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LinZhuoChen
2026-04-21 12:59:23 +08:00
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@@ -79,8 +79,8 @@ pip install -e ".[vis]"
| Model Name | Huggingface Repository | ModelScope Repository | Description | | Model Name | Huggingface Repository | ModelScope Repository | Description |
| :--- | :--- | :--- | :--- | | :--- | :--- | :--- | :--- |
| lingbot-map | [robbyant/lingbot-map](https://huggingface.co/robbyant/lingbot-map) | [Robbyant/lingbot-map](https://www.modelscope.cn/models/Robbyant/lingbot-map) | Balanced and latest checkpoint — strong all-around performance across short and long sequences. | | lingbot-map-long | [robbyant/lingbot-map](https://huggingface.co/robbyant/lingbot-map) | [Robbyant/lingbot-map](https://www.modelscope.cn/models/Robbyant/lingbot-map) | Better suited for long sequences and large scale scenes (Recommend). |
| lingbot-map-long | [robbyant/lingbot-map](https://huggingface.co/robbyant/lingbot-map) | [Robbyant/lingbot-map](https://www.modelscope.cn/models/Robbyant/lingbot-map) | Better suited for long sequences. | | lingbot-map | [robbyant/lingbot-map](https://huggingface.co/robbyant/lingbot-map) | [Robbyant/lingbot-map](https://www.modelscope.cn/models/Robbyant/lingbot-map) | Balanced checkpoint — trade off all-around performance across short and long sequences. |
| lingbot-map-stage1 | [robbyant/lingbot-map](https://huggingface.co/robbyant/lingbot-map) | [Robbyant/lingbot-map](https://www.modelscope.cn/models/Robbyant/lingbot-map) | Stage-1 training checkpoint of lingbot-map — can be loaded into the VGGT model for bidirectional inference. | | lingbot-map-stage1 | [robbyant/lingbot-map](https://huggingface.co/robbyant/lingbot-map) | [Robbyant/lingbot-map](https://www.modelscope.cn/models/Robbyant/lingbot-map) | Stage-1 training checkpoint of lingbot-map — can be loaded into the VGGT model for bidirectional inference. |
> 🚧 **Coming soon:** we're training an stronger model that supports longer sequences — stay tuned. > 🚧 **Coming soon:** we're training an stronger model that supports longer sequences — stay tuned.
@@ -94,7 +94,7 @@ Run `demo.py` for interactive 3D visualization via a browser-based [viser](https
We provide four example scenes in `example/` that you can run out of the box: We provide four example scenes in `example/` that you can run out of the box:
```bash ```bash
# Church scene # Church scene
python demo.py --model_path /path/to/lingbot-map.pt \ python demo.py --model_path /path/to/lingbot-map-long.pt \
--image_folder example/church --mask_sky --image_folder example/church --mask_sky
``` ```
<img width="200" height="113" alt="output_pointcloud_original" src="https://github.com/user-attachments/assets/627fb738-03b0-4597-a7f8-fbc62cc296dc" /> <img width="200" height="113" alt="output_pointcloud_original" src="https://github.com/user-attachments/assets/627fb738-03b0-4597-a7f8-fbc62cc296dc" />
@@ -105,7 +105,7 @@ python demo.py --model_path /path/to/lingbot-map.pt \
```bash ```bash
# University scene # University scene
python demo.py --model_path /path/to/lingbot-map.pt \ python demo.py --model_path /path/to/lingbot-map-long.pt \
--image_folder example/university --mask_sky --image_folder example/university --mask_sky
``` ```
<img width="200" height="113" alt="output_pointcloud_original" src="https://github.com/user-attachments/assets/e501fcb4-6da1-4919-8a73-0239d64457cd" /> <img width="200" height="113" alt="output_pointcloud_original" src="https://github.com/user-attachments/assets/e501fcb4-6da1-4919-8a73-0239d64457cd" />
@@ -115,7 +115,7 @@ python demo.py --model_path /path/to/lingbot-map.pt \
```bash ```bash
# Loop scene (loop closure trajectory) # Loop scene (loop closure trajectory)
python demo.py --model_path /path/to/lingbot-map.pt \ python demo.py --model_path /path/to/lingbot-map-long.pt \
--image_folder example/loop --image_folder example/loop
``` ```
@@ -134,14 +134,14 @@ python demo.py --model_path /path/to/lingbot-map-long.pt \
### Streaming Inference from Images ### Streaming Inference from Images
```bash ```bash
python demo.py --model_path /path/to/checkpoint.pt \ python demo.py --model_path /path/to/lingbot-map-long.pt \
--image_folder /path/to/images/ --image_folder /path/to/images/
``` ```
### Streaming Inference from Video ### Streaming Inference from Video
```bash ```bash
python demo.py --model_path /path/to/checkpoint.pt \ python demo.py --model_path /path/to/lingbot-map-long.pt \
--video_path video.mp4 --fps 10 --video_path video.mp4 --fps 10
``` ```
@@ -151,14 +151,14 @@ We will provide more examples in the follow-up.
Use `--keyframe_interval` to reduce KV cache memory by only keeping every N-th frame as a keyframe. Non-keyframe frames still produce predictions but are not stored in the cache. This is useful for long sequences which exceed 320 frames (We train with video RoPE on 320 views, so performance degrades when the KV cache stores more than 320 views. Using a keyframe strategy allows inference over longer sequences.). Use `--keyframe_interval` to reduce KV cache memory by only keeping every N-th frame as a keyframe. Non-keyframe frames still produce predictions but are not stored in the cache. This is useful for long sequences which exceed 320 frames (We train with video RoPE on 320 views, so performance degrades when the KV cache stores more than 320 views. Using a keyframe strategy allows inference over longer sequences.).
```bash ```bash
python demo.py --model_path /path/to/checkpoint.pt \ python demo.py --model_path /path/to/lingbot-map-long.pt \
--image_folder /path/to/images/ --keyframe_interval 6 --image_folder /path/to/images/ --keyframe_interval 6
``` ```
### Windowed Inference (for long sequences, >3000 frames) ### Windowed Inference (for long sequences, >3000 frames)
```bash ```bash
python demo.py --model_path /path/to/checkpoint.pt \ python demo.py --model_path /path/to/lingbot-map-long.pt \
--video_path video.mp4 --fps 10 \ --video_path video.mp4 --fps 10 \
--mode windowed --window_size 128 --mode windowed --window_size 128
``` ```