| # Dreame 06-03 SpatialLM voxel comparison |
|
|
| This dataset contains Rerun recordings and SpatialLM text outputs for the same |
| colored Open3D TSDF point cloud reconstructed from the Dreame 06-03 active |
| stereo sequence. It compares SpatialLM point-cloud cleanup voxel sizes of |
| `0.075 m` and `0.025 m`. |
|
|
| ## Files |
|
|
| | Path | Description | |
| |---|---| |
| | `active_stereo_tsdf_point_cloud.rrd` | Existing historical `0.075 m` Rerun recording. | |
| | `runs/voxel_0.075/` | Historical layout, raw generation, and diagnostics. | |
| | `runs/voxel_0.025/` | New layout, raw generation, diagnostics, and standalone Rerun recording. | |
| | `comparison/active_stereo_tsdf_voxel_0.075_vs_0.025.rrd` | Three-view comparison: `0.075`, `0.025`, and overlay. | |
| | `comparison/comparison_report.json` | Input hashes, parameters, entity counts, runtime summaries, and coordinate audit. | |
|
|
| Open the comparison with Rerun 0.21 or a compatible viewer: |
|
|
| ```bash |
| rerun comparison/active_stereo_tsdf_voxel_0.075_vs_0.025.rrd |
| ``` |
|
|
| The input point cloud is logged once in its original colors. The `0.075` |
| layout is blue, the `0.025` layout is orange, and both can be toggled |
| independently. The recording explicitly uses a right-handed Z-up coordinate |
| frame and an XY grid. |
|
|
| ## Input provenance |
|
|
| - Source artifact: `active_stereo_tsdf_point_cloud.ply` |
| - SHA-256: `cfcfd27fae0174b4b69616a18c7c50e8fd4f19a4d8f0679624c15c51c207dc3e` |
| - Points: 175,025, with RGB colors and normals |
| - Unit: meters |
| - Coordinate transform applied before inference: identity |
| - Surface-normal Manhattan yaw audit: `-0.4434 degrees`; no additional rotation was applied |
|
|
| The source PLY and model weights are not distributed in this dataset. |
|
|
| ## Inference settings |
|
|
| Both results use `SpatialLM1.1-Qwen-0.5B`, `detect_type=all`, seed `42`, MPS |
| for the model and Sonata backbone, mtlgemm sparse convolution, SDPA attention, |
| FP16 LLM weights, block synchronization, 16-block convolution chunking, and a |
| maximum of 4096 generated tokens. The SpatialLM model grid is `0.025 m` in |
| both runs. |
|
|
| | Metric | `0.075 m` cleanup | `0.025 m` cleanup | |
| |---|---:|---:| |
| | SpatialLM Mac commit | `8913c44` | `ba67311` | |
| | Points after cleanup | 29,460 | 119,767 | |
| | Tokens after grid sampling | 29,166 | 101,697 | |
| | Generated tokens | 896 | 946 | |
| | Walls | 19 | 14 | |
| | Doors | 5 | 7 | |
| | O-BBoxes | 5 | 10 | |
| | Total parsed entities | 29 | 31 | |
|
|
| All five Sonata stages completed on MPS with finite outputs. Irregular sparse |
| topology operations, including neighbor-map construction, serialization, and |
| large batch-offset reductions, use explicit and recorded CPU helpers for |
| watchdog safety and MPS correctness. `PYTORCH_ENABLE_MPS_FALLBACK` was not |
| enabled. |
|
|
| ## Comparison limitation |
|
|
| This is a historical visual comparison, not a strict single-variable |
| ablation. The `0.075 m` result is intentionally reused from the existing |
| recording, while the `0.025 m` result uses the later Mac backend commit that |
| fixes large MPS point-batch offsets. Differences may therefore reflect both |
| the cleanup voxel size and the backend revision. No claim is made that either |
| layout is geometrically correct. |
|
|
