This directory contains shell scripts for launching the three main training and evaluation stages of the Vernata pipeline. Each script invokes source/main.py with the appropriate Hydra config overrides.
| Stage | Directory | Description |
|---|---|---|
| Self-supervised pre-training | ssl/ |
Trains the Vernata multi-teacher distillation model on unlabelled LiDAR data. |
| Downstream evaluation | downstream/ |
Freezes the pre-trained backbone and trains a linear segmentation head on labelled data. |
| Validation | validate/ |
Runs evaluation on a trained checkpoint and reports metrics (e.g., mIoU). |
The downstream and validation scripts expect the path to the local checkpoint folder as the first positional argument:
bash scripts/downstream/downstream_ttg.sh /path/to/checkpoint_folder
bash scripts/validate/validate_ttg.sh /path/to/checkpoint_folderThe folder should contain checkpoint.ckpt and unresolved-config.yaml. The script will automatically resolve the full file paths from the provided directory.
Every script documents the required and optional configuration overrides at the top of the file. See the configuration README for details on the underlying Hydra config hierarchy.