ezharjan/FLKD3DBenchmark

FLKD 3D Benchmark - Output Models and Results

This directory contains pre-trained models and comprehensive results from the Benchmarking Federated Learning and Knowledge Distillation for Point Cloud Classification benchmark (ECCV 2026).

Overview

This collection includes trained PointNet++ models evaluated on the 3D point cloud datasets across two training paradigms:

• Classical Training: Centralized, single-machine model training
• Federated Learning + Knowledge Distillation (FLKD): Distributed federated learning with knowledge distillation objectives

All experiments were conducted with multiple random seeds to ensure robust statistical reporting of performance metrics.

Directory Structure

RootDir/
└── <dataset_name></dataset_name>/
    ├── classification/
    │   └── pointnet2_cls_ssg_s{seed}/
    │       ├── checkpoints/
    │       │   ├── best_model.pth
    │       │   ├── last_model.pth
    │       │   └── resume.pth
    │       ├── config.json
    │       ├── logs/
    │       │   └── train.log
    │       └── metrics.jsonl
    │
    └── flkd/federated/classification/
        └── fl_pointnet2_cls_ssg_{algorithm}_s{seed}/
            ├── checkpoints/
            │   ├── best_model.pth
            │   ├── last_model.pth
            │   └── resume.pth
            ├── config.json
            ├── logs/
            │   └── train.log
            └── metrics.jsonl

File Descriptions

Checkpoints

• best_model.pth: Model weights achieving the highest validation accuracy during training
• last_model.pth: Model weights from the final training round/epoch
• resume.pth: Complete training state (model, optimizer, RNG) for resuming interrupted training

Configuration

• config.json: Hyperparameters, dataset splits, model architecture, and training settings used for this experiment

Logs

• train.log: Detailed per-epoch/round training logs including loss values and validation metrics

Metrics

• metrics.jsonl: Machine-readable results in JSONL format containing:
  • Per-epoch/round accuracy metrics
  • Loss values
  • Training time information
  • Other performance indicators

Seeds and Reproducibility

Experiments use multiple random seeds (e.g., s7, s42, s123) to report mean ± standard deviation statistics, ensuring robust statistical conclusions. Load best_model.pth for production use; consult metrics.jsonl for full seed-wise performance breakdowns.

Federated Learning Algorithms

The FLKD benchmark evaluates these 13 FL algorithms:

• FedAvg: Classical federated averaging (also called "vanilla")
• FedProx: Proximal term regularization for heterogeneous local objectives
• SCAFFOLD: Control variates to reduce client drift
• FedDyn: Biased aggregation with consensus optimization
• FedAvgM: Momentum-based federated averaging
• FedAdam: Server-side adaptive learning rates (Adam variant)
• FedYogi: Server-side adaptive learning rates (Yogi variant)
• FedAdagrad: Server-side adaptive learning rates (AdaGrad variant)
• FedMedian: Robust aggregation via median
• FedBN: Batch norm personalization for heterogeneous local data
• MOON: Contrastive learning to maintain consistency
• Ditto: Explicit client-local personalization
• FedNova: Normalized aggregation for non-IID data

Model Architecture

PointNet++ (Single-Scale Grouping / SSG):

• Multi-layer hierarchical feature learning on point clouds
• Set Abstraction (SA) layers with ball query and PointNet modules
• Feature Propagation (FP) layers for upsampling
• Designed for robust 3D shape understanding

Usage

Loading a Model

import torch

# Load the best model for a specific configuration
model = torch.load('pointnet2_cls_ssg_s123/checkpoints/best_model.pth')

# Or load with full training state (for resuming)
checkpoint = torch.load('pointnet2_cls_ssg_s123/checkpoints/resume.pth')
model_state = checkpoint['model_state']
optimizer_state = checkpoint['optimizer_state']

Accessing Results

import json

# Load configuration
with open('pointnet2_cls_ssg_s123/config.json') as f:
    config = json.load(f)

# Read metrics (each line is a JSON object)
with open('pointnet2_cls_ssg_s123/metrics.jsonl') as f:
    for line in f:
        epoch_metrics = json.loads(line)
        print(epoch_metrics)

Citation

If you use these models or results, please cite the original paper:

@inproceedings{aizierjiang26benchmark,
  title={Benchmarking Federated Learning and Knowledge Distillation for Point Cloud Classification},
  author={Aizierjiang Aiersilan},
  booktitle={European Conference on Computer Vision},
  organization={Springer},
  year={2026}
}

License

The models and code follow the project's original license. Please refer to the main repository for detailed license information.

Additional Resources

• Project Website: https://ezharjan.github.io/FLKD3DBenchmark/
• Main Repository: https://github.com/Ezharjan/FLKD3DBenchmark/
• Paper: Available at the project website

Notes

• All models were trained using PyTorch with CUDA acceleration
• Mixed precision (bf16) was applied where supported; exact fp32 on high performance GPUs
• Auto-resume checkpoints enable resuming interrupted training without loss of progress
• Metrics are reported as mean ± std across multiple random seeds for robust statistical assessment

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For questions, issues, or to contribute improvements, please visit the main repository or contact the authors through the project website.