backup exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5

.gitattributes

@@ -125,3 +125,20 @@ exp_finetune_dav3_scannet_i2slam_v24_nodepth/2026-05-06_17-49-31/wandb/run-20260
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exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5/2026-05-06_18-52-35/.hydra/config.yaml

@@ -0,0 +1,197 @@
+model:
+  encoder:
+    backbone:
+      name: croco
+      model: ViTLarge_BaseDecoder
+      patch_embed_cls: PatchEmbedDust3R
+      asymmetry_decoder: true
+      intrinsics_embed_loc: encoder
+      intrinsics_embed_degree: 4
+      intrinsics_embed_type: token
+    name: da3_resplat
+    opacity_mapping:
+      initial: 0.0
+      final: 0.0
+      warm_up: 1
+    num_monocular_samples: 32
+    num_surfaces: 1
+    predict_opacity: false
+    gaussians_per_pixel: 1
+    gaussian_adapter:
+      gaussian_scale_min: 0.5
+      gaussian_scale_max: 15.0
+      sh_degree: 3
+    d_feature: 128
+    visualizer:
+      num_samples: 8
+      min_resolution: 256
+      export_ply: false
+    apply_bounds_shim: true
+    gs_params_head_type: dpt_gs
+    pose_free: true
+    pretrained_weights: ''
+    da3_checkpoint: /gpfs/scratch1/shared/qzhang1/da3_pretrained/DA3-GIANT
+    resplat_checkpoint: /gpfs/scratch1/shared/qzhang1/resplat_pretrained/resplat-base-dl3dv-256x448-view8-1934a04c.pth
+    freeze_da3: true
+    freeze_resplat: true
+    use_pred_pose: false
+  decoder:
+    name: splatting_cuda
+    background_color:
+    - 0.0
+    - 0.0
+    - 0.0
+    make_scale_invariant: true
+    low_pass_filter: 0.3
+    decrease_lpf_step: -1
+  refiner: null
+  diffusion_head:
+    enc_k: 256
+    enc_df: 128
+    enc_df_out: 128
+    enc_d_point: 64
+    enc_cross_depth: 4
+    enc_self_depth: 2
+    dec_dim_model: 64
+    dec_cross_depth: 3
+    dec_num_virtual: 256
+    train_num_steps: 3
+    infer_num_steps: 3
+    use_cam_cond: false
+    use_vggt_priors: true
+    use_cam_pred: false
+loss:
+  mse_l1:
+    weight: 0.5
+    empty_render_thresh: 0.02
+  lpips:
+    weight: 0.15
+    apply_after_step: 0
+  ssim:
+    weight: 0.05
+  depth:
+    weight: 0.0
+wandb:
+  project: DAV3
+  entity: zswjsw-the-university-of-sydney
+  name: finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5
+  mode: online
+  tags:
+  - scannet_i2slam
+  - vdiff_pseudo_gt
+  - diffusion_head
+  - da3_resplat
+  - finetune
+  - pred_pose
+  - depth_supervised
+mode: train
+data_loader:
+  train:
+    num_workers: 4
+    persistent_workers: true
+    batch_size: 1
+    seed: 1234
+  test:
+    num_workers: 2
+    persistent_workers: false
+    batch_size: 1
+    seed: 2345
+  val:
+    num_workers: 1
+    persistent_workers: false
+    batch_size: 1
+    seed: 3456
+optimizer:
+  lr: 2.0e-05
+  warm_up_steps: 200
+  backbone_lr_multiplier: 0.01
+checkpointing:
+  load: /scratch-shared/qzhang1/C3G_outputs/exp_gopro_planB_l2img_depth02_from_scannetpp20k/2026-05-05_21-35-23/checkpoints/latest-info/global_step_3999.ckpt
+  every_n_train_steps: 2000
+  save_top_k: 1
+  save_weights_only: true
+  load_weights_only: true
+train:
+  depth_mode: depth
+  extended_visualization: false
+  print_log_every_n_steps: 10
+  context_view_loss: false
+  random_select_context_view: false
+  freeze_encoder: true
+  share_weight: 0.0
+  l_flow_weight: 0.0
+  cam_loss_weight: 0.0
+test:
+  output_path: outputs/test
+  align_pose: true
+  pose_align_steps: 100
+  rot_opt_lr: 0.005
+  trans_opt_lr: 0.005
+  compute_scores: true
+  save_image: true
+  save_video: false
+  save_compare: false
+  use_tto: false
+  tto_steps: 200
+  tto_lr: 0.001
+  tto_geo_lr_scale: 0.1
+seed: 111123
+trainer:
+  max_steps: 20000
+  val_check_interval: 500
+  gradient_clip_val: 1.0
+  num_nodes: 1
+  accumulate_grad_batches: 4
+  devices: 3
+  strategy: ddp
+  enable_progress_bar: true
+  num_sanity_val_steps: 0
+  precision: bf16-mixed
+dataset:
+  scannet_i2slam:
+    make_baseline_1: false
+    relative_pose: false
+    augment: false
+    background_color:
+    - 0.0
+    - 0.0
+    - 0.0
+    overfit_to_scene: null
+    skip_bad_shape: true
+    view_sampler:
+      name: bounded
+      num_target_views: 1
+      num_context_views: 2
+      min_distance_between_context_views: 2
+      max_distance_between_context_views: 6
+      min_distance_to_context_views: 0
+      warm_up_steps: 0
+      initial_min_distance_between_context_views: 2
+      initial_max_distance_between_context_views: 6
+    name: scannet_i2slam
+    roots:
+    - /scratch-shared/qzhang1/datasets/i2slam_scannet/I2-SLAM_dataset/rgbd/scannet
+    near: 0.1
+    far: 10.0
+    input_image_shape:
+    - 336
+    - 448
+    original_image_shape:
+    - 480
+    - 640
+    cameras_are_circular: false
+    baseline_min: 0.0
+    baseline_max: 10000000000.0
+    max_fov: 180.0
+    native_color_w: 1296
+    native_color_h: 968
+    train_scenes:
+    - scene0024_01
+    - scene0031_00
+    - scene0736_00
+    val_scenes:
+    - scene0785_00
+    samples_per_scene: 100
+    val_samples_per_scene: 8
+    num_context_views: 6
+    frame_stride: 1

exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5/2026-05-06_18-52-35/.hydra/hydra.yaml

@@ -0,0 +1,165 @@
+hydra:
+  run:
+    dir: /scratch-shared/qzhang1/C3G_outputs/exp_${wandb.name}/${now:%Y-%m-%d_%H-%M-%S}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - +training=finetune_dav3_scannet_i2slam
+    - trainer.num_nodes=1
+    - trainer.devices=3
+    - wandb.mode=online
+    - wandb.name=finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5
+  job:
+    name: main
+    chdir: null
+    override_dirname: +training=finetune_dav3_scannet_i2slam,trainer.devices=3,trainer.num_nodes=1,wandb.mode=online,wandb.name=finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5
+    id: ???
+    num: ???
+    config_name: main
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.3'
+    cwd: /gpfs/home2/qzhang1/C3G
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /gpfs/home2/qzhang1/C3G/config
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /scratch-shared/qzhang1/C3G_outputs/exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5/2026-05-06_18-52-35
+    choices:
+      training: finetune_dav3_scannet_i2slam
+      dataset@dataset.scannet_i2slam: scannet_i2slam
+      dataset/view_sampler@dataset.scannet_i2slam.view_sampler: bounded
+      model/decoder: splatting_cuda
+      model/encoder: noposplat
+      model/encoder/backbone: croco
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5/2026-05-06_18-52-35/.hydra/overrides.yaml

@@ -0,0 +1,5 @@
+- +training=finetune_dav3_scannet_i2slam
+- trainer.num_nodes=1
+- trainer.devices=3
+- wandb.mode=online
+- wandb.name=finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5

exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5/2026-05-06_18-52-35/checkpoints/best-psnr-val/psnr_24.830-info/global_step_124.ckpt

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f315c50ac0ce41ecce605f113209ca9b6e1a58e170b812f5e3e0c9e8a44d77e4
+size 6270029378

exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5/2026-05-06_18-52-35/main.log

@@ -0,0 +1,8 @@
+[2026-05-06 18:53:04,988][dinov2][INFO] - using MLP layer as FFN
+[2026-05-06 18:53:08,472][dinov2][INFO] - using MLP layer as FFN
+[2026-05-06 18:53:08,589][dinov2][INFO] - using MLP layer as FFN
+[2026-05-06 18:54:58,069][pytorch_lightning.utilities.rank_zero][INFO] - ----------------------------------------------------------------------------------------------------
+distributed_backend=nccl
+All distributed processes registered. Starting with 3 processes
+----------------------------------------------------------------------------------------------------
+

exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5/2026-05-06_18-52-35/wandb/debug-internal.log

@@ -0,0 +1,7 @@
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+{"time":"2026-05-06T18:55:01.689250256+02:00","level":"INFO","msg":"created new stream","id":"j2o8bdxw"}
+{"time":"2026-05-06T18:55:01.689318216+02:00","level":"INFO","msg":"stream: started","id":"j2o8bdxw"}
+{"time":"2026-05-06T18:55:01.689350596+02:00","level":"INFO","msg":"handler: started","stream_id":"j2o8bdxw"}
+{"time":"2026-05-06T18:55:01.689354526+02:00","level":"INFO","msg":"writer: Do: started","stream_id":"j2o8bdxw"}
+{"time":"2026-05-06T18:55:01.689361526+02:00","level":"INFO","msg":"sender: started","stream_id":"j2o8bdxw"}
+{"time":"2026-05-06T18:55:02.481716261+02:00","level":"INFO","msg":"Starting system monitor"}

exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5/2026-05-06_18-52-35/wandb/debug.log

@@ -0,0 +1,22 @@
+2026-05-06 18:55:01,292 INFO    MainThread:2033010 [wandb_setup.py:_flush():70] Current SDK version is 0.19.11
+2026-05-06 18:55:01,292 INFO    MainThread:2033010 [wandb_setup.py:_flush():70] Configure stats pid to 2033010
+2026-05-06 18:55:01,292 INFO    MainThread:2033010 [wandb_setup.py:_flush():70] Loading settings from /home/qzhang1/.config/wandb/settings
+2026-05-06 18:55:01,292 INFO    MainThread:2033010 [wandb_setup.py:_flush():70] Loading settings from /gpfs/home2/qzhang1/C3G/wandb/settings
+2026-05-06 18:55:01,292 INFO    MainThread:2033010 [wandb_setup.py:_flush():70] Loading settings from environment variables
+2026-05-06 18:55:01,292 INFO    MainThread:2033010 [wandb_init.py:setup_run_log_directory():724] Logging user logs to /scratch-shared/qzhang1/C3G_outputs/exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5/2026-05-06_18-52-35/wandb/run-20260506_185501-j2o8bdxw/logs/debug.log
+2026-05-06 18:55:01,292 INFO    MainThread:2033010 [wandb_init.py:setup_run_log_directory():725] Logging internal logs to /scratch-shared/qzhang1/C3G_outputs/exp_finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5/2026-05-06_18-52-35/wandb/run-20260506_185501-j2o8bdxw/logs/debug-internal.log
+2026-05-06 18:55:01,292 INFO    MainThread:2033010 [wandb_init.py:init():852] calling init triggers
+2026-05-06 18:55:01,293 INFO    MainThread:2033010 [wandb_init.py:init():857] wandb.init called with sweep_config: {}
+config: {'model': {'encoder': {'backbone': {'name': 'croco', 'model': 'ViTLarge_BaseDecoder', 'patch_embed_cls': 'PatchEmbedDust3R', 'asymmetry_decoder': True, 'intrinsics_embed_loc': 'encoder', 'intrinsics_embed_degree': 4, 'intrinsics_embed_type': 'token'}, 'name': 'da3_resplat', 'opacity_mapping': {'initial': 0.0, 'final': 0.0, 'warm_up': 1}, 'num_monocular_samples': 32, 'num_surfaces': 1, 'predict_opacity': False, 'gaussians_per_pixel': 1, 'gaussian_adapter': {'gaussian_scale_min': 0.5, 'gaussian_scale_max': 15.0, 'sh_degree': 3}, 'd_feature': 128, 'visualizer': {'num_samples': 8, 'min_resolution': 256, 'export_ply': False}, 'apply_bounds_shim': True, 'gs_params_head_type': 'dpt_gs', 'pose_free': True, 'pretrained_weights': '', 'da3_checkpoint': '/gpfs/scratch1/shared/qzhang1/da3_pretrained/DA3-GIANT', 'resplat_checkpoint': '/gpfs/scratch1/shared/qzhang1/resplat_pretrained/resplat-base-dl3dv-256x448-view8-1934a04c.pth', 'freeze_da3': True, 'freeze_resplat': True, 'use_pred_pose': False}, 'decoder': {'name': 'splatting_cuda', 'background_color': [0.0, 0.0, 0.0], 'make_scale_invariant': True, 'low_pass_filter': 0.3, 'decrease_lpf_step': -1}, 'refiner': None, 'diffusion_head': {'enc_k': 256, 'enc_df': 128, 'enc_df_out': 128, 'enc_d_point': 64, 'enc_cross_depth': 4, 'enc_self_depth': 2, 'dec_dim_model': 64, 'dec_cross_depth': 3, 'dec_num_virtual': 256, 'train_num_steps': 3, 'infer_num_steps': 3, 'use_cam_cond': False, 'use_vggt_priors': True, 'use_cam_pred': False}}, 'loss': {'mse_l1': {'weight': 0.5, 'empty_render_thresh': 0.02}, 'lpips': {'weight': 0.15, 'apply_after_step': 0}, 'ssim': {'weight': 0.05}, 'depth': {'weight': 0.0}}, 'wandb': {'project': 'DAV3', 'entity': 'zswjsw-the-university-of-sydney', 'name': 'finetune_dav3_scannet_i2slam_v25_pureGT_lr2e5', 'mode': 'online', 'tags': ['scannet_i2slam', 'vdiff_pseudo_gt', 'diffusion_head', 'da3_resplat', 'finetune', 'pred_pose', 'depth_supervised']}, 'mode': 'train', 'data_loader': {'train': {'num_workers': 4, 'persistent_workers': True, 'batch_size': 1, 'seed': 1234}, 'test': {'num_workers': 2, 'persistent_workers': False, 'batch_size': 1, 'seed': 2345}, 'val': {'num_workers': 1, 'persistent_workers': False, 'batch_size': 1, 'seed': 3456}}, 'optimizer': {'lr': 2e-05, 'warm_up_steps': 200, 'backbone_lr_multiplier': 0.01}, 'checkpointing': {'load': '/scratch-shared/qzhang1/C3G_outputs/exp_gopro_planB_l2img_depth02_from_scannetpp20k/2026-05-05_21-35-23/checkpoints/latest-info/global_step_3999.ckpt', 'every_n_train_steps': 2000, 'save_top_k': 1, 'save_weights_only': True, 'load_weights_only': True}, 'train': {'depth_mode': 'depth', 'extended_visualization': False, 'print_log_every_n_steps': 10, 'context_view_loss': False, 'random_select_context_view': False, 'freeze_encoder': True, 'share_weight': 0.0, 'l_flow_weight': 0.0, 'cam_loss_weight': 0.0}, 'test': {'output_path': 'outputs/test', 'align_pose': True, 'pose_align_steps': 100, 'rot_opt_lr': 0.005, 'trans_opt_lr': 0.005, 'compute_scores': True, 'save_image': True, 'save_video': False, 'save_compare': False, 'use_tto': False, 'tto_steps': 200, 'tto_lr': 0.001, 'tto_geo_lr_scale': 0.1}, 'seed': 111123, 'trainer': {'max_steps': 20000, 'val_check_interval': 500, 'gradient_clip_val': 1.0, 'num_nodes': 1, 'accumulate_grad_batches': 4, 'devices': 3, 'strategy': 'ddp', 'enable_progress_bar': True, 'num_sanity_val_steps': 0, 'precision': 'bf16-mixed'}, 'dataset': {'scannet_i2slam': {'make_baseline_1': False, 'relative_pose': False, 'augment': False, 'background_color': [0.0, 0.0, 0.0], 'overfit_to_scene': None, 'skip_bad_shape': True, 'view_sampler': {'name': 'bounded', 'num_target_views': 1, 'num_context_views': 2, 'min_distance_between_context_views': 2, 'max_distance_between_context_views': 6, 'min_distance_to_context_views': 0, 'warm_up_steps': 0, 'initial_min_distance_between_context_views': 2, 'initial_max_distance_between_context_views': 6}, 'name': 'scannet_i2slam', 'roots': ['/scratch-shared/qzhang1/datasets/i2slam_scannet/I2-SLAM_dataset/rgbd/scannet'], 'near': 0.1, 'far': 10.0, 'input_image_shape': [336, 448], 'original_image_shape': [480, 640], 'cameras_are_circular': False, 'baseline_min': 0.0, 'baseline_max': 10000000000.0, 'max_fov': 180.0, 'native_color_w': 1296, 'native_color_h': 968, 'train_scenes': ['scene0024_01', 'scene0031_00', 'scene0736_00'], 'val_scenes': ['scene0785_00'], 'samples_per_scene': 100, 'val_samples_per_scene': 8, 'num_context_views': 6, 'frame_stride': 1}}, '_wandb': {}}
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+2026-05-06 18:55:01,332 INFO    MainThread:2033010 [wandb_init.py:init():1005] updated telemetry
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