetry
+pip install poetry && poetry config virtualenvs.create false --local
+poetry install
+poe install-torchsparse # Building wheel for torchsparse will take a while
+```
+
+### Inference
+
+In the current version of SpatialLM, input point clouds are considered axis-aligned where the z-axis is the up axis. This orientation is crucial for maintaining consistency in spatial understanding and scene interpretation across different datasets and applications.
+Example preprocessed point clouds, reconstructed from RGB videos using [MASt3R-SLAM](https://github.com/rmurai0610/MASt3R-SLAM), are available in [SpatialLM-Testset](#spatiallm-testset).
+
+Download an example point cloud:
+
+```bash
+huggingface-cli download manycore-research/SpatialLM-Testset pcd/scene0000_00.ply --repo-type dataset --local-dir .
+```
+
+Run inference:
+
+```bash
+python inference.py --point_cloud pcd/scene0000_00.ply --output scene0000_00.txt --model_path manycore-research/SpatialLM-Llama-1B
+```
+
+### Visualization
+
+Use `rerun` to visualize the point cloud and the predicted structured 3D layout output:
+
+```bash
+# Convert the predicted layout to Rerun format
+python visualize.py --point_cloud pcd/scene0000_00.ply --layout scene0000_00.txt --save scene0000_00.rrd
+
+# Visualize the point cloud and the predicted layout
+rerun scene0000_00.rrd
+```
+
+### Evaluation
+
+To evaluate the performance of SpatialLM, we provide `eval.py` script that reports the benchmark results on the SpatialLM-Testset in the table below in section [Benchmark Results](#benchmark-results).
+
+Download the testset:
+
+```bash
+huggingface-cli download manycore-research/SpatialLM-Testset --repo-type dataset --local-dir SpatialLM-Testset
+```
+
+Run evaluation:
+
+```bash
+# Run inference on the PLY point clouds in folder SpatialLM-Testset/pcd with SpatialLM-Llama-1B model
+python inference.py --point_cloud SpatialLM-Testset/pcd --output SpatialLM-Testset/pred --model_path manycore-research/SpatialLM-Llama-1B
+
+# Evaluate the predicted layouts
+python eval.py --metadata SpatialLM-Testset/test.csv --gt_dir SpatialLM-Testset/layout --pred_dir SpatialLM-Testset/pred --label_mapping SpatialLM-Testset/benchmark_categories.tsv
+```
+
+## SpatialLM Testset
+
+We provide a test set of 107 preprocessed point clouds, reconstructed from RGB videos using [MASt3R-SLAM](https://github.com/rmurai0610/MASt3R-SLAM). SpatialLM-Testset is quite challenging compared to prior clean RGBD scans datasets due to the noises and occlusions in the point clouds reconstructed from monocular RGB videos.
+
+<div align="center">
+
+|    **Dataset**    | **Download**                                                                       |
+| :---------------: | ---------------------------------------------------------------------------------- |
+| SpatialLM-Testset | [🤗 Datasets](https://huggingface.co/datasets/manycore-research/SpatialLM-TestSet) |
+
+</div>
+
+## Benchmark Results
+
+Benchmark results on the challenging SpatialLM-Testset are reported in the following table:
+
+<div align="center">
+
+| **Method**       | **SpatialLM-Llama-1B** | **SpatialLM-Qwen-0.5B** |
+| ---------------- | ---------------------- | ----------------------- |
+| **Floorplan**    | **mean IoU**           |                         |
+| wall             | 78.62                  | 74.81                   |
+|                  |                        |                         |
+| **Objects**      | **F1 @.25 IoU (3D)**   |                         |
+| curtain          | 27.35                  | 28.59                   |
+| nightstand       | 57.47                  | 54.39                   |
+| chandelier       | 38.92                  | 40.12                   |
+| wardrobe         | 23.33                  | 30.60                   |
+| bed              | 95.24                  | 93.75                   |
+| sofa             | 65.50                  | 66.15                   |
+| chair            | 21.26                  | 14.94                   |
+| cabinet          | 8.47                   | 8.44                    |
+| dining table     | 54.26                  | 56.10                   |
+| plants           | 20.68                  | 26.46                   |
+| tv cabinet       | 33.33                  | 10.26                   |
+| coffee table     | 50.00                  | 55.56                   |
+| side table       | 7.60                   | 2.17                    |
+| air conditioner  | 20.00                  | 13.04                   |
+| dresser          | 46.67                  | 23.53                   |
+|                  |                        |                         |
+| **Thin Objects** | **F1 @.25 IoU (2D)**   |                         |
+| painting         | 50.04                  | 53.81                   |
+| carpet           | 31.76                  | 45.31                   |
+| tv               | 67.31                  | 52.29                   |
+| door             | 50.35                  | 42.15                   |
+| window           | 45.4                   | 45.9                    |
+
+</div>
+
+## License
+
+SpatialLM-Llama-1B is derived from Llama3.2-1B-Instruct, which is licensed under the Llama3.2 license.
+SpatialLM-Qwen-0.5B is derived from the Qwen-2.5 series, originally licensed under the Apache 2.0 License.
+
+All models are built upon the SceneScript point cloud encoder, licensed under the CC-BY-NC-4.0 License. TorchSparse, utilized in this project, is licensed under the MIT License.
+
+## Citation
+
+If you find this work useful, please consider citing:
+
+```bibtex
+@misc{spatiallm,
+  title        = {SpatialLM: Large Language Model for Spatial Understanding},
+  author       = {ManyCore Research Team},
+  howpublished = {\url{https://github.com/manycore-research/SpatialLM}},
+  year         = {2025}
+}
+```
+
+## Acknowledgements
+
+We would like to thank the following projects that made this work possible:
+
+[Llama3.2](https://github.com/meta-llama) | [Qwen2.5](https://github.com/QwenLM/Qwen2.5) | [Transformers](https://github.com/huggingface/transformers) | [SceneScript](https://github.com/facebookresearch/scenescript) | [TorchSparse](https://github.com/mit-han-lab/torchsparse)

config.json

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+  "architectures": [
+    "SpatialLMLlamaForCausalLM"
+  ],
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+  "attention_dropout": 0.0,
+  "bos_token_id": 128000,
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+  "rope_scaling": {
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+    "high_freq_factor": 4.0,
+    "low_freq_factor": 1.0,
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+    "rope_type": "llama3"
+  },
+  "rope_theta": 500000.0,
+  "tie_word_embeddings": true,
+  "torch_dtype": "bfloat16",
+  "transformers_version": "4.46.1",
+  "use_cache": false,
+  "vocab_size": 128256
+}

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+      "content": "<|reserved_special_token_228|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128237": {
+      "content": "<|reserved_special_token_229|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128238": {
+      "content": "<|reserved_special_token_230|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128239": {
+      "content": "<|reserved_special_token_231|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128240": {
+      "content": "<|reserved_special_token_232|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128241": {
+      "content": "<|reserved_special_token_233|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128242": {
+      "content": "<|reserved_special_token_234|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128243": {
+      "content": "<|reserved_special_token_235|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128244": {
+      "content": "<|reserved_special_token_236|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128245": {
+      "content": "<|reserved_special_token_237|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128246": {
+      "content": "<|reserved_special_token_238|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128247": {
+      "content": "<|reserved_special_token_239|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128248": {
+      "content": "<|reserved_special_token_240|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128249": {
+      "content": "<|reserved_special_token_241|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128250": {
+      "content": "<|reserved_special_token_242|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128251": {
+      "content": "<|reserved_special_token_243|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128252": {
+      "content": "<|reserved_special_token_244|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128253": {
+      "content": "<|reserved_special_token_245|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128254": {
+      "content": "<|reserved_special_token_246|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    },
+    "128255": {
+      "content": "<|reserved_special_token_247|>",
+      "lstrip": false,
+      "normalized": false,
+      "rstrip": false,
+      "single_word": false,
+      "special": true
+    }
+  },
+  "additional_special_tokens": [
+    "<|eot_id|>",
+    "<|eom_id|>"
+  ],
+  "bos_token": "<|begin_of_text|>",
+  "chat_template": "{{- bos_token }}\n{%- if custom_tools is defined %}\n    {%- set tools = custom_tools %}\n{%- endif %}\n{%- if not tools_in_user_message is defined %}\n    {%- set tools_in_user_message = true %}\n{%- endif %}\n{%- if not date_string is defined %}\n    {%- if strftime_now is defined %}\n        {%- set date_string = strftime_now(\"%d %b %Y\") %}\n    {%- else %}\n        {%- set date_string = \"26 Jul 2024\" %}\n    {%- endif %}\n{%- endif %}\n{%- if not tools is defined %}\n    {%- set tools = none %}\n{%- endif %}\n\n{#- Custom tools are passed in a user message with some extra guidance #}\n{%- if tools_in_user_message and not tools is none %}\n    {#- Extract the first user message so we can plug it in here #}\n    {%- if messages | length != 0 %}\n        {%- set first_user_message = messages[0]['content']|trim %}\n        {%- set messages = messages[1:] %}\n    {%- else %}\n        {{- raise_exception(\"Cannot put tools in the first user message when there's no first user message!\") }}\n{%- endif %}\n    {{- '<|start_header_id|>user<|end_header_id|>\\n\\n' -}}\n    {{- \"Given the following functions, please respond with a JSON for a function call \" }}\n    {{- \"with its proper arguments that best answers the given prompt.\\n\\n\" }}\n    {{- 'Respond in the format {\"name\": function name, \"parameters\": dictionary of argument name and its value}.' }}\n    {{- \"Do not use variables.\\n\\n\" }}\n    {%- for t in tools %}\n        {{- t | tojson(indent=4) }}\n        {{- \"\\n\\n\" }}\n    {%- endfor %}\n    {{- first_user_message + \"<|eot_id|>\"}}\n{%- endif %}\n\n{%- for message in messages %}\n    {%- if not (message.role == 'ipython' or message.role == 'tool' or 'tool_calls' in message) %}\n        {{- '<|start_header_id|>' + message['role'] + '<|end_header_id|>\\n\\n'+ message['content'] | trim + '<|eot_id|>' }}\n    {%- elif 'tool_calls' in message %}\n        {%- if not message.tool_calls|length == 1 %}\n            {{- raise_exception(\"This model only supports single tool-calls at once!\") }}\n        {%- endif %}\n        {%- set tool_call = message.tool_calls[0].function %}\n        {{- '<|start_header_id|>assistant<|end_header_id|>\\n\\n' -}}\n        {{- '{\"name\": \"' + tool_call.name + '\", ' }}\n        {{- '\"parameters\": ' }}\n        {{- tool_call.arguments | tojson }}\n        {{- \"}\" }}\n        {{- \"<|eot_id|>\" }}\n    {%- elif message.role == \"tool\" or message.role == \"ipython\" %}\n        {{- \"<|start_header_id|>ipython<|end_header_id|>\\n\\n\" }}\n        {%- if message.content is mapping or message.content is iterable %}\n            {{- message.content | tojson }}\n        {%- else %}\n            {{- message.content }}\n        {%- endif %}\n        {{- \"<|eot_id|>\" }}\n    {%- endif %}\n{%- endfor %}\n{%- if add_generation_prompt %}\n    {{- '<|start_header_id|>assistant<|end_header_id|>\\n\\n' }}\n{%- endif %}\n",
+  "clean_up_tokenization_spaces": true,
+  "eos_token": "<|eot_id|>",
+  "model_input_names": [
+    "input_ids",
+    "attention_mask"
+  ],
+  "model_max_length": 131072,
+  "pad_token": "<|eot_id|>",
+  "padding_side": "right",
+  "split_special_tokens": false,
+  "tokenizer_class": "PreTrainedTokenizerFast"
+}