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+sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/gaussian_data/session_20260921_225630_786148/observation.ply filter=lfs diff=lfs merge=lfs -text +sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/gaussian_data/session_20260921_225630_786148/shape_prior.glb filter=lfs diff=lfs merge=lfs -text +sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/hybrid/loader_smoke/session_20260921_225630_786148/points3D.ply filter=lfs diff=lfs merge=lfs -text +sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/shape/object.glb filter=lfs diff=lfs merge=lfs -text +sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/shape/object.ply filter=lfs diff=lfs merge=lfs -text diff --git a/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/gaussian_data/session_20260921_225630_786148/observation.ply 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0000000000000000000000000000000000000000..726bc7d092fc336823210c7a8524dceb5b2ef3f0 --- /dev/null +++ b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/inputs/observed_cloud.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2457b788d3950460682b47c2c52ace7cf1be68f1ecfade2f53a5d130057f98c +size 1851700 diff --git a/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/inputs/reference_views.json b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/inputs/reference_views.json new file mode 100644 index 0000000000000000000000000000000000000000..733602d390e9334f8e24cb9cec61d0a9d432a17d --- /dev/null +++ b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/inputs/reference_views.json @@ -0,0 +1,67 @@ +{ + "case": "session_20260921_225630_786148", + "grid_sample": 0, + "views": [ + { + "index": 0, + "serial": "12540311", + "native_frame": 0, + "offset_ms": 10.099412, + "object_mask_px": 7764, + "invalid_depth_in_mask_px": 2, + "occlusion_union_px": 239343, + "object_and_union_px": 8, + "lifted_points": 7762, + "lifted_z_min_max_m": [ + 0.0020236005465801288, + 0.06275447902565567 + ] + }, + { + "index": 1, + "serial": "12933256", + "native_frame": 0, + "offset_ms": 11.605692, + "object_mask_px": 4889, + "invalid_depth_in_mask_px": 45, + "occlusion_union_px": 411811, + "object_and_union_px": 2, + "lifted_points": 4844, + "lifted_z_min_max_m": [ + 0.0034473659599154605, + 0.03611347894375305 + ] + }, + { + "index": 2, + "serial": "17736741", + "native_frame": 0, + "offset_ms": 0.0, + "object_mask_px": 8090, + "invalid_depth_in_mask_px": 1, + "occlusion_union_px": 366179, + "object_and_union_px": 49, + "lifted_points": 8089, + "lifted_z_min_max_m": [ + 0.013775536973928637, + 0.0721327470724693 + ] + }, + { + "index": 3, + "serial": "23007103", + "native_frame": 0, + "offset_ms": 11.775962, + "object_mask_px": 5295, + "invalid_depth_in_mask_px": 291, + "occlusion_union_px": 171886, + "object_and_union_px": 4, + "lifted_points": 5004, + "lifted_z_min_max_m": [ + -0.001967624560513359, + 0.03119258349045262 + ] + } + ], + "observed_points": 25699 +} \ No newline at end of file diff --git a/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/align.log b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/align.log new file mode 100644 index 0000000000000000000000000000000000000000..efa32d27f0054e9be39a9e4c0cd23956059c7d0c --- /dev/null +++ b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/align.log @@ -0,0 +1,13 @@ +/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/tools/phystwin_u/data_process/utils/align_util.py:170: UserWarning: To copy construct from a tensor, it is recommended to use sourceTensor.clone().detach() or sourceTensor.clone().detach().requires_grad_(True), rather than torch.tensor(sourceTensor). + camera_poses = torch.tensor(camera_poses, device=device) +/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/tools/phystwin_u/data_process/models/superpoint.py:137: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature. + self.load_state_dict(torch.load(str(path))) +/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/tools/phystwin_u/data_process/models/superglue.py:226: FutureWarning: You are using `torch.load` with `weights_only=False` (the current default value), which uses the default pickle module implicitly. It is possible to construct malicious pickle data which will execute arbitrary code during unpickling (See https://github.com/pytorch/pytorch/blob/main/SECURITY.md#untrusted-models for more details). In a future release, the default value for `weights_only` will be flipped to `True`. This limits the functions that could be executed during unpickling. Arbitrary objects will no longer be allowed to be loaded via this mode unless they are explicitly allowlisted by the user via `torch.serialization.add_safe_globals`. We recommend you start setting `weights_only=True` for any use case where you don't have full control of the loaded file. Please open an issue on GitHub for any issues related to this experimental feature. + self.load_state_dict(torch.load(str(path))) +total poses 192 +Running inference on device "cuda" +Loaded SuperPoint model +Loaded SuperGlue model ("indoor" weights) +Will write matches to directory "/mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/shape/matching" +matched point number 23 +align: ok -> /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/steps/align.json diff --git a/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/hybrid.log b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/hybrid.log new file mode 100644 index 0000000000000000000000000000000000000000..06ea0f26383412b1dee5c007c3d8eea6165b507b --- /dev/null +++ b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/hybrid.log @@ -0,0 +1,3 @@ +Init points from pcd... +Init points from mesh... +hybrid: ok -> /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/steps/hybrid.json diff --git a/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/inputs.log b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/inputs.log new file mode 100644 index 0000000000000000000000000000000000000000..20e2841c8a9daa7cd6148b5fdc3e30ea4c3b4628 --- /dev/null +++ b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/inputs.log @@ -0,0 +1 @@ +inputs: ok -> /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/steps/inputs.json diff --git a/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/segment.log b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/segment.log new file mode 100644 index 0000000000000000000000000000000000000000..3596f242767fa09657f65b0c99915e2db8687b4c --- /dev/null +++ b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/segment.log @@ -0,0 +1,7 @@ +UserWarning: torch.meshgrid: in an upcoming release, it will be required to pass the indexing argument. (Triggered internally at ../aten/src/ATen/native/TensorShape.cpp:3609.) +UserWarning: The given NumPy array is not writable, and PyTorch does not support non-writable tensors. This means writing to this tensor will result in undefined behavior. You may want to copy the array to protect its data or make it writable before converting it to a tensor. This type of warning will be suppressed for the rest of this program. (Triggered internally at ../torch/csrc/utils/tensor_numpy.cpp:206.) +UserWarning: torch.utils.checkpoint: the use_reentrant parameter should be passed explicitly. In version 2.4 we will raise an exception if use_reentrant is not passed. use_reentrant=False is recommended, but if you need to preserve the current default behavior, you can pass use_reentrant=True. Refer to docs for more details on the differences between the two variants. +UserWarning: None of the inputs have requires_grad=True. Gradients will be None +final text_encoder_type: bert-base-uncased +Detected 1 objects +segment: ok -> /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/steps/segment.json diff --git a/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/tools.log b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/tools.log new file mode 100644 index 0000000000000000000000000000000000000000..c8935945de747d8d24403b0b7f10551e67cf3ef2 --- /dev/null +++ b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/tools.log @@ -0,0 +1 @@ +tools: ok -> /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/steps/tools.json diff --git a/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/trellis.log b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/trellis.log new file mode 100644 index 0000000000000000000000000000000000000000..c4871954b75ab0ad28b7226818bf17c23016bee4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/trellis.log @@ -0,0 +1,49 @@ +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/numba/np/ufunc/parallel.py:373: NumbaWarning: The TBB threading layer requires TBB version 2021 update 6 or later i.e., TBB_INTERFACE_VERSION >= 12060. Found TBB_INTERFACE_VERSION = 12050. The TBB threading layer is disabled. + warnings.warn(problem) +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/xformers/ops/fmha/flash.py:211: FutureWarning: `torch.library.impl_abstract` was renamed to `torch.library.register_fake`. Please use that instead; we will remove `torch.library.impl_abstract` in a future version of PyTorch. + @torch.library.impl_abstract("xformers_flash::flash_fwd") +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/xformers/ops/fmha/flash.py:344: FutureWarning: `torch.library.impl_abstract` was renamed to `torch.library.register_fake`. Please use that instead; we will remove `torch.library.impl_abstract` in a future version of PyTorch. + @torch.library.impl_abstract("xformers_flash::flash_bwd") +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/spconv/pytorch/functional.py:47: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead. + _TORCH_CUSTOM_FWD = amp.custom_fwd(cast_inputs=torch.float16) +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/spconv/pytorch/functional.py:97: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead. + def backward(ctx, grad_output): +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/spconv/pytorch/functional.py:163: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead. + def backward(ctx, grad_output): +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/spconv/pytorch/functional.py:243: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead. + def backward(ctx, grad_output): +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/spconv/pytorch/functional.py:332: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead. + def backward(ctx, grad_output): +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/spconv/pytorch/functional.py:369: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead. + def backward(ctx, grad_output): +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/spconv/pytorch/functional.py:389: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead. + def backward(ctx, grad_output): +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/spconv/pytorch/functional.py:412: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead. + def backward(ctx, grad_output): +Using cache found in /mnt/data2/magna/belt_perception/third_party/phystwin_external/torch_hub/hub/facebookresearch_dinov2_main +/mnt/data2/magna/belt_perception/third_party/phystwin_external/torch_hub/hub/facebookresearch_dinov2_main/dinov2/layers/swiglu_ffn.py:43: UserWarning: xFormers is available (SwiGLU) + warnings.warn("xFormers is available (SwiGLU)") +/mnt/data2/magna/belt_perception/third_party/phystwin_external/torch_hub/hub/facebookresearch_dinov2_main/dinov2/layers/attention.py:27: UserWarning: xFormers is available (Attention) + warnings.warn("xFormers is available (Attention)") +/mnt/data2/magna/belt_perception/third_party/phystwin_external/torch_hub/hub/facebookresearch_dinov2_main/dinov2/layers/block.py:33: UserWarning: xFormers is available (Block) + warnings.warn("xFormers is available (Block)") +[SPARSE] Backend: spconv, Attention: xformers +[SPARSE][CONV] spconv algo: native +[ATTENTION] Using backend: xformers + Sampling: 0%| | 0/25 [00:00 /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/steps/trellis.json diff --git a/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/upscale.log b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/upscale.log new file mode 100644 index 0000000000000000000000000000000000000000..efd3ea9c9d7c1a3b7c8342e0ceb16215a55b8d9e --- /dev/null +++ b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/logs/upscale.log @@ -0,0 +1,10 @@ +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/xformers/ops/fmha/flash.py:211: FutureWarning: `torch.library.impl_abstract` was renamed to `torch.library.register_fake`. Please use that instead; we will remove `torch.library.impl_abstract` in a future version of PyTorch. + @torch.library.impl_abstract("xformers_flash::flash_fwd") +/mnt/data2/magna/belt_perception_agent_venvs/real_rgbd_appearance_generator/lib/python3.10/site-packages/xformers/ops/fmha/flash.py:344: FutureWarning: `torch.library.impl_abstract` was renamed to `torch.library.register_fake`. Please use that instead; we will remove `torch.library.impl_abstract` in a future version of PyTorch. + @torch.library.impl_abstract("xformers_flash::flash_bwd") +Couldn't connect to the Hub: Cannot reach https://huggingface.co/api/models/stabilityai/stable-diffusion-x4-upscaler: offline mode is enabled. To disable it, please unset the `HF_HUB_OFFLINE` environment variable.. +Will try to load from local cache. + Loading pipeline components...: 0%| | 0/6 [00:00 /mnt/data2/magna/belt_perception/results/phystwin_real_rgbd/session_20260921_225630_786148/appearance_20260925/steps/upscale.json diff --git a/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/manifest.json b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ae1603712d0c188697219b829f56504277dd33c4 --- /dev/null +++ b/sessions/session_20260921_225630_786148/preprocessing/trellis-20260925-rejected/native/manifest.json @@ -0,0 +1,1212 @@ +{ + "kind": "real_rgbd_appearance_inputs_v1", + "code": { + "commit": "85cb0e1e6a1797b17191e05a2467e99362c37235", + "tracked_changes": false + }, + "steps": { + "align": { + "status": "ok", + "settings": { + "u_functions": [ + 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matching_points):\n final_indices = []\n final_targets = []\n for (index, target) in zip(mesh_points_indices, matching_points):\n if index not in final_indices:\n final_indices.append(index)\n final_targets.append(target)\n for (c2w, w2c) in zip(c2ws, w2cs):\n (new_indices, new_targets) = get_matching_ray_registration(deform_kp_mesh_world, obs_points_world, mesh, trimesh_indices, c2w, w2c)\n for (index, target) in zip(new_indices, new_targets):\n if index not in final_indices:\n final_indices.append(index)\n final_targets.append(target)\n indices = np.where(np.asarray(deform_kp_mesh_world.vertices)[:, 2] < 0)[0]\n for index in indices:\n if index not in final_indices:\n final_indices.append(index)\n target = np.asarray(deform_kp_mesh_world.vertices)[index].copy()\n target[2] = 0\n final_targets.append(target)\n else:\n target = final_targets[final_indices.index(index)]\n if target[2] < 0:\n target[2] = 0\n final_targets[final_indices.index(index)] = target\n final_mesh_world = 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24 GB at 1080p" + }, + "adaptations": { + "A2": "observation and ray registration over 4 views", + "A3": "+z-up table frame, table plane z = 0: vertices with z < 0 get target z = 0 and existing targets with z < 0 are set to z = 0 (U align.py:236-247: z > 0 in U's z-down world)", + "stop": "EPnP failure or reprojection error > 50.0 px" + }, + "table_constraint_source": "def deform_ARAP_ray_registration_z_up(deform_kp_mesh_world, obs_points_world, mesh, trimesh_indices, c2ws, w2cs, mesh_points_indices, matching_points):\n final_indices = []\n final_targets = []\n for (index, target) in zip(mesh_points_indices, matching_points):\n if index not in final_indices:\n final_indices.append(index)\n final_targets.append(target)\n for (c2w, w2c) in zip(c2ws, w2cs):\n (new_indices, new_targets) = get_matching_ray_registration(deform_kp_mesh_world, obs_points_world, mesh, trimesh_indices, c2w, w2c)\n for (index, target) in zip(new_indices, new_targets):\n if index not in final_indices:\n 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