Remove 12_pixel_arm_bk (superseded by 13_pixel_arm; window model kept there)

12_pixel_arm_bk/README.md

@@ -1,64 +0,0 @@
-# Pixel arm Bk: window model + update head, step 1000 (best pixel-root memory on the orbit benchmark, 2026-10-30)
-
-`model_001000.pt` (window model: 3D-Belief trunk, proposal head, Gaussian decoder; EMA) and `upd_001000.pt` (the learned root
-update head; EMA) of `outputs/joint_j1keptlr`, step 1000. Together with self-replay of the stored past poses and **kept replay
-targets**, this is the pixel (root) memory that rises on revisits in the first walk and stays flat in the second.
-
-- **Needs, besides these two files** (run from the repo root):
-  - the decoder construction files `free_completion_20260927/checkpoints/ray/step002000` from `03_checkpoints_streaming.zip`,
-    at `outputs/free_completion_20260927/checkpoints/ray/step002000` (where the zip restores it; this snapshot records that
-    repo-relative path, so run from the repo root). The snapshot's weights are loaded over it;
-  - the 3D-Belief prior `3d_belief_re10k_256.pt` at `$FLC_BELIEF_CKPT`, read when the trunk is built (the snapshot's weights
-    are loaded over it). Not in this repo;
-  - the orbit caches `data/orbit_cache/dl3dv_test33` (and `dl3dv_val33`) from `11_orbit_eval_data/`.
-- **Only change to the file:** `args['decoder_from']` was an absolute path on the JHU cluster; here it is repo-relative. Weights
-  unchanged (loaded state dicts identical to the original file).
-- **Lineage:**
-  1. window model C3 + sideways realism (`outputs/card_r1lat_v1/ema_005999.pt`) and update head
-     `outputs/root_upd_v1/ema_005000.pt` (`flc/unified/train_root_updater.py`, RE10K + DL3DV VGGT caches);
-  2. J1 (`outputs/joint_j1fix`, `command_j1.json`): window model and update head trained jointly
-     (`flc/unified/train_joint_stream.py --train joint`), rollouts over 400 DL3DV training orbits (`data/orbit_cache/dl3dv_train`,
-     disjoint from val33 / test33), 2000 steps, head lr 5e-5, trunk lr 2e-5;
-  3. Bk (this, `command.json`): from J1's step 1000, +1000 steps at half lr (head 2.5e-5, trunk 1e-5), seed 2, with the
-     evaluation's replay in the training rollouts: pose store 5 deg / 0.08 x depth, replay rendered 8 views at a time, and
-     `--replay-store cell` (kept targets). Outer loss L1 + LPIPS + depth on real window and other-pass frames. One H100, ~2.8 h.
-- **Code:** branch amodal-completion of the FLC repo (trained 2026-10-29 from the working tree; committed 2026-10-30).
-- **Load:** `eval_long_stream.py --snapshot model_001000.pt --root-updater upd_001000.pt`
-  (`flc.unified.train_root_ae.load_teacher`; the update head as `flc.unified.root_updater.RootUpdater`, from `['ema']`).
-
-## How it is run
-
-Each 6-frame window (advancing 2 frames) is written into the root memory, then the update head refines the roots for 16 steps,
-fitting the window's frames plus a self-replay of every stored past pose that overlaps the update. A pose is stored when it is
-> 5 deg or > 0.08 x scene depth from every stored pose (3D-Belief keyframe rule); its replay target is **kept** (the memory's own
-render right after the last window that observed that pose or its cell, uint8 at 256 px) instead of the render just before the
-current window. No past images are kept: only current frames, the 3D memory, poses and the memory's own kept renders.
-
-    python scripts/unified/eval_long_stream.py --snapshot 12_pixel_arm_bk/model_001000.pt \
-      --root-updater 12_pixel_arm_bk/upd_001000.pt --admit-angle 5 --admit-dist .08 --replay-chunk 8 --replay-store cell \
-      --data data/orbit_cache/dl3dv_test33 --clips 33 --loops 2 --async-period 0 --out <dir>
-
-## Results
-
-dl3dv_test33 (33 DL3DV test orbits), the stream walked twice (6 orbits), the first orbit's held-out frames rendered after every
-window, all pixels (holes count). One seed, H100. `test33_orbit.png` / `.json`: every arm and baseline on the same streams.
-
-| test33, 6 orbits, all pixels | PSNR orbit 1 / 3 / 6 | orbit 6 - orbit 1 | walk 2 (6 - 3) | LPIPS 1 / 3 / 6 |
-|---|---|---|---|---|
-| **Bk (this)** | **17.42 / 18.15 / 18.12** | **+0.69 +- 0.10 (27 / 33 rise)** | -0.03 +- 0.03 | .421 / .395 / .403 |
-| voxel, TSDF-decided write (`09_`, headline A) | 14.91 / 15.60 / 15.86 | +0.95 | +0.26 | .560 at 6 |
-| voxel, fused memory + head (`10_`) | 15.10 / 15.50 / 15.75 | +0.65 | +0.25 | .571 at 6 |
-| frame memory (Context-as-Memory style) | 16.27 / 16.52 / 16.52 | +0.26 | 0.00 | .382 at 6 |
-| SPMem TSDF (same window predictions) | 14.20 / 14.73 / 14.51 | +0.31 | -0.22 | |
-| plain point accumulation | 12.35 / 11.85 / 11.65 | -0.69 | -0.20 | |
-
-Coverage is 99 % at orbit 1, so the first walk's rise is sharper renders, not holes filling (covered-pixel PSNR 17.51 -> 18.15).
-On the 8 original DL3DV test orbits (3 orbits, covered pixels): 17.45 / 17.62 / 17.63 dB, +0.19 +- 0.09 (7 / 8); the matched
-control without kept targets in training: 17.45 / 17.56 / 17.54, +0.10 +- 0.10 (5 / 8).
-
-Cost: 5.1 s per observed frame on one H100 (the backward of the update's inner loss is 58 % of it); the memory is 1.1-1.3 GB at
-the end of a two-walk stream (roots, update-head state per root, bookkeeping TSDF) and grows on revisits. Known issue: from far
-viewpoints the memory shows a semi-transparent haze (90 % of the Gaussians have opacity < .1); under investigation.
-
-sha256 model_001000.pt: 08e30bdaac8ddb560151384df06e16bc88606cbe86915bb92d587e16e522110e
-sha256 upd_001000.pt: b72d9620b484eb1c05e4e04d259af923f807e7cb04243323fd74cd2809c6f412

12_pixel_arm_bk/command.json

@@ -1,72 +0,0 @@
-{
- "argv": [
-  "flc/unified/train_joint_stream.py",
-  "--train",
-  "joint",
-  "--out",
-  "outputs/joint_j1keptlr",
-  "--steps",
-  "1000",
-  "--save-every",
-  "250",
-  "--admit-angle",
-  "5",
-  "--admit-dist",
-  ".08",
-  "--replay-chunk",
-  "8",
-  "--lr-head",
-  "2.5e-5",
-  "--lr-trunk",
-  "1e-5",
-  "--replay-store",
-  "cell",
-  "--snapshot",
-  "outputs/joint_j1fix/model_001000.pt",
-  "--root-updater",
-  "outputs/joint_j1fix/upd_001000.pt",
-  "--seed",
-  "2"
- ],
- "args": {
-  "out": "outputs/joint_j1keptlr",
-  "train": "joint",
-  "snapshot": "outputs/joint_j1fix/model_001000.pt",
-  "root_updater": "outputs/joint_j1fix/upd_001000.pt",
-  "data": "/weka/projects/tshu2/yyin34/free-latent-completion/data/orbit_cache/dl3dv_train",
-  "overfit": "",
-  "exclude": "",
-  "steps": "1000",
-  "rollouts": "2",
-  "iters": "16",
-  "t_grad": "6",
-  "lr_head": "2.5e-05",
-  "lr_trunk": "1e-05",
-  "warmup": "100",
-  "ema": "0.999",
-  "n_win": "3",
-  "n_other": "5",
-  "far": "12",
-  "max_ang": "150.0",
-  "see_region": "True",
-  "w_other": "0.7",
-  "lpips_w": "1.0",
-  "w_depth": "0.1",
-  "dep_clamp": "0.3",
-  "w_harm": "0.0",
-  "w_self": "0.2",
-  "ot_app_w": "0.0",
-  "ot_geo_w": "0.0",
-  "ot_n": "2",
-  "ot_frac": "0.3",
-  "log_every": "10",
-  "save_every": "250",
-  "max_steps_run": "0",
-  "seed": "2",
-  "admit": "3db",
-  "admit_angle": "5.0",
-  "admit_dist": "0.08",
-  "replay_chunk": "8",
-  "replay_store": "cell"
- }
-}

12_pixel_arm_bk/command_j1.json

@@ -1,48 +0,0 @@
-{
- "argv": [
-  "flc/unified/train_joint_stream.py",
-  "--train",
-  "joint",
-  "--out",
-  "outputs/joint_j1fix",
-  "--steps",
-  "2000",
-  "--save-every",
-  "500"
- ],
- "args": {
-  "out": "outputs/joint_j1fix",
-  "train": "joint",
-  "snapshot": "/weka/projects/tshu2/yyin34/free-latent-completion/outputs/card_r1lat_v1/ema_005999.pt",
-  "root_updater": "/weka/projects/tshu2/yyin34/free-latent-completion/outputs/root_upd_v1/ema_005000.pt",
-  "data": "/weka/projects/tshu2/yyin34/free-latent-completion/data/orbit_cache/dl3dv_train",
-  "overfit": "",
-  "exclude": "",
-  "steps": "2000",
-  "rollouts": "2",
-  "iters": "16",
-  "t_grad": "6",
-  "lr_head": "5e-05",
-  "lr_trunk": "2e-05",
-  "warmup": "100",
-  "ema": "0.999",
-  "n_win": "3",
-  "n_other": "5",
-  "far": "12",
-  "max_ang": "150.0",
-  "see_region": "True",
-  "w_other": "0.7",
-  "lpips_w": "1.0",
-  "w_depth": "0.1",
-  "dep_clamp": "0.3",
-  "w_self": "0.2",
-  "ot_app_w": "0.0",
-  "ot_geo_w": "0.0",
-  "ot_n": "2",
-  "ot_frac": "0.3",
-  "log_every": "10",
-  "save_every": "500",
-  "max_steps_run": "0",
-  "seed": "0"
- }
-}

12_pixel_arm_bk/model_001000.pt

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:08e30bdaac8ddb560151384df06e16bc88606cbe86915bb92d587e16e522110e
-size 1875927516

12_pixel_arm_bk/test33_orbit.json

@@ -1,709 +0,0 @@
-{
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-  "label": "Pixel arm (Bk + kept targets)",
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12_pixel_arm_bk/upd_001000.pt

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