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HanningLiu/06-03-rerun

Dreame 06-03 SpatialLM voxel comparison This dataset contains Rerun recordings and SpatialLM text outputs for the same colored Open3D TSDF point cloud reconstructed from the Dreame 06-03 active stereo sequence. It compares SpatialLM point-cloud cleanup voxel sizes of 0.075 m and 0.025 m. Files Path Description active_stereo_tsdf_point_cloud.rrd Existing historical 0.075 m Rerun recording. runs/voxel_0.075/ Historical layout, raw generation, and… See the full description on the dataset page: https://huggingface.co/datasets/HanningLiu/06-03-rerun.

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Dreame 06-03 SpatialLM voxel comparison

This dataset contains Rerun recordings and SpatialLM text outputs for the same colored Open3D TSDF point cloud reconstructed from the Dreame 06-03 active stereo sequence. It compares SpatialLM point-cloud cleanup voxel sizes of 0.075 m and 0.025 m.

Files

Path	Description
`active_stereo_tsdf_point_cloud.rrd`	Existing historical `0.075 m` Rerun recording.
`runs/voxel_0.075/`	Historical layout, raw generation, and diagnostics.
`runs/voxel_0.025/`	New layout, raw generation, diagnostics, and standalone Rerun recording.
`comparison/active_stereo_tsdf_voxel_0.075_vs_0.025.rrd`	Three-view comparison: `0.075`, `0.025`, and overlay.
`comparison/comparison_report.json`	Input hashes, parameters, entity counts, runtime summaries, and coordinate audit.

Open the comparison with Rerun 0.21 or a compatible viewer:

bash

rerun comparison/active_stereo_tsdf_voxel_0.075_vs_0.025.rrd

The input point cloud is logged once in its original colors. The 0.075 layout is blue, the 0.025 layout is orange, and both can be toggled independently. The recording explicitly uses a right-handed Z-up coordinate frame and an XY grid.

Input provenance

—Source artifact: active_stereo_tsdf_point_cloud.ply
—SHA-256: cfcfd27fae0174b4b69616a18c7c50e8fd4f19a4d8f0679624c15c51c207dc3e
—Points: 175,025, with RGB colors and normals
—Unit: meters
—Coordinate transform applied before inference: identity
—Surface-normal Manhattan yaw audit: -0.4434 degrees; no additional rotation was applied

The source PLY and model weights are not distributed in this dataset.

Inference settings

Both results use SpatialLM1.1-Qwen-0.5B, detect_type=all, seed 42, MPS for the model and Sonata backbone, mtlgemm sparse convolution, SDPA attention, FP16 LLM weights, block synchronization, 16-block convolution chunking, and a maximum of 4096 generated tokens. The SpatialLM model grid is 0.025 m in both runs.

Metric	`0.075 m` cleanup	`0.025 m` cleanup
SpatialLM Mac commit	`8913c44`	`ba67311`
Points after cleanup	29,460	119,767
Tokens after grid sampling	29,166	101,697
Generated tokens	896	946
Walls	19	14
Doors	5	7
O-BBoxes	5	10
Total parsed entities	29	31

All five Sonata stages completed on MPS with finite outputs. Irregular sparse topology operations, including neighbor-map construction, serialization, and large batch-offset reductions, use explicit and recorded CPU helpers for watchdog safety and MPS correctness. PYTORCH_ENABLE_MPS_FALLBACK was not enabled.

Comparison limitation

This is a historical visual comparison, not a strict single-variable ablation. The 0.075 m result is intentionally reused from the existing recording, while the 0.025 m result uses the later Mac backend commit that fixes large MPS point-batch offsets. Differences may therefore reflect both the cleanup voxel size and the backend revision. No claim is made that either layout is geometrically correct.