validate_way.sh

#!/usr/bin/env bash
# Copyright (c) 2026 Robotics and AI Institute LLC dba RAI Institute. All rights reserved.
# Validation script for VERNATA (validation stage).
#
# The training system uses a Hydra-based config hierarchy: base defaults are defined in
# resources/configs/stage_configs/validation.yaml, and this script overrides specific
# values on the command line. Arguments without a leading '+' override existing yaml keys.
#
# !! MUST change before running:
#   model.inference.run_id             -- W&B run ID of the checkpoint to evaluate
#   model.inference.wandb.artifact_path
#                                      -- full artifact path of the checkpoint to load,
#                                         e.g. entity/project/artifact-name:version
#   name                               -- run name, used for logging and W&B

export LOCAL_MODEL_PATH=$1
echo "Using local model path: ${LOCAL_MODEL_PATH}"

cd "$(dirname "$0")/../.." || exit 1
OMP_NUM_THREADS=1 \
MKL_NUM_THREADS=1 \
TORCH_NCCL_HEARTBEAT_TIMEOUT_SEC=600 \
PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True \
python source/main.py \
  orchestrate.stages.0='"${stage_configs.validation}"' \
  name=vernata-validation-example \
  \
  \
  stage_configs.validation.kwargs.model.inference.load_from=local \
  stage_configs.validation.kwargs.model.inference.wandb.run_id=null \
  stage_configs.validation.kwargs.model.inference.wandb.artifact_path=null \
  stage_configs.validation.kwargs.model.inference.local.model_path="${LOCAL_MODEL_PATH}/checkpoint.ckpt" \
  stage_configs.validation.kwargs.model.inference.local.config_path="${LOCAL_MODEL_PATH}/unresolved-config.yaml" \
  stage_configs.validation.kwargs.model.inference.load_pretrained_head=True \
  \
  stage_configs.validation.kwargs.paths.resources="/path/data" \
  stage_configs.validation.kwargs.dataset._registry_name_="['waymo']" \
  stage_configs.validation.kwargs.dataset.waymo.data_root='${paths.resources}/waymo/waymo_webdataset_hr' \
  \
  stage_configs.validation.kwargs.callbacks.wandb_checkpoint.monitor="val/seg/waymo/max/original/linear/mIoU" \
  stage_configs.validation.kwargs.callbacks.wandb_checkpoint.mode=max \
  \
  stage_configs.validation.kwargs.logging.wandb.mode=online \
  stage_configs.validation.kwargs.logging.wandb.tags="['waymo', 'validation']"