Night3R weights
Code: github.com/Passwerob/Night3r.
Evaluation scenes: Passwerob/Night3R-test.
Training scenes, DA3 pseudo-depth, and the DSEC split record: Passwerob/Night3R-train.
Released Night3R checkpoints
| File | What it is |
|---|---|
event_dark3r_night3r_final.pth |
Geometry model. Global-final continue, step 100 (2026-07-23). No pose head. This is the same file as event_dark3r_step00000100.pth. |
event_dark3r_night3r_final_with_pose_head.pth |
Same geometry plus the adapted pose head (2026-07-26). |
pose_head_step00000100.pth |
Pose head only. |
checkpoints/comparison/event_dark3r_three_dataset_global_final.pth |
Initialization used by the step-100/200 comparison. |
checkpoints/comparison/event_dark3r_step00000200.pth |
Step 200 of that continuation. Diagnostic, not the selected final model. |
Backbone files kept with this release
Loading still constructs AsymmetricMASt3R from the MASt3R checkpoint, then loads the Night3R student state on top.
| File | What it is |
|---|---|
checkpoints/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric.pth |
Public MASt3R metric backbone required at load time. |
checkpoints/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric_retrieval_trainingfree.pth |
MASt3R retrieval head. |
checkpoints/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric_retrieval_codebook.pkl |
MASt3R retrieval codebook. |
checkpoints/dark3r_pretrained/weights/0049_lora.pth |
Optional Dark3R LoRA initialization. Not used by the final event checkpoint. |
Reported metrics for step 100
| Dataset | Reference | Raw AbsRel | Raw delta1 | Median AbsRel | Median delta1 |
|---|---|---|---|---|---|
| MVSEC | GT | 0.2008 | 0.7591 | 0.1933 | 0.7976 |
| DSEC | GT | 0.1599 | 0.7252 | 0.0684 | 0.9686 |
| DL3DV | Held-out DA3 pseudo-depth | 0.6820 | 0.1988 | 0.3061 | 0.6367 |
MVSEC and DSEC use sensor depth. The DL3DV number is agreement with a held-out DA3 pseudo-depth reference. That reference directory, outputs/night3r_dl3dv_da3_pseudo_ft1k_eval_20260722/dl3dv_da3_reference, is no longer on disk and is not in this release.
MVSEC/DSEC rerun uses scripts/eval_night3r_global_final_continue_200_4gpu_20260723.sh: fixed adjacent pairs, 128 batches, low-light augmentation off. MVSEC scenes are the six links in MVSEC_outdoor_night2_test. DSEC is screen-000003-dsec.
python forward_night3r.py \
--config config/train_event_dark3r_mvsec_dsec.yaml \
--checkpoint event_dark3r_night3r_final.pth \
--model-name-or-path checkpoints/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric.pth \
--data-root /path/to/screen_dataset_root \
--outdir outputs/export_example \
--device cuda \
--allow-unsafe-checkpoint-load