SpatialLM (lehoangan02/SpatialLM stage3/pipeline.py, Llama-1B) on P64 MasterSlam1 (--up_hint=-y), I87X MasterSlam1 (defaults), I87X MasterSlam2 (--no_crop)

.gitattributes

@@ -1330,3 +1330,6 @@ I87X/MasterSlam1_ScanVideo2/scan_tsdf.obj filter=lfs diff=lfs merge=lfs -text
 I87X/MasterSlam2_ScanVideo2/scan_tsdf.obj filter=lfs diff=lfs merge=lfs -text
 I87X/MasterSlam1_ScanVideo2/scan_mesh.obj filter=lfs diff=lfs merge=lfs -text
 I87X/MasterSlam2_ScanVideo2/scan_mesh.obj filter=lfs diff=lfs merge=lfs -text
+P64/Spatiallm1_MasterSlam1/room_with_scan.glb filter=lfs diff=lfs merge=lfs -text
+I87X/Spatiallm1_MasterSlam1/room_with_scan.glb filter=lfs diff=lfs merge=lfs -text
+I87X/Spatiallm1_MasterSlam2/room_with_scan.glb filter=lfs diff=lfs merge=lfs -text

I87X/Spatiallm1_MasterSlam1/layout.txt

@@ -0,0 +1,24 @@
+wall_0=Wall(-3.2134826841470945,-4.052044189215931,0.0,1.248493009211594,-4.052044189215931,0.0,2.6010931600670775,0.0)
+wall_1=Wall(-3.2134826841470945,-4.052044189215931,0.0,-3.2134826841470945,6.283871284520195,0.0,2.6010931600670775,0.0)
+wall_2=Wall(1.248493009211594,-4.052044189215931,0.0,1.248493009211594,6.283871284520195,0.0,2.6010931600670775,0.0)
+wall_3=Wall(-3.2134826841470945,6.283871284520195,0.0,1.248493009211594,6.283871284520195,0.0,2.6010931600670775,0.0)
+window_0=Window(wall_1,-3.2134826841470945,-3.408582600538767,1.4500427492147832,1.2400000000000002,1.5)
+window_1=Window(wall_1,-3.2134826841470945,-0.7835826005387672,1.4500427492147832,1.2400000000000002,1.5)
+window_2=Window(wall_1,-3.2134826841470945,2.291417399461233,1.4500427492147832,1.2400000000000002,1.5)
+window_3=Window(wall_1,-3.2134826841470945,4.766417399461232,1.4500427492147832,1.2400000000000002,1.5)
+door_0=Door(wall_2,1.248493009211594,-2.783582600538767,0.9000427492147832,0.96,2.2800000000000002)
+door_1=Door(wall_2,1.248493009211594,0.7164173994612328,0.9000427492147832,0.96,2.2800000000000002)
+window_4=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+window_5=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+window_6=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+window_7=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+window_8=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+window_9=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+window_10=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+window_11=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+window_12=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+window_13=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+window_14=Window(wall_3,-2.5934826841470944,6.283871284520195,1.4500427492147832,1.2400000000000002,1.5)
+bbox_0=Bbox(curtain,-2.876506990788406,-3.608582600538767,1.400042749214783,-1.5708000000000002,0.765625,0.15625,2.484375)
+bbox_1=Bbox(curtain,-2.876506990788406,-2.733582600538767,1.400042749214783,-1.5708000000000002,0.765625,0.15625,2.484375)
+bbox_2=Bbox(curtain,-3.076506990788406,6.116417399461232,1.0750427492147832,-3.1416,1.1875,0.15625,2.71875)

I87X/Spatiallm1_MasterSlam1/pipeline.log

@@ -0,0 +1,43 @@
+[pipeline] output folder: /home/lehoangan/LHAN/SpatialLM/outputs/I87X_Spatiallm1_MasterSlam1
+up axis (input frame) = [-0.031 -0.933 -0.359]  floor=-0.570 ceiling=1.915 raw height=2.485
+scale factor = 1.0461
+wrote /home/lehoangan/LHAN/SpatialLM/outputs/I87X_Spatiallm1_MasterSlam1/intermediate/aligned.ply: 1894053 pts, extent min [-3.92 -4.46 -0.82] max [2.64 6.52 2.73]
+[pipeline] cropped: kept 864612/1894053 points
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:47: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
+  _TORCH_CUSTOM_FWD = amp.custom_fwd(cast_inputs=torch.float16)
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:96: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:162: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:242: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:331: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:368: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:388: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:411: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
+Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  1.69it/s]
+Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.85it/s]
+Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  2.58it/s]
+[pipeline] loaded models/SpatialLM1.1-Llama-1B (bfloat16) in 5.3 s
+[pipeline] thinned cropped.ply with a 3.0 cm voxel to 116613 points
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+The attention mask is not set and cannot be inferred from input because pad token is same as eos token. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+[pipeline] arch seed 0 [llama]: ok in 2.4 s
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+[pipeline] arch seed 1 [llama]: ok in 3.8 s
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+[pipeline] arch seed 2 [llama]: ok in 2.2 s
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+[pipeline] object seed 0 [llama]: ok in 6.0 s
+[pipeline] boxes: kept 3 of 31 (dropped repeats and boxes outside the room)
+[pipeline] chosen seed: 1 (wall support 0.29)
+[pipeline] done in 32.8 s: {'walls': 4, 'doors': 2, 'windows': 15, 'boxes': 3} -> /home/lehoangan/LHAN/SpatialLM/outputs/I87X_Spatiallm1_MasterSlam1/layout.txt, room.glb

I87X/Spatiallm1_MasterSlam1/room_with_scan.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d3b3f8e69d59690173f0e3555dae0dfaa5cd59a68f07a202de4d796d47000e7
+size 4847140

I87X/Spatiallm1_MasterSlam1/summary.json

@@ -0,0 +1,125 @@
+{
+ "input": "/home/lehoangan/LHAN/RoSE/I87X/MasterSlam1_ScanVideo2/scan.ply",
+ "settings": {
+  "model": "llama",
+  "dtype": "bfloat16",
+  "seeds": [
+   0,
+   1,
+   2
+  ],
+  "object_seed": 0,
+  "object_input": "cropped",
+  "max_input_points": 120000,
+  "no_fallback": false,
+  "ceiling_height": 2.6,
+  "up_hint": "auto",
+  "aligned": false,
+  "no_crop": false,
+  "margin": 0.3,
+  "footprint": "auto",
+  "glb_points": 300000
+ },
+ "transform": {
+  "rotation": [
+   [
+    -0.32555362605497234,
+    0.34919909199324234,
+    -0.8786778879165871
+   ],
+   [
+    0.9450299313687771,
+    0.09014480261398712,
+    -0.3143124931955616
+   ],
+   [
+    -0.03054939245850645,
+    -0.9327024759872682,
+    -0.3593505613014064
+   ]
+  ],
+  "floor_z_raw": -0.5699921075971753,
+  "scale": 1.0461358295938654,
+  "raw_height": 2.4853369194030774,
+  "note": "aligned = (R @ p - [0,0,floor_z_raw]) * scale"
+ },
+ "chosen_seed": 1,
+ "result": {
+  "walls": 4,
+  "doors": 2,
+  "windows": 15,
+  "boxes": 3
+ },
+ "seeds": {
+  "s0": {
+   "walls": 4,
+   "doors": 1,
+   "windows": 4,
+   "boxes": 3,
+   "wall_support": 0.17965917577568064,
+   "wall_recall": 0.21950651962536047,
+   "openings_with_gap": "5/5"
+  },
+  "s1": {
+   "walls": 4,
+   "doors": 2,
+   "windows": 15,
+   "boxes": 3,
+   "wall_support": 0.2889198180460317,
+   "wall_recall": 0.40144935967223194,
+   "openings_with_gap": "17/17"
+  },
+  "s2": {
+   "walls": 4,
+   "doors": 1,
+   "windows": 7,
+   "boxes": 3,
+   "wall_support": 0.1797525290243737,
+   "wall_recall": 0.2196644200483674,
+   "openings_with_gap": "8/8"
+  }
+ },
+ "spatiallm_runs": [
+  {
+   "task": "arch",
+   "seed": 0,
+   "model": "llama",
+   "n_points": 116613,
+   "voxel_m": 0.03,
+   "seconds": 2.4,
+   "peak_vram_gb": 3.16,
+   "error": null
+  },
+  {
+   "task": "arch",
+   "seed": 1,
+   "model": "llama",
+   "n_points": 116613,
+   "voxel_m": 0.03,
+   "seconds": 3.8,
+   "peak_vram_gb": 3.16,
+   "error": null
+  },
+  {
+   "task": "arch",
+   "seed": 2,
+   "model": "llama",
+   "n_points": 116613,
+   "voxel_m": 0.03,
+   "seconds": 2.2,
+   "peak_vram_gb": 3.16,
+   "error": null
+  },
+  {
+   "task": "object",
+   "seed": 0,
+   "model": "llama",
+   "n_points": 116613,
+   "voxel_m": 0.03,
+   "seconds": 6.0,
+   "peak_vram_gb": 3.16,
+   "error": null
+  }
+ ],
+ "total_seconds": 32.8
+}

I87X/Spatiallm1_MasterSlam2/layout.txt

@@ -0,0 +1,15 @@
+wall_0=Wall(-3.315737438585165,-4.301981787099866,0.0,0.7780647556521982,-4.301981787099866,0.0,2.5876834139270595,0.0)
+wall_1=Wall(-3.315737438585165,-4.301981787099866,0.0,-3.315737438585165,6.598224622361649,0.0,2.5876834139270595,0.0)
+wall_2=Wall(0.7780647556521982,-4.301981787099866,0.0,0.7780647556521982,1.5372223498388968,0.0,2.5876834139270595,0.0)
+wall_3=Wall(-3.315737438585165,-2.3704667195543623,0.0,-2.955022289088862,-2.3704667195543623,0.0,2.5876834139270595,0.0)
+wall_4=Wall(0.7780647556521982,1.5372223498388968,0.0,4.453064755652199,1.5372223498388968,0.0,2.5876834139270595,0.0)
+wall_5=Wall(4.453064755652199,1.5372223498388968,0.0,4.453064755652199,6.598224622361649,0.0,2.5876834139270595,0.0)
+wall_6=Wall(-3.315737438585165,6.598224622361649,0.0,4.453064755652199,6.598224622361649,0.0,2.5876834139270595,0.0)
+window_0=Window(wall_1,-3.315737438585165,-3.5608932849743646,1.3575322299889772,1.04,1.6600000000000001)
+window_1=Window(wall_1,-3.315737438585165,-0.33589328497436455,1.3575322299889772,3.2200000000000006,1.6600000000000001)
+window_2=Window(wall_1,-3.315737438585165,3.889106715025635,1.3575322299889772,3.2200000000000006,1.6600000000000001)
+door_0=Door(wall_5,4.453064755652199,2.1141067150256356,0.5075322299889771,1.06,2.5)
+door_1=Door(wall_5,4.453064755652199,5.889106715025635,0.5075322299889771,1.06,2.5)
+window_3=Window(wall_6,0.5530647556521986,6.598224622361649,1.3575322299889772,6.88,1.6600000000000001)
+bbox_0=Bbox(curtain,-2.9719352443478013,0.36410671502563563,1.132532229988977,-1.5708000000000002,1.203125,0.171875,2.203125)
+bbox_1=Bbox(plants,-3.0719352443478014,5.589106715025636,-0.042467770011022865,-3.1416,0.65625,0.703125,1.359375)

I87X/Spatiallm1_MasterSlam2/pipeline.log

@@ -0,0 +1,42 @@
+[pipeline] output folder: /home/lehoangan/LHAN/SpatialLM/outputs/I87X_Spatiallm1_MasterSlam2_nocrop
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:47: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
+  _TORCH_CUSTOM_FWD = amp.custom_fwd(cast_inputs=torch.float16)
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:96: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:162: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:242: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:331: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:368: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:388: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:411: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+up axis (input frame) = [-0.021 -0.935 -0.354]  floor=-0.562 ceiling=1.845 raw height=2.407
+scale factor = 1.0802
+wrote /home/lehoangan/LHAN/SpatialLM/outputs/I87X_Spatiallm1_MasterSlam2_nocrop/intermediate/aligned.ply: 1979769 pts, extent min [-4.2  -4.46 -0.9 ] max [2.46 6.73 2.7 ]
+Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
+Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  2.37it/s]
+Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.66it/s]
+Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.38it/s]
+[pipeline] loaded models/SpatialLM1.1-Llama-1B (bfloat16) in 5.4 s
+[pipeline] thinned aligned.ply with a 4.5 cm voxel to 114969 points
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+The attention mask is not set and cannot be inferred from input because pad token is same as eos token. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+[pipeline] arch seed 0 [llama]: ok in 4.5 s
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+[pipeline] arch seed 1 [llama]: ok in 1.4 s
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+[pipeline] arch seed 2 [llama]: ok in 3.3 s
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+[pipeline] object seed 0 [llama]: ok in 6.4 s
+[pipeline] boxes: kept 2 of 33 (dropped repeats and boxes outside the room)
+[pipeline] chosen seed: 0 (wall support 0.29)
+[pipeline] done in 34.1 s: {'walls': 7, 'doors': 2, 'windows': 4, 'boxes': 2} -> /home/lehoangan/LHAN/SpatialLM/outputs/I87X_Spatiallm1_MasterSlam2_nocrop/layout.txt, room.glb

I87X/Spatiallm1_MasterSlam2/room_with_scan.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:112363f1f36c3b995b4dc37ae0bf67335d2995aa9497564f8aa0452804b5781f
+size 4824888

I87X/Spatiallm1_MasterSlam2/summary.json

@@ -0,0 +1,125 @@
+{
+ "input": "/home/lehoangan/LHAN/RoSE/I87X/MasterSlam2_ScanVideo2/scan.ply",
+ "settings": {
+  "model": "llama",
+  "dtype": "bfloat16",
+  "seeds": [
+   0,
+   1,
+   2
+  ],
+  "object_seed": 0,
+  "object_input": "cropped",
+  "max_input_points": 120000,
+  "no_fallback": false,
+  "ceiling_height": 2.6,
+  "up_hint": "auto",
+  "aligned": false,
+  "no_crop": true,
+  "margin": 0.3,
+  "footprint": "auto",
+  "glb_points": 300000
+ },
+ "transform": {
+  "rotation": [
+   [
+    -0.31630966992920967,
+    0.3426797083857348,
+    -0.8846009327204795
+   ],
+   [
+    0.9484155914748899,
+    0.09323914713320089,
+    -0.30300879077876336
+   ],
+   [
+    -0.021355527542289227,
+    -0.9348139274222123,
+    -0.35449522216928325
+   ]
+  ],
+  "floor_z_raw": -0.5618918134901346,
+  "scale": 1.0801976562694344,
+  "raw_height": 2.4069668962061517,
+  "note": "aligned = (R @ p - [0,0,floor_z_raw]) * scale"
+ },
+ "chosen_seed": 0,
+ "result": {
+  "walls": 7,
+  "doors": 2,
+  "windows": 4,
+  "boxes": 2
+ },
+ "seeds": {
+  "s0": {
+   "walls": 7,
+   "doors": 2,
+   "windows": 4,
+   "boxes": 2,
+   "wall_support": 0.28889574645537947,
+   "wall_recall": 0.338197022057255,
+   "openings_with_gap": "6/6"
+  },
+  "s1": {
+   "walls": 4,
+   "doors": 1,
+   "windows": 2,
+   "boxes": 2,
+   "wall_support": 0.28647685285807434,
+   "wall_recall": 0.2920630857402904,
+   "openings_with_gap": "3/3"
+  },
+  "s2": {
+   "walls": 8,
+   "doors": 2,
+   "windows": 1,
+   "boxes": 2,
+   "wall_support": 0.2866923988381122,
+   "wall_recall": 0.338197022057255,
+   "openings_with_gap": "3/3"
+  }
+ },
+ "spatiallm_runs": [
+  {
+   "task": "arch",
+   "seed": 0,
+   "model": "llama",
+   "n_points": 114969,
+   "voxel_m": 0.045,
+   "seconds": 4.5,
+   "peak_vram_gb": 3.29,
+   "error": null
+  },
+  {
+   "task": "arch",
+   "seed": 1,
+   "model": "llama",
+   "n_points": 114969,
+   "voxel_m": 0.045,
+   "seconds": 1.4,
+   "peak_vram_gb": 3.29,
+   "error": null
+  },
+  {
+   "task": "arch",
+   "seed": 2,
+   "model": "llama",
+   "n_points": 114969,
+   "voxel_m": 0.045,
+   "seconds": 3.3,
+   "peak_vram_gb": 3.29,
+   "error": null
+  },
+  {
+   "task": "object",
+   "seed": 0,
+   "model": "llama",
+   "n_points": 114969,
+   "voxel_m": 0.045,
+   "seconds": 6.4,
+   "peak_vram_gb": 3.29,
+   "error": null
+  }
+ ],
+ "total_seconds": 34.1
+}

P64/Spatiallm1_MasterSlam1/layout.txt

@@ -0,0 +1,19 @@
+wall_0=Wall(-1.4368258193258567,-1.1094694796581392,0.0,0.40380933934598584,-1.1094694796581392,0.0,2.5978897606953586,0.0)
+wall_1=Wall(-1.4368258193258567,-1.1094694796581392,0.0,-1.4368258193258567,0.5155305203418608,0.0,2.5978897606953586,0.0)
+wall_2=Wall(0.40380933934598584,-1.1094694796581392,0.0,0.40380933934598584,4.390530520341861,0.0,2.5978897606953586,0.0)
+wall_3=Wall(-1.7598451752955921,0.5155305203418608,0.0,-1.4368258193258567,0.5155305203418608,0.0,2.5978897606953586,0.0)
+wall_4=Wall(-1.7598451752955921,0.5155305203418608,0.0,-1.7598451752955921,4.390530520341861,0.0,2.5978897606953586,0.0)
+wall_5=Wall(-1.7598451752955921,4.390530520341861,0.0,0.40380933934598584,4.390530520341861,0.0,2.5978897606953586,0.0)
+door_0=Door(wall_0,-0.6211906606540141,-1.1094694796581392,0.9083477670370723,1.56,1.94)
+door_1=Door(wall_0,-0.6211906606540141,-1.1094694796581392,0.9083477670370723,1.56,1.94)
+window_0=Window(wall_0,-0.6211906606540141,-1.1094694796581392,1.2583477670370724,1.6,0.96)
+door_2=Door(wall_1,-1.4368258193258567,-0.4094694796581393,0.8083477670370725,0.5599999999999999,1.7000000000000002)
+door_3=Door(wall_5,-0.9211906606540141,4.390530520341861,0.9083477670370723,1.56,1.94)
+bbox_0=Bbox(sideboard,-1.121190660654014,-0.9844694796581394,1.0333477670370723,-3.1416,0.953125,0.40625,2.109375)
+bbox_1=Bbox(chair,-0.521190660654014,0.4405305203418606,0.3833477670370724,-1.5708000000000002,0.53125,0.59375,0.75)
+bbox_2=Bbox(side_table,-1.021190660654014,0.4905305203418606,0.2583477670370724,-3.1416,0.9375,0.9375,0.546875)
+bbox_3=Bbox(chair,-1.4211906606540141,0.9905305203418608,0.3833477670370724,-1.5708000000000002,0.53125,0.59375,0.75)
+bbox_4=Bbox(coffee_table,-1.121190660654014,1.5405305203418607,0.2583477670370724,-3.1416,1.171875,0.53125,0.546875)
+bbox_5=Bbox(chair,-1.4211906606540141,1.6155305203418608,0.3833477670370724,-1.5708000000000002,0.53125,0.59375,0.75)
+bbox_6=Bbox(chandelier,-0.9211906606540141,3.565530520341861,2.2833477670370725,-0.009817500000000479,1.265625,0.1875,0.59375)
+bbox_7=Bbox(washing_cabinet,-0.9961906606540141,3.940530520341861,0.8833477670370724,-0.009817500000000479,1.0625,0.875,1.78125)

P64/Spatiallm1_MasterSlam1/pipeline.log

@@ -0,0 +1,41 @@
+[pipeline] output folder: /home/lehoangan/LHAN/SpatialLM/outputs/P64_Spatiallm1_MasterSlam1
+up axis (input frame) = [ 0.055 -0.911  0.409]  floor=-1.594 ceiling=2.478 raw height=4.072
+scale factor = 0.6385
+wrote /home/lehoangan/LHAN/SpatialLM/outputs/P64_Spatiallm1_MasterSlam1/intermediate/aligned.ply: 590401 pts, extent min [-2.34 -1.21 -0.12] max [-0.21  4.67  2.68]
+[pipeline] cropped: kept 519628/590401 points
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:47: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
+  _TORCH_CUSTOM_FWD = amp.custom_fwd(cast_inputs=torch.float16)
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:96: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:162: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:242: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:331: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:368: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:388: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+/home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:411: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
+  @_TORCH_CUSTOM_BWD
+Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
+Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  2.47it/s]
+Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.76it/s]
+Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.49it/s]
+[pipeline] loaded models/SpatialLM1.1-Llama-1B (bfloat16) in 5.2 s
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+The attention mask is not set and cannot be inferred from input because pad token is same as eos token. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+[pipeline] arch seed 0 [llama]: ok in 5.3 s
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+[pipeline] arch seed 1 [llama]: ok in 34.6 s
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+[pipeline] arch seed 2 [llama]: ok in 34.9 s
+The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
+Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
+[pipeline] object seed 0 [llama]: ok in 1.6 s
+[pipeline] chosen seed: 0 (wall support 0.31)
+[pipeline] done in 87.7 s: {'walls': 6, 'doors': 4, 'windows': 1, 'boxes': 8} -> /home/lehoangan/LHAN/SpatialLM/outputs/P64_Spatiallm1_MasterSlam1/layout.txt, room.glb

P64/Spatiallm1_MasterSlam1/room_with_scan.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:148f20d8786773357642ac63f5cfb60eae102235b96ecdd821073342748f267f
+size 4818416

P64/Spatiallm1_MasterSlam1/summary.json

@@ -0,0 +1,125 @@
+{
+ "input": "/home/lehoangan/LHAN/RoSE/P64/MasterSlam1_ScanVideo1/scan.ply",
+ "settings": {
+  "model": "llama",
+  "dtype": "bfloat16",
+  "seeds": [
+   0,
+   1,
+   2
+  ],
+  "object_seed": 0,
+  "object_input": "cropped",
+  "max_input_points": 120000,
+  "no_fallback": false,
+  "ceiling_height": 2.6,
+  "up_hint": "-y",
+  "aligned": false,
+  "no_crop": false,
+  "margin": 0.3,
+  "footprint": "auto",
+  "glb_points": 300000
+ },
+ "transform": {
+  "rotation": [
+   [
+    -0.5714730509292153,
+    -0.36476160922490736,
+    -0.7350969463256601
+   ],
+   [
+    0.8187690329276386,
+    -0.19329877716610955,
+    -0.5406041559818298
+   ],
+   [
+    0.05509830106631366,
+    -0.9108153222150706,
+    0.40912055196220976
+   ]
+  ],
+  "floor_z_raw": -1.5940468901428706,
+  "scale": 0.6384677149916608,
+  "raw_height": 4.072249761342999,
+  "note": "aligned = (R @ p - [0,0,floor_z_raw]) * scale"
+ },
+ "chosen_seed": 0,
+ "result": {
+  "walls": 6,
+  "doors": 4,
+  "windows": 1,
+  "boxes": 8
+ },
+ "seeds": {
+  "s0": {
+   "walls": 6,
+   "doors": 4,
+   "windows": 1,
+   "boxes": 8,
+   "wall_support": 0.3069628933444723,
+   "wall_recall": 0.3875248384076011,
+   "openings_with_gap": "5/5"
+  },
+  "s1": {
+   "walls": 1,
+   "doors": 0,
+   "windows": 0,
+   "boxes": 8,
+   "wall_support": 0.02666666666666667,
+   "wall_recall": 0.0025580704839777996,
+   "openings_with_gap": "0/0"
+  },
+  "s2": {
+   "walls": 0,
+   "doors": 0,
+   "windows": 0,
+   "boxes": 8,
+   "wall_support": 0.0,
+   "wall_recall": 0.0,
+   "openings_with_gap": "0/0"
+  }
+ },
+ "spatiallm_runs": [
+  {
+   "task": "arch",
+   "seed": 0,
+   "model": "llama",
+   "n_points": 81090,
+   "voxel_m": 0.025,
+   "seconds": 5.3,
+   "peak_vram_gb": 3.05,
+   "error": null
+  },
+  {
+   "task": "arch",
+   "seed": 1,
+   "model": "llama",
+   "n_points": 81090,
+   "voxel_m": 0.025,
+   "seconds": 34.6,
+   "peak_vram_gb": 3.11,
+   "error": null
+  },
+  {
+   "task": "arch",
+   "seed": 2,
+   "model": "llama",
+   "n_points": 81090,
+   "voxel_m": 0.025,
+   "seconds": 34.9,
+   "peak_vram_gb": 3.11,
+   "error": null
+  },
+  {
+   "task": "object",
+   "seed": 0,
+   "model": "llama",
+   "n_points": 81090,
+   "voxel_m": 0.025,
+   "seconds": 1.6,
+   "peak_vram_gb": 3.07,
+   "error": null
+  }
+ ],
+ "total_seconds": 87.7
+}