Upload ablation results

.gitattributes

@@ -33,3 +33,31 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+ablation/ibims/representative_images/method_comparison/ibims_kitchen_01_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/ibims/representative_images/method_comparison/ibims_kitchen_07_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/ibims/representative_images/method_comparison/ibims_lectureroom_05_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/ibims/representative_images/method_comparison/ibims_livingroom_14_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/ibims/representative_images/method_comparison/ibims_restaurant_11_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/ibims/representative_images/method_comparison/ibims_storageroom_05_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/ibims/representative_images/ours_representative_rgb_gt_pred_error.png filter=lfs diff=lfs merge=lfs -text
+ablation/nyuv2/representative_images/method_comparison/val_000041_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/nyuv2/representative_images/method_comparison/val_000055_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/nyuv2/representative_images/method_comparison/val_000085_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/nyuv2/representative_images/method_comparison/val_000101_method_comparison.png filter=lfs diff=lfs merge=lfs -text
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+ablation/nyuv2/representative_images/method_comparison/val_000441_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/nyuv2/representative_images/ours_representative_rgb_gt_pred_error.png filter=lfs diff=lfs merge=lfs -text
+ablation/scannet/representative_images/method_comparison/scene0223_00_000600_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/scannet/representative_images/method_comparison/scene0303_00_001250_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/scannet/representative_images/method_comparison/scene0548_00_002050_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/scannet/representative_images/method_comparison/scene0552_01_000430_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/scannet/representative_images/method_comparison/scene0600_02_001350_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/scannet/representative_images/method_comparison/scene0645_01_000340_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/scannet/representative_images/ours_representative_rgb_gt_pred_error.png filter=lfs diff=lfs merge=lfs -text
+ablation/sintel/representative_images/method_comparison/alley_2_frame_0028_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/sintel/representative_images/method_comparison/ambush_2_frame_0014_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/sintel/representative_images/method_comparison/ambush_5_frame_0026_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/sintel/representative_images/method_comparison/ambush_7_frame_0035_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/sintel/representative_images/method_comparison/bandage_2_frame_0027_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/sintel/representative_images/method_comparison/cave_4_frame_0022_method_comparison.png filter=lfs diff=lfs merge=lfs -text
+ablation/sintel/representative_images/ours_representative_rgb_gt_pred_error.png filter=lfs diff=lfs merge=lfs -text

ablation/README.md

@@ -0,0 +1,17 @@
+# Normal Evaluation Ablation Results
+
+This folder is organized by dataset. Each dataset folder contains `data/`, `representative_images/`, and `source.json`.
+
+Sources:
+- `run_123850`: `/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50`
+- `run_121747`: `/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47`
+
+Metric summary:
+
+| dataset | method | run | angle_deg | acc_11_25 | acc_22_5 | acc_30 | samples | ips |
+| --- | --- | --- | ---: | ---: | ---: | ---: | ---: | ---: |
+| ibims | ours | run_121747 | 18.2029 | 0.6245 | 0.7906 | 0.8311 | 100.0000 | 0.5437 |
+| nyuv2 | ours | run_123850 | 23.0193 | 0.3945 | 0.6669 | 0.7524 | 654.0000 | 0.5392 |
+| scannet | ours | run_123850 | 21.3949 | 0.4585 | 0.7153 | 0.7848 | 300.0000 | 0.5386 |
+| sintel | ours | run_123850 | 38.2628 | 0.1781 | 0.3814 | 0.4996 | 1064.0000 | 0.5471 |
+| toy | ours | run_121747 |  |  |  |  |  |  |

ablation/ablation_metrics_summary.csv

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+dataset,method,run,angle_deg,acc_11_25,acc_22_5,acc_30,samples,missing,inference_mean_seconds,inference_images_per_second
+nyuv2,ours,run_123850,23.019315893132386,0.39451143620621176,0.6669151603446459,0.752394706238665,654.0,0.0,1.8544761400122982,0.539235840474803
+scannet,ours,run_123850,21.39486180464427,0.4585078304835285,0.7153138614818454,0.7848363836357991,300.0,0.0,1.8565222447564205,0.5386415394829821
+sintel,ours,run_123850,38.26282845583177,0.17808037532162607,0.38137201149072636,0.4995710332632849,1064.0,0.0,1.8277028220793219,0.5471348995688098
+ibims,ours,run_121747,18.20290114402771,0.6245251177251339,0.790619985461235,0.831144380569458,100.0,0.0,1.8394116687588393,0.5436520910377608
+toy,ours,run_121747,,,,,,,,

ablation/ibims/data/eval_experiment.json

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+{
+  "dataset": "ibims",
+  "data_root": "/root/vepfs/Infinity/data",
+  "partition": "val",
+  "pn": "1M",
+  "max_samples": 0,
+  "input_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/_eval_set/images",
+  "eval_set_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/_eval_set",
+  "source_eval_set_dir": "",
+  "eval_image": "",
+  "methods": [
+    "ours"
+  ],
+  "ours_checkpoints": [
+    "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth"
+  ],
+  "normal_tokenizer_ckpt": "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+  "visible_cuda_devices": [
+    "0",
+    "1",
+    "2",
+    "3"
+  ],
+  "parallel_shards": "auto",
+  "compare_inference_time": true,
+  "timing_warmup": 3,
+  "timing_repeats": 5,
+  "ours_kv_cache_fast": false,
+  "inference_time_protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+  "normal_conventions": {
+    "canonical": "camera_left_up_backward",
+    "dataset_targets": {
+      "nyuv2": {
+        "name": "nyuv2_raw_right_forward_up",
+        "to_eval_perm": [
+          0,
+          2,
+          1
+        ],
+        "to_eval_signs": [
+          -1,
+          1,
+          -1
+        ],
+        "description": "NYUv2 parquet normals. Canonical mapping: (x, y, z) -> (-x, z, -y)."
+      },
+      "hypersim": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "scannet": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "ibims": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "sintel": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      }
+    },
+    "model_outputs": {
+      "ours": {
+        "name": "ours_model_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Infinity normal output already matches the exported eval convention."
+      },
+      "marigold": {
+        "name": "marigold_normals_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          -1,
+          1,
+          1
+        ],
+        "description": "Marigold normals_npy output. Canonical mapping: (x, y, z) -> (-x, y, z)."
+      },
+      "geowizard": {
+        "name": "geowizard_normal_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "GeoWizard normal_npy output already matches the canonical convention."
+      },
+      "stablenormal": {
+        "name": "stablenormal_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "StableNormal output already matches the canonical convention."
+      },
+      "lotusg": {
+        "name": "lotus_g_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Lotus-G output already matches the canonical convention."
+      },
+      "lotusd": {
+        "name": "lotus_d_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Lotus-D output already matches the canonical convention."
+      },
+      "dsine": {
+        "name": "dsine_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "DSINE output already matches the canonical convention."
+      },
+      "metric3dv2": {
+        "name": "metric3d_v2_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          -1,
+          -1,
+          -1
+        ],
+        "description": "Metric3D v2 output. Canonical mapping: (x, y, z) -> (-x, -y, -z)."
+      },
+      "omnidata_v2": {
+        "name": "omnidata_v2_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Omnidata V2 adapter output already matches the canonical convention."
+      },
+      "marigold_e2eft": {
+        "name": "marigold_e2eft_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Marigold E2E-FT output already matches the canonical convention."
+      }
+    },
+    "display_from_eval": {
+      "perm": [
+        0,
+        1,
+        2
+      ],
+      "signs": [
+        1,
+        1,
+        1
+      ],
+      "description": "Direct normal-map display: RGB = (canonical normal + 1) / 2."
+    }
+  }
+}

ablation/ibims/data/experiment_commands.json

@@ -0,0 +1,112 @@
+{
+  "ours": [
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/ours/_input_shards/shard_00",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/ours/_shards/shard_00",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/ours/_input_shards/shard_01",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/ours/_shards/shard_01",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/ours/_input_shards/shard_02",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/ours/_shards/shard_02",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/ours/_input_shards/shard_03",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/ours/_shards/shard_03",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ]
+  ]
+}

ablation/ibims/data/inference_time_summary.json

@@ -0,0 +1,21 @@
+{
+  "protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+  "methods": {
+    "ours": {
+      "enabled": true,
+      "available": true,
+      "method": "ours",
+      "protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+      "timed_observations": 500,
+      "images": 100,
+      "mean_seconds": 1.8394116687588393,
+      "median_seconds": 1.8351657567545772,
+      "std_seconds": 0.017275431719267167,
+      "ci95_seconds": 0.0015142583548655479,
+      "min_seconds": 1.8134799133986235,
+      "max_seconds": 1.8864054400473833,
+      "images_per_second": 0.5436520910377608,
+      "per_image_file": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/ours/inference_times.json"
+    }
+  }
+}

ablation/ibims/data/metrics_summary.json

@@ -0,0 +1,19 @@
+{
+  "ours": {
+    "acc_11_25": 0.6245251177251339,
+    "acc_22_5": 0.790619985461235,
+    "acc_30": 0.831144380569458,
+    "angle_deg": 18.20290114402771,
+    "loss_angular_rad": 0.3177005544304848,
+    "loss_l1": 0.14768831200897695,
+    "loss_latent": 0.0,
+    "loss_norm": 3.634137971456064e-10,
+    "loss_total_aux": 0.0,
+    "samples": 100.0,
+    "missing": 0.0,
+    "inference_mean_seconds": 1.8394116687588393,
+    "inference_median_seconds": 1.8351657567545772,
+    "inference_std_seconds": 0.017275431719267167,
+    "inference_images_per_second": 0.5436520910377608
+  }
+}

ablation/ibims/data/representative_method_comparison.json

@@ -0,0 +1,82 @@
+{
+  "samples": [
+    {
+      "id": "ibims_restaurant_11",
+      "mean_angle": 10.338109016418457,
+      "methods": 1
+    },
+    {
+      "id": "ibims_lectureroom_05",
+      "mean_angle": 13.873883247375488,
+      "methods": 1
+    },
+    {
+      "id": "ibims_livingroom_14",
+      "mean_angle": 16.593923568725586,
+      "methods": 1
+    },
+    {
+      "id": "ibims_kitchen_07",
+      "mean_angle": 18.48088264465332,
+      "methods": 1
+    },
+    {
+      "id": "ibims_kitchen_01",
+      "mean_angle": 21.066890716552734,
+      "methods": 1
+    },
+    {
+      "id": "ibims_storageroom_05",
+      "mean_angle": 35.72504806518555,
+      "methods": 1
+    }
+  ],
+  "methods": [
+    "ours"
+  ],
+  "layout": "one image per representative sample; top row is RGB/GT, then one row per method with Pred/Error.",
+  "images": [
+    {
+      "id": "ibims_restaurant_11",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/representative_method_comparison/ibims_restaurant_11_method_comparison.png",
+      "mean_angle": 10.338109016418457
+    },
+    {
+      "id": "ibims_lectureroom_05",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/representative_method_comparison/ibims_lectureroom_05_method_comparison.png",
+      "mean_angle": 13.873883247375488
+    },
+    {
+      "id": "ibims_livingroom_14",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/representative_method_comparison/ibims_livingroom_14_method_comparison.png",
+      "mean_angle": 16.593923568725586
+    },
+    {
+      "id": "ibims_kitchen_07",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/representative_method_comparison/ibims_kitchen_07_method_comparison.png",
+      "mean_angle": 18.48088264465332
+    },
+    {
+      "id": "ibims_kitchen_01",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/representative_method_comparison/ibims_kitchen_01_method_comparison.png",
+      "mean_angle": 21.066890716552734
+    },
+    {
+      "id": "ibims_storageroom_05",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims/representative_method_comparison/ibims_storageroom_05_method_comparison.png",
+      "mean_angle": 35.72504806518555
+    }
+  ],
+  "display_from_eval": {
+    "perm": [
+      0,
+      1,
+      2
+    ],
+    "signs": [
+      1,
+      1,
+      1
+    ]
+  }
+}

ablation/ibims/source.json

@@ -0,0 +1,4 @@
+{
+  "run": "run_121747",
+  "source_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-17-47/ibims"
+}

ablation/nyuv2/data/eval_experiment.json

@@ -0,0 +1,260 @@
+{
+  "dataset": "nyuv2",
+  "data_root": "/root/vepfs/Infinity/data/NYUv2/hf-parquet/tanganke/nyuv2/data",
+  "partition": "val",
+  "pn": "1M",
+  "max_samples": 0,
+  "input_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/_eval_set/images",
+  "eval_set_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/_eval_set",
+  "source_eval_set_dir": "",
+  "eval_image": "",
+  "methods": [
+    "ours"
+  ],
+  "ours_checkpoints": [
+    "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth"
+  ],
+  "normal_tokenizer_ckpt": "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+  "visible_cuda_devices": [
+    "0",
+    "1",
+    "2",
+    "3"
+  ],
+  "parallel_shards": "auto",
+  "compare_inference_time": true,
+  "timing_warmup": 3,
+  "timing_repeats": 5,
+  "ours_kv_cache_fast": false,
+  "inference_time_protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+  "normal_conventions": {
+    "canonical": "camera_left_up_backward",
+    "dataset_targets": {
+      "nyuv2": {
+        "name": "nyuv2_raw_right_forward_up",
+        "to_eval_perm": [
+          0,
+          2,
+          1
+        ],
+        "to_eval_signs": [
+          -1,
+          1,
+          -1
+        ],
+        "description": "NYUv2 parquet normals. Canonical mapping: (x, y, z) -> (-x, z, -y)."
+      },
+      "hypersim": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "scannet": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "ibims": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "sintel": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      }
+    },
+    "model_outputs": {
+      "ours": {
+        "name": "ours_model_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Infinity normal output already matches the exported eval convention."
+      },
+      "marigold": {
+        "name": "marigold_normals_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          -1,
+          1,
+          1
+        ],
+        "description": "Marigold normals_npy output. Canonical mapping: (x, y, z) -> (-x, y, z)."
+      },
+      "geowizard": {
+        "name": "geowizard_normal_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "GeoWizard normal_npy output already matches the canonical convention."
+      },
+      "stablenormal": {
+        "name": "stablenormal_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "StableNormal output already matches the canonical convention."
+      },
+      "lotusg": {
+        "name": "lotus_g_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Lotus-G output already matches the canonical convention."
+      },
+      "lotusd": {
+        "name": "lotus_d_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Lotus-D output already matches the canonical convention."
+      },
+      "dsine": {
+        "name": "dsine_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "DSINE output already matches the canonical convention."
+      },
+      "metric3dv2": {
+        "name": "metric3d_v2_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          -1,
+          -1,
+          -1
+        ],
+        "description": "Metric3D v2 output. Canonical mapping: (x, y, z) -> (-x, -y, -z)."
+      },
+      "omnidata_v2": {
+        "name": "omnidata_v2_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Omnidata V2 adapter output already matches the canonical convention."
+      },
+      "marigold_e2eft": {
+        "name": "marigold_e2eft_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Marigold E2E-FT output already matches the canonical convention."
+      }
+    },
+    "display_from_eval": {
+      "perm": [
+        0,
+        1,
+        2
+      ],
+      "signs": [
+        1,
+        1,
+        1
+      ],
+      "description": "Direct normal-map display: RGB = (canonical normal + 1) / 2."
+    }
+  }
+}

ablation/nyuv2/data/experiment_commands.json

@@ -0,0 +1,112 @@
+{
+  "ours": [
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/ours/_input_shards/shard_00",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/ours/_shards/shard_00",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/ours/_input_shards/shard_01",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/ours/_shards/shard_01",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/ours/_input_shards/shard_02",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/ours/_shards/shard_02",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/ours/_input_shards/shard_03",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/ours/_shards/shard_03",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ]
+  ]
+}

ablation/nyuv2/data/inference_time_summary.json

@@ -0,0 +1,21 @@
+{
+  "protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+  "methods": {
+    "ours": {
+      "enabled": true,
+      "available": true,
+      "method": "ours",
+      "protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+      "timed_observations": 3270,
+      "images": 654,
+      "mean_seconds": 1.8544761400122982,
+      "median_seconds": 1.850359095260501,
+      "std_seconds": 0.019757099683185158,
+      "ci95_seconds": 0.0006771819693837795,
+      "min_seconds": 1.8171202559024096,
+      "max_seconds": 1.960617057979107,
+      "images_per_second": 0.539235840474803,
+      "per_image_file": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/ours/inference_times.json"
+    }
+  }
+}

ablation/nyuv2/data/metrics_summary.json

@@ -0,0 +1,19 @@
+{
+  "ours": {
+    "acc_11_25": 0.39451143620621176,
+    "acc_22_5": 0.6669151603446459,
+    "acc_30": 0.752394706238665,
+    "angle_deg": 23.019315893132386,
+    "loss_angular_rad": 0.4017628481218574,
+    "loss_l1": 0.18980442463713684,
+    "loss_latent": 0.0,
+    "loss_norm": 5.238297881543678e-10,
+    "loss_total_aux": 0.0,
+    "samples": 654.0,
+    "missing": 0.0,
+    "inference_mean_seconds": 1.8544761400122982,
+    "inference_median_seconds": 1.850359095260501,
+    "inference_std_seconds": 0.019757099683185158,
+    "inference_images_per_second": 0.539235840474803
+  }
+}

ablation/nyuv2/data/representative_method_comparison.json

@@ -0,0 +1,82 @@
+{
+  "samples": [
+    {
+      "id": "val_000085",
+      "mean_angle": 15.93188762664795,
+      "methods": 1
+    },
+    {
+      "id": "val_000101",
+      "mean_angle": 19.566728591918945,
+      "methods": 1
+    },
+    {
+      "id": "val_000441",
+      "mean_angle": 21.495540618896484,
+      "methods": 1
+    },
+    {
+      "id": "val_000055",
+      "mean_angle": 23.6015567779541,
+      "methods": 1
+    },
+    {
+      "id": "val_000321",
+      "mean_angle": 26.621543884277344,
+      "methods": 1
+    },
+    {
+      "id": "val_000041",
+      "mean_angle": 35.222721099853516,
+      "methods": 1
+    }
+  ],
+  "methods": [
+    "ours"
+  ],
+  "layout": "one image per representative sample; top row is RGB/GT, then one row per method with Pred/Error.",
+  "images": [
+    {
+      "id": "val_000085",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/representative_method_comparison/val_000085_method_comparison.png",
+      "mean_angle": 15.93188762664795
+    },
+    {
+      "id": "val_000101",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/representative_method_comparison/val_000101_method_comparison.png",
+      "mean_angle": 19.566728591918945
+    },
+    {
+      "id": "val_000441",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/representative_method_comparison/val_000441_method_comparison.png",
+      "mean_angle": 21.495540618896484
+    },
+    {
+      "id": "val_000055",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/representative_method_comparison/val_000055_method_comparison.png",
+      "mean_angle": 23.6015567779541
+    },
+    {
+      "id": "val_000321",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/representative_method_comparison/val_000321_method_comparison.png",
+      "mean_angle": 26.621543884277344
+    },
+    {
+      "id": "val_000041",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2/representative_method_comparison/val_000041_method_comparison.png",
+      "mean_angle": 35.222721099853516
+    }
+  ],
+  "display_from_eval": {
+    "perm": [
+      0,
+      1,
+      2
+    ],
+    "signs": [
+      1,
+      1,
+      1
+    ]
+  }
+}

ablation/nyuv2/source.json

@@ -0,0 +1,4 @@
+{
+  "run": "run_123850",
+  "source_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/nyuv2"
+}

ablation/ours_vs_ablation_comparison.csv

@@ -0,0 +1,6 @@
+dataset,baseline_method,baseline_angle_deg,ablation_method,ablation_run,ablation_angle_deg,delta_angle_deg,baseline_acc_11_25,ablation_acc_11_25,delta_acc_11_25
+nyuv2,ours_ckpt3500,22.75464242970178,ours,run_123850,23.019315893132386,0.2646734634306078,0.41326634905981724,0.39451143620621176,-0.018754912853605477
+scannet,ours_ckpt3500,21.15351497332255,ours,run_123850,21.39486180464427,0.2413468313217173,0.472137817904974,0.4585078304835285,-0.0136299874214455
+sintel,ours_ckpt3500,37.86511148187451,ours,run_123850,38.26282845583177,0.3977169739572659,0.18697244788632078,0.17808037532162607,-0.008892072564694709
+ibims,ours_ckpt3500,17.555685510635374,ours,run_121747,18.20290114402771,0.6472156333923351,0.6427510130405426,0.6245251177251339,-0.018225895315408747
+toy,ours_ckpt3500,,ours,run_121747,,,,,

ablation/ours_vs_ablation_comparison.md

@@ -0,0 +1,14 @@
+# Ours Ablation Comparison
+
+Baseline values come from `../tables/mean_angular_error_table.csv` row `ours_ckpt3500`.
+Ablation values come from `ablation_metrics_summary.csv` row `ours`.
+
+Lower angle is better; higher acc@11.25 is better. Delta is ablation minus baseline.
+
+| Dataset | Baseline angle | Ablation angle | Delta angle | Baseline acc@11.25 | Ablation acc@11.25 | Delta acc@11.25 | Ablation run |
+|---|---:|---:|---:|---:|---:|---:|---|
+| nyuv2 | 22.75 | 23.02 | +0.26 | 41.3 | 39.5 | -1.9 | run_123850 |
+| scannet | 21.15 | 21.39 | +0.24 | 47.2 | 45.9 | -1.4 | run_123850 |
+| sintel | 37.87 | 38.26 | +0.40 | 18.7 | 17.8 | -0.9 | run_123850 |
+| ibims | 17.56 | 18.20 | +0.65 | 64.3 | 62.5 | -1.8 | run_121747 |
+| toy | NA | NA | NA | NA | NA | NA | run_121747 |

ablation/scannet/data/eval_experiment.json

@@ -0,0 +1,260 @@
+{
+  "dataset": "scannet",
+  "data_root": "/root/vepfs/Infinity/data",
+  "partition": "val",
+  "pn": "1M",
+  "max_samples": 0,
+  "input_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/_eval_set/images",
+  "eval_set_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/_eval_set",
+  "source_eval_set_dir": "",
+  "eval_image": "",
+  "methods": [
+    "ours"
+  ],
+  "ours_checkpoints": [
+    "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth"
+  ],
+  "normal_tokenizer_ckpt": "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+  "visible_cuda_devices": [
+    "0",
+    "1",
+    "2",
+    "3"
+  ],
+  "parallel_shards": "auto",
+  "compare_inference_time": true,
+  "timing_warmup": 3,
+  "timing_repeats": 5,
+  "ours_kv_cache_fast": false,
+  "inference_time_protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+  "normal_conventions": {
+    "canonical": "camera_left_up_backward",
+    "dataset_targets": {
+      "nyuv2": {
+        "name": "nyuv2_raw_right_forward_up",
+        "to_eval_perm": [
+          0,
+          2,
+          1
+        ],
+        "to_eval_signs": [
+          -1,
+          1,
+          -1
+        ],
+        "description": "NYUv2 parquet normals. Canonical mapping: (x, y, z) -> (-x, z, -y)."
+      },
+      "hypersim": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "scannet": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "ibims": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "sintel": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      }
+    },
+    "model_outputs": {
+      "ours": {
+        "name": "ours_model_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Infinity normal output already matches the exported eval convention."
+      },
+      "marigold": {
+        "name": "marigold_normals_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          -1,
+          1,
+          1
+        ],
+        "description": "Marigold normals_npy output. Canonical mapping: (x, y, z) -> (-x, y, z)."
+      },
+      "geowizard": {
+        "name": "geowizard_normal_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "GeoWizard normal_npy output already matches the canonical convention."
+      },
+      "stablenormal": {
+        "name": "stablenormal_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "StableNormal output already matches the canonical convention."
+      },
+      "lotusg": {
+        "name": "lotus_g_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Lotus-G output already matches the canonical convention."
+      },
+      "lotusd": {
+        "name": "lotus_d_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Lotus-D output already matches the canonical convention."
+      },
+      "dsine": {
+        "name": "dsine_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "DSINE output already matches the canonical convention."
+      },
+      "metric3dv2": {
+        "name": "metric3d_v2_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          -1,
+          -1,
+          -1
+        ],
+        "description": "Metric3D v2 output. Canonical mapping: (x, y, z) -> (-x, -y, -z)."
+      },
+      "omnidata_v2": {
+        "name": "omnidata_v2_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Omnidata V2 adapter output already matches the canonical convention."
+      },
+      "marigold_e2eft": {
+        "name": "marigold_e2eft_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Marigold E2E-FT output already matches the canonical convention."
+      }
+    },
+    "display_from_eval": {
+      "perm": [
+        0,
+        1,
+        2
+      ],
+      "signs": [
+        1,
+        1,
+        1
+      ],
+      "description": "Direct normal-map display: RGB = (canonical normal + 1) / 2."
+    }
+  }
+}

ablation/scannet/data/experiment_commands.json

@@ -0,0 +1,112 @@
+{
+  "ours": [
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/ours/_input_shards/shard_00",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/ours/_shards/shard_00",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/ours/_input_shards/shard_01",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/ours/_shards/shard_01",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/ours/_input_shards/shard_02",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/ours/_shards/shard_02",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/ours/_input_shards/shard_03",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/ours/_shards/shard_03",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ]
+  ]
+}

ablation/scannet/data/inference_time_summary.json

@@ -0,0 +1,21 @@
+{
+  "protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+  "methods": {
+    "ours": {
+      "enabled": true,
+      "available": true,
+      "method": "ours",
+      "protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+      "timed_observations": 1500,
+      "images": 300,
+      "mean_seconds": 1.8565222447564205,
+      "median_seconds": 1.852135144174099,
+      "std_seconds": 0.01928934004573679,
+      "ci95_seconds": 0.00097617529201788,
+      "min_seconds": 1.8278531096875668,
+      "max_seconds": 1.9190935641527176,
+      "images_per_second": 0.5386415394829821,
+      "per_image_file": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/ours/inference_times.json"
+    }
+  }
+}

ablation/scannet/data/metrics_summary.json

@@ -0,0 +1,19 @@
+{
+  "ours": {
+    "acc_11_25": 0.4585078304835285,
+    "acc_22_5": 0.7153138614818454,
+    "acc_30": 0.7848363836357991,
+    "angle_deg": 21.39486180464427,
+    "loss_angular_rad": 0.3734107763071855,
+    "loss_l1": 0.1772806303203106,
+    "loss_latent": 0.0,
+    "loss_norm": 5.598008211612123e-10,
+    "loss_total_aux": 0.0,
+    "samples": 300.0,
+    "missing": 0.0,
+    "inference_mean_seconds": 1.8565222447564205,
+    "inference_median_seconds": 1.852135144174099,
+    "inference_std_seconds": 0.01928934004573679,
+    "inference_images_per_second": 0.5386415394829821
+  }
+}

ablation/scannet/data/representative_method_comparison.json

@@ -0,0 +1,82 @@
+{
+  "samples": [
+    {
+      "id": "scene0223_00_000600",
+      "mean_angle": 12.284090995788574,
+      "methods": 1
+    },
+    {
+      "id": "scene0645_01_000340",
+      "mean_angle": 15.68735122680664,
+      "methods": 1
+    },
+    {
+      "id": "scene0303_00_001250",
+      "mean_angle": 18.916147232055664,
+      "methods": 1
+    },
+    {
+      "id": "scene0552_01_000430",
+      "mean_angle": 21.800033569335938,
+      "methods": 1
+    },
+    {
+      "id": "scene0600_02_001350",
+      "mean_angle": 26.825334548950195,
+      "methods": 1
+    },
+    {
+      "id": "scene0548_00_002050",
+      "mean_angle": 39.613460540771484,
+      "methods": 1
+    }
+  ],
+  "methods": [
+    "ours"
+  ],
+  "layout": "one image per representative sample; top row is RGB/GT, then one row per method with Pred/Error.",
+  "images": [
+    {
+      "id": "scene0223_00_000600",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/representative_method_comparison/scene0223_00_000600_method_comparison.png",
+      "mean_angle": 12.284090995788574
+    },
+    {
+      "id": "scene0645_01_000340",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/representative_method_comparison/scene0645_01_000340_method_comparison.png",
+      "mean_angle": 15.68735122680664
+    },
+    {
+      "id": "scene0303_00_001250",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/representative_method_comparison/scene0303_00_001250_method_comparison.png",
+      "mean_angle": 18.916147232055664
+    },
+    {
+      "id": "scene0552_01_000430",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/representative_method_comparison/scene0552_01_000430_method_comparison.png",
+      "mean_angle": 21.800033569335938
+    },
+    {
+      "id": "scene0600_02_001350",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/representative_method_comparison/scene0600_02_001350_method_comparison.png",
+      "mean_angle": 26.825334548950195
+    },
+    {
+      "id": "scene0548_00_002050",
+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet/representative_method_comparison/scene0548_00_002050_method_comparison.png",
+      "mean_angle": 39.613460540771484
+    }
+  ],
+  "display_from_eval": {
+    "perm": [
+      0,
+      1,
+      2
+    ],
+    "signs": [
+      1,
+      1,
+      1
+    ]
+  }
+}

ablation/scannet/source.json

@@ -0,0 +1,4 @@
+{
+  "run": "run_123850",
+  "source_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/scannet"
+}

ablation/sintel/data/eval_experiment.json

@@ -0,0 +1,260 @@
+{
+  "dataset": "sintel",
+  "data_root": "/root/vepfs/Infinity/data",
+  "partition": "val",
+  "pn": "1M",
+  "max_samples": 0,
+  "input_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/_eval_set/images",
+  "eval_set_dir": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/_eval_set",
+  "source_eval_set_dir": "",
+  "eval_image": "",
+  "methods": [
+    "ours"
+  ],
+  "ours_checkpoints": [
+    "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth"
+  ],
+  "normal_tokenizer_ckpt": "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+  "visible_cuda_devices": [
+    "0",
+    "1",
+    "2",
+    "3"
+  ],
+  "parallel_shards": "auto",
+  "compare_inference_time": true,
+  "timing_warmup": 3,
+  "timing_repeats": 5,
+  "ours_kv_cache_fast": false,
+  "inference_time_protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+  "normal_conventions": {
+    "canonical": "camera_left_up_backward",
+    "dataset_targets": {
+      "nyuv2": {
+        "name": "nyuv2_raw_right_forward_up",
+        "to_eval_perm": [
+          0,
+          2,
+          1
+        ],
+        "to_eval_signs": [
+          -1,
+          1,
+          -1
+        ],
+        "description": "NYUv2 parquet normals. Canonical mapping: (x, y, z) -> (-x, z, -y)."
+      },
+      "hypersim": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "scannet": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "ibims": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      },
+      "sintel": {
+        "name": "camera_left_up_backward",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Canonical metric convention: +x left, +y up, +z backward."
+      }
+    },
+    "model_outputs": {
+      "ours": {
+        "name": "ours_model_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Infinity normal output already matches the exported eval convention."
+      },
+      "marigold": {
+        "name": "marigold_normals_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          -1,
+          1,
+          1
+        ],
+        "description": "Marigold normals_npy output. Canonical mapping: (x, y, z) -> (-x, y, z)."
+      },
+      "geowizard": {
+        "name": "geowizard_normal_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "GeoWizard normal_npy output already matches the canonical convention."
+      },
+      "stablenormal": {
+        "name": "stablenormal_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "StableNormal output already matches the canonical convention."
+      },
+      "lotusg": {
+        "name": "lotus_g_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Lotus-G output already matches the canonical convention."
+      },
+      "lotusd": {
+        "name": "lotus_d_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Lotus-D output already matches the canonical convention."
+      },
+      "dsine": {
+        "name": "dsine_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "DSINE output already matches the canonical convention."
+      },
+      "metric3dv2": {
+        "name": "metric3d_v2_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          -1,
+          -1,
+          -1
+        ],
+        "description": "Metric3D v2 output. Canonical mapping: (x, y, z) -> (-x, -y, -z)."
+      },
+      "omnidata_v2": {
+        "name": "omnidata_v2_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Omnidata V2 adapter output already matches the canonical convention."
+      },
+      "marigold_e2eft": {
+        "name": "marigold_e2eft_xyz",
+        "to_eval_perm": [
+          0,
+          1,
+          2
+        ],
+        "to_eval_signs": [
+          1,
+          1,
+          1
+        ],
+        "description": "Marigold E2E-FT output already matches the canonical convention."
+      }
+    },
+    "display_from_eval": {
+      "perm": [
+        0,
+        1,
+        2
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+      "signs": [
+        1,
+        1,
+        1
+      ],
+      "description": "Direct normal-map display: RGB = (canonical normal + 1) / 2."
+    }
+  }
+}

ablation/sintel/data/experiment_commands.json

@@ -0,0 +1,112 @@
+{
+  "ours": [
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/ours/_input_shards/shard_00",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/ours/_shards/shard_00",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/ours/_input_shards/shard_01",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/ours/_shards/shard_01",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/ours/_input_shards/shard_02",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/ours/_shards/shard_02",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
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+      "--tau",
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+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ],
+    [
+      "/root/vepfs/Infinity/.venv/bin/python",
+      "tools/run_normal_estimation.py",
+      "--model-path",
+      "/root/vepfs/Infinity/outputs/normal_estimation/2026-06-11/04-33-27/checkpoints/step_0003500_val_ar_nyu_deg_103.7338.pth",
+      "--input-path",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/ours/_input_shards/shard_03",
+      "--output-dir",
+      "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/ours/_shards/shard_03",
+      "--seed",
+      "0",
+      "--top-k",
+      "1",
+      "--top-p",
+      "0.0",
+      "--tau",
+      "1.0",
+      "--save-npy",
+      "--timing-warmup",
+      "3",
+      "--timing-repeats",
+      "5",
+      "--normal-vae-ckpt",
+      "/root/vepfs/Infinity/outputs/results/checkpoints/original_tokenizer_infinity_vae_d32reg.pth",
+      "--normal-vae-type",
+      "32"
+    ]
+  ]
+}

ablation/sintel/data/inference_time_summary.json

@@ -0,0 +1,21 @@
+{
+  "protocol": "Batch-size-1 per-image model inference latency measured inside each predictor with time.perf_counter and CUDA synchronization around the model-call section only. Each image uses unmeasured warmup iterations followed by measured repeats. Model loading, process startup, dataset export, image file I/O, metric computation, visualization writing, and result serialization are excluded.",
+  "methods": {
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+      "available": true,
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+      "per_image_file": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/ours/inference_times.json"
+    }
+  }
+}

ablation/sintel/data/metrics_summary.json

@@ -0,0 +1,19 @@
+{
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+    "acc_22_5": 0.38137201149072636,
+    "acc_30": 0.4995710332632849,
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+    "loss_latent": 0.0,
+    "loss_norm": 9.085933116340199e-10,
+    "loss_total_aux": 0.0,
+    "samples": 1064.0,
+    "missing": 0.0,
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+    "inference_std_seconds": 0.014033581550791104,
+    "inference_images_per_second": 0.5471348995688098
+  }
+}

ablation/sintel/data/representative_method_comparison.json

@@ -0,0 +1,82 @@
+{
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+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/representative_method_comparison/alley_2_frame_0028_method_comparison.png",
+      "mean_angle": 20.74757957458496
+    },
+    {
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+      "path": "/root/vepfs/Infinity/outputs/normal_eval/2026-06-17/12-38-50/sintel/representative_method_comparison/ambush_5_frame_0026_method_comparison.png",
+      "mean_angle": 31.60484504699707
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+      "mean_angle": 35.800350189208984
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+    {
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+      "mean_angle": 45.92593765258789
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+}