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[2025-11-28] 🚀 Update: We have updated the data annotations for ScanRefer and Threedod, as well as the corresponding model weights.

Change: The rotation convention has been changed from extrinsic 'zxy' to intrinsic 'ZXY'.

Please pull the latest code, data (for 3D scene understanding), and re-download the checkpoints to align with this geometric correction.

Safetensors

Model size

9B params

Tensor type

BF16

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