12_pixel_arm_bk: best pixel arm (Bk) window model + update head, README, test33 results

12_pixel_arm_bk/README.md

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+# 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

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+{
+ "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

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+{
+ "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

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+version https://git-lfs.github.com/spec/v1
+oid sha256:08e30bdaac8ddb560151384df06e16bc88606cbe86915bb92d587e16e522110e
+size 1875927516

12_pixel_arm_bk/test33_orbit.json

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+{
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+  "label": "Pixel arm (Bk + kept targets)",
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