# PAct Bad-Case Fine-Tune Preprocess

Generated: `2026-05-17T19:11:40+00:00`
Portal: `http://106.14.105.96:28080/experiments/pact-badcase-finetune-preprocess-20260517/index.html`

This portal page shows the prepared GT source data for historical official-PAct failure cases.

Latent status:

- Official TRELLIS SS latents: `169/169` part files plus `16/16` `full.npz` files.
- Reconstructed SLAT latents: `169/169` part files.
- Boundary: SLAT generation reconstructs the missing public DINO-to-3D feature lifting step from released components; it is not an official released PAct preprocessing script.

| sample | category | raw PAct F1 | pred/GT joints | parts | moving | mask labels | GLB states |
|---|---|---:|---:|---:|---:|---:|---|
| `electronics_103863` | Printer | 0.00 | 1/2 | 3 | 2 | 3 | closed/half/open |
| `electronics_103867` | Printer | 0.00 | 2/17 | 18 | 17 | 18 | closed/half/open |
| `electronics_103878` | Printer | 0.00 | 1/8 | 9 | 8 | 9 | closed/half/open |
| `electronics_103972` | Printer | 0.00 | 1/22 | 23 | 22 | 23 | closed/half/open |
| `electronics_103978` | Printer | 0.00 | 0/16 | 17 | 16 | 16 | closed/half/open |
| `electronics_103988` | Printer | 0.00 | 0/8 | 9 | 8 | 6 | closed/half/open |
| `electronics_104004` | Printer | 0.00 | 1/4 | 5 | 4 | 2 | closed/half/open |
| `electronics_104011` | Printer | 0.00 | 4/27 | 28 | 27 | 21 | closed/half/open |
| `electronics_104020` | Printer | 0.00 | 0/9 | 10 | 9 | 7 | closed/half/open |
| `electronics_104030` | Printer | 0.00 | 3/8 | 9 | 8 | 9 | closed/half/open |
| `household_fixtures_102629` | Toilet | 0.00 | 1/2 | 3 | 2 | 3 | closed/half/open |
| `household_fixtures_102663` | Toilet | 0.00 | 3/4 | 5 | 4 | 5 | closed/half/open |
| `household_fixtures_102708` | Toilet | 0.00 | 2/3 | 4 | 3 | 4 | closed/half/open |
| `household_items_102201` | TrashCan | 0.00 | 2/3 | 4 | 3 | 4 | closed/half/open |
| `small_appliances_103016` | CoffeeMachine | 0.00 | 4/6 | 9 | 6 | 7 | closed/half/open |
| `small_appliances_103043` | CoffeeMachine | 0.00 | 1/12 | 13 | 12 | 13 | closed/half/open |

Readout:

- Source truth comes from each sample's SDF and `mobility_v2.json`, not PAct predictions.
- Full-part masks use `min_label_pixels=0`; small buttons/parts are preserved.
- 3D previews are exported from `object_merge_fixed.json` in closed/half/open states.
- 20-view render inputs, SS latents, and reconstructed SLAT latents are complete for this 16-sample bad-case subset.

## Official-Equivalent Fine-Tune Smoke And Stable Run

Stage-1 smoke:

- Command output directory: `/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_badcase_stage1_smoke_20260517`
- Official checkpoint load: `missing=0`, `unexpected=0`.
- Dataset note: official Stage-1 dataset sanity filter kept `6/16` instances.
- One-step loss: `0.0572167113`.

Stage-2 smoke:

- Command output directory: `/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_badcase_stage2_smoke_20260517`
- Official checkpoint load: `missing=0`, `unexpected=0`.
- Dataset note: official Stage-2 dataset sanity filter kept `16/16` instances.
- One-step loss: `2.9726986885`, `flow_mse=2.9382936954`, `art_l2=0.0344050080`.

AdamW diagnosis:

- Stage-1 AdamW run: only step 1 finite; steps 2-40 skipped by `nonfinite_loss`.
- Stage-2 AdamW run: only step 1 finite; steps 2-60 skipped by `nonfinite_loss`.
- Latent numeric audit: SS and SLAT `.npz` files contain no NaN/Inf.
- Forward-only batch sweep: first 40 Stage-2 batches were finite.
- Backward-only diagnosis: gradients were finite for consecutive batches.
- Interpretation: the instability is in fp16-parameter AdamW optimization state/step, not in the bad-case source data or latent files.

Stable Stage-2 run:

- Command output directory: `/data/250010098/PAct-Transporter/reports/20260513_pact_transporter_exploration/runs/pact_badcase_stage2_sgd_lr1e-8_60steps_20260517`
- Optimizer: `SGD`, `lr=1e-8`, `weight_decay=0`, `steps=60`.
- Official architecture: unchanged `SLatFlowModel + ArticulationRegressionHead`; no added head.
- Result: `60/60` finite steps, `0` skipped.
- Last step: `loss=3.6874482632`, `flow_mse=3.6260933876`, `art_l2=0.0613548011`.
- Packaged PAct-compatible cache: `/data/250010098/PAct-Transporter/model_cache/pact_badcase_stage2_sgd_lr1e-8_60steps_20260517`.