sys.platform: linux Python: 3.8.13 | packaged by conda-forge | (default, Mar 25 2022, 06:04:18) [GCC 10.3.0] CUDA available: True GPU 0,1,2,3,4,5,6,7: NVIDIA A100-SXM4-80GB CUDA_HOME: /usr/local/cuda NVCC: Build cuda_11.2.r11.2/compiler.29618528_0 GCC: gcc (GCC) 5.4.0 PyTorch: 1.9.0+cu111 PyTorch compiling details: PyTorch built with: - GCC 7.3 - C++ Version: 201402 - Intel(R) Math Kernel Library Version 2020.0.0 Product Build 20191122 for Intel(R) 64 architecture applications - Intel(R) MKL-DNN v2.1.2 (Git Hash 98be7e8afa711dc9b66c8ff3504129cb82013cdb) - OpenMP 201511 (a.k.a. OpenMP 4.5) - NNPACK is enabled - CPU capability usage: AVX2 - CUDA Runtime 11.1 - NVCC architecture flags: -gencode;arch=compute_37,code=sm_37;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_70,code=sm_70;-gencode;arch=compute_75,code=sm_75;-gencode;arch=compute_80,code=sm_80;-gencode;arch=compute_86,code=sm_86 - CuDNN 8.0.5 - Magma 2.5.2 - Build settings: BLAS_INFO=mkl, BUILD_TYPE=Release, CUDA_VERSION=11.1, CUDNN_VERSION=8.0.5, CXX_COMPILER=/opt/rh/devtoolset-7/root/usr/bin/c++, CXX_FLAGS= -Wno-deprecated -fvisibility-inlines-hidden -DUSE_PTHREADPOOL -fopenmp -DNDEBUG -DUSE_KINETO -DUSE_FBGEMM -DUSE_QNNPACK -DUSE_PYTORCH_QNNPACK -DUSE_XNNPACK -DSYMBOLICATE_MOBILE_DEBUG_HANDLE -O2 -fPIC -Wno-narrowing -Wall -Wextra -Werror=return-type -Wno-missing-field-initializers -Wno-type-limits -Wno-array-bounds -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-result -Wno-unused-local-typedefs -Wno-strict-overflow -Wno-strict-aliasing -Wno-error=deprecated-declarations -Wno-stringop-overflow -Wno-psabi -Wno-error=pedantic -Wno-error=redundant-decls -Wno-error=old-style-cast -fdiagnostics-color=always -faligned-new -Wno-unused-but-set-variable -Wno-maybe-uninitialized -fno-math-errno -fno-trapping-math -Werror=format -Wno-stringop-overflow, LAPACK_INFO=mkl, PERF_WITH_AVX=1, PERF_WITH_AVX2=1, PERF_WITH_AVX512=1, TORCH_VERSION=1.9.0, USE_CUDA=ON, USE_CUDNN=ON, USE_EXCEPTION_PTR=1, USE_GFLAGS=OFF, USE_GLOG=OFF, USE_MKL=ON, USE_MKLDNN=ON, USE_MPI=OFF, USE_NCCL=ON, USE_NNPACK=ON, USE_OPENMP=ON, TorchVision: 0.10.0+cu111 OpenCV: 4.6.0 MMCV: 1.3.9 MMCV Compiler: GCC 7.3 MMCV CUDA Compiler: 11.1 MMDetection: 2.14.0 MMSegmentation: 0.14.1 MMDetection3D: 0.15.0+ spconv2.0: True ------------------------------------------------------------ fatal: Not a git repository (or any parent up to mount point /dev/shm) Stopping at filesystem boundary (GIT_DISCOVERY_ACROSS_FILESYSTEM not set). fatal: Not a git repository (or any parent up to mount point /dev/shm) Stopping at filesystem boundary (GIT_DISCOVERY_ACROSS_FILESYSTEM not set). fatal: Not a git repository (or any parent up to mount point /dev/shm) Stopping at filesystem boundary (GIT_DISCOVERY_ACROSS_FILESYSTEM not set). fatal: Not a git repository (or any parent up to mount point /dev/shm) Stopping at filesystem boundary (GIT_DISCOVERY_ACROSS_FILESYSTEM not set). fatal: Not a git repository (or any parent up to mount point /dev/shm) Stopping at filesystem boundary (GIT_DISCOVERY_ACROSS_FILESYSTEM not set). 2022-11-24 09:51:46,190 - mmdet - INFO - Distributed training: True 2022-11-24 09:51:47,844 - mmdet - INFO - Config: dataset_type = 'WaymoDataset' data_root = '/dev/shm/waymodata7/kitti_format/' file_client_args = dict(backend='disk') class_names = ['Car', 'Pedestrian', 'Cyclist'] point_cloud_range = [-80, -80, -2, 80, 80, 4] input_modality = dict(use_lidar=True, use_camera=False) db_sampler = dict( data_root='/dev/shm/waymodata7/kitti_format/', info_path='/dev/shm/waymodata7/kitti_format/waymo_dbinfos_train.pkl', rate=1.0, prepare=dict( filter_by_difficulty=[-1], filter_by_min_points=dict(Car=5, Pedestrian=5, Cyclist=5)), classes=['Car', 'Pedestrian', 'Cyclist'], sample_groups=dict(Car=5, Pedestrian=5, Cyclist=3), points_loader=dict( type='LoadPointsFromFile', coord_type='LIDAR', load_dim=5, use_dim=[0, 1, 2, 3, 4], file_client_args=dict(backend='disk'))) train_pipeline = [ dict( type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5, file_client_args=dict(backend='disk')), dict( type='LoadAnnotations3D', with_bbox_3d=True, with_label_3d=True, file_client_args=dict(backend='disk')), dict( type='RandomFlip3D', sync_2d=False, flip_ratio_bev_horizontal=0.5, flip_ratio_bev_vertical=0.5), dict( type='GlobalRotScaleTrans', rot_range=[-0.78539816, 0.78539816], scale_ratio_range=[0.95, 1.05], translation_std=[0, 0, 0.2]), dict( type='PointsRangeFilter', point_cloud_range=[-74.88, -74.88, -1.999, 74.88, 74.88, 3.999]), dict( type='ObjectRangeFilter', point_cloud_range=[-74.88, -74.88, -1.999, 74.88, 74.88, 3.999]), dict(type='PointShuffle'), dict( type='DefaultFormatBundle3D', class_names=['Car', 'Pedestrian', 'Cyclist']), dict(type='Collect3D', keys=['points', 'gt_bboxes_3d', 'gt_labels_3d']) ] test_pipeline = [ dict( type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5, file_client_args=dict(backend='disk')), dict( type='MultiScaleFlipAug3D', img_scale=(1333, 800), pts_scale_ratio=1, flip=False, transforms=[ dict( type='GlobalRotScaleTrans', rot_range=[0, 0], scale_ratio_range=[1.0, 1.0], translation_std=[0, 0, 0]), dict(type='RandomFlip3D'), dict( type='PointsRangeFilter', point_cloud_range=[ -74.88, -74.88, -1.999, 74.88, 74.88, 3.999 ]), dict( type='DefaultFormatBundle3D', class_names=['Car', 'Pedestrian', 'Cyclist'], with_label=False), dict(type='Collect3D', keys=['points']) ]) ] eval_pipeline = [ dict( type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5, file_client_args=dict(backend='disk')), dict( type='DefaultFormatBundle3D', class_names=['Car', 'Pedestrian', 'Cyclist'], with_label=False), dict(type='Collect3D', keys=['points']) ] data = dict( samples_per_gpu=2, workers_per_gpu=4, train=dict( type='RepeatDataset', times=1, dataset=dict( type='WaymoDataset', data_root='/dev/shm/waymodata7/kitti_format/', ann_file='/dev/shm/waymodata7/kitti_format/waymo_infos_train.pkl', split='training', pipeline=[ dict( type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5, file_client_args=dict(backend='disk')), dict( type='LoadAnnotations3D', with_bbox_3d=True, with_label_3d=True, file_client_args=dict(backend='disk')), dict( type='RandomFlip3D', sync_2d=False, flip_ratio_bev_horizontal=0.5, flip_ratio_bev_vertical=0.5), dict( type='GlobalRotScaleTrans', rot_range=[-0.78539816, 0.78539816], scale_ratio_range=[0.95, 1.05], translation_std=[0, 0, 0.2]), dict( type='PointsRangeFilter', point_cloud_range=[ -74.88, -74.88, -1.999, 74.88, 74.88, 3.999 ]), dict( type='ObjectRangeFilter', point_cloud_range=[ -74.88, -74.88, -1.999, 74.88, 74.88, 3.999 ]), dict(type='PointShuffle'), dict( type='DefaultFormatBundle3D', class_names=['Car', 'Pedestrian', 'Cyclist']), dict( type='Collect3D', keys=['points', 'gt_bboxes_3d', 'gt_labels_3d']) ], modality=dict(use_lidar=True, use_camera=False), classes=['Car', 'Pedestrian', 'Cyclist'], test_mode=False, box_type_3d='LiDAR', load_interval=1)), val=dict( type='WaymoDataset', data_root='/dev/shm/waymodata7/kitti_format/', ann_file='/dev/shm/waymodata7/kitti_format/waymo_infos_val.pkl', split='training', pipeline=[ dict( type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5, file_client_args=dict(backend='disk')), dict( type='MultiScaleFlipAug3D', img_scale=(1333, 800), pts_scale_ratio=1, flip=False, transforms=[ dict( type='GlobalRotScaleTrans', rot_range=[0, 0], scale_ratio_range=[1.0, 1.0], translation_std=[0, 0, 0]), dict(type='RandomFlip3D'), dict( type='PointsRangeFilter', point_cloud_range=[ -74.88, -74.88, -1.999, 74.88, 74.88, 3.999 ]), dict( type='DefaultFormatBundle3D', class_names=['Car', 'Pedestrian', 'Cyclist'], with_label=False), dict(type='Collect3D', keys=['points']) ]) ], modality=dict(use_lidar=True, use_camera=False), classes=['Car', 'Pedestrian', 'Cyclist'], test_mode=True, box_type_3d='LiDAR'), test=dict( type='WaymoDataset', data_root='/dev/shm/waymodata7/kitti_format/', ann_file='/dev/shm/waymodata7/kitti_format/waymo_infos_val.pkl', split='training', pipeline=[ dict( type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5, file_client_args=dict(backend='disk')), dict( type='MultiScaleFlipAug3D', img_scale=(1333, 800), pts_scale_ratio=1, flip=False, transforms=[ dict( type='GlobalRotScaleTrans', rot_range=[0, 0], scale_ratio_range=[1.0, 1.0], translation_std=[0, 0, 0]), dict(type='RandomFlip3D'), dict( type='PointsRangeFilter', point_cloud_range=[ -74.88, -74.88, -1.999, 74.88, 74.88, 3.999 ]), dict( type='DefaultFormatBundle3D', class_names=['Car', 'Pedestrian', 'Cyclist'], with_label=False), dict(type='Collect3D', keys=['points']) ]) ], modality=dict(use_lidar=True, use_camera=False), classes=['Car', 'Pedestrian', 'Cyclist'], test_mode=True, box_type_3d='LiDAR')) evaluation = dict( interval=12, pipeline=[ dict( type='LoadPointsFromFile', coord_type='LIDAR', load_dim=6, use_dim=5, file_client_args=dict(backend='disk')), dict( type='DefaultFormatBundle3D', class_names=['Car', 'Pedestrian', 'Cyclist'], with_label=False), dict(type='Collect3D', keys=['points']) ]) lr = 1e-05 optimizer = dict( type='AdamW', lr=3e-05, betas=(0.9, 0.999), weight_decay=0.05, paramwise_cfg=dict(custom_keys=dict(norm=dict(decay_mult=0.0)))) optimizer_config = dict(grad_clip=dict(max_norm=10, norm_type=2)) lr_config = dict( policy='cyclic', target_ratio=(100, 0.001), cyclic_times=1, step_ratio_up=0.1) momentum_config = None runner = dict(type='EpochBasedRunner', max_epochs=12) checkpoint_config = dict(interval=1) log_config = dict( interval=50, hooks=[dict(type='TextLoggerHook'), dict(type='TensorboardLoggerHook')]) dist_params = dict(backend='nccl') log_level = 'INFO' work_dir = '/mnt/lustre/wangyingjie/SST2/work_dirs/fsd_waymoD1_1122/' load_from = None resume_from = None workflow = [('train', 1)] seg_voxel_size = (0.25, 0.25, 0.2) num_classes = 3 seg_score_thresh = (0.3, 0.25, 0.25) segmentor = dict( type='VoteSegmentor', voxel_layer=dict( voxel_size=(0.25, 0.25, 0.2), max_num_points=-1, point_cloud_range=[-80, -80, -2, 80, 80, 4], max_voxels=(-1, -1)), voxel_encoder=dict( type='DynamicScatterVFE', in_channels=5, feat_channels=[64, 64], voxel_size=(0.25, 0.25, 0.2), with_cluster_center=True, with_voxel_center=True, point_cloud_range=[-80, -80, -2, 80, 80, 4], norm_cfg=dict(type='naiveSyncBN1d', eps=0.001, momentum=0.01), unique_once=True), middle_encoder=dict(type='PseudoMiddleEncoderForSpconvFSD'), backbone=dict( type='SimpleSparseUNet', in_channels=64, sparse_shape=[32, 640, 640], order=('conv', 'norm', 'act'), norm_cfg=dict(type='naiveSyncBN1d', eps=0.001, momentum=0.01), base_channels=64, output_channels=128, encoder_channels=((64, ), (64, 64, 64), (64, 64, 64), (128, 128, 128), (256, 256, 256)), encoder_paddings=((1, ), (1, 1, 1), (1, 1, 1), ((0, 1, 1), 1, 1), (1, 1, 1)), decoder_channels=((256, 256, 128), (128, 128, 64), (64, 64, 64), (64, 64, 64), (64, 64, 64)), decoder_paddings=((1, 1), (1, 0), (1, 0), (0, 0), (0, 1))), decode_neck=dict( type='Voxel2PointScatterNeck', voxel_size=(0.25, 0.25, 0.2), point_cloud_range=[-80, -80, -2, 80, 80, 4]), segmentation_head=dict( type='VoteSegHead', in_channel=67, hidden_dims=[128, 128], num_classes=3, dropout_ratio=0.0, conv_cfg=dict(type='Conv1d'), norm_cfg=dict(type='naiveSyncBN1d'), act_cfg=dict(type='ReLU'), loss_decode=dict( type='FocalLoss', use_sigmoid=True, gamma=3.0, alpha=0.8, loss_weight=1.0), loss_vote=dict(type='L1Loss', loss_weight=1.0)), train_cfg=dict( point_loss=True, score_thresh=(0.3, 0.25, 0.25), class_names=('Car', 'Ped', 'Cyc'), centroid_offset=False)) model = dict( type='FSD', segmentor=dict( type='VoteSegmentor', voxel_layer=dict( voxel_size=(0.25, 0.25, 0.2), max_num_points=-1, point_cloud_range=[-80, -80, -2, 80, 80, 4], max_voxels=(-1, -1)), voxel_encoder=dict( type='DynamicScatterVFE', in_channels=5, feat_channels=[64, 64], voxel_size=(0.25, 0.25, 0.2), with_cluster_center=True, with_voxel_center=True, point_cloud_range=[-80, -80, -2, 80, 80, 4], norm_cfg=dict(type='naiveSyncBN1d', eps=0.001, momentum=0.01), unique_once=True), middle_encoder=dict(type='PseudoMiddleEncoderForSpconvFSD'), backbone=dict( type='SimpleSparseUNet', in_channels=64, sparse_shape=[32, 640, 640], order=('conv', 'norm', 'act'), norm_cfg=dict(type='naiveSyncBN1d', eps=0.001, momentum=0.01), base_channels=64, output_channels=128, encoder_channels=((64, ), (64, 64, 64), (64, 64, 64), (128, 128, 128), (256, 256, 256)), encoder_paddings=((1, ), (1, 1, 1), (1, 1, 1), ((0, 1, 1), 1, 1), (1, 1, 1)), decoder_channels=((256, 256, 128), (128, 128, 64), (64, 64, 64), (64, 64, 64), (64, 64, 64)), decoder_paddings=((1, 1), (1, 0), (1, 0), (0, 0), (0, 1))), decode_neck=dict( type='Voxel2PointScatterNeck', voxel_size=(0.25, 0.25, 0.2), point_cloud_range=[-80, -80, -2, 80, 80, 4]), segmentation_head=dict( type='VoteSegHead', in_channel=67, hidden_dims=[128, 128], num_classes=3, dropout_ratio=0.0, conv_cfg=dict(type='Conv1d'), norm_cfg=dict(type='naiveSyncBN1d'), act_cfg=dict(type='ReLU'), loss_decode=dict( type='FocalLoss', use_sigmoid=True, gamma=3.0, alpha=0.8, loss_weight=1.0), loss_vote=dict(type='L1Loss', loss_weight=1.0)), train_cfg=dict( point_loss=True, score_thresh=(0.3, 0.25, 0.25), class_names=('Car', 'Ped', 'Cyc'), centroid_offset=False)), backbone=dict( type='SIR', num_blocks=3, in_channels=[84, 133, 133], feat_channels=[[128, 128], [128, 128], [128, 128]], rel_mlp_hidden_dims=[[16, 32], [16, 32], [16, 32]], norm_cfg=dict(type='LN', eps=0.001), mode='max', xyz_normalizer=[20, 20, 4], act='gelu', unique_once=True), bbox_head=dict( type='SparseClusterHeadV2', num_classes=3, bbox_coder=dict(type='BasePointBBoxCoder'), loss_cls=dict( type='FocalLoss', use_sigmoid=True, gamma=2.0, alpha=0.25, loss_weight=2.0), loss_center=dict(type='L1Loss', loss_weight=0.5), loss_size=dict(type='L1Loss', loss_weight=0.5), loss_rot=dict(type='L1Loss', loss_weight=0.2), in_channel=768, shared_mlp_dims=[1024, 1024], train_cfg=None, test_cfg=None, norm_cfg=dict(type='LN'), tasks=[ dict(class_names=['Car']), dict(class_names=['Pedestrian']), dict(class_names=['Cyclist']) ], class_names=['Car', 'Pedestrian', 'Cyclist'], common_attrs=dict( center=(3, 2, 128), dim=(3, 2, 128), rot=(2, 2, 128)), num_cls_layer=2, cls_hidden_dim=128, separate_head=dict( type='FSDSeparateHead', norm_cfg=dict(type='LN'), act='relu'), as_rpn=True), roi_head=dict( type='GroupCorrectionHead', num_classes=3, roi_extractor=dict( type='DynamicPointROIExtractor', extra_wlh=[0.5, 0.5, 0.5], max_inbox_point=256, debug=False), bbox_head=dict( type='FullySparseBboxHead', num_classes=3, num_blocks=6, in_channels=[213, 146, 146, 146, 146, 146], feat_channels=[[128, 128], [128, 128], [128, 128], [128, 128], [128, 128], [128, 128]], rel_mlp_hidden_dims=[[16, 32], [16, 32], [16, 32], [16, 32], [16, 32], [16, 32]], rel_mlp_in_channels=[13, 13, 13, 13, 13, 13], reg_mlp=[512, 512], cls_mlp=[512, 512], mode='max', xyz_normalizer=[20, 20, 4], act='gelu', geo_input=True, with_corner_loss=True, corner_loss_weight=1.0, bbox_coder=dict(type='DeltaXYZWLHRBBoxCoder'), norm_cfg=dict(type='LN', eps=0.001), unique_once=True, loss_bbox=dict(type='L1Loss', reduction='mean', loss_weight=2.0), loss_cls=dict( type='CrossEntropyLoss', use_sigmoid=True, reduction='mean', loss_weight=1.0), cls_dropout=0.1, reg_dropout=0.1), train_cfg=None, test_cfg=None, pretrained=None, init_cfg=None), train_cfg=dict( score_thresh=(0.3, 0.25, 0.25), sync_reg_avg_factor=True, pre_voxelization_size=(0.1, 0.1, 0.1), disable_pretrain=True, disable_pretrain_topks=[600, 200, 200], rpn=dict( use_rotate_nms=True, nms_pre=-1, nms_thr=None, score_thr=0.1, min_bbox_size=0, max_num=500), rcnn=dict( assigner=[ dict( type='MaxIoUAssigner', iou_calculator=dict( type='BboxOverlaps3D', coordinate='lidar'), pos_iou_thr=0.45, neg_iou_thr=0.45, min_pos_iou=0.45, ignore_iof_thr=-1), dict( type='MaxIoUAssigner', iou_calculator=dict( type='BboxOverlaps3D', coordinate='lidar'), pos_iou_thr=0.35, neg_iou_thr=0.35, min_pos_iou=0.35, ignore_iof_thr=-1), dict( type='MaxIoUAssigner', iou_calculator=dict( type='BboxOverlaps3D', coordinate='lidar'), pos_iou_thr=0.35, neg_iou_thr=0.35, min_pos_iou=0.35, ignore_iof_thr=-1) ], sampler=dict( type='IoUNegPiecewiseSampler', num=256, pos_fraction=0.55, neg_piece_fractions=[0.8, 0.2], neg_iou_piece_thrs=[0.55, 0.1], neg_pos_ub=-1, add_gt_as_proposals=False, return_iou=True), cls_pos_thr=(0.8, 0.65, 0.65), cls_neg_thr=(0.2, 0.15, 0.15), sync_reg_avg_factor=True, sync_cls_avg_factor=True, corner_loss_only_car=True, class_names=['Car', 'Pedestrian', 'Cyclist'])), test_cfg=dict( score_thresh=(0.3, 0.25, 0.25), pre_voxelization_size=(0.1, 0.1, 0.1), skip_rcnn=False, rpn=dict( use_rotate_nms=True, nms_pre=-1, nms_thr=0.25, score_thr=0.1, min_bbox_size=0, max_num=500), rcnn=dict( use_rotate_nms=True, nms_pre=-1, nms_thr=0.25, score_thr=0.1, min_bbox_size=0, max_num=500)), cluster_assigner=dict( cluster_voxel_size=dict( Car=(0.3, 0.3, 6), Cyclist=(0.2, 0.2, 6), Pedestrian=(0.05, 0.05, 6)), min_points=2, point_cloud_range=[-80, -80, -2, 80, 80, 4], connected_dist=dict(Car=0.6, Cyclist=0.4, Pedestrian=0.1), class_names=['Car', 'Pedestrian', 'Cyclist'])) custom_hooks = [ dict( type='DisableAugmentationHook', num_last_epochs=1, skip_type_keys=('ObjectSample', 'RandomFlip3D', 'GlobalRotScaleTrans')), dict( type='EnableFSDDetectionHookIter', enable_after_iter=4000, threshold_buffer=0.3, buffer_iter=8000) ] gpu_ids = range(0, 8) 2022-11-24 09:51:47,845 - mmdet - INFO - Set random seed to 1, deterministic: False 2022-11-24 09:51:48,034 - mmdet - INFO - Model: FSD( (backbone): SIR( (block_list): ModuleList( (0): SIRLayer( (scatter): None (vfe_layers): ModuleList( (0): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=84, out_features=128, bias=False) (act): GELU() ) (1): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=256, out_features=128, bias=False) (act): GELU() ) ) (vfe_scatter): None (cluster_scatter): None (rel_mlp): Sequential( (0): Sequential( (0): Linear(in_features=3, out_features=16, bias=False) (1): LayerNorm((16,), eps=0.001, elementwise_affine=True) (2): GELU() ) (1): Sequential( (0): Linear(in_features=16, out_features=32, bias=False) (1): LayerNorm((32,), eps=0.001, elementwise_affine=True) (2): GELU() ) (2): Sequential( (0): Linear(in_features=32, out_features=84, bias=False) (1): LayerNorm((84,), eps=0.001, elementwise_affine=True) (2): GELU() ) ) ) (1): SIRLayer( (scatter): None (vfe_layers): ModuleList( (0): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=133, out_features=128, bias=False) (act): GELU() ) (1): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=256, out_features=128, bias=False) (act): GELU() ) ) (vfe_scatter): None (cluster_scatter): None (rel_mlp): Sequential( (0): Sequential( (0): Linear(in_features=3, out_features=16, bias=False) (1): LayerNorm((16,), eps=0.001, elementwise_affine=True) (2): GELU() ) (1): Sequential( (0): Linear(in_features=16, out_features=32, bias=False) (1): LayerNorm((32,), eps=0.001, elementwise_affine=True) (2): GELU() ) (2): Sequential( (0): Linear(in_features=32, out_features=133, bias=False) (1): LayerNorm((133,), eps=0.001, elementwise_affine=True) (2): GELU() ) ) ) (2): SIRLayer( (scatter): None (vfe_layers): ModuleList( (0): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=133, out_features=128, bias=False) (act): GELU() ) (1): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=256, out_features=128, bias=False) (act): GELU() ) ) (vfe_scatter): None (cluster_scatter): None (rel_mlp): Sequential( (0): Sequential( (0): Linear(in_features=3, out_features=16, bias=False) (1): LayerNorm((16,), eps=0.001, elementwise_affine=True) (2): GELU() ) (1): Sequential( (0): Linear(in_features=16, out_features=32, bias=False) (1): LayerNorm((32,), eps=0.001, elementwise_affine=True) (2): GELU() ) (2): Sequential( (0): Linear(in_features=32, out_features=133, bias=False) (1): LayerNorm((133,), eps=0.001, elementwise_affine=True) (2): GELU() ) ) ) ) ) (bbox_head): SparseClusterHeadV2( (loss_center): L1Loss() (loss_size): L1Loss() (loss_rot): L1Loss() (loss_cls): FocalLoss() (shared_mlp): Sequential( (0): Sequential( (0): Linear(in_features=768, out_features=1024, bias=False) (1): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=1024, out_features=1024, bias=False) (1): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) ) (conv_cls): None (conv_reg): None (task_heads): ModuleList( (0): FSDSeparateHead( (center): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=3, bias=True) ) (dim): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=3, bias=True) ) (rot): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=2, bias=True) ) (score): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=1, bias=True) ) ) (1): FSDSeparateHead( (center): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=3, bias=True) ) (dim): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=3, bias=True) ) (rot): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=2, bias=True) ) (score): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=1, bias=True) ) ) (2): FSDSeparateHead( (center): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=3, bias=True) ) (dim): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=3, bias=True) ) (rot): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=2, bias=True) ) (score): Sequential( (0): Sequential( (0): Linear(in_features=1024, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): LayerNorm((128,), eps=1e-05, elementwise_affine=True) (2): ReLU(inplace=True) ) (2): Linear(in_features=128, out_features=1, bias=True) ) ) ) ) (segmentor): VoteSegmentor( (voxel_layer): Voxelization(voxel_size=(0.25, 0.25, 0.2), point_cloud_range=[-80, -80, -2, 80, 80, 4], max_num_points=-1, max_voxels=(-1, -1)) (voxel_encoder): DynamicScatterVFE( (scatter): None (vfe_layers): ModuleList( (0): DynamicVFELayer( (norm): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (linear): Linear(in_features=11, out_features=64, bias=False) ) (1): DynamicVFELayer( (norm): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (linear): Linear(in_features=128, out_features=64, bias=False) ) ) (vfe_scatter): None (cluster_scatter): None ) (middle_encoder): PseudoMiddleEncoderForSpconvFSD() (backbone): SimpleSparseUNet( (conv_input): SparseSequential( (0): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (encoder_layers): SparseSequential( (encoder_layer1): SparseSequential( (0): SparseSequential( (0): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) ) (encoder_layer2): SparseSequential( (0): SparseSequential( (0): SparseConv3d(64, 64, kernel_size=[3, 3, 3], stride=[2, 2, 2], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (1): SparseSequential( (0): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (2): SparseSequential( (0): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) ) (encoder_layer3): SparseSequential( (0): SparseSequential( (0): SparseConv3d(64, 64, kernel_size=[3, 3, 3], stride=[2, 2, 2], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (1): SparseSequential( (0): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (2): SparseSequential( (0): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) ) (encoder_layer4): SparseSequential( (0): SparseSequential( (0): SparseConv3d(64, 128, kernel_size=[3, 3, 3], stride=[2, 2, 2], padding=[0, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(128, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (1): SparseSequential( (0): SubMConv3d(128, 128, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(128, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (2): SparseSequential( (0): SubMConv3d(128, 128, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(128, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) ) (encoder_layer5): SparseSequential( (0): SparseSequential( (0): SparseConv3d(128, 256, kernel_size=[3, 3, 3], stride=[2, 2, 2], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(256, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (1): SparseSequential( (0): SubMConv3d(256, 256, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(256, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (2): SparseSequential( (0): SubMConv3d(256, 256, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(256, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) ) ) (lateral_layer5): SparseBasicBlock( (conv1): SubMConv3d(256, 256, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (bn1): NaiveSyncBatchNorm1d(256, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (conv2): SubMConv3d(256, 256, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (bn2): NaiveSyncBatchNorm1d(256, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (merge_layer5): SparseSequential( (0): SubMConv3d(512, 256, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(256, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (upsample_layer5): SparseSequential( (0): SparseInverseConv3d(256, 128, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[0, 0, 0], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(128, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (lateral_layer4): SparseBasicBlock( (conv1): SubMConv3d(128, 128, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (bn1): NaiveSyncBatchNorm1d(128, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (conv2): SubMConv3d(128, 128, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (bn2): NaiveSyncBatchNorm1d(128, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (merge_layer4): SparseSequential( (0): SubMConv3d(256, 128, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(128, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (upsample_layer4): SparseSequential( (0): SparseInverseConv3d(128, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[0, 0, 0], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (lateral_layer3): SparseBasicBlock( (conv1): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (bn1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (conv2): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (bn2): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (merge_layer3): SparseSequential( (0): SubMConv3d(128, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (upsample_layer3): SparseSequential( (0): SparseInverseConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[0, 0, 0], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (lateral_layer2): SparseBasicBlock( (conv1): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (bn1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (conv2): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (bn2): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (merge_layer2): SparseSequential( (0): SubMConv3d(128, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[0, 0, 0], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (upsample_layer2): SparseSequential( (0): SparseInverseConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[0, 0, 0], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (lateral_layer1): SparseBasicBlock( (conv1): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (bn1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (conv2): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (bn2): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (merge_layer1): SparseSequential( (0): SubMConv3d(128, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[0, 0, 0], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (upsample_layer1): SparseSequential( (0): SubMConv3d(64, 64, kernel_size=[3, 3, 3], stride=[1, 1, 1], padding=[1, 1, 1], dilation=[1, 1, 1], output_padding=[0, 0, 0], bias=False, algo=ConvAlgo.MaskImplicitGemm) (1): NaiveSyncBatchNorm1d(64, eps=0.001, momentum=0.01, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (conv_out): None ) (segmentation_head): VoteSegHead( (loss_decode): FocalLoss() (conv_seg): Linear(in_features=128, out_features=3, bias=True) (pre_seg_conv): Sequential( (0): Sequential( (0): Linear(in_features=67, out_features=128, bias=False) (1): NaiveSyncBatchNorm1d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) (1): Sequential( (0): Linear(in_features=128, out_features=128, bias=False) (1): NaiveSyncBatchNorm1d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) ) (voting): Linear(in_features=128, out_features=9, bias=True) (loss_vote): L1Loss() ) (decode_neck): Voxel2PointScatterNeck() ) (cluster_assigner): ClusterAssigner() (roi_head): GroupCorrectionHead( (bbox_head): FullySparseBboxHead( (loss_bbox): L1Loss() (loss_cls): CrossEntropyLoss() (block_list): ModuleList( (0): SIRLayer( (scatter): None (vfe_layers): ModuleList( (0): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=213, out_features=128, bias=False) (act): GELU() ) (1): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=256, out_features=128, bias=False) (act): GELU() ) ) (vfe_scatter): None (cluster_scatter): None (rel_mlp): Sequential( (0): Sequential( (0): Linear(in_features=13, out_features=16, bias=False) (1): LayerNorm((16,), eps=0.001, elementwise_affine=True) (2): GELU() ) (1): Sequential( (0): Linear(in_features=16, out_features=32, bias=False) (1): LayerNorm((32,), eps=0.001, elementwise_affine=True) (2): GELU() ) (2): Sequential( (0): Linear(in_features=32, out_features=213, bias=False) (1): LayerNorm((213,), eps=0.001, elementwise_affine=True) (2): GELU() ) ) ) (1): SIRLayer( (scatter): None (vfe_layers): ModuleList( (0): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=146, out_features=128, bias=False) (act): GELU() ) (1): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=256, out_features=128, bias=False) (act): GELU() ) ) (vfe_scatter): None (cluster_scatter): None (rel_mlp): Sequential( (0): Sequential( (0): Linear(in_features=13, out_features=16, bias=False) (1): LayerNorm((16,), eps=0.001, elementwise_affine=True) (2): GELU() ) (1): Sequential( (0): Linear(in_features=16, out_features=32, bias=False) (1): LayerNorm((32,), eps=0.001, elementwise_affine=True) (2): GELU() ) (2): Sequential( (0): Linear(in_features=32, out_features=146, bias=False) (1): LayerNorm((146,), eps=0.001, elementwise_affine=True) (2): GELU() ) ) ) (2): SIRLayer( (scatter): None (vfe_layers): ModuleList( (0): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=146, out_features=128, bias=False) (act): GELU() ) (1): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=256, out_features=128, bias=False) (act): GELU() ) ) (vfe_scatter): None (cluster_scatter): None (rel_mlp): Sequential( (0): Sequential( (0): Linear(in_features=13, out_features=16, bias=False) (1): LayerNorm((16,), eps=0.001, elementwise_affine=True) (2): GELU() ) (1): Sequential( (0): Linear(in_features=16, out_features=32, bias=False) (1): LayerNorm((32,), eps=0.001, elementwise_affine=True) (2): GELU() ) (2): Sequential( (0): Linear(in_features=32, out_features=146, bias=False) (1): LayerNorm((146,), eps=0.001, elementwise_affine=True) (2): GELU() ) ) ) (3): SIRLayer( (scatter): None (vfe_layers): ModuleList( (0): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=146, out_features=128, bias=False) (act): GELU() ) (1): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=256, out_features=128, bias=False) (act): GELU() ) ) (vfe_scatter): None (cluster_scatter): None (rel_mlp): Sequential( (0): Sequential( (0): Linear(in_features=13, out_features=16, bias=False) (1): LayerNorm((16,), eps=0.001, elementwise_affine=True) (2): GELU() ) (1): Sequential( (0): Linear(in_features=16, out_features=32, bias=False) (1): LayerNorm((32,), eps=0.001, elementwise_affine=True) (2): GELU() ) (2): Sequential( (0): Linear(in_features=32, out_features=146, bias=False) (1): LayerNorm((146,), eps=0.001, elementwise_affine=True) (2): GELU() ) ) ) (4): SIRLayer( (scatter): None (vfe_layers): ModuleList( (0): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=146, out_features=128, bias=False) (act): GELU() ) (1): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=256, out_features=128, bias=False) (act): GELU() ) ) (vfe_scatter): None (cluster_scatter): None (rel_mlp): Sequential( (0): Sequential( (0): Linear(in_features=13, out_features=16, bias=False) (1): LayerNorm((16,), eps=0.001, elementwise_affine=True) (2): GELU() ) (1): Sequential( (0): Linear(in_features=16, out_features=32, bias=False) (1): LayerNorm((32,), eps=0.001, elementwise_affine=True) (2): GELU() ) (2): Sequential( (0): Linear(in_features=32, out_features=146, bias=False) (1): LayerNorm((146,), eps=0.001, elementwise_affine=True) (2): GELU() ) ) ) (5): SIRLayer( (scatter): None (vfe_layers): ModuleList( (0): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=146, out_features=128, bias=False) (act): GELU() ) (1): DynamicVFELayerV2( (norm): LayerNorm((128,), eps=0.001, elementwise_affine=True) (linear): Linear(in_features=256, out_features=128, bias=False) (act): GELU() ) ) (vfe_scatter): None (cluster_scatter): None (rel_mlp): Sequential( (0): Sequential( (0): Linear(in_features=13, out_features=16, bias=False) (1): LayerNorm((16,), eps=0.001, elementwise_affine=True) (2): GELU() ) (1): Sequential( (0): Linear(in_features=16, out_features=32, bias=False) (1): LayerNorm((32,), eps=0.001, elementwise_affine=True) (2): GELU() ) (2): Sequential( (0): Linear(in_features=32, out_features=146, bias=False) (1): LayerNorm((146,), eps=0.001, elementwise_affine=True) (2): GELU() ) ) ) ) (conv_cls): Sequential( (0): Sequential( (0): Linear(in_features=1536, out_features=512, bias=False) (1): LayerNorm((512,), eps=0.001, elementwise_affine=True) (2): GELU() (3): Dropout(p=0.1, inplace=False) ) (1): Sequential( (0): Linear(in_features=512, out_features=512, bias=False) (1): LayerNorm((512,), eps=0.001, elementwise_affine=True) (2): GELU() (3): Dropout(p=0.1, inplace=False) ) (2): Linear(in_features=512, out_features=1, bias=True) ) (conv_reg): Sequential( (0): Sequential( (0): Linear(in_features=1536, out_features=512, bias=False) (1): LayerNorm((512,), eps=0.001, elementwise_affine=True) (2): GELU() (3): Dropout(p=0.1, inplace=False) ) (1): Sequential( (0): Linear(in_features=512, out_features=512, bias=False) (1): LayerNorm((512,), eps=0.001, elementwise_affine=True) (2): GELU() (3): Dropout(p=0.1, inplace=False) ) (2): Linear(in_features=512, out_features=7, bias=True) ) ) (roi_extractor): DynamicPointROIExtractor() ) ) 2022-11-24 09:52:32,356 - mmdet - INFO - Start running, host: wangyingjie@SH-IDC1-10-140-1-31, work_dir: /mnt/lustre/wangyingjie/SST2/work_dirs/fsd_waymoD1_1122 2022-11-24 09:52:32,365 - mmdet - INFO - Hooks will be executed in the following order: before_run: (VERY_HIGH ) CyclicLrUpdaterHook (NORMAL ) CheckpointHook (NORMAL ) DistEvalHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_train_epoch: (VERY_HIGH ) CyclicLrUpdaterHook (NORMAL ) DistSamplerSeedHook (NORMAL ) DistEvalHook (NORMAL ) DisableAugmentationHook (LOW ) IterTimerHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_train_iter: (VERY_HIGH ) CyclicLrUpdaterHook (NORMAL ) DistEvalHook (NORMAL ) EnableFSDDetectionHookIter (LOW ) IterTimerHook -------------------- after_train_iter: (ABOVE_NORMAL) OptimizerHook (NORMAL ) CheckpointHook (NORMAL ) DistEvalHook (LOW ) IterTimerHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- after_train_epoch: (NORMAL ) CheckpointHook (NORMAL ) DistEvalHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_val_epoch: (NORMAL ) DistSamplerSeedHook (LOW ) IterTimerHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_val_iter: (LOW ) IterTimerHook -------------------- after_val_iter: (LOW ) IterTimerHook -------------------- after_val_epoch: (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- after_run: (VERY_LOW ) TensorboardLoggerHook -------------------- 2022-11-24 09:52:32,368 - mmdet - INFO - workflow: [('train', 1)], max: 12 epochs 2022-11-24 09:52:33.900639: I tensorflow/stream_executor/platform/default/dso_loader.cc:53] Successfully opened dynamic library libcudart.so.11.0 2022-11-24 09:52:54,574 - mmcv - INFO - Reducer buckets have been rebuilt in this iteration. 2022-11-24 09:53:32,621 - mmdet - INFO - Epoch [1][50/9881] lr: 3.013e-05, eta: 1 day, 10:52:06, time: 1.059, data_time: 0.193, memory: 5247, loss_sem_seg: 0.0159, loss_vote: 0.9388, recall_Car: 0.9749, recall_Ped: 0.4025, recall_Cyc: 0.0650, num_clusters: 133.0550, num_fg_points: 416.8725, loss_cls.task0: 0.0125, loss_center.task0: 1.6654, loss_size.task0: 0.7541, loss_rot.task0: 0.1767, loss_cls.task1: 0.0222, loss_center.task1: 0.0203, loss_size.task1: 0.0115, loss_rot.task1: 0.0052, loss_cls.task2: 0.0253, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0451, num_pos_rois: 0.0000, num_neg_rois: 346.5525, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 3.6929, grad_norm: 49.6665 2022-11-24 09:54:14,765 - mmdet - INFO - Epoch [1][100/9881] lr: 3.051e-05, eta: 1 day, 7:17:03, time: 0.842, data_time: 0.247, memory: 5247, loss_sem_seg: 0.0143, loss_vote: 0.8941, recall_Car: 0.9973, recall_Ped: 0.4950, recall_Cyc: 0.0475, num_clusters: 136.3675, num_fg_points: 434.4375, loss_cls.task0: 0.0051, loss_center.task0: 1.6377, loss_size.task0: 0.3531, loss_rot.task0: 0.2321, loss_cls.task1: 0.0016, loss_center.task1: 0.0437, loss_size.task1: 0.0089, loss_rot.task1: 0.0050, loss_cls.task2: 0.0015, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0045, num_pos_rois: 0.0000, num_neg_rois: 108.6000, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 3.2016, grad_norm: 31.9151 2022-11-24 09:54:57,347 - mmdet - INFO - Epoch [1][150/9881] lr: 3.116e-05, eta: 1 day, 6:11:36, time: 0.852, data_time: 0.046, memory: 5247, loss_sem_seg: 0.0131, loss_vote: 0.8353, recall_Car: 0.9772, recall_Ped: 0.4725, recall_Cyc: 0.0700, num_clusters: 135.3550, num_fg_points: 425.7775, loss_cls.task0: 0.0089, loss_center.task0: 1.5396, loss_size.task0: 0.3540, loss_rot.task0: 0.2499, loss_cls.task1: 0.0010, loss_center.task1: 0.0840, loss_size.task1: 0.0502, loss_rot.task1: 0.0651, loss_cls.task2: 0.0004, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0034, num_pos_rois: 0.0175, num_neg_rois: 54.0925, loss_rcnn_bbox: 0.7596, loss_rcnn_corner: 0.0678, loss: 4.0323, grad_norm: 52.7630 2022-11-24 09:55:39,982 - mmdet - INFO - Epoch [1][200/9881] lr: 3.206e-05, eta: 1 day, 5:38:41, time: 0.853, data_time: 0.008, memory: 5247, loss_sem_seg: 0.0120, loss_vote: 0.8315, recall_Car: 0.9971, recall_Ped: 0.4650, recall_Cyc: 0.0450, num_clusters: 132.5175, num_fg_points: 454.8125, loss_cls.task0: 0.0143, loss_center.task0: 1.4395, loss_size.task0: 0.3592, loss_rot.task0: 0.2495, loss_cls.task1: 0.0009, loss_center.task1: 0.1598, loss_size.task1: 0.0987, loss_rot.task1: 0.0827, loss_cls.task2: 0.0002, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0035, num_pos_rois: 0.0625, num_neg_rois: 107.9175, loss_rcnn_bbox: 1.1473, loss_rcnn_corner: 0.0969, loss: 4.4959, grad_norm: 73.9203 2022-11-24 09:56:24,620 - mmdet - INFO - Epoch [1][250/9881] lr: 3.323e-05, eta: 1 day, 5:34:23, time: 0.893, data_time: 0.009, memory: 5247, loss_sem_seg: 0.0111, loss_vote: 0.7688, recall_Car: 0.9773, recall_Ped: 0.4400, recall_Cyc: 0.0575, num_clusters: 136.1100, num_fg_points: 440.8550, loss_cls.task0: 0.0163, loss_center.task0: 1.3761, loss_size.task0: 0.3254, loss_rot.task0: 0.2526, loss_cls.task1: 0.0007, loss_center.task1: 0.1169, loss_size.task1: 0.0636, loss_rot.task1: 0.0868, loss_cls.task2: 0.0002, loss_center.task2: 0.0320, loss_size.task2: 0.0187, loss_rot.task2: 0.0099, loss_rcnn_cls: 0.0041, num_pos_rois: 0.1125, num_neg_rois: 127.2275, loss_rcnn_bbox: 1.4649, loss_rcnn_corner: 0.1297, loss: 4.6779, grad_norm: 86.0987 2022-11-24 09:57:07,703 - mmdet - INFO - Epoch [1][300/9881] lr: 3.466e-05, eta: 1 day, 5:21:09, time: 0.862, data_time: 0.016, memory: 5247, loss_sem_seg: 0.0105, loss_vote: 0.7904, recall_Car: 0.9853, recall_Ped: 0.4350, recall_Cyc: 0.0350, num_clusters: 137.6800, num_fg_points: 445.2050, loss_cls.task0: 0.0187, loss_center.task0: 1.2660, loss_size.task0: 0.3052, loss_rot.task0: 0.2546, loss_cls.task1: 0.0010, loss_center.task1: 0.1547, loss_size.task1: 0.0853, loss_rot.task1: 0.1000, loss_cls.task2: 0.0002, loss_center.task2: 0.0546, loss_size.task2: 0.0241, loss_rot.task2: 0.0267, loss_rcnn_cls: 0.0044, num_pos_rois: 0.1225, num_neg_rois: 124.6700, loss_rcnn_bbox: 1.6632, loss_rcnn_corner: 0.1415, loss: 4.9011, grad_norm: 83.5202 2022-11-24 09:57:51,309 - mmdet - INFO - Epoch [1][350/9881] lr: 3.634e-05, eta: 1 day, 5:14:25, time: 0.872, data_time: 0.008, memory: 5247, loss_sem_seg: 0.0099, loss_vote: 0.7707, recall_Car: 0.9892, recall_Ped: 0.4650, recall_Cyc: 0.0650, num_clusters: 138.0725, num_fg_points: 451.2725, loss_cls.task0: 0.0201, loss_center.task0: 1.2282, loss_size.task0: 0.2904, loss_rot.task0: 0.2574, loss_cls.task1: 0.0011, loss_center.task1: 0.2616, loss_size.task1: 0.1420, loss_rot.task1: 0.1476, loss_cls.task2: 0.0001, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0045, num_pos_rois: 0.1200, num_neg_rois: 117.2925, loss_rcnn_bbox: 1.5379, loss_rcnn_corner: 0.1336, loss: 4.8049, grad_norm: 69.0622 2022-11-24 09:58:32,576 - mmdet - INFO - Epoch [1][400/9881] lr: 3.829e-05, eta: 1 day, 4:57:25, time: 0.824, data_time: 0.006, memory: 5247, loss_sem_seg: 0.0093, loss_vote: 0.7563, recall_Car: 0.9809, recall_Ped: 0.4825, recall_Cyc: 0.0675, num_clusters: 139.9925, num_fg_points: 454.3650, loss_cls.task0: 0.0209, loss_center.task0: 1.2806, loss_size.task0: 0.2992, loss_rot.task0: 0.2532, loss_cls.task1: 0.0011, loss_center.task1: 0.2391, loss_size.task1: 0.1217, loss_rot.task1: 0.1340, loss_cls.task2: 0.0001, loss_center.task2: 0.0378, loss_size.task2: 0.0113, loss_rot.task2: 0.0061, loss_rcnn_cls: 0.0046, num_pos_rois: 0.1275, num_neg_rois: 121.6625, loss_rcnn_bbox: 1.3306, loss_rcnn_corner: 0.1240, loss: 4.6300, grad_norm: 63.1915 2022-11-24 09:59:14,965 - mmdet - INFO - Epoch [1][450/9881] lr: 4.050e-05, eta: 1 day, 4:49:21, time: 0.849, data_time: 0.007, memory: 5247, loss_sem_seg: 0.0086, loss_vote: 0.7348, recall_Car: 0.9827, recall_Ped: 0.4775, recall_Cyc: 0.0550, num_clusters: 138.2425, num_fg_points: 431.6150, loss_cls.task0: 0.0220, loss_center.task0: 1.1739, loss_size.task0: 0.2817, loss_rot.task0: 0.2540, loss_cls.task1: 0.0010, loss_center.task1: 0.1441, loss_size.task1: 0.1045, loss_rot.task1: 0.1088, loss_cls.task2: 0.0001, loss_center.task2: 0.0222, loss_size.task2: 0.0126, loss_rot.task2: 0.0126, loss_rcnn_cls: 0.0040, num_pos_rois: 0.1025, num_neg_rois: 116.7725, loss_rcnn_bbox: 1.4405, loss_rcnn_corner: 0.1149, loss: 4.4404, grad_norm: 61.0970 2022-11-24 09:59:57,032 - mmdet - INFO - Epoch [1][500/9881] lr: 4.296e-05, eta: 1 day, 4:41:20, time: 0.841, data_time: 0.006, memory: 5247, loss_sem_seg: 0.0079, loss_vote: 0.7448, recall_Car: 0.9799, recall_Ped: 0.4350, recall_Cyc: 0.0475, num_clusters: 138.1100, num_fg_points: 434.0475, loss_cls.task0: 0.0238, loss_center.task0: 1.2012, loss_size.task0: 0.2832, loss_rot.task0: 0.2569, loss_cls.task1: 0.0011, loss_center.task1: 0.1810, loss_size.task1: 0.0854, loss_rot.task1: 0.1172, loss_cls.task2: 0.0001, loss_center.task2: 0.0099, loss_size.task2: 0.0187, loss_rot.task2: 0.0067, loss_rcnn_cls: 0.0043, num_pos_rois: 0.1150, num_neg_rois: 115.0875, loss_rcnn_bbox: 1.2643, loss_rcnn_corner: 0.1009, loss: 4.3075, grad_norm: 54.3462 2022-11-24 10:00:40,626 - mmdet - INFO - Epoch [1][550/9881] lr: 4.568e-05, eta: 1 day, 4:40:05, time: 0.872, data_time: 0.007, memory: 5655, loss_sem_seg: 0.0072, loss_vote: 0.7315, recall_Car: 0.9903, recall_Ped: 0.4200, recall_Cyc: 0.0250, num_clusters: 137.6950, num_fg_points: 419.5850, loss_cls.task0: 0.0245, loss_center.task0: 1.1693, loss_size.task0: 0.2822, loss_rot.task0: 0.2557, loss_cls.task1: 0.0014, loss_center.task1: 0.2189, loss_size.task1: 0.1441, loss_rot.task1: 0.1601, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0036, num_pos_rois: 0.0975, num_neg_rois: 121.8850, loss_rcnn_bbox: 0.9997, loss_rcnn_corner: 0.0831, loss: 4.0814, grad_norm: 45.5739 2022-11-24 10:01:22,484 - mmdet - INFO - Epoch [1][600/9881] lr: 4.866e-05, eta: 1 day, 4:33:15, time: 0.837, data_time: 0.007, memory: 5655, loss_sem_seg: 0.0065, loss_vote: 0.7238, recall_Car: 0.9807, recall_Ped: 0.4574, recall_Cyc: 0.0450, num_clusters: 136.7675, num_fg_points: 419.8275, loss_cls.task0: 0.0233, loss_center.task0: 1.2066, loss_size.task0: 0.2842, loss_rot.task0: 0.2590, loss_cls.task1: 0.0014, loss_center.task1: 0.1901, loss_size.task1: 0.1218, loss_rot.task1: 0.1368, loss_cls.task2: 0.0001, loss_center.task2: 0.0205, loss_size.task2: 0.0145, loss_rot.task2: 0.0100, loss_rcnn_cls: 0.0061, num_pos_rois: 0.1775, num_neg_rois: 122.8675, loss_rcnn_bbox: 1.3043, loss_rcnn_corner: 0.1164, loss: 4.4254, grad_norm: 52.9397 2022-11-24 10:02:03,867 - mmdet - INFO - Epoch [1][650/9881] lr: 5.190e-05, eta: 1 day, 4:25:55, time: 0.828, data_time: 0.007, memory: 5655, loss_sem_seg: 0.0059, loss_vote: 0.7080, recall_Car: 0.9688, recall_Ped: 0.4524, recall_Cyc: 0.0400, num_clusters: 136.1350, num_fg_points: 408.0600, loss_cls.task0: 0.0241, loss_center.task0: 1.2309, loss_size.task0: 0.2816, loss_rot.task0: 0.2589, loss_cls.task1: 0.0014, loss_center.task1: 0.1851, loss_size.task1: 0.1036, loss_rot.task1: 0.1223, loss_cls.task2: 0.0001, loss_center.task2: 0.0286, loss_size.task2: 0.0190, loss_rot.task2: 0.0052, loss_rcnn_cls: 0.0064, num_pos_rois: 0.1900, num_neg_rois: 122.2175, loss_rcnn_bbox: 1.5327, loss_rcnn_corner: 0.1332, loss: 4.6469, grad_norm: 58.5985 2022-11-24 10:02:47,615 - mmdet - INFO - Epoch [1][700/9881] lr: 5.540e-05, eta: 1 day, 4:26:10, time: 0.875, data_time: 0.007, memory: 5655, loss_sem_seg: 0.0054, loss_vote: 0.6978, recall_Car: 0.9852, recall_Ped: 0.4400, recall_Cyc: 0.0550, num_clusters: 133.7975, num_fg_points: 405.3075, loss_cls.task0: 0.0202, loss_center.task0: 1.1677, loss_size.task0: 0.2816, loss_rot.task0: 0.2557, loss_cls.task1: 0.0009, loss_center.task1: 0.1756, loss_size.task1: 0.1089, loss_rot.task1: 0.1108, loss_cls.task2: 0.0000, loss_center.task2: 0.0050, loss_size.task2: 0.0047, loss_rot.task2: 0.0044, loss_rcnn_cls: 0.0050, num_pos_rois: 0.1225, num_neg_rois: 105.4375, loss_rcnn_bbox: 1.3603, loss_rcnn_corner: 0.0938, loss: 4.2979, grad_norm: 51.1430 2022-11-24 10:03:29,552 - mmdet - INFO - Epoch [1][750/9881] lr: 5.915e-05, eta: 1 day, 4:21:33, time: 0.839, data_time: 0.086, memory: 5655, loss_sem_seg: 0.0049, loss_vote: 0.6977, recall_Car: 0.9652, recall_Ped: 0.4100, recall_Cyc: 0.0300, num_clusters: 131.6325, num_fg_points: 391.0125, loss_cls.task0: 0.0239, loss_center.task0: 1.1181, loss_size.task0: 0.2736, loss_rot.task0: 0.2558, loss_cls.task1: 0.0011, loss_center.task1: 0.1830, loss_size.task1: 0.0979, loss_rot.task1: 0.1296, loss_cls.task2: 0.0001, loss_center.task2: 0.0266, loss_size.task2: 0.0123, loss_rot.task2: 0.0120, loss_rcnn_cls: 0.0084, num_pos_rois: 0.2425, num_neg_rois: 125.0350, loss_rcnn_bbox: 1.5415, loss_rcnn_corner: 0.1595, loss: 4.5461, grad_norm: 50.2037 2022-11-24 10:04:11,522 - mmdet - INFO - Epoch [1][800/9881] lr: 6.315e-05, eta: 1 day, 4:17:30, time: 0.839, data_time: 0.045, memory: 5655, loss_sem_seg: 0.0044, loss_vote: 0.6727, recall_Car: 0.9596, recall_Ped: 0.4343, recall_Cyc: 0.0475, num_clusters: 131.4275, num_fg_points: 389.8650, loss_cls.task0: 0.0215, loss_center.task0: 1.1565, loss_size.task0: 0.3072, loss_rot.task0: 0.2572, loss_cls.task1: 0.0012, loss_center.task1: 0.1773, loss_size.task1: 0.1224, loss_rot.task1: 0.1440, loss_cls.task2: 0.0001, loss_center.task2: 0.0351, loss_size.task2: 0.0240, loss_rot.task2: 0.0125, loss_rcnn_cls: 0.0076, num_pos_rois: 0.1975, num_neg_rois: 109.7475, loss_rcnn_bbox: 1.3705, loss_rcnn_corner: 0.1194, loss: 4.4336, grad_norm: 44.3574 2022-11-24 10:04:53,956 - mmdet - INFO - Epoch [1][850/9881] lr: 6.741e-05, eta: 1 day, 4:14:49, time: 0.848, data_time: 0.009, memory: 5655, loss_sem_seg: 0.0041, loss_vote: 0.6737, recall_Car: 0.9558, recall_Ped: 0.4919, recall_Cyc: 0.0600, num_clusters: 128.0300, num_fg_points: 359.0925, loss_cls.task0: 0.0222, loss_center.task0: 1.1274, loss_size.task0: 0.2696, loss_rot.task0: 0.2560, loss_cls.task1: 0.0013, loss_center.task1: 0.2224, loss_size.task1: 0.1242, loss_rot.task1: 0.1498, loss_cls.task2: 0.0000, loss_center.task2: 0.0279, loss_size.task2: 0.0081, loss_rot.task2: 0.0076, loss_rcnn_cls: 0.0097, num_pos_rois: 0.2375, num_neg_rois: 104.1950, loss_rcnn_bbox: 1.3815, loss_rcnn_corner: 0.1269, loss: 4.4126, grad_norm: 43.4499 2022-11-24 10:05:39,753 - mmdet - INFO - Epoch [1][900/9881] lr: 7.193e-05, eta: 1 day, 4:19:53, time: 0.917, data_time: 0.053, memory: 5655, loss_sem_seg: 0.0037, loss_vote: 0.6719, recall_Car: 0.9371, recall_Ped: 0.4349, recall_Cyc: 0.0500, num_clusters: 127.8600, num_fg_points: 341.9575, loss_cls.task0: 0.0226, loss_center.task0: 1.1766, loss_size.task0: 0.3039, loss_rot.task0: 0.2577, loss_cls.task1: 0.0009, loss_center.task1: 0.1472, loss_size.task1: 0.0824, loss_rot.task1: 0.1106, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0066, num_pos_rois: 0.1700, num_neg_rois: 109.8650, loss_rcnn_bbox: 1.0771, loss_rcnn_corner: 0.1006, loss: 3.9618, grad_norm: 33.1983 2022-11-24 10:06:21,929 - mmdet - INFO - Epoch [1][950/9881] lr: 7.670e-05, eta: 1 day, 4:16:45, time: 0.843, data_time: 0.035, memory: 5655, loss_sem_seg: 0.0033, loss_vote: 0.6568, recall_Car: 0.9128, recall_Ped: 0.4442, recall_Cyc: 0.0250, num_clusters: 127.9325, num_fg_points: 347.7500, loss_cls.task0: 0.0192, loss_center.task0: 1.1599, loss_size.task0: 0.3156, loss_rot.task0: 0.2574, loss_cls.task1: 0.0008, loss_center.task1: 0.1376, loss_size.task1: 0.0971, loss_rot.task1: 0.0960, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0075, num_pos_rois: 0.1625, num_neg_rois: 90.2975, loss_rcnn_bbox: 1.0335, loss_rcnn_corner: 0.0749, loss: 3.8598, grad_norm: 34.2519 2022-11-24 10:07:05,559 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-11-24 10:07:05,561 - mmdet - INFO - Epoch [1][1000/9881] lr: 8.172e-05, eta: 1 day, 4:16:44, time: 0.873, data_time: 0.047, memory: 5655, loss_sem_seg: 0.0029, loss_vote: 0.6453, recall_Car: 0.9077, recall_Ped: 0.4223, recall_Cyc: 0.0475, num_clusters: 130.2625, num_fg_points: 403.5275, loss_cls.task0: 0.0163, loss_center.task0: 1.2218, loss_size.task0: 0.3161, loss_rot.task0: 0.2580, loss_cls.task1: 0.0010, loss_center.task1: 0.1869, loss_size.task1: 0.1296, loss_rot.task1: 0.1217, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0099, num_pos_rois: 0.1775, num_neg_rois: 80.2675, loss_rcnn_bbox: 1.2153, loss_rcnn_corner: 0.1013, loss: 4.2261, grad_norm: 33.8637 2022-11-24 10:07:45,993 - mmdet - INFO - Epoch [1][1050/9881] lr: 8.699e-05, eta: 1 day, 4:10:36, time: 0.808, data_time: 0.009, memory: 5655, loss_sem_seg: 0.0029, loss_vote: 0.6602, recall_Car: 0.8648, recall_Ped: 0.4608, recall_Cyc: 0.0575, num_clusters: 127.4850, num_fg_points: 389.2100, loss_cls.task0: 0.0164, loss_center.task0: 1.3335, loss_size.task0: 0.3204, loss_rot.task0: 0.2582, loss_cls.task1: 0.0007, loss_center.task1: 0.1110, loss_size.task1: 0.0647, loss_rot.task1: 0.0733, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0079, num_pos_rois: 0.1200, num_neg_rois: 78.5650, loss_rcnn_bbox: 0.8469, loss_rcnn_corner: 0.0647, loss: 3.7609, grad_norm: 27.8322 2022-11-24 10:08:30,985 - mmdet - INFO - Epoch [1][1100/9881] lr: 9.251e-05, eta: 1 day, 4:13:07, time: 0.900, data_time: 0.008, memory: 5655, loss_sem_seg: 0.0026, loss_vote: 0.6285, recall_Car: 0.8580, recall_Ped: 0.4621, recall_Cyc: 0.0475, num_clusters: 127.3250, num_fg_points: 389.7700, loss_cls.task0: 0.0150, loss_center.task0: 1.1840, loss_size.task0: 0.3009, loss_rot.task0: 0.2592, loss_cls.task1: 0.0004, loss_center.task1: 0.0640, loss_size.task1: 0.0370, loss_rot.task1: 0.0637, loss_cls.task2: 0.0001, loss_center.task2: 0.0190, loss_size.task2: 0.0095, loss_rot.task2: 0.0115, loss_rcnn_cls: 0.0152, num_pos_rois: 0.2850, num_neg_rois: 68.1525, loss_rcnn_bbox: 1.1800, loss_rcnn_corner: 0.1253, loss: 3.9159, grad_norm: 29.0678 2022-11-24 10:09:12,340 - mmdet - INFO - Epoch [1][1150/9881] lr: 9.829e-05, eta: 1 day, 4:09:17, time: 0.828, data_time: 0.014, memory: 5655, loss_sem_seg: 0.0024, loss_vote: 0.6375, recall_Car: 0.7209, recall_Ped: 0.4782, recall_Cyc: 0.0725, num_clusters: 127.7225, num_fg_points: 408.7850, loss_cls.task0: 0.0159, loss_center.task0: 1.2768, loss_size.task0: 0.2806, loss_rot.task0: 0.2525, loss_cls.task1: 0.0007, loss_center.task1: 0.1263, loss_size.task1: 0.0867, loss_rot.task1: 0.0880, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0139, num_pos_rois: 0.2200, num_neg_rois: 76.2850, loss_rcnn_bbox: 1.2174, loss_rcnn_corner: 0.0908, loss: 4.0894, grad_norm: 30.5093 2022-11-24 10:09:57,215 - mmdet - INFO - Epoch [1][1200/9881] lr: 1.043e-04, eta: 1 day, 4:11:21, time: 0.897, data_time: 0.180, memory: 5655, loss_sem_seg: 0.0022, loss_vote: 0.6339, recall_Car: 0.6416, recall_Ped: 0.4409, recall_Cyc: 0.0469, num_clusters: 128.2900, num_fg_points: 415.2825, loss_cls.task0: 0.0155, loss_center.task0: 1.2272, loss_size.task0: 0.2685, loss_rot.task0: 0.2538, loss_cls.task1: 0.0007, loss_center.task1: 0.0984, loss_size.task1: 0.0588, loss_rot.task1: 0.0735, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0125, num_pos_rois: 0.2900, num_neg_rois: 90.3475, loss_rcnn_bbox: 1.1942, loss_rcnn_corner: 0.1049, loss: 3.9440, grad_norm: 26.9316 2022-11-24 10:10:41,865 - mmdet - INFO - Epoch [1][1250/9881] lr: 1.106e-04, eta: 1 day, 4:12:48, time: 0.892, data_time: 0.253, memory: 5655, loss_sem_seg: 0.0020, loss_vote: 0.6269, recall_Car: 0.6129, recall_Ped: 0.4430, recall_Cyc: 0.0646, num_clusters: 127.9100, num_fg_points: 431.2825, loss_cls.task0: 0.0145, loss_center.task0: 1.2417, loss_size.task0: 0.2692, loss_rot.task0: 0.2556, loss_cls.task1: 0.0009, loss_center.task1: 0.1456, loss_size.task1: 0.0700, loss_rot.task1: 0.1047, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0103, num_pos_rois: 0.2700, num_neg_rois: 95.4350, loss_rcnn_bbox: 1.0868, loss_rcnn_corner: 0.0946, loss: 3.9228, grad_norm: 26.0779 2022-11-24 10:11:24,491 - mmdet - INFO - Epoch [1][1300/9881] lr: 1.171e-04, eta: 1 day, 4:11:05, time: 0.852, data_time: 0.093, memory: 5655, loss_sem_seg: 0.0020, loss_vote: 0.6485, recall_Car: 0.4705, recall_Ped: 0.3731, recall_Cyc: 0.0647, num_clusters: 124.2550, num_fg_points: 428.3375, loss_cls.task0: 0.0156, loss_center.task0: 1.2436, loss_size.task0: 0.2648, loss_rot.task0: 0.2570, loss_cls.task1: 0.0007, loss_center.task1: 0.1417, loss_size.task1: 0.0982, loss_rot.task1: 0.0898, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0114, num_pos_rois: 0.2425, num_neg_rois: 79.2700, loss_rcnn_bbox: 1.0941, loss_rcnn_corner: 0.0941, loss: 3.9615, grad_norm: 25.2446 2022-11-24 10:12:05,772 - mmdet - INFO - Epoch [1][1350/9881] lr: 1.239e-04, eta: 1 day, 4:07:33, time: 0.826, data_time: 0.009, memory: 5655, loss_sem_seg: 0.0019, loss_vote: 0.6354, recall_Car: 0.3466, recall_Ped: 0.3786, recall_Cyc: 0.0449, num_clusters: 125.1625, num_fg_points: 450.3450, loss_cls.task0: 0.0169, loss_center.task0: 1.1172, loss_size.task0: 0.2312, loss_rot.task0: 0.2555, loss_cls.task1: 0.0005, loss_center.task1: 0.0914, loss_size.task1: 0.0443, loss_rot.task1: 0.0683, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0221, num_pos_rois: 0.4425, num_neg_rois: 75.5725, loss_rcnn_bbox: 1.4025, loss_rcnn_corner: 0.1320, loss: 4.0191, grad_norm: 23.6238 2022-11-24 10:12:48,718 - mmdet - INFO - Epoch [1][1400/9881] lr: 1.309e-04, eta: 1 day, 4:06:29, time: 0.859, data_time: 0.006, memory: 5655, loss_sem_seg: 0.0017, loss_vote: 0.6336, recall_Car: 0.2352, recall_Ped: 0.3550, recall_Cyc: 0.0345, num_clusters: 127.1750, num_fg_points: 445.9300, loss_cls.task0: 0.0141, loss_center.task0: 1.2180, loss_size.task0: 0.2665, loss_rot.task0: 0.2599, loss_cls.task1: 0.0008, loss_center.task1: 0.1265, loss_size.task1: 0.0794, loss_rot.task1: 0.0954, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0192, num_pos_rois: 0.3600, num_neg_rois: 63.6200, loss_rcnn_bbox: 1.2994, loss_rcnn_corner: 0.1335, loss: 4.1479, grad_norm: 23.9788 2022-11-24 10:13:32,759 - mmdet - INFO - Epoch [1][1450/9881] lr: 1.381e-04, eta: 1 day, 4:06:56, time: 0.881, data_time: 0.007, memory: 5655, loss_sem_seg: 0.0017, loss_vote: 0.6355, recall_Car: 0.2825, recall_Ped: 0.2862, recall_Cyc: 0.0439, num_clusters: 126.7825, num_fg_points: 433.7350, loss_cls.task0: 0.0132, loss_center.task0: 1.2216, loss_size.task0: 0.2932, loss_rot.task0: 0.2559, loss_cls.task1: 0.0009, loss_center.task1: 0.1178, loss_size.task1: 0.0629, loss_rot.task1: 0.0800, loss_cls.task2: 0.0000, loss_center.task2: 0.0158, loss_size.task2: 0.0067, loss_rot.task2: 0.0057, loss_rcnn_cls: 0.0105, num_pos_rois: 0.1750, num_neg_rois: 57.5250, loss_rcnn_bbox: 0.9242, loss_rcnn_corner: 0.0743, loss: 3.7199, grad_norm: 19.8205 2022-11-24 10:14:15,651 - mmdet - INFO - Epoch [1][1500/9881] lr: 1.456e-04, eta: 1 day, 4:05:48, time: 0.858, data_time: 0.007, memory: 5655, loss_sem_seg: 0.0016, loss_vote: 0.6286, recall_Car: 0.1929, recall_Ped: 0.1962, recall_Cyc: 0.0200, num_clusters: 126.7225, num_fg_points: 465.7175, loss_cls.task0: 0.0104, loss_center.task0: 1.3592, loss_size.task0: 0.3050, loss_rot.task0: 0.2467, loss_cls.task1: 0.0004, loss_center.task1: 0.0635, loss_size.task1: 0.0337, loss_rot.task1: 0.0434, loss_cls.task2: 0.0001, loss_center.task2: 0.0281, loss_size.task2: 0.0135, loss_rot.task2: 0.0061, loss_rcnn_cls: 0.0159, num_pos_rois: 0.0975, num_neg_rois: 43.3025, loss_rcnn_bbox: 0.7737, loss_rcnn_corner: 0.0553, loss: 3.5850, grad_norm: 19.1635 2022-11-24 10:14:59,003 - mmdet - INFO - Epoch [1][1550/9881] lr: 1.533e-04, eta: 1 day, 4:05:13, time: 0.866, data_time: 0.057, memory: 5655, loss_sem_seg: 0.0014, loss_vote: 0.6415, recall_Car: 0.0532, recall_Ped: 0.0889, recall_Cyc: 0.0075, num_clusters: 124.6575, num_fg_points: 503.5675, loss_cls.task0: 0.0110, loss_center.task0: 1.4630, loss_size.task0: 0.2974, loss_rot.task0: 0.2483, loss_cls.task1: 0.0003, loss_center.task1: 0.0664, loss_size.task1: 0.0348, loss_rot.task1: 0.0502, loss_cls.task2: 0.0000, loss_center.task2: 0.0198, loss_size.task2: 0.0107, loss_rot.task2: 0.0045, loss_rcnn_cls: 0.0028, num_pos_rois: 0.0375, num_neg_rois: 65.3725, loss_rcnn_bbox: 0.4674, loss_rcnn_corner: 0.0304, loss: 3.3499, grad_norm: 14.9887 2022-11-24 10:15:41,581 - mmdet - INFO - Epoch [1][1600/9881] lr: 1.613e-04, eta: 1 day, 4:03:47, time: 0.852, data_time: 0.323, memory: 5655, loss_sem_seg: 0.0014, loss_vote: 0.6194, recall_Car: 0.0190, recall_Ped: 0.0265, recall_Cyc: 0.0020, num_clusters: 126.2275, num_fg_points: 493.2550, loss_cls.task0: 0.0114, loss_center.task0: 1.5182, loss_size.task0: 0.2828, loss_rot.task0: 0.2561, loss_cls.task1: 0.0002, loss_center.task1: 0.0364, loss_size.task1: 0.0129, loss_rot.task1: 0.0187, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0053, num_pos_rois: 0.0575, num_neg_rois: 60.1800, loss_rcnn_bbox: 0.5691, loss_rcnn_corner: 0.0401, loss: 3.3718, grad_norm: 14.3369 2022-11-24 10:16:25,009 - mmdet - INFO - Epoch [1][1650/9881] lr: 1.695e-04, eta: 1 day, 4:03:21, time: 0.868, data_time: 0.224, memory: 5655, loss_sem_seg: 0.0016, loss_vote: 0.6185, recall_Car: 0.0228, recall_Ped: 0.0124, recall_Cyc: 0.0035, num_clusters: 120.6500, num_fg_points: 504.3675, loss_cls.task0: 0.0131, loss_center.task0: 1.5770, loss_size.task0: 0.2699, loss_rot.task0: 0.2442, loss_cls.task1: 0.0003, loss_center.task1: 0.0548, loss_size.task1: 0.0255, loss_rot.task1: 0.0268, loss_cls.task2: 0.0001, loss_center.task2: 0.0259, loss_size.task2: 0.0313, loss_rot.task2: 0.0130, loss_rcnn_cls: 0.0064, num_pos_rois: 0.0925, num_neg_rois: 81.9775, loss_rcnn_bbox: 0.6879, loss_rcnn_corner: 0.0719, loss: 3.6682, grad_norm: 15.6248 2022-11-24 10:17:09,604 - mmdet - INFO - Epoch [1][1700/9881] lr: 1.779e-04, eta: 1 day, 4:04:14, time: 0.892, data_time: 0.091, memory: 6041, loss_sem_seg: 0.0013, loss_vote: 0.6157, recall_Car: 0.0268, recall_Ped: 0.0056, recall_Cyc: 0.0025, num_clusters: 120.4650, num_fg_points: 531.3825, loss_cls.task0: 0.0115, loss_center.task0: 1.6859, loss_size.task0: 0.3185, loss_rot.task0: 0.2521, loss_cls.task1: 0.0003, loss_center.task1: 0.0647, loss_size.task1: 0.0388, loss_rot.task1: 0.0454, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0056, num_pos_rois: 0.0575, num_neg_rois: 56.4100, loss_rcnn_bbox: 0.5183, loss_rcnn_corner: 0.0466, loss: 3.6047, grad_norm: 16.0360 2022-11-24 10:17:49,368 - mmdet - INFO - Epoch [1][1750/9881] lr: 1.866e-04, eta: 1 day, 3:59:40, time: 0.795, data_time: 0.024, memory: 6294, loss_sem_seg: 0.0014, loss_vote: 0.6131, recall_Car: 0.0139, recall_Ped: 0.0001, recall_Cyc: 0.0000, num_clusters: 118.8050, num_fg_points: 519.9650, loss_cls.task0: 0.0137, loss_center.task0: 1.7217, loss_size.task0: 0.2777, loss_rot.task0: 0.2549, loss_cls.task1: 0.0002, loss_center.task1: 0.0405, loss_size.task1: 0.0306, loss_rot.task1: 0.0234, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0019, num_pos_rois: 0.0375, num_neg_rois: 93.1725, loss_rcnn_bbox: 0.4392, loss_rcnn_corner: 0.0375, loss: 3.4558, grad_norm: 13.0552 2022-11-24 10:18:31,326 - mmdet - INFO - Epoch [1][1800/9881] lr: 1.955e-04, eta: 1 day, 3:57:40, time: 0.839, data_time: 0.005, memory: 6294, loss_sem_seg: 0.0014, loss_vote: 0.6234, recall_Car: 0.0118, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 114.5975, num_fg_points: 532.9175, loss_cls.task0: 0.0123, loss_center.task0: 1.7354, loss_size.task0: 0.2571, loss_rot.task0: 0.2567, loss_cls.task1: 0.0002, loss_center.task1: 0.0401, loss_size.task1: 0.0262, loss_rot.task1: 0.0162, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0025, num_pos_rois: 0.0300, num_neg_rois: 62.6600, loss_rcnn_bbox: 0.3275, loss_rcnn_corner: 0.0355, loss: 3.3345, grad_norm: 11.2772 2022-11-24 10:19:14,992 - mmdet - INFO - Epoch [1][1850/9881] lr: 2.047e-04, eta: 1 day, 3:57:33, time: 0.873, data_time: 0.142, memory: 6294, loss_sem_seg: 0.0014, loss_vote: 0.6171, recall_Car: 0.0350, recall_Ped: 0.0001, recall_Cyc: 0.0000, num_clusters: 113.5950, num_fg_points: 501.2825, loss_cls.task0: 0.0165, loss_center.task0: 1.6998, loss_size.task0: 0.2948, loss_rot.task0: 0.2582, loss_cls.task1: 0.0002, loss_center.task1: 0.0180, loss_size.task1: 0.0197, loss_rot.task1: 0.0135, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0046, num_pos_rois: 0.0475, num_neg_rois: 80.4475, loss_rcnn_bbox: 0.3451, loss_rcnn_corner: 0.0382, loss: 3.3269, grad_norm: 11.1293 2022-11-24 10:19:58,569 - mmdet - INFO - Epoch [1][1900/9881] lr: 2.140e-04, eta: 1 day, 3:57:17, time: 0.871, data_time: 0.151, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.6089, recall_Car: 0.0167, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 107.5200, num_fg_points: 545.3525, loss_cls.task0: 0.0138, loss_center.task0: 1.5965, loss_size.task0: 0.3038, loss_rot.task0: 0.2607, loss_cls.task1: 0.0002, loss_center.task1: 0.0491, loss_size.task1: 0.0292, loss_rot.task1: 0.0275, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0044, num_pos_rois: 0.0950, num_neg_rois: 81.2475, loss_rcnn_bbox: 0.4975, loss_rcnn_corner: 0.0706, loss: 3.4635, grad_norm: 13.9854 2022-11-24 10:20:40,657 - mmdet - INFO - Epoch [1][1950/9881] lr: 2.236e-04, eta: 1 day, 3:55:32, time: 0.842, data_time: 0.189, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5953, recall_Car: 0.0076, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 114.7650, num_fg_points: 490.2475, loss_cls.task0: 0.0164, loss_center.task0: 1.6184, loss_size.task0: 0.2938, loss_rot.task0: 0.2531, loss_cls.task1: 0.0002, loss_center.task1: 0.0622, loss_size.task1: 0.0547, loss_rot.task1: 0.0263, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0041, num_pos_rois: 0.0775, num_neg_rois: 89.0400, loss_rcnn_bbox: 0.4753, loss_rcnn_corner: 0.0543, loss: 3.4554, grad_norm: 11.7329 2022-11-24 10:21:23,885 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-11-24 10:21:23,887 - mmdet - INFO - Epoch [1][2000/9881] lr: 2.335e-04, eta: 1 day, 3:54:57, time: 0.865, data_time: 0.021, memory: 6294, loss_sem_seg: 0.0013, loss_vote: 0.5995, recall_Car: 0.0093, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 107.3225, num_fg_points: 423.6425, loss_cls.task0: 0.0165, loss_center.task0: 1.6460, loss_size.task0: 0.2794, loss_rot.task0: 0.2541, loss_cls.task1: 0.0004, loss_center.task1: 0.0829, loss_size.task1: 0.0447, loss_rot.task1: 0.0456, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0066, num_pos_rois: 0.1150, num_neg_rois: 87.7525, loss_rcnn_bbox: 0.7784, loss_rcnn_corner: 0.1060, loss: 3.8614, grad_norm: 14.8934 2022-11-24 10:22:07,207 - mmdet - INFO - Epoch [1][2050/9881] lr: 2.435e-04, eta: 1 day, 3:54:24, time: 0.866, data_time: 0.040, memory: 6294, loss_sem_seg: 0.0014, loss_vote: 0.5897, recall_Car: 0.0319, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 113.0525, num_fg_points: 482.3525, loss_cls.task0: 0.0171, loss_center.task0: 1.5576, loss_size.task0: 0.3016, loss_rot.task0: 0.2533, loss_cls.task1: 0.0004, loss_center.task1: 0.0635, loss_size.task1: 0.0476, loss_rot.task1: 0.0388, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0057, num_pos_rois: 0.1375, num_neg_rois: 103.7750, loss_rcnn_bbox: 0.9325, loss_rcnn_corner: 0.1072, loss: 3.9162, grad_norm: 14.7268 2022-11-24 10:22:48,281 - mmdet - INFO - Epoch [1][2100/9881] lr: 2.538e-04, eta: 1 day, 3:51:50, time: 0.822, data_time: 0.170, memory: 6294, loss_sem_seg: 0.0013, loss_vote: 0.5696, recall_Car: 0.0150, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 106.1300, num_fg_points: 556.4775, loss_cls.task0: 0.0197, loss_center.task0: 1.6156, loss_size.task0: 0.2813, loss_rot.task0: 0.2551, loss_cls.task1: 0.0004, loss_center.task1: 0.0822, loss_size.task1: 0.0562, loss_rot.task1: 0.0547, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0081, num_pos_rois: 0.1575, num_neg_rois: 95.1425, loss_rcnn_bbox: 0.8247, loss_rcnn_corner: 0.0995, loss: 3.8684, grad_norm: 14.0839 2022-11-24 10:23:32,992 - mmdet - INFO - Epoch [1][2150/9881] lr: 2.643e-04, eta: 1 day, 3:52:35, time: 0.894, data_time: 0.313, memory: 6294, loss_sem_seg: 0.0013, loss_vote: 0.5848, recall_Car: 0.0193, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 105.1900, num_fg_points: 555.0350, loss_cls.task0: 0.0185, loss_center.task0: 1.5980, loss_size.task0: 0.2792, loss_rot.task0: 0.2520, loss_cls.task1: 0.0002, loss_center.task1: 0.0364, loss_size.task1: 0.0400, loss_rot.task1: 0.0107, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0078, num_pos_rois: 0.1650, num_neg_rois: 94.1625, loss_rcnn_bbox: 0.8357, loss_rcnn_corner: 0.1049, loss: 3.7695, grad_norm: 13.1162 2022-11-24 10:24:14,252 - mmdet - INFO - Epoch [1][2200/9881] lr: 2.750e-04, eta: 1 day, 3:50:14, time: 0.825, data_time: 0.197, memory: 6294, loss_sem_seg: 0.0013, loss_vote: 0.5765, recall_Car: 0.0169, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 110.8875, num_fg_points: 544.1300, loss_cls.task0: 0.0188, loss_center.task0: 1.5830, loss_size.task0: 0.2478, loss_rot.task0: 0.2489, loss_cls.task1: 0.0003, loss_center.task1: 0.0404, loss_size.task1: 0.0291, loss_rot.task1: 0.0450, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0072, num_pos_rois: 0.1400, num_neg_rois: 87.4900, loss_rcnn_bbox: 0.9117, loss_rcnn_corner: 0.1174, loss: 3.8272, grad_norm: 13.8239 2022-11-24 10:24:57,725 - mmdet - INFO - Epoch [1][2250/9881] lr: 2.859e-04, eta: 1 day, 3:49:54, time: 0.870, data_time: 0.017, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5826, recall_Car: 0.0185, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 113.8525, num_fg_points: 550.5450, loss_cls.task0: 0.0176, loss_center.task0: 1.6396, loss_size.task0: 0.2420, loss_rot.task0: 0.2445, loss_cls.task1: 0.0002, loss_center.task1: 0.0260, loss_size.task1: 0.0224, loss_rot.task1: 0.0274, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0088, num_pos_rois: 0.1750, num_neg_rois: 97.1075, loss_rcnn_bbox: 0.7036, loss_rcnn_corner: 0.0929, loss: 3.6087, grad_norm: 12.6017 2022-11-24 10:25:37,017 - mmdet - INFO - Epoch [1][2300/9881] lr: 2.971e-04, eta: 1 day, 3:46:00, time: 0.786, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0013, loss_vote: 0.5765, recall_Car: 0.0109, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 108.5850, num_fg_points: 583.9025, loss_cls.task0: 0.0166, loss_center.task0: 1.6244, loss_size.task0: 0.2705, loss_rot.task0: 0.2473, loss_cls.task1: 0.0002, loss_center.task1: 0.0298, loss_size.task1: 0.0260, loss_rot.task1: 0.0187, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0060, num_pos_rois: 0.1175, num_neg_rois: 92.4600, loss_rcnn_bbox: 0.5081, loss_rcnn_corner: 0.0573, loss: 3.3826, grad_norm: 10.4613 2022-11-24 10:26:17,962 - mmdet - INFO - Epoch [1][2350/9881] lr: 3.085e-04, eta: 1 day, 3:43:36, time: 0.819, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5680, recall_Car: 0.0156, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 109.0600, num_fg_points: 592.0400, loss_cls.task0: 0.0158, loss_center.task0: 1.6116, loss_size.task0: 0.2629, loss_rot.task0: 0.2535, loss_cls.task1: 0.0004, loss_center.task1: 0.1012, loss_size.task1: 0.0474, loss_rot.task1: 0.0564, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0079, num_pos_rois: 0.1425, num_neg_rois: 89.4825, loss_rcnn_bbox: 0.6333, loss_rcnn_corner: 0.0659, loss: 3.6254, grad_norm: 12.7329 2022-11-24 10:27:01,779 - mmdet - INFO - Epoch [1][2400/9881] lr: 3.200e-04, eta: 1 day, 3:43:34, time: 0.876, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5761, recall_Car: 0.0115, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 118.8400, num_fg_points: 578.5175, loss_cls.task0: 0.0171, loss_center.task0: 1.4948, loss_size.task0: 0.2816, loss_rot.task0: 0.2550, loss_cls.task1: 0.0004, loss_center.task1: 0.0749, loss_size.task1: 0.0289, loss_rot.task1: 0.0494, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0049, num_pos_rois: 0.1100, num_neg_rois: 99.8325, loss_rcnn_bbox: 0.4498, loss_rcnn_corner: 0.0521, loss: 3.2861, grad_norm: 10.1711 2022-11-24 10:27:44,577 - mmdet - INFO - Epoch [1][2450/9881] lr: 3.318e-04, eta: 1 day, 3:42:45, time: 0.857, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5674, recall_Car: 0.0264, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 113.2375, num_fg_points: 597.0775, loss_cls.task0: 0.0158, loss_center.task0: 1.6436, loss_size.task0: 0.2616, loss_rot.task0: 0.2395, loss_cls.task1: 0.0004, loss_center.task1: 0.0398, loss_size.task1: 0.0373, loss_rot.task1: 0.0420, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0047, num_pos_rois: 0.0850, num_neg_rois: 86.1900, loss_rcnn_bbox: 0.5847, loss_rcnn_corner: 0.0590, loss: 3.4969, grad_norm: 10.6912 2022-11-24 10:28:28,545 - mmdet - INFO - Epoch [1][2500/9881] lr: 3.438e-04, eta: 1 day, 3:42:49, time: 0.879, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5592, recall_Car: 0.0233, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 100.9675, num_fg_points: 618.7700, loss_cls.task0: 0.0150, loss_center.task0: 1.3599, loss_size.task0: 0.2435, loss_rot.task0: 0.2407, loss_cls.task1: 0.0002, loss_center.task1: 0.0378, loss_size.task1: 0.0218, loss_rot.task1: 0.0229, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0080, num_pos_rois: 0.1175, num_neg_rois: 74.0150, loss_rcnn_bbox: 0.6307, loss_rcnn_corner: 0.0790, loss: 3.2197, grad_norm: 11.1636 2022-11-24 10:29:12,956 - mmdet - INFO - Epoch [1][2550/9881] lr: 3.560e-04, eta: 1 day, 3:43:11, time: 0.888, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5569, recall_Car: 0.0173, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 96.5450, num_fg_points: 625.9800, loss_cls.task0: 0.0154, loss_center.task0: 1.5297, loss_size.task0: 0.2735, loss_rot.task0: 0.2564, loss_cls.task1: 0.0002, loss_center.task1: 0.0514, loss_size.task1: 0.0271, loss_rot.task1: 0.0279, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0035, num_pos_rois: 0.0575, num_neg_rois: 76.7925, loss_rcnn_bbox: 0.4583, loss_rcnn_corner: 0.0518, loss: 3.2534, grad_norm: 10.9395 2022-11-24 10:29:54,664 - mmdet - INFO - Epoch [1][2600/9881] lr: 3.684e-04, eta: 1 day, 3:41:30, time: 0.834, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5381, recall_Car: 0.0164, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 104.1950, num_fg_points: 610.9475, loss_cls.task0: 0.0188, loss_center.task0: 1.4956, loss_size.task0: 0.2786, loss_rot.task0: 0.2633, loss_cls.task1: 0.0005, loss_center.task1: 0.0748, loss_size.task1: 0.0340, loss_rot.task1: 0.0442, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0060, num_pos_rois: 0.1175, num_neg_rois: 87.5150, loss_rcnn_bbox: 0.9003, loss_rcnn_corner: 0.0860, loss: 3.7414, grad_norm: 12.0723 2022-11-24 10:30:36,597 - mmdet - INFO - Epoch [1][2650/9881] lr: 3.810e-04, eta: 1 day, 3:40:01, time: 0.839, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0013, loss_vote: 0.5470, recall_Car: 0.0309, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 101.3450, num_fg_points: 621.1175, loss_cls.task0: 0.0203, loss_center.task0: 1.4188, loss_size.task0: 0.2635, loss_rot.task0: 0.2538, loss_cls.task1: 0.0007, loss_center.task1: 0.1190, loss_size.task1: 0.0461, loss_rot.task1: 0.0628, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0090, num_pos_rois: 0.1750, num_neg_rois: 83.2250, loss_rcnn_bbox: 0.9325, loss_rcnn_corner: 0.0936, loss: 3.7682, grad_norm: 11.6109 2022-11-24 10:31:18,631 - mmdet - INFO - Epoch [1][2700/9881] lr: 3.938e-04, eta: 1 day, 3:38:38, time: 0.841, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5585, recall_Car: 0.0549, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 87.1800, num_fg_points: 655.5400, loss_cls.task0: 0.0194, loss_center.task0: 1.5829, loss_size.task0: 0.2839, loss_rot.task0: 0.2504, loss_cls.task1: 0.0004, loss_center.task1: 0.0384, loss_size.task1: 0.0259, loss_rot.task1: 0.0240, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0078, num_pos_rois: 0.1450, num_neg_rois: 80.1550, loss_rcnn_bbox: 0.8616, loss_rcnn_corner: 0.0888, loss: 3.7429, grad_norm: 11.6917 2022-11-24 10:32:02,108 - mmdet - INFO - Epoch [1][2750/9881] lr: 4.068e-04, eta: 1 day, 3:38:18, time: 0.870, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5431, recall_Car: 0.0428, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 84.1825, num_fg_points: 651.6975, loss_cls.task0: 0.0184, loss_center.task0: 1.6587, loss_size.task0: 0.3010, loss_rot.task0: 0.2643, loss_cls.task1: 0.0005, loss_center.task1: 0.0653, loss_size.task1: 0.0351, loss_rot.task1: 0.0351, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0075, num_pos_rois: 0.1050, num_neg_rois: 64.6850, loss_rcnn_bbox: 0.7272, loss_rcnn_corner: 0.0666, loss: 3.7239, grad_norm: 11.9359 2022-11-24 10:32:44,713 - mmdet - INFO - Epoch [1][2800/9881] lr: 4.200e-04, eta: 1 day, 3:37:20, time: 0.852, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0013, loss_vote: 0.5585, recall_Car: 0.0581, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 101.4025, num_fg_points: 668.3450, loss_cls.task0: 0.0173, loss_center.task0: 1.5333, loss_size.task0: 0.2593, loss_rot.task0: 0.2513, loss_cls.task1: 0.0002, loss_center.task1: 0.0372, loss_size.task1: 0.0159, loss_rot.task1: 0.0242, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0056, num_pos_rois: 0.0900, num_neg_rois: 82.1900, loss_rcnn_bbox: 0.6444, loss_rcnn_corner: 0.0679, loss: 3.4164, grad_norm: 9.8724 2022-11-24 10:33:29,539 - mmdet - INFO - Epoch [1][2850/9881] lr: 4.334e-04, eta: 1 day, 3:37:54, time: 0.897, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.5656, recall_Car: 0.0301, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 89.3400, num_fg_points: 651.5300, loss_cls.task0: 0.0236, loss_center.task0: 1.1805, loss_size.task0: 0.2324, loss_rot.task0: 0.2504, loss_cls.task1: 0.0005, loss_center.task1: 0.0920, loss_size.task1: 0.0562, loss_rot.task1: 0.0533, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0190, num_pos_rois: 0.3550, num_neg_rois: 64.8975, loss_rcnn_bbox: 1.2085, loss_rcnn_corner: 0.1574, loss: 3.8404, grad_norm: 11.5808 2022-11-24 10:34:11,800 - mmdet - INFO - Epoch [1][2900/9881] lr: 4.470e-04, eta: 1 day, 3:36:42, time: 0.845, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5546, recall_Car: 0.0636, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 90.2025, num_fg_points: 667.5050, loss_cls.task0: 0.0179, loss_center.task0: 1.7242, loss_size.task0: 0.2534, loss_rot.task0: 0.2620, loss_cls.task1: 0.0004, loss_center.task1: 0.0415, loss_size.task1: 0.0185, loss_rot.task1: 0.0241, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0068, num_pos_rois: 0.0975, num_neg_rois: 53.2850, loss_rcnn_bbox: 0.5372, loss_rcnn_corner: 0.0649, loss: 3.5066, grad_norm: 9.1749 2022-11-24 10:34:53,628 - mmdet - INFO - Epoch [1][2950/9881] lr: 4.607e-04, eta: 1 day, 3:35:15, time: 0.837, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5399, recall_Car: 0.0743, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 77.9125, num_fg_points: 673.4675, loss_cls.task0: 0.0189, loss_center.task0: 1.3849, loss_size.task0: 0.2563, loss_rot.task0: 0.2443, loss_cls.task1: 0.0002, loss_center.task1: 0.0230, loss_size.task1: 0.0137, loss_rot.task1: 0.0176, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0090, num_pos_rois: 0.1525, num_neg_rois: 71.2275, loss_rcnn_bbox: 0.6922, loss_rcnn_corner: 0.0793, loss: 3.2806, grad_norm: 9.2359 2022-11-24 10:35:36,045 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-11-24 10:35:36,047 - mmdet - INFO - Epoch [1][3000/9881] lr: 4.747e-04, eta: 1 day, 3:34:11, time: 0.848, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.5559, recall_Car: 0.0647, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 74.7550, num_fg_points: 666.7500, loss_cls.task0: 0.0205, loss_center.task0: 1.1738, loss_size.task0: 0.2542, loss_rot.task0: 0.2535, loss_cls.task1: 0.0007, loss_center.task1: 0.0650, loss_size.task1: 0.0597, loss_rot.task1: 0.0394, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0103, num_pos_rois: 0.1350, num_neg_rois: 47.0375, loss_rcnn_bbox: 0.7805, loss_rcnn_corner: 0.0676, loss: 3.2822, grad_norm: 9.6358 2022-11-24 10:36:15,503 - mmdet - INFO - Epoch [1][3050/9881] lr: 4.888e-04, eta: 1 day, 3:31:15, time: 0.788, data_time: 0.048, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5477, recall_Car: 0.0559, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 73.7075, num_fg_points: 680.5400, loss_cls.task0: 0.0229, loss_center.task0: 1.1697, loss_size.task0: 0.2538, loss_rot.task0: 0.2553, loss_cls.task1: 0.0006, loss_center.task1: 0.0639, loss_size.task1: 0.0434, loss_rot.task1: 0.0427, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0134, num_pos_rois: 0.1925, num_neg_rois: 49.3075, loss_rcnn_bbox: 1.1976, loss_rcnn_corner: 0.1138, loss: 3.7260, grad_norm: 11.3422 2022-11-24 10:36:57,407 - mmdet - INFO - Epoch [1][3100/9881] lr: 5.031e-04, eta: 1 day, 3:29:57, time: 0.839, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5505, recall_Car: 0.0928, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 77.2650, num_fg_points: 688.0500, loss_cls.task0: 0.0183, loss_center.task0: 1.4694, loss_size.task0: 0.2638, loss_rot.task0: 0.2555, loss_cls.task1: 0.0003, loss_center.task1: 0.0495, loss_size.task1: 0.0470, loss_rot.task1: 0.0204, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0060, num_pos_rois: 0.0775, num_neg_rois: 58.6975, loss_rcnn_bbox: 0.6208, loss_rcnn_corner: 0.0550, loss: 3.3577, grad_norm: 9.4415 2022-11-24 10:37:43,410 - mmdet - INFO - Epoch [1][3150/9881] lr: 5.176e-04, eta: 1 day, 3:31:09, time: 0.920, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0013, loss_vote: 0.5395, recall_Car: 0.1263, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 76.9525, num_fg_points: 702.2350, loss_cls.task0: 0.0200, loss_center.task0: 1.3151, loss_size.task0: 0.2999, loss_rot.task0: 0.2538, loss_cls.task1: 0.0007, loss_center.task1: 0.0988, loss_size.task1: 0.0605, loss_rot.task1: 0.0607, loss_cls.task2: 0.0001, loss_center.task2: 0.0193, loss_size.task2: 0.0083, loss_rot.task2: 0.0096, loss_rcnn_cls: 0.0066, num_pos_rois: 0.0875, num_neg_rois: 50.4250, loss_rcnn_bbox: 0.6850, loss_rcnn_corner: 0.0736, loss: 3.4528, grad_norm: 9.6968 2022-11-24 10:38:24,731 - mmdet - INFO - Epoch [1][3200/9881] lr: 5.322e-04, eta: 1 day, 3:29:29, time: 0.826, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.5301, recall_Car: 0.1207, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 69.4450, num_fg_points: 644.4600, loss_cls.task0: 0.0139, loss_center.task0: 1.2599, loss_size.task0: 0.2816, loss_rot.task0: 0.2433, loss_cls.task1: 0.0005, loss_center.task1: 0.0843, loss_size.task1: 0.0469, loss_rot.task1: 0.0446, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0032, num_pos_rois: 0.0275, num_neg_rois: 41.3175, loss_rcnn_bbox: 0.2892, loss_rcnn_corner: 0.0222, loss: 2.8208, grad_norm: 8.6097 2022-11-24 10:39:09,512 - mmdet - INFO - Epoch [1][3250/9881] lr: 5.471e-04, eta: 1 day, 3:29:53, time: 0.896, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5386, recall_Car: 0.0330, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 74.4400, num_fg_points: 602.9125, loss_cls.task0: 0.0236, loss_center.task0: 1.2865, loss_size.task0: 0.2817, loss_rot.task0: 0.2525, loss_cls.task1: 0.0005, loss_center.task1: 0.0712, loss_size.task1: 0.0395, loss_rot.task1: 0.0422, loss_cls.task2: 0.0001, loss_center.task2: 0.0418, loss_size.task2: 0.0382, loss_rot.task2: 0.0104, loss_rcnn_cls: 0.0063, num_pos_rois: 0.1175, num_neg_rois: 62.4050, loss_rcnn_bbox: 0.8035, loss_rcnn_corner: 0.0635, loss: 3.5013, grad_norm: 9.1296 2022-11-24 10:39:50,534 - mmdet - INFO - Epoch [1][3300/9881] lr: 5.621e-04, eta: 1 day, 3:28:04, time: 0.820, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5282, recall_Car: 0.0701, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 76.3800, num_fg_points: 637.5600, loss_cls.task0: 0.0190, loss_center.task0: 1.3912, loss_size.task0: 0.2853, loss_rot.task0: 0.2574, loss_cls.task1: 0.0006, loss_center.task1: 0.0840, loss_size.task1: 0.0460, loss_rot.task1: 0.0418, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0075, num_pos_rois: 0.1300, num_neg_rois: 58.5400, loss_rcnn_bbox: 0.7810, loss_rcnn_corner: 0.0600, loss: 3.5034, grad_norm: 10.2096 2022-11-24 10:40:33,905 - mmdet - INFO - Epoch [1][3350/9881] lr: 5.773e-04, eta: 1 day, 3:27:35, time: 0.866, data_time: 0.005, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5260, recall_Car: 0.0846, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 72.3925, num_fg_points: 657.2600, loss_cls.task0: 0.0236, loss_center.task0: 1.2350, loss_size.task0: 0.3214, loss_rot.task0: 0.2568, loss_cls.task1: 0.0004, loss_center.task1: 0.0580, loss_size.task1: 0.0360, loss_rot.task1: 0.0424, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0049, num_pos_rois: 0.0925, num_neg_rois: 71.6450, loss_rcnn_bbox: 0.7130, loss_rcnn_corner: 0.0634, loss: 3.2821, grad_norm: 8.8420 2022-11-24 10:41:16,405 - mmdet - INFO - Epoch [1][3400/9881] lr: 5.926e-04, eta: 1 day, 3:26:39, time: 0.850, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5405, recall_Car: 0.0853, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 72.2800, num_fg_points: 667.6750, loss_cls.task0: 0.0220, loss_center.task0: 1.3550, loss_size.task0: 0.3338, loss_rot.task0: 0.2577, loss_cls.task1: 0.0004, loss_center.task1: 0.0700, loss_size.task1: 0.0386, loss_rot.task1: 0.0312, loss_cls.task2: 0.0003, loss_center.task2: 0.0177, loss_size.task2: 0.0090, loss_rot.task2: 0.0015, loss_rcnn_cls: 0.0054, num_pos_rois: 0.0925, num_neg_rois: 67.3550, loss_rcnn_bbox: 0.8451, loss_rcnn_corner: 0.0657, loss: 3.5950, grad_norm: 10.1607 2022-11-24 10:41:59,477 - mmdet - INFO - Epoch [1][3450/9881] lr: 6.081e-04, eta: 1 day, 3:26:04, time: 0.862, data_time: 0.103, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5339, recall_Car: 0.0932, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 66.1450, num_fg_points: 723.2025, loss_cls.task0: 0.0227, loss_center.task0: 1.4420, loss_size.task0: 0.3465, loss_rot.task0: 0.2540, loss_cls.task1: 0.0002, loss_center.task1: 0.0231, loss_size.task1: 0.0240, loss_rot.task1: 0.0132, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0047, num_pos_rois: 0.0775, num_neg_rois: 62.3075, loss_rcnn_bbox: 0.6518, loss_rcnn_corner: 0.0465, loss: 3.3637, grad_norm: 9.2868 2022-11-24 10:42:41,572 - mmdet - INFO - Epoch [1][3500/9881] lr: 6.237e-04, eta: 1 day, 3:24:55, time: 0.842, data_time: 0.042, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5610, recall_Car: 0.0762, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 77.7975, num_fg_points: 697.7800, loss_cls.task0: 0.0242, loss_center.task0: 1.4246, loss_size.task0: 0.3731, loss_rot.task0: 0.2678, loss_cls.task1: 0.0008, loss_center.task1: 0.0645, loss_size.task1: 0.0508, loss_rot.task1: 0.0414, loss_cls.task2: 0.0001, loss_center.task2: 0.0405, loss_size.task2: 0.0399, loss_rot.task2: 0.0193, loss_rcnn_cls: 0.0081, num_pos_rois: 0.1250, num_neg_rois: 77.6825, loss_rcnn_bbox: 0.7782, loss_rcnn_corner: 0.0441, loss: 3.7396, grad_norm: 9.1408 2022-11-24 10:43:26,104 - mmdet - INFO - Epoch [1][3550/9881] lr: 6.396e-04, eta: 1 day, 3:25:05, time: 0.891, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5435, recall_Car: 0.0983, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 71.5325, num_fg_points: 710.4675, loss_cls.task0: 0.0272, loss_center.task0: 1.4161, loss_size.task0: 0.3736, loss_rot.task0: 0.2570, loss_cls.task1: 0.0004, loss_center.task1: 0.0427, loss_size.task1: 0.0274, loss_rot.task1: 0.0302, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0124, num_pos_rois: 0.2200, num_neg_rois: 71.3125, loss_rcnn_bbox: 0.9799, loss_rcnn_corner: 0.0907, loss: 3.8023, grad_norm: 8.9585 2022-11-24 10:44:08,383 - mmdet - INFO - Epoch [1][3600/9881] lr: 6.555e-04, eta: 1 day, 3:24:01, time: 0.845, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5465, recall_Car: 0.0531, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 75.1275, num_fg_points: 725.0475, loss_cls.task0: 0.0199, loss_center.task0: 1.2287, loss_size.task0: 0.3089, loss_rot.task0: 0.2598, loss_cls.task1: 0.0007, loss_center.task1: 0.0835, loss_size.task1: 0.0526, loss_rot.task1: 0.0543, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0048, num_pos_rois: 0.0775, num_neg_rois: 69.4275, loss_rcnn_bbox: 0.5940, loss_rcnn_corner: 0.0451, loss: 3.1997, grad_norm: 8.4049 2022-11-24 10:44:54,245 - mmdet - INFO - Epoch [1][3650/9881] lr: 6.716e-04, eta: 1 day, 3:24:52, time: 0.918, data_time: 0.059, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5337, recall_Car: 0.0742, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 71.5600, num_fg_points: 668.6475, loss_cls.task0: 0.0236, loss_center.task0: 1.3311, loss_size.task0: 0.2829, loss_rot.task0: 0.2572, loss_cls.task1: 0.0005, loss_center.task1: 0.0743, loss_size.task1: 0.0355, loss_rot.task1: 0.0405, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0073, num_pos_rois: 0.1025, num_neg_rois: 62.5350, loss_rcnn_bbox: 0.4738, loss_rcnn_corner: 0.0521, loss: 3.1136, grad_norm: 7.9534 2022-11-24 10:45:34,751 - mmdet - INFO - Epoch [1][3700/9881] lr: 6.879e-04, eta: 1 day, 3:22:54, time: 0.810, data_time: 0.005, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5107, recall_Car: 0.1417, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 63.5900, num_fg_points: 672.6975, loss_cls.task0: 0.0235, loss_center.task0: 1.1927, loss_size.task0: 0.2664, loss_rot.task0: 0.2546, loss_cls.task1: 0.0006, loss_center.task1: 0.0636, loss_size.task1: 0.0446, loss_rot.task1: 0.0378, loss_cls.task2: 0.0001, loss_center.task2: 0.0128, loss_size.task2: 0.0058, loss_rot.task2: 0.0108, loss_rcnn_cls: 0.0056, num_pos_rois: 0.0900, num_neg_rois: 63.5000, loss_rcnn_bbox: 0.8738, loss_rcnn_corner: 0.0482, loss: 3.3528, grad_norm: 8.8843 2022-11-24 10:46:19,665 - mmdet - INFO - Epoch [1][3750/9881] lr: 7.043e-04, eta: 1 day, 3:23:11, time: 0.897, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.5160, recall_Car: 0.1115, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 61.7100, num_fg_points: 663.2325, loss_cls.task0: 0.0225, loss_center.task0: 1.2752, loss_size.task0: 0.2475, loss_rot.task0: 0.2567, loss_cls.task1: 0.0007, loss_center.task1: 0.0497, loss_size.task1: 0.0421, loss_rot.task1: 0.0225, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0028, num_pos_rois: 0.0425, num_neg_rois: 59.2325, loss_rcnn_bbox: 0.4277, loss_rcnn_corner: 0.0281, loss: 2.8926, grad_norm: 6.7416 2022-11-24 10:47:02,972 - mmdet - INFO - Epoch [1][3800/9881] lr: 7.209e-04, eta: 1 day, 3:22:38, time: 0.865, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.5054, recall_Car: 0.1165, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 69.4775, num_fg_points: 682.3450, loss_cls.task0: 0.0205, loss_center.task0: 1.2028, loss_size.task0: 0.3013, loss_rot.task0: 0.2540, loss_cls.task1: 0.0011, loss_center.task1: 0.1142, loss_size.task1: 0.0897, loss_rot.task1: 0.0733, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0063, num_pos_rois: 0.1025, num_neg_rois: 68.3250, loss_rcnn_bbox: 0.4264, loss_rcnn_corner: 0.0478, loss: 3.0438, grad_norm: 6.8454 2022-11-24 10:47:43,776 - mmdet - INFO - Epoch [1][3850/9881] lr: 7.376e-04, eta: 1 day, 3:20:54, time: 0.818, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5026, recall_Car: 0.1302, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 69.9875, num_fg_points: 679.9550, loss_cls.task0: 0.0178, loss_center.task0: 1.3603, loss_size.task0: 0.2533, loss_rot.task0: 0.2593, loss_cls.task1: 0.0005, loss_center.task1: 0.0765, loss_size.task1: 0.0671, loss_rot.task1: 0.0448, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0080, num_pos_rois: 0.1025, num_neg_rois: 57.2800, loss_rcnn_bbox: 0.5592, loss_rcnn_corner: 0.0693, loss: 3.2199, grad_norm: 7.5535 2022-11-24 10:48:26,722 - mmdet - INFO - Epoch [1][3900/9881] lr: 7.544e-04, eta: 1 day, 3:20:12, time: 0.859, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4938, recall_Car: 0.1129, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 62.1700, num_fg_points: 694.4950, loss_cls.task0: 0.0207, loss_center.task0: 1.3658, loss_size.task0: 0.2737, loss_rot.task0: 0.2607, loss_cls.task1: 0.0009, loss_center.task1: 0.0884, loss_size.task1: 0.0547, loss_rot.task1: 0.0649, loss_cls.task2: 0.0002, loss_center.task2: 0.0271, loss_size.task2: 0.0164, loss_rot.task2: 0.0083, loss_rcnn_cls: 0.0036, num_pos_rois: 0.0475, num_neg_rois: 62.0650, loss_rcnn_bbox: 0.4666, loss_rcnn_corner: 0.0403, loss: 3.1869, grad_norm: 7.2853 2022-11-24 10:49:11,630 - mmdet - INFO - Epoch [1][3950/9881] lr: 7.714e-04, eta: 1 day, 3:20:27, time: 0.898, data_time: 0.022, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4927, recall_Car: 0.1384, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 62.4200, num_fg_points: 730.9400, loss_cls.task0: 0.0196, loss_center.task0: 1.3175, loss_size.task0: 0.2968, loss_rot.task0: 0.2592, loss_cls.task1: 0.0007, loss_center.task1: 0.0516, loss_size.task1: 0.0231, loss_rot.task1: 0.0398, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0092, num_pos_rois: 0.1200, num_neg_rois: 54.5050, loss_rcnn_bbox: 0.5962, loss_rcnn_corner: 0.0539, loss: 3.1615, grad_norm: 7.4092 2022-11-24 10:49:55,259 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-11-24 10:49:55,260 - mmdet - INFO - Epoch [1][4000/9881] lr: 7.885e-04, eta: 1 day, 3:20:04, time: 0.873, data_time: 0.205, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5034, recall_Car: 0.1383, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 66.1325, num_fg_points: 678.4850, loss_cls.task0: 0.0182, loss_center.task0: 1.3882, loss_size.task0: 0.2849, loss_rot.task0: 0.2546, loss_cls.task1: 0.0008, loss_center.task1: 0.0487, loss_size.task1: 0.0334, loss_rot.task1: 0.0402, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0035, num_pos_rois: 0.0325, num_neg_rois: 46.7950, loss_rcnn_bbox: 0.2887, loss_rcnn_corner: 0.0214, loss: 2.8871, grad_norm: 6.6315 2022-11-24 10:49:55,357 - mmdet - INFO - Enable FSD Detection from now. 2022-11-24 10:50:37,605 - mmdet - INFO - Epoch [1][4050/9881] lr: 8.057e-04, eta: 1 day, 3:19:04, time: 0.847, data_time: 0.144, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5050, recall_Car: 0.1318, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 11.2550, num_fg_points: 430.2600, loss_cls.task0: 0.0291, loss_center.task0: 0.9068, loss_size.task0: 0.2225, loss_rot.task0: 0.2212, loss_cls.task1: 0.0015, loss_center.task1: 0.0194, loss_size.task1: 0.0153, loss_rot.task1: 0.0138, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0049, num_pos_rois: 0.0350, num_neg_rois: 10.9525, loss_rcnn_bbox: 0.1029, loss_rcnn_corner: 0.0101, loss: 2.0537, grad_norm: 7.6879 2022-11-24 10:51:19,809 - mmdet - INFO - Epoch [1][4100/9881] lr: 8.230e-04, eta: 1 day, 3:18:01, time: 0.844, data_time: 0.068, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5438, recall_Car: 0.1727, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0025, num_fg_points: 6.0025, loss_cls.task0: 0.0287, loss_center.task0: 1.0985, loss_size.task0: 0.3020, loss_rot.task0: 0.2153, loss_cls.task1: 0.0022, loss_center.task1: 0.0261, loss_size.task1: 0.0092, loss_rot.task1: 0.0160, loss_cls.task2: 0.0010, loss_center.task2: 0.0103, loss_size.task2: 0.0103, loss_rot.task2: 0.0055, loss_rcnn_cls: 0.0002, num_pos_rois: 0.0000, num_neg_rois: 6.0025, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 2.2702, grad_norm: 7.0908 2022-11-24 10:52:00,957 - mmdet - INFO - Epoch [1][4150/9881] lr: 8.405e-04, eta: 1 day, 3:16:28, time: 0.822, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4919, recall_Car: 0.1686, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0200, num_fg_points: 6.2100, loss_cls.task0: 0.0363, loss_center.task0: 1.0478, loss_size.task0: 0.2612, loss_rot.task0: 0.2128, loss_cls.task1: 0.0020, loss_center.task1: 0.0313, loss_size.task1: 0.0117, loss_rot.task1: 0.0150, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0088, num_pos_rois: 0.0125, num_neg_rois: 6.0075, loss_rcnn_bbox: 0.1794, loss_rcnn_corner: 0.0079, loss: 2.3074, grad_norm: 6.9589 2022-11-24 10:52:45,076 - mmdet - INFO - Epoch [1][4200/9881] lr: 8.581e-04, eta: 1 day, 3:16:19, time: 0.883, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4941, recall_Car: 0.1635, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0359, loss_center.task0: 0.9830, loss_size.task0: 0.2741, loss_rot.task0: 0.2234, loss_cls.task1: 0.0026, loss_center.task1: 0.0224, loss_size.task1: 0.0079, loss_rot.task1: 0.0182, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0061, num_pos_rois: 0.0075, num_neg_rois: 5.9925, loss_rcnn_bbox: 0.0641, loss_rcnn_corner: 0.0040, loss: 2.1368, grad_norm: 7.1496 2022-11-24 10:53:26,877 - mmdet - INFO - Epoch [1][4250/9881] lr: 8.758e-04, eta: 1 day, 3:15:05, time: 0.835, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4759, recall_Car: 0.1733, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0304, loss_center.task0: 0.7842, loss_size.task0: 0.2426, loss_rot.task0: 0.1764, loss_cls.task1: 0.0032, loss_center.task1: 0.0226, loss_size.task1: 0.0201, loss_rot.task1: 0.0162, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0022, num_pos_rois: 0.0025, num_neg_rois: 5.9975, loss_rcnn_bbox: 0.0369, loss_rcnn_corner: 0.0017, loss: 1.8134, grad_norm: 5.8537 2022-11-24 10:54:07,793 - mmdet - INFO - Epoch [1][4300/9881] lr: 8.936e-04, eta: 1 day, 3:13:30, time: 0.819, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4619, recall_Car: 0.2287, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0332, loss_center.task0: 0.8675, loss_size.task0: 0.2570, loss_rot.task0: 0.2181, loss_cls.task1: 0.0019, loss_center.task1: 0.0249, loss_size.task1: 0.0163, loss_rot.task1: 0.0156, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0125, num_pos_rois: 0.0200, num_neg_rois: 5.9800, loss_rcnn_bbox: 0.1790, loss_rcnn_corner: 0.0079, loss: 2.0970, grad_norm: 6.5479 2022-11-24 10:54:51,556 - mmdet - INFO - Epoch [1][4350/9881] lr: 9.115e-04, eta: 1 day, 3:13:09, time: 0.874, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4749, recall_Car: 0.2445, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9975, num_fg_points: 6.0050, loss_cls.task0: 0.0343, loss_center.task0: 0.9339, loss_size.task0: 0.2834, loss_rot.task0: 0.2159, loss_cls.task1: 0.0013, loss_center.task1: 0.0139, loss_size.task1: 0.0084, loss_rot.task1: 0.0109, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0050, num_pos_rois: 0.0050, num_neg_rois: 5.9925, loss_rcnn_bbox: 0.0414, loss_rcnn_corner: 0.0013, loss: 2.0259, grad_norm: 6.8542 2022-11-24 10:55:33,504 - mmdet - INFO - Epoch [1][4400/9881] lr: 9.295e-04, eta: 1 day, 3:12:03, time: 0.840, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4603, recall_Car: 0.1935, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0331, loss_center.task0: 0.9713, loss_size.task0: 0.2532, loss_rot.task0: 0.2067, loss_cls.task1: 0.0026, loss_center.task1: 0.0302, loss_size.task1: 0.0170, loss_rot.task1: 0.0177, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0078, num_pos_rois: 0.0100, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.1219, loss_rcnn_corner: 0.0048, loss: 2.1277, grad_norm: 6.8967 2022-11-24 10:56:17,227 - mmdet - INFO - Epoch [1][4450/9881] lr: 9.477e-04, eta: 1 day, 3:11:41, time: 0.874, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4642, recall_Car: 0.0881, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0338, loss_center.task0: 0.9460, loss_size.task0: 0.2329, loss_rot.task0: 0.2098, loss_cls.task1: 0.0008, loss_center.task1: 0.0093, loss_size.task1: 0.0041, loss_rot.task1: 0.0051, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0116, num_pos_rois: 0.0175, num_neg_rois: 5.9825, loss_rcnn_bbox: 0.1525, loss_rcnn_corner: 0.0060, loss: 2.0768, grad_norm: 6.3420 2022-11-24 10:56:59,612 - mmdet - INFO - Epoch [1][4500/9881] lr: 9.659e-04, eta: 1 day, 3:10:46, time: 0.848, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4776, recall_Car: 0.1841, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0255, loss_center.task0: 0.9041, loss_size.task0: 0.1964, loss_rot.task0: 0.2004, loss_cls.task1: 0.0041, loss_center.task1: 0.0323, loss_size.task1: 0.0311, loss_rot.task1: 0.0293, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0096, num_pos_rois: 0.0150, num_neg_rois: 5.9850, loss_rcnn_bbox: 0.1958, loss_rcnn_corner: 0.0081, loss: 2.1156, grad_norm: 7.8361 2022-11-24 10:57:42,227 - mmdet - INFO - Epoch [1][4550/9881] lr: 9.842e-04, eta: 1 day, 3:09:56, time: 0.852, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4540, recall_Car: 0.2596, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0311, loss_center.task0: 0.9116, loss_size.task0: 0.2340, loss_rot.task0: 0.2264, loss_cls.task1: 0.0025, loss_center.task1: 0.0308, loss_size.task1: 0.0162, loss_rot.task1: 0.0205, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0021, num_pos_rois: 0.0025, num_neg_rois: 5.9975, loss_rcnn_bbox: 0.0449, loss_rcnn_corner: 0.0015, loss: 1.9768, grad_norm: 7.0621 2022-11-24 10:58:25,428 - mmdet - INFO - Epoch [1][4600/9881] lr: 1.003e-03, eta: 1 day, 3:09:21, time: 0.864, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4699, recall_Car: 0.2478, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0272, loss_center.task0: 0.6724, loss_size.task0: 0.1830, loss_rot.task0: 0.1546, loss_cls.task1: 0.0014, loss_center.task1: 0.0156, loss_size.task1: 0.0068, loss_rot.task1: 0.0087, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0065, num_pos_rois: 0.0100, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.0729, loss_rcnn_corner: 0.0037, loss: 1.6236, grad_norm: 4.8053 2022-11-24 10:59:08,614 - mmdet - INFO - Epoch [1][4650/9881] lr: 1.021e-03, eta: 1 day, 3:08:45, time: 0.864, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4788, recall_Car: 0.2271, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0331, loss_center.task0: 1.0923, loss_size.task0: 0.2585, loss_rot.task0: 0.2072, loss_cls.task1: 0.0032, loss_center.task1: 0.0492, loss_size.task1: 0.0182, loss_rot.task1: 0.0251, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0064, num_pos_rois: 0.0100, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.1106, loss_rcnn_corner: 0.0070, loss: 2.2903, grad_norm: 6.8729 2022-11-24 10:59:50,798 - mmdet - INFO - Epoch [1][4700/9881] lr: 1.040e-03, eta: 1 day, 3:07:44, time: 0.843, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4648, recall_Car: 0.2298, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0360, loss_center.task0: 0.9221, loss_size.task0: 0.2267, loss_rot.task0: 0.2145, loss_cls.task1: 0.0021, loss_center.task1: 0.0099, loss_size.task1: 0.0117, loss_rot.task1: 0.0047, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0086, num_pos_rois: 0.0100, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.0568, loss_rcnn_corner: 0.0029, loss: 1.9617, grad_norm: 6.4449 2022-11-24 11:00:33,030 - mmdet - INFO - Epoch [1][4750/9881] lr: 1.058e-03, eta: 1 day, 3:06:47, time: 0.845, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4787, recall_Car: 0.2305, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9975, num_fg_points: 6.0000, loss_cls.task0: 0.0341, loss_center.task0: 0.8813, loss_size.task0: 0.2790, loss_rot.task0: 0.1972, loss_cls.task1: 0.0008, loss_center.task1: 0.0064, loss_size.task1: 0.0065, loss_rot.task1: 0.0080, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0095, num_pos_rois: 0.0125, num_neg_rois: 5.9850, loss_rcnn_bbox: 0.1731, loss_rcnn_corner: 0.0059, loss: 2.0814, grad_norm: 6.3359 2022-11-24 11:01:16,297 - mmdet - INFO - Epoch [1][4800/9881] lr: 1.077e-03, eta: 1 day, 3:06:12, time: 0.864, data_time: 0.015, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4698, recall_Car: 0.1437, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0326, loss_center.task0: 0.8178, loss_size.task0: 0.2112, loss_rot.task0: 0.2048, loss_cls.task1: 0.0026, loss_center.task1: 0.0333, loss_size.task1: 0.0115, loss_rot.task1: 0.0159, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0129, num_pos_rois: 0.0200, num_neg_rois: 5.9800, loss_rcnn_bbox: 0.2256, loss_rcnn_corner: 0.0090, loss: 2.0477, grad_norm: 7.3541 2022-11-24 11:02:00,264 - mmdet - INFO - Epoch [1][4850/9881] lr: 1.096e-03, eta: 1 day, 3:05:56, time: 0.880, data_time: 0.066, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4912, recall_Car: 0.2017, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0331, loss_center.task0: 0.8464, loss_size.task0: 0.2352, loss_rot.task0: 0.1938, loss_cls.task1: 0.0037, loss_center.task1: 0.0332, loss_size.task1: 0.0159, loss_rot.task1: 0.0212, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0122, num_pos_rois: 0.0200, num_neg_rois: 5.9800, loss_rcnn_bbox: 0.2407, loss_rcnn_corner: 0.0132, loss: 2.1407, grad_norm: 6.2889 2022-11-24 11:02:41,767 - mmdet - INFO - Epoch [1][4900/9881] lr: 1.115e-03, eta: 1 day, 3:04:40, time: 0.830, data_time: 0.029, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5318, recall_Car: 0.2367, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0100, num_fg_points: 6.0650, loss_cls.task0: 0.0269, loss_center.task0: 0.8128, loss_size.task0: 0.2126, loss_rot.task0: 0.1948, loss_cls.task1: 0.0008, loss_center.task1: 0.0103, loss_size.task1: 0.0072, loss_rot.task1: 0.0077, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0022, num_pos_rois: 0.0025, num_neg_rois: 6.0075, loss_rcnn_bbox: 0.0331, loss_rcnn_corner: 0.0015, loss: 1.8429, grad_norm: 6.4984 2022-11-24 11:03:24,567 - mmdet - INFO - Epoch [1][4950/9881] lr: 1.134e-03, eta: 1 day, 3:03:56, time: 0.856, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.5002, recall_Car: 0.2372, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0025, num_fg_points: 6.0025, loss_cls.task0: 0.0296, loss_center.task0: 0.9906, loss_size.task0: 0.2604, loss_rot.task0: 0.1904, loss_cls.task1: 0.0007, loss_center.task1: 0.0118, loss_size.task1: 0.0060, loss_rot.task1: 0.0058, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0035, num_pos_rois: 0.0050, num_neg_rois: 5.9975, loss_rcnn_bbox: 0.0612, loss_rcnn_corner: 0.0032, loss: 2.0647, grad_norm: 5.5587 2022-11-24 11:04:06,203 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-11-24 11:04:06,205 - mmdet - INFO - Epoch [1][5000/9881] lr: 1.153e-03, eta: 1 day, 3:02:45, time: 0.833, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4708, recall_Car: 0.2688, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0357, loss_center.task0: 0.7928, loss_size.task0: 0.2211, loss_rot.task0: 0.2015, loss_cls.task1: 0.0037, loss_center.task1: 0.0490, loss_size.task1: 0.0278, loss_rot.task1: 0.0276, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0066, num_pos_rois: 0.0075, num_neg_rois: 5.9925, loss_rcnn_bbox: 0.0623, loss_rcnn_corner: 0.0024, loss: 1.9022, grad_norm: 6.1647 2022-11-24 11:04:48,404 - mmdet - INFO - Epoch [1][5050/9881] lr: 1.172e-03, eta: 1 day, 3:01:47, time: 0.844, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4767, recall_Car: 0.2873, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9975, num_fg_points: 6.0075, loss_cls.task0: 0.0376, loss_center.task0: 1.1160, loss_size.task0: 0.2767, loss_rot.task0: 0.2305, loss_cls.task1: 0.0026, loss_center.task1: 0.0391, loss_size.task1: 0.0137, loss_rot.task1: 0.0127, loss_cls.task2: 0.0013, loss_center.task2: 0.0148, loss_size.task2: 0.0184, loss_rot.task2: 0.0145, loss_rcnn_cls: 0.0066, num_pos_rois: 0.0075, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.0736, loss_rcnn_corner: 0.0047, loss: 2.3405, grad_norm: 6.7221 2022-11-24 11:05:31,616 - mmdet - INFO - Epoch [1][5100/9881] lr: 1.191e-03, eta: 1 day, 3:01:12, time: 0.864, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4657, recall_Car: 0.2860, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0290, loss_center.task0: 0.8666, loss_size.task0: 0.2411, loss_rot.task0: 0.1994, loss_cls.task1: 0.0009, loss_center.task1: 0.0109, loss_size.task1: 0.0026, loss_rot.task1: 0.0084, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0140, num_pos_rois: 0.0175, num_neg_rois: 5.9825, loss_rcnn_bbox: 0.1633, loss_rcnn_corner: 0.0079, loss: 2.0109, grad_norm: 6.6894 2022-11-24 11:06:14,970 - mmdet - INFO - Epoch [1][5150/9881] lr: 1.210e-03, eta: 1 day, 3:00:40, time: 0.867, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4734, recall_Car: 0.2677, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0418, loss_center.task0: 1.0546, loss_size.task0: 0.2374, loss_rot.task0: 0.2444, loss_cls.task1: 0.0019, loss_center.task1: 0.0230, loss_size.task1: 0.0114, loss_rot.task1: 0.0178, loss_cls.task2: 0.0012, loss_center.task2: 0.0315, loss_size.task2: 0.0269, loss_rot.task2: 0.0097, loss_rcnn_cls: 0.0113, num_pos_rois: 0.0175, num_neg_rois: 5.9825, loss_rcnn_bbox: 0.1921, loss_rcnn_corner: 0.0131, loss: 2.3927, grad_norm: 6.7291 2022-11-24 11:06:55,155 - mmdet - INFO - Epoch [1][5200/9881] lr: 1.230e-03, eta: 1 day, 2:58:59, time: 0.804, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4624, recall_Car: 0.2644, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0312, loss_center.task0: 0.9635, loss_size.task0: 0.2406, loss_rot.task0: 0.2041, loss_cls.task1: 0.0020, loss_center.task1: 0.0399, loss_size.task1: 0.0121, loss_rot.task1: 0.0161, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0128, num_pos_rois: 0.0200, num_neg_rois: 5.9800, loss_rcnn_bbox: 0.2154, loss_rcnn_corner: 0.0089, loss: 2.2100, grad_norm: 6.6899 2022-11-24 11:07:39,759 - mmdet - INFO - Epoch [1][5250/9881] lr: 1.249e-03, eta: 1 day, 2:58:54, time: 0.892, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4559, recall_Car: 0.2329, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0375, loss_center.task0: 1.2100, loss_size.task0: 0.3240, loss_rot.task0: 0.2424, loss_cls.task1: 0.0014, loss_center.task1: 0.0163, loss_size.task1: 0.0129, loss_rot.task1: 0.0103, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0023, num_pos_rois: 0.0025, num_neg_rois: 5.9975, loss_rcnn_bbox: 0.0274, loss_rcnn_corner: 0.0041, loss: 2.3454, grad_norm: 6.5404 2022-11-24 11:08:23,522 - mmdet - INFO - Epoch [1][5300/9881] lr: 1.268e-03, eta: 1 day, 2:58:30, time: 0.875, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4492, recall_Car: 0.3393, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0075, num_fg_points: 6.7050, loss_cls.task0: 0.0361, loss_center.task0: 1.0257, loss_size.task0: 0.2624, loss_rot.task0: 0.2121, loss_cls.task1: 0.0006, loss_center.task1: 0.0096, loss_size.task1: 0.0074, loss_rot.task1: 0.0036, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0039, num_pos_rois: 0.0050, num_neg_rois: 6.0025, loss_rcnn_bbox: 0.0559, loss_rcnn_corner: 0.0016, loss: 2.0693, grad_norm: 6.3412 2022-11-24 11:09:07,123 - mmdet - INFO - Epoch [1][5350/9881] lr: 1.288e-03, eta: 1 day, 2:58:03, time: 0.872, data_time: 0.031, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4699, recall_Car: 0.2176, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9900, num_fg_points: 7.0050, loss_cls.task0: 0.0339, loss_center.task0: 0.7885, loss_size.task0: 0.2362, loss_rot.task0: 0.1934, loss_cls.task1: 0.0031, loss_center.task1: 0.0471, loss_size.task1: 0.0228, loss_rot.task1: 0.0313, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0082, num_pos_rois: 0.0125, num_neg_rois: 5.9775, loss_rcnn_bbox: 0.1633, loss_rcnn_corner: 0.0081, loss: 2.0069, grad_norm: 5.6517 2022-11-24 11:09:49,708 - mmdet - INFO - Epoch [1][5400/9881] lr: 1.307e-03, eta: 1 day, 2:57:14, time: 0.852, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4927, recall_Car: 0.3216, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0350, num_fg_points: 6.3250, loss_cls.task0: 0.0323, loss_center.task0: 0.9219, loss_size.task0: 0.2145, loss_rot.task0: 0.2135, loss_cls.task1: 0.0014, loss_center.task1: 0.0103, loss_size.task1: 0.0123, loss_rot.task1: 0.0090, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0069, num_pos_rois: 0.0100, num_neg_rois: 6.0250, loss_rcnn_bbox: 0.1215, loss_rcnn_corner: 0.0062, loss: 2.0436, grad_norm: 6.2841 2022-11-24 11:10:34,292 - mmdet - INFO - Epoch [1][5450/9881] lr: 1.327e-03, eta: 1 day, 2:57:07, time: 0.892, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4952, recall_Car: 0.2816, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0305, loss_center.task0: 0.8456, loss_size.task0: 0.2452, loss_rot.task0: 0.1913, loss_cls.task1: 0.0020, loss_center.task1: 0.0180, loss_size.task1: 0.0066, loss_rot.task1: 0.0112, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0084, num_pos_rois: 0.0100, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.1017, loss_rcnn_corner: 0.0024, loss: 1.9593, grad_norm: 6.0215 2022-11-24 11:11:14,207 - mmdet - INFO - Epoch [1][5500/9881] lr: 1.346e-03, eta: 1 day, 2:55:23, time: 0.798, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4830, recall_Car: 0.2383, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0327, loss_center.task0: 1.0181, loss_size.task0: 0.2749, loss_rot.task0: 0.2318, loss_cls.task1: 0.0014, loss_center.task1: 0.0205, loss_size.task1: 0.0204, loss_rot.task1: 0.0049, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0071, num_pos_rois: 0.0075, num_neg_rois: 5.9925, loss_rcnn_bbox: 0.0590, loss_rcnn_corner: 0.0012, loss: 2.1562, grad_norm: 6.9547 2022-11-24 11:11:58,881 - mmdet - INFO - Epoch [1][5550/9881] lr: 1.366e-03, eta: 1 day, 2:55:17, time: 0.893, data_time: 0.068, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4691, recall_Car: 0.2183, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0450, num_fg_points: 9.3150, loss_cls.task0: 0.0271, loss_center.task0: 0.7550, loss_size.task0: 0.1941, loss_rot.task0: 0.1662, loss_cls.task1: 0.0031, loss_center.task1: 0.0386, loss_size.task1: 0.0122, loss_rot.task1: 0.0132, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0109, num_pos_rois: 0.0125, num_neg_rois: 6.0325, loss_rcnn_bbox: 0.1040, loss_rcnn_corner: 0.0049, loss: 1.7994, grad_norm: 5.4244 2022-11-24 11:12:40,899 - mmdet - INFO - Epoch [1][5600/9881] lr: 1.386e-03, eta: 1 day, 2:54:17, time: 0.840, data_time: 0.096, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4609, recall_Car: 0.2551, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0346, loss_center.task0: 0.8776, loss_size.task0: 0.2308, loss_rot.task0: 0.2249, loss_cls.task1: 0.0036, loss_center.task1: 0.0287, loss_size.task1: 0.0188, loss_rot.task1: 0.0238, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0112, num_pos_rois: 0.0150, num_neg_rois: 5.9850, loss_rcnn_bbox: 0.1321, loss_rcnn_corner: 0.0054, loss: 2.0532, grad_norm: 6.1079 2022-11-24 11:13:22,307 - mmdet - INFO - Epoch [1][5650/9881] lr: 1.405e-03, eta: 1 day, 2:53:05, time: 0.828, data_time: 0.016, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4620, recall_Car: 0.2831, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9875, num_fg_points: 7.6925, loss_cls.task0: 0.0331, loss_center.task0: 0.9911, loss_size.task0: 0.2210, loss_rot.task0: 0.2070, loss_cls.task1: 0.0008, loss_center.task1: 0.0067, loss_size.task1: 0.0039, loss_rot.task1: 0.0041, loss_cls.task2: 0.0012, loss_center.task2: 0.0091, loss_size.task2: 0.0082, loss_rot.task2: 0.0076, loss_rcnn_cls: 0.0113, num_pos_rois: 0.0175, num_neg_rois: 5.9700, loss_rcnn_bbox: 0.1040, loss_rcnn_corner: 0.0050, loss: 2.0771, grad_norm: 5.9025 2022-11-24 11:14:04,234 - mmdet - INFO - Epoch [1][5700/9881] lr: 1.425e-03, eta: 1 day, 2:52:03, time: 0.838, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4567, recall_Car: 0.3393, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0337, loss_center.task0: 0.9252, loss_size.task0: 0.2369, loss_rot.task0: 0.1965, loss_cls.task1: 0.0019, loss_center.task1: 0.0139, loss_size.task1: 0.0106, loss_rot.task1: 0.0111, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0037, num_pos_rois: 0.0050, num_neg_rois: 5.9950, loss_rcnn_bbox: 0.0780, loss_rcnn_corner: 0.0032, loss: 1.9725, grad_norm: 5.3434 2022-11-24 11:14:45,601 - mmdet - INFO - Epoch [1][5750/9881] lr: 1.444e-03, eta: 1 day, 2:50:52, time: 0.828, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4443, recall_Car: 0.3627, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0316, loss_center.task0: 1.0089, loss_size.task0: 0.2606, loss_rot.task0: 0.1949, loss_cls.task1: 0.0014, loss_center.task1: 0.0174, loss_size.task1: 0.0100, loss_rot.task1: 0.0110, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0073, num_pos_rois: 0.0100, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.1472, loss_rcnn_corner: 0.0088, loss: 2.1445, grad_norm: 5.7756 2022-11-24 11:15:28,639 - mmdet - INFO - Epoch [1][5800/9881] lr: 1.464e-03, eta: 1 day, 2:50:13, time: 0.861, data_time: 0.066, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4567, recall_Car: 0.2244, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0396, loss_center.task0: 0.9720, loss_size.task0: 0.2388, loss_rot.task0: 0.2200, loss_cls.task1: 0.0020, loss_center.task1: 0.0156, loss_size.task1: 0.0092, loss_rot.task1: 0.0112, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0089, num_pos_rois: 0.0150, num_neg_rois: 5.9850, loss_rcnn_bbox: 0.1469, loss_rcnn_corner: 0.0076, loss: 2.1295, grad_norm: 6.2148 2022-11-24 11:16:12,331 - mmdet - INFO - Epoch [1][5850/9881] lr: 1.484e-03, eta: 1 day, 2:49:46, time: 0.874, data_time: 0.379, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4579, recall_Car: 0.2981, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9950, num_fg_points: 6.0225, loss_cls.task0: 0.0282, loss_center.task0: 0.9489, loss_size.task0: 0.2495, loss_rot.task0: 0.2172, loss_cls.task1: 0.0013, loss_center.task1: 0.0208, loss_size.task1: 0.0089, loss_rot.task1: 0.0133, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0080, num_pos_rois: 0.0125, num_neg_rois: 5.9825, loss_rcnn_bbox: 0.1316, loss_rcnn_corner: 0.0068, loss: 2.0934, grad_norm: 6.4411 2022-11-24 11:16:55,153 - mmdet - INFO - Epoch [1][5900/9881] lr: 1.503e-03, eta: 1 day, 2:49:02, time: 0.856, data_time: 0.477, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4683, recall_Car: 0.2914, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0326, loss_center.task0: 0.9870, loss_size.task0: 0.2385, loss_rot.task0: 0.2023, loss_cls.task1: 0.0029, loss_center.task1: 0.0356, loss_size.task1: 0.0234, loss_rot.task1: 0.0250, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0060, num_pos_rois: 0.0075, num_neg_rois: 5.9925, loss_rcnn_bbox: 0.0916, loss_rcnn_corner: 0.0019, loss: 2.1162, grad_norm: 5.6201 2022-11-24 11:17:37,496 - mmdet - INFO - Epoch [1][5950/9881] lr: 1.523e-03, eta: 1 day, 2:48:11, time: 0.848, data_time: 0.183, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4481, recall_Car: 0.3164, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0340, loss_center.task0: 1.0103, loss_size.task0: 0.2479, loss_rot.task0: 0.2083, loss_cls.task1: 0.0048, loss_center.task1: 0.0604, loss_size.task1: 0.0320, loss_rot.task1: 0.0363, loss_cls.task2: 0.0012, loss_center.task2: 0.0342, loss_size.task2: 0.0441, loss_rot.task2: 0.0088, loss_rcnn_cls: 0.0018, num_pos_rois: 0.0025, num_neg_rois: 6.5200, loss_rcnn_bbox: 0.0370, loss_rcnn_corner: 0.0023, loss: 2.2126, grad_norm: 5.9066 2022-11-24 11:18:21,325 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-11-24 11:18:21,328 - mmdet - INFO - Epoch [1][6000/9881] lr: 1.543e-03, eta: 1 day, 2:47:46, time: 0.877, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5206, recall_Car: 0.2164, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0330, loss_center.task0: 1.0888, loss_size.task0: 0.2593, loss_rot.task0: 0.1948, loss_cls.task1: 0.0021, loss_center.task1: 0.0228, loss_size.task1: 0.0147, loss_rot.task1: 0.0146, loss_cls.task2: 0.0011, loss_center.task2: 0.0080, loss_size.task2: 0.0168, loss_rot.task2: 0.0062, loss_rcnn_cls: 0.0026, num_pos_rois: 0.0025, num_neg_rois: 5.9975, loss_rcnn_bbox: 0.0181, loss_rcnn_corner: 0.0017, loss: 2.2062, grad_norm: 6.1213 2022-11-24 11:19:04,922 - mmdet - INFO - Epoch [1][6050/9881] lr: 1.562e-03, eta: 1 day, 2:47:18, time: 0.872, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4888, recall_Car: 0.2624, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9950, num_fg_points: 6.0925, loss_cls.task0: 0.0333, loss_center.task0: 0.9988, loss_size.task0: 0.2412, loss_rot.task0: 0.2193, loss_cls.task1: 0.0039, loss_center.task1: 0.0483, loss_size.task1: 0.0251, loss_rot.task1: 0.0293, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0138, num_pos_rois: 0.0225, num_neg_rois: 5.9725, loss_rcnn_bbox: 0.2598, loss_rcnn_corner: 0.0151, loss: 2.3777, grad_norm: 6.3884 2022-11-24 11:19:48,094 - mmdet - INFO - Epoch [1][6100/9881] lr: 1.582e-03, eta: 1 day, 2:46:40, time: 0.862, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4590, recall_Car: 0.1870, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9975, num_fg_points: 6.0125, loss_cls.task0: 0.0341, loss_center.task0: 0.8128, loss_size.task0: 0.2379, loss_rot.task0: 0.2177, loss_cls.task1: 0.0035, loss_center.task1: 0.0572, loss_size.task1: 0.0211, loss_rot.task1: 0.0162, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0090, num_pos_rois: 0.0125, num_neg_rois: 6.2375, loss_rcnn_bbox: 0.1521, loss_rcnn_corner: 0.0103, loss: 2.0318, grad_norm: 5.7512 2022-11-24 11:20:28,611 - mmdet - INFO - Epoch [1][6150/9881] lr: 1.602e-03, eta: 1 day, 2:45:15, time: 0.811, data_time: 0.012, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4495, recall_Car: 0.2035, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0150, loss_cls.task0: 0.0356, loss_center.task0: 0.8584, loss_size.task0: 0.2249, loss_rot.task0: 0.1923, loss_cls.task1: 0.0022, loss_center.task1: 0.0179, loss_size.task1: 0.0038, loss_rot.task1: 0.0122, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0146, num_pos_rois: 0.0225, num_neg_rois: 6.0000, loss_rcnn_bbox: 0.2279, loss_rcnn_corner: 0.0076, loss: 2.0479, grad_norm: 5.5715 2022-11-24 11:21:14,130 - mmdet - INFO - Epoch [1][6200/9881] lr: 1.621e-03, eta: 1 day, 2:45:21, time: 0.910, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4469, recall_Car: 0.2245, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0349, loss_center.task0: 1.0774, loss_size.task0: 0.2682, loss_rot.task0: 0.2351, loss_cls.task1: 0.0014, loss_center.task1: 0.0198, loss_size.task1: 0.0067, loss_rot.task1: 0.0147, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0046, num_pos_rois: 0.0075, num_neg_rois: 5.9925, loss_rcnn_bbox: 0.0983, loss_rcnn_corner: 0.0053, loss: 2.2143, grad_norm: 6.3510 2022-11-24 11:21:56,044 - mmdet - INFO - Epoch [1][6250/9881] lr: 1.641e-03, eta: 1 day, 2:44:21, time: 0.838, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.5024, recall_Car: 0.1466, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.1950, num_fg_points: 11.5225, loss_cls.task0: 0.0317, loss_center.task0: 1.0913, loss_size.task0: 0.2776, loss_rot.task0: 0.2147, loss_cls.task1: 0.0014, loss_center.task1: 0.0199, loss_size.task1: 0.0046, loss_rot.task1: 0.0133, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0001, num_pos_rois: 0.0000, num_neg_rois: 6.1950, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 2.1582, grad_norm: 5.7173 2022-11-24 11:22:41,066 - mmdet - INFO - Epoch [1][6300/9881] lr: 1.661e-03, eta: 1 day, 2:44:17, time: 0.901, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4717, recall_Car: 0.2374, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0100, num_fg_points: 6.7025, loss_cls.task0: 0.0344, loss_center.task0: 0.9461, loss_size.task0: 0.2666, loss_rot.task0: 0.2210, loss_cls.task1: 0.0033, loss_center.task1: 0.0175, loss_size.task1: 0.0134, loss_rot.task1: 0.0138, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0046, num_pos_rois: 0.0050, num_neg_rois: 6.0050, loss_rcnn_bbox: 0.0661, loss_rcnn_corner: 0.0044, loss: 2.0638, grad_norm: 5.6805 2022-11-24 11:23:21,366 - mmdet - INFO - Epoch [1][6350/9881] lr: 1.680e-03, eta: 1 day, 2:42:48, time: 0.805, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4456, recall_Car: 0.2311, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0025, num_fg_points: 6.0750, loss_cls.task0: 0.0333, loss_center.task0: 0.8650, loss_size.task0: 0.2298, loss_rot.task0: 0.2023, loss_cls.task1: 0.0019, loss_center.task1: 0.0180, loss_size.task1: 0.0114, loss_rot.task1: 0.0171, loss_cls.task2: 0.0012, loss_center.task2: 0.0401, loss_size.task2: 0.0197, loss_rot.task2: 0.0057, loss_rcnn_cls: 0.0043, num_pos_rois: 0.0050, num_neg_rois: 5.9975, loss_rcnn_bbox: 0.0705, loss_rcnn_corner: 0.0027, loss: 1.9697, grad_norm: 5.4495 2022-11-24 11:24:05,264 - mmdet - INFO - Epoch [1][6400/9881] lr: 1.700e-03, eta: 1 day, 2:42:24, time: 0.879, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4653, recall_Car: 0.2601, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0316, loss_center.task0: 1.0031, loss_size.task0: 0.2362, loss_rot.task0: 0.2058, loss_cls.task1: 0.0031, loss_center.task1: 0.0326, loss_size.task1: 0.0189, loss_rot.task1: 0.0125, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0067, num_pos_rois: 0.0075, num_neg_rois: 5.9925, loss_rcnn_bbox: 0.0847, loss_rcnn_corner: 0.0039, loss: 2.1054, grad_norm: 5.4689 2022-11-24 11:24:48,651 - mmdet - INFO - Epoch [1][6450/9881] lr: 1.719e-03, eta: 1 day, 2:41:50, time: 0.868, data_time: 0.097, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4333, recall_Car: 0.3757, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0271, loss_center.task0: 0.8905, loss_size.task0: 0.2088, loss_rot.task0: 0.2041, loss_cls.task1: 0.0030, loss_center.task1: 0.0205, loss_size.task1: 0.0258, loss_rot.task1: 0.0272, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0059, num_pos_rois: 0.0075, num_neg_rois: 5.9925, loss_rcnn_bbox: 0.0908, loss_rcnn_corner: 0.0033, loss: 1.9414, grad_norm: 5.7205 2022-11-24 11:25:31,515 - mmdet - INFO - Epoch [1][6500/9881] lr: 1.739e-03, eta: 1 day, 2:41:07, time: 0.857, data_time: 0.005, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4219, recall_Car: 0.1883, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0332, loss_center.task0: 0.9010, loss_size.task0: 0.2704, loss_rot.task0: 0.1999, loss_cls.task1: 0.0040, loss_center.task1: 0.0362, loss_size.task1: 0.0210, loss_rot.task1: 0.0331, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0106, num_pos_rois: 0.0150, num_neg_rois: 5.9850, loss_rcnn_bbox: 0.1315, loss_rcnn_corner: 0.0082, loss: 2.0719, grad_norm: 5.4382 2022-11-24 11:26:13,419 - mmdet - INFO - Epoch [1][6550/9881] lr: 1.758e-03, eta: 1 day, 2:40:08, time: 0.838, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4403, recall_Car: 0.3144, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0307, loss_center.task0: 0.8364, loss_size.task0: 0.2018, loss_rot.task0: 0.1828, loss_cls.task1: 0.0014, loss_center.task1: 0.0064, loss_size.task1: 0.0082, loss_rot.task1: 0.0105, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0095, num_pos_rois: 0.0125, num_neg_rois: 5.9875, loss_rcnn_bbox: 0.1229, loss_rcnn_corner: 0.0064, loss: 1.8583, grad_norm: 5.1546 2022-11-24 11:26:55,882 - mmdet - INFO - Epoch [1][6600/9881] lr: 1.777e-03, eta: 1 day, 2:39:19, time: 0.850, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4299, recall_Car: 0.3208, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9975, num_fg_points: 6.0000, loss_cls.task0: 0.0308, loss_center.task0: 0.7585, loss_size.task0: 0.1979, loss_rot.task0: 0.1981, loss_cls.task1: 0.0014, loss_center.task1: 0.0230, loss_size.task1: 0.0142, loss_rot.task1: 0.0149, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0042, num_pos_rois: 0.0050, num_neg_rois: 5.9925, loss_rcnn_bbox: 0.0596, loss_rcnn_corner: 0.0044, loss: 1.7380, grad_norm: 5.0860 2022-11-24 11:27:38,747 - mmdet - INFO - Epoch [1][6650/9881] lr: 1.797e-03, eta: 1 day, 2:38:36, time: 0.857, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4400, recall_Car: 0.3382, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0025, num_fg_points: 6.0025, loss_cls.task0: 0.0365, loss_center.task0: 0.9950, loss_size.task0: 0.2162, loss_rot.task0: 0.2165, loss_cls.task1: 0.0030, loss_center.task1: 0.0726, loss_size.task1: 0.0198, loss_rot.task1: 0.0129, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0047, num_pos_rois: 0.0050, num_neg_rois: 5.9975, loss_rcnn_bbox: 0.0460, loss_rcnn_corner: 0.0015, loss: 2.0658, grad_norm: 5.5770 2022-11-24 11:28:22,063 - mmdet - INFO - Epoch [1][6700/9881] lr: 1.816e-03, eta: 1 day, 2:38:01, time: 0.866, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4366, recall_Car: 0.2696, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0364, loss_center.task0: 0.8972, loss_size.task0: 0.2094, loss_rot.task0: 0.2140, loss_cls.task1: 0.0035, loss_center.task1: 0.0336, loss_size.task1: 0.0087, loss_rot.task1: 0.0208, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0072, num_pos_rois: 0.0100, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.1123, loss_rcnn_corner: 0.0075, loss: 1.9881, grad_norm: 5.2897 2022-11-24 11:29:07,979 - mmdet - INFO - Epoch [1][6750/9881] lr: 1.835e-03, eta: 1 day, 2:38:09, time: 0.918, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4259, recall_Car: 0.2904, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0294, loss_center.task0: 0.9025, loss_size.task0: 0.2547, loss_rot.task0: 0.1981, loss_cls.task1: 0.0025, loss_center.task1: 0.0299, loss_size.task1: 0.0182, loss_rot.task1: 0.0275, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0035, num_pos_rois: 0.0050, num_neg_rois: 5.9950, loss_rcnn_bbox: 0.0688, loss_rcnn_corner: 0.0048, loss: 1.9668, grad_norm: 5.1988 2022-11-24 11:29:50,141 - mmdet - INFO - Epoch [1][6800/9881] lr: 1.854e-03, eta: 1 day, 2:37:14, time: 0.843, data_time: 0.013, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4537, recall_Car: 0.2480, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0100, num_fg_points: 6.6100, loss_cls.task0: 0.0328, loss_center.task0: 1.0615, loss_size.task0: 0.2597, loss_rot.task0: 0.2208, loss_cls.task1: 0.0024, loss_center.task1: 0.0556, loss_size.task1: 0.0212, loss_rot.task1: 0.0223, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0044, num_pos_rois: 0.0050, num_neg_rois: 6.0050, loss_rcnn_bbox: 0.0623, loss_rcnn_corner: 0.0023, loss: 2.2001, grad_norm: 5.5194 2022-11-24 11:30:30,869 - mmdet - INFO - Epoch [1][6850/9881] lr: 1.874e-03, eta: 1 day, 2:35:57, time: 0.815, data_time: 0.130, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4814, recall_Car: 0.3021, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0025, num_fg_points: 6.0525, loss_cls.task0: 0.0292, loss_center.task0: 0.8626, loss_size.task0: 0.2383, loss_rot.task0: 0.1830, loss_cls.task1: 0.0019, loss_center.task1: 0.0120, loss_size.task1: 0.0073, loss_rot.task1: 0.0089, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0094, num_pos_rois: 0.0125, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.1338, loss_rcnn_corner: 0.0060, loss: 1.9748, grad_norm: 5.0334 2022-11-24 11:31:15,915 - mmdet - INFO - Epoch [1][6900/9881] lr: 1.893e-03, eta: 1 day, 2:35:49, time: 0.901, data_time: 0.149, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4831, recall_Car: 0.2223, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0075, num_fg_points: 6.0325, loss_cls.task0: 0.0364, loss_center.task0: 1.1472, loss_size.task0: 0.2878, loss_rot.task0: 0.2210, loss_cls.task1: 0.0019, loss_center.task1: 0.0306, loss_size.task1: 0.0096, loss_rot.task1: 0.0126, loss_cls.task2: 0.0012, loss_center.task2: 0.0097, loss_size.task2: 0.0223, loss_rot.task2: 0.0046, loss_rcnn_cls: 0.0056, num_pos_rois: 0.0075, num_neg_rois: 6.0000, loss_rcnn_bbox: 0.0947, loss_rcnn_corner: 0.0046, loss: 2.3739, grad_norm: 5.4251 2022-11-24 11:32:00,015 - mmdet - INFO - Epoch [1][6950/9881] lr: 1.912e-03, eta: 1 day, 2:35:26, time: 0.882, data_time: 0.042, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4490, recall_Car: 0.2534, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0175, loss_cls.task0: 0.0356, loss_center.task0: 0.8964, loss_size.task0: 0.2126, loss_rot.task0: 0.1955, loss_cls.task1: 0.0013, loss_center.task1: 0.0194, loss_size.task1: 0.0047, loss_rot.task1: 0.0083, loss_cls.task2: 0.0009, loss_center.task2: 0.0232, loss_size.task2: 0.0191, loss_rot.task2: 0.0127, loss_rcnn_cls: 0.0048, num_pos_rois: 0.0050, num_neg_rois: 5.9950, loss_rcnn_bbox: 0.0511, loss_rcnn_corner: 0.0024, loss: 1.9381, grad_norm: 5.0003 2022-11-24 11:32:44,207 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-11-24 11:32:44,213 - mmdet - INFO - Epoch [1][7000/9881] lr: 1.931e-03, eta: 1 day, 2:35:04, time: 0.884, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4388, recall_Car: 0.1444, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0356, loss_center.task0: 0.9385, loss_size.task0: 0.2393, loss_rot.task0: 0.2084, loss_cls.task1: 0.0014, loss_center.task1: 0.0310, loss_size.task1: 0.0064, loss_rot.task1: 0.0112, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0068, num_pos_rois: 0.0100, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.1034, loss_rcnn_corner: 0.0050, loss: 2.0268, grad_norm: 4.9733 2022-11-24 11:33:29,466 - mmdet - INFO - Epoch [1][7050/9881] lr: 1.949e-03, eta: 1 day, 2:34:59, time: 0.905, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4408, recall_Car: 0.2956, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0075, num_fg_points: 6.2500, loss_cls.task0: 0.0330, loss_center.task0: 0.9884, loss_size.task0: 0.2587, loss_rot.task0: 0.2169, loss_cls.task1: 0.0020, loss_center.task1: 0.0214, loss_size.task1: 0.0111, loss_rot.task1: 0.0132, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0024, num_pos_rois: 0.0025, num_neg_rois: 6.0050, loss_rcnn_bbox: 0.0339, loss_rcnn_corner: 0.0010, loss: 2.0240, grad_norm: 5.0600 2022-11-24 11:34:11,828 - mmdet - INFO - Epoch [1][7100/9881] lr: 1.968e-03, eta: 1 day, 2:34:07, time: 0.847, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4431, recall_Car: 0.2153, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0346, loss_center.task0: 1.0484, loss_size.task0: 0.2813, loss_rot.task0: 0.2198, loss_cls.task1: 0.0013, loss_center.task1: 0.0149, loss_size.task1: 0.0074, loss_rot.task1: 0.0139, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0042, num_pos_rois: 0.0050, num_neg_rois: 5.9950, loss_rcnn_bbox: 0.0611, loss_rcnn_corner: 0.0022, loss: 2.1335, grad_norm: 5.2608 2022-11-24 11:34:57,615 - mmdet - INFO - Epoch [1][7150/9881] lr: 1.987e-03, eta: 1 day, 2:34:09, time: 0.915, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4184, recall_Car: 0.3320, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9975, num_fg_points: 6.0325, loss_cls.task0: 0.0316, loss_center.task0: 0.8228, loss_size.task0: 0.2336, loss_rot.task0: 0.1996, loss_cls.task1: 0.0007, loss_center.task1: 0.0058, loss_size.task1: 0.0065, loss_rot.task1: 0.0049, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0109, num_pos_rois: 0.0150, num_neg_rois: 5.9825, loss_rcnn_bbox: 0.1513, loss_rcnn_corner: 0.0074, loss: 1.8945, grad_norm: 4.9950 2022-11-24 11:35:40,646 - mmdet - INFO - Epoch [1][7200/9881] lr: 2.006e-03, eta: 1 day, 2:33:27, time: 0.860, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4206, recall_Car: 0.2635, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.7450, loss_cls.task0: 0.0388, loss_center.task0: 0.9615, loss_size.task0: 0.2780, loss_rot.task0: 0.2172, loss_cls.task1: 0.0007, loss_center.task1: 0.0040, loss_size.task1: 0.0092, loss_rot.task1: 0.0062, loss_cls.task2: 0.0019, loss_center.task2: 0.0158, loss_size.task2: 0.0146, loss_rot.task2: 0.0045, loss_rcnn_cls: 0.0103, num_pos_rois: 0.0150, num_neg_rois: 6.2375, loss_rcnn_bbox: 0.1825, loss_rcnn_corner: 0.0093, loss: 2.1761, grad_norm: 5.2401 2022-11-24 11:36:25,294 - mmdet - INFO - Epoch [1][7250/9881] lr: 2.024e-03, eta: 1 day, 2:33:12, time: 0.894, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4747, recall_Car: 0.2523, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9925, num_fg_points: 6.7275, loss_cls.task0: 0.0355, loss_center.task0: 1.1754, loss_size.task0: 0.3280, loss_rot.task0: 0.2091, loss_cls.task1: 0.0022, loss_center.task1: 0.0280, loss_size.task1: 0.0187, loss_rot.task1: 0.0129, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0110, num_pos_rois: 0.0175, num_neg_rois: 5.9750, loss_rcnn_bbox: 0.2086, loss_rcnn_corner: 0.0107, loss: 2.5158, grad_norm: 5.6904 2022-11-24 11:37:08,853 - mmdet - INFO - Epoch [1][7300/9881] lr: 2.042e-03, eta: 1 day, 2:32:38, time: 0.871, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0013, loss_vote: 0.5485, recall_Car: 0.3464, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.1525, num_fg_points: 26.3875, loss_cls.task0: 0.0275, loss_center.task0: 0.9333, loss_size.task0: 0.2649, loss_rot.task0: 0.1884, loss_cls.task1: 0.0019, loss_center.task1: 0.0347, loss_size.task1: 0.0129, loss_rot.task1: 0.0123, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0026, num_pos_rois: 0.0025, num_neg_rois: 6.1500, loss_rcnn_bbox: 0.0379, loss_rcnn_corner: 0.0019, loss: 2.0681, grad_norm: 4.9192 2022-11-24 11:37:53,298 - mmdet - INFO - Epoch [1][7350/9881] lr: 2.061e-03, eta: 1 day, 2:32:18, time: 0.889, data_time: 0.020, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.5460, recall_Car: 0.1079, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0250, num_fg_points: 6.9550, loss_cls.task0: 0.0330, loss_center.task0: 1.1070, loss_size.task0: 0.2412, loss_rot.task0: 0.2032, loss_cls.task1: 0.0008, loss_center.task1: 0.0104, loss_size.task1: 0.0103, loss_rot.task1: 0.0047, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0021, num_pos_rois: 0.0025, num_neg_rois: 6.0225, loss_rcnn_bbox: 0.0241, loss_rcnn_corner: 0.0008, loss: 2.1846, grad_norm: 4.8479 2022-11-24 11:38:38,855 - mmdet - INFO - Epoch [1][7400/9881] lr: 2.079e-03, eta: 1 day, 2:32:14, time: 0.911, data_time: 0.352, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4813, recall_Car: 0.1773, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 8.4925, num_fg_points: 36.8850, loss_cls.task0: 0.0310, loss_center.task0: 0.8979, loss_size.task0: 0.2492, loss_rot.task0: 0.2043, loss_cls.task1: 0.0009, loss_center.task1: 0.0254, loss_size.task1: 0.0102, loss_rot.task1: 0.0117, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0091, num_pos_rois: 0.0150, num_neg_rois: 8.4775, loss_rcnn_bbox: 0.1827, loss_rcnn_corner: 0.0093, loss: 2.1139, grad_norm: 5.0762 2022-11-24 11:39:23,287 - mmdet - INFO - Epoch [1][7450/9881] lr: 2.097e-03, eta: 1 day, 2:31:53, time: 0.889, data_time: 0.265, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4678, recall_Car: 0.2459, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0000, loss_cls.task0: 0.0348, loss_center.task0: 0.8756, loss_size.task0: 0.2593, loss_rot.task0: 0.1957, loss_cls.task1: 0.0020, loss_center.task1: 0.0280, loss_size.task1: 0.0087, loss_rot.task1: 0.0177, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0089, num_pos_rois: 0.0125, num_neg_rois: 5.9875, loss_rcnn_bbox: 0.1188, loss_rcnn_corner: 0.0054, loss: 2.0240, grad_norm: 5.0572 2022-11-24 11:40:10,977 - mmdet - INFO - Epoch [1][7500/9881] lr: 2.115e-03, eta: 1 day, 2:32:20, time: 0.953, data_time: 0.150, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4598, recall_Car: 0.3062, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9950, num_fg_points: 6.2700, loss_cls.task0: 0.0357, loss_center.task0: 1.0722, loss_size.task0: 0.2870, loss_rot.task0: 0.2271, loss_cls.task1: 0.0008, loss_center.task1: 0.0041, loss_size.task1: 0.0058, loss_rot.task1: 0.0054, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0112, num_pos_rois: 0.0125, num_neg_rois: 5.9825, loss_rcnn_bbox: 0.0753, loss_rcnn_corner: 0.0028, loss: 2.1882, grad_norm: 5.0195 2022-11-24 11:40:54,803 - mmdet - INFO - Epoch [1][7550/9881] lr: 2.133e-03, eta: 1 day, 2:31:49, time: 0.877, data_time: 0.062, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4288, recall_Car: 0.1954, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9925, num_fg_points: 6.5875, loss_cls.task0: 0.0286, loss_center.task0: 0.9063, loss_size.task0: 0.2728, loss_rot.task0: 0.2039, loss_cls.task1: 0.0020, loss_center.task1: 0.0160, loss_size.task1: 0.0141, loss_rot.task1: 0.0091, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0026, num_pos_rois: 0.0025, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.0261, loss_rcnn_corner: 0.0006, loss: 1.9119, grad_norm: 4.7564 2022-11-24 11:41:40,733 - mmdet - INFO - Epoch [1][7600/9881] lr: 2.151e-03, eta: 1 day, 2:31:49, time: 0.919, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4530, recall_Car: 0.2949, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.1050, num_fg_points: 9.6450, loss_cls.task0: 0.0337, loss_center.task0: 1.0083, loss_size.task0: 0.2659, loss_rot.task0: 0.2079, loss_cls.task1: 0.0020, loss_center.task1: 0.0324, loss_size.task1: 0.0182, loss_rot.task1: 0.0131, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0018, num_pos_rois: 0.0025, num_neg_rois: 6.1025, loss_rcnn_bbox: 0.0432, loss_rcnn_corner: 0.0029, loss: 2.0837, grad_norm: 4.7684 2022-11-24 11:42:26,262 - mmdet - INFO - Epoch [1][7650/9881] lr: 2.169e-03, eta: 1 day, 2:31:41, time: 0.910, data_time: 0.128, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4906, recall_Car: 0.1083, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0050, num_fg_points: 6.0375, loss_cls.task0: 0.0331, loss_center.task0: 1.1379, loss_size.task0: 0.2968, loss_rot.task0: 0.2249, loss_cls.task1: 0.0025, loss_center.task1: 0.0290, loss_size.task1: 0.0179, loss_rot.task1: 0.0187, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0001, num_pos_rois: 0.0000, num_neg_rois: 6.0050, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 2.2524, grad_norm: 5.3078 2022-11-24 11:43:10,550 - mmdet - INFO - Epoch [1][7700/9881] lr: 2.186e-03, eta: 1 day, 2:31:17, time: 0.887, data_time: 0.498, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4639, recall_Car: 0.1700, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9900, num_fg_points: 6.0950, loss_cls.task0: 0.0342, loss_center.task0: 0.7972, loss_size.task0: 0.2083, loss_rot.task0: 0.1941, loss_cls.task1: 0.0024, loss_center.task1: 0.0542, loss_size.task1: 0.0192, loss_rot.task1: 0.0233, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0082, num_pos_rois: 0.0100, num_neg_rois: 5.9800, loss_rcnn_bbox: 0.0807, loss_rcnn_corner: 0.0028, loss: 1.8895, grad_norm: 4.3850 2022-11-24 11:43:56,581 - mmdet - INFO - Epoch [1][7750/9881] lr: 2.204e-03, eta: 1 day, 2:31:16, time: 0.920, data_time: 0.550, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4532, recall_Car: 0.2088, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0175, num_fg_points: 6.5550, loss_cls.task0: 0.0264, loss_center.task0: 0.8088, loss_size.task0: 0.2096, loss_rot.task0: 0.1964, loss_cls.task1: 0.0020, loss_center.task1: 0.0222, loss_size.task1: 0.0164, loss_rot.task1: 0.0160, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0037, num_pos_rois: 0.0050, num_neg_rois: 6.0125, loss_rcnn_bbox: 0.0667, loss_rcnn_corner: 0.0041, loss: 1.8265, grad_norm: 4.7736 2022-11-24 11:44:41,437 - mmdet - INFO - Epoch [1][7800/9881] lr: 2.221e-03, eta: 1 day, 2:30:58, time: 0.898, data_time: 0.389, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4396, recall_Car: 0.3088, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9950, num_fg_points: 6.0025, loss_cls.task0: 0.0329, loss_center.task0: 0.9812, loss_size.task0: 0.2727, loss_rot.task0: 0.2144, loss_cls.task1: 0.0020, loss_center.task1: 0.0126, loss_size.task1: 0.0086, loss_rot.task1: 0.0070, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0002, num_pos_rois: 0.0000, num_neg_rois: 5.9950, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 1.9724, grad_norm: 4.6168 2022-11-24 11:45:28,413 - mmdet - INFO - Epoch [1][7850/9881] lr: 2.238e-03, eta: 1 day, 2:31:10, time: 0.940, data_time: 0.441, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4729, recall_Car: 0.2495, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0650, num_fg_points: 6.7525, loss_cls.task0: 0.0300, loss_center.task0: 0.9953, loss_size.task0: 0.3018, loss_rot.task0: 0.2127, loss_cls.task1: 0.0018, loss_center.task1: 0.0132, loss_size.task1: 0.0090, loss_rot.task1: 0.0092, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0058, num_pos_rois: 0.0075, num_neg_rois: 6.0575, loss_rcnn_bbox: 0.0961, loss_rcnn_corner: 0.0046, loss: 2.1536, grad_norm: 4.7462 2022-11-24 11:46:13,483 - mmdet - INFO - Epoch [1][7900/9881] lr: 2.256e-03, eta: 1 day, 2:30:54, time: 0.901, data_time: 0.508, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4366, recall_Car: 0.3656, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0250, num_fg_points: 7.0725, loss_cls.task0: 0.0285, loss_center.task0: 0.8673, loss_size.task0: 0.1973, loss_rot.task0: 0.1883, loss_cls.task1: 0.0008, loss_center.task1: 0.0080, loss_size.task1: 0.0011, loss_rot.task1: 0.0085, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0004, num_pos_rois: 0.0000, num_neg_rois: 6.0250, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 1.7380, grad_norm: 4.2307 2022-11-24 11:47:00,092 - mmdet - INFO - Epoch [1][7950/9881] lr: 2.273e-03, eta: 1 day, 2:31:00, time: 0.932, data_time: 0.137, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4363, recall_Car: 0.3107, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9975, num_fg_points: 7.2300, loss_cls.task0: 0.0321, loss_center.task0: 1.0665, loss_size.task0: 0.2806, loss_rot.task0: 0.2325, loss_cls.task1: 0.0014, loss_center.task1: 0.0159, loss_size.task1: 0.0114, loss_rot.task1: 0.0090, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0110, num_pos_rois: 0.0150, num_neg_rois: 5.9825, loss_rcnn_bbox: 0.1930, loss_rcnn_corner: 0.0079, loss: 2.2987, grad_norm: 5.3039 2022-11-24 11:47:46,729 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-11-24 11:47:46,731 - mmdet - INFO - Epoch [1][8000/9881] lr: 2.289e-03, eta: 1 day, 2:31:05, time: 0.933, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4345, recall_Car: 0.2078, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9975, num_fg_points: 7.1700, loss_cls.task0: 0.0311, loss_center.task0: 0.9277, loss_size.task0: 0.2573, loss_rot.task0: 0.2035, loss_cls.task1: 0.0007, loss_center.task1: 0.0037, loss_size.task1: 0.0047, loss_rot.task1: 0.0065, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0048, num_pos_rois: 0.0075, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.1137, loss_rcnn_corner: 0.0076, loss: 1.9970, grad_norm: 4.6727 2022-11-24 11:48:31,944 - mmdet - INFO - Epoch [1][8050/9881] lr: 2.306e-03, eta: 1 day, 2:30:49, time: 0.903, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4300, recall_Car: 0.3415, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0000, num_fg_points: 6.0150, loss_cls.task0: 0.0318, loss_center.task0: 0.9304, loss_size.task0: 0.3062, loss_rot.task0: 0.1956, loss_cls.task1: 0.0040, loss_center.task1: 0.0268, loss_size.task1: 0.0156, loss_rot.task1: 0.0156, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0095, num_pos_rois: 0.0150, num_neg_rois: 6.3450, loss_rcnn_bbox: 0.1055, loss_rcnn_corner: 0.0043, loss: 2.0764, grad_norm: 4.7413 2022-11-24 11:49:21,331 - mmdet - INFO - Epoch [1][8100/9881] lr: 2.323e-03, eta: 1 day, 2:31:31, time: 0.989, data_time: 0.025, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4131, recall_Car: 0.3111, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0075, num_fg_points: 6.3225, loss_cls.task0: 0.0341, loss_center.task0: 1.0272, loss_size.task0: 0.2634, loss_rot.task0: 0.2004, loss_cls.task1: 0.0020, loss_center.task1: 0.0293, loss_size.task1: 0.0121, loss_rot.task1: 0.0161, loss_cls.task2: 0.0011, loss_center.task2: 0.0160, loss_size.task2: 0.0101, loss_rot.task2: 0.0009, loss_rcnn_cls: 0.0063, num_pos_rois: 0.0075, num_neg_rois: 6.0000, loss_rcnn_bbox: 0.1021, loss_rcnn_corner: 0.0049, loss: 2.1401, grad_norm: 4.5819 2022-11-24 11:50:06,929 - mmdet - INFO - Epoch [1][8150/9881] lr: 2.339e-03, eta: 1 day, 2:31:20, time: 0.912, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4119, recall_Car: 0.3171, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9950, num_fg_points: 6.1250, loss_cls.task0: 0.0337, loss_center.task0: 0.9047, loss_size.task0: 0.2663, loss_rot.task0: 0.2080, loss_cls.task1: 0.0014, loss_center.task1: 0.0273, loss_size.task1: 0.0065, loss_rot.task1: 0.0103, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0019, num_pos_rois: 0.0025, num_neg_rois: 5.9925, loss_rcnn_bbox: 0.0233, loss_rcnn_corner: 0.0012, loss: 1.8977, grad_norm: 4.4465 2022-11-24 11:50:52,829 - mmdet - INFO - Epoch [1][8200/9881] lr: 2.355e-03, eta: 1 day, 2:31:13, time: 0.918, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4135, recall_Car: 0.3376, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0750, num_fg_points: 7.9050, loss_cls.task0: 0.0347, loss_center.task0: 0.8732, loss_size.task0: 0.2969, loss_rot.task0: 0.1937, loss_cls.task1: 0.0019, loss_center.task1: 0.0321, loss_size.task1: 0.0138, loss_rot.task1: 0.0137, loss_cls.task2: 0.0009, loss_center.task2: 0.0383, loss_size.task2: 0.0189, loss_rot.task2: 0.0086, loss_rcnn_cls: 0.0096, num_pos_rois: 0.0150, num_neg_rois: 6.0600, loss_rcnn_bbox: 0.1833, loss_rcnn_corner: 0.0097, loss: 2.1439, grad_norm: 3.9402 2022-11-24 11:51:40,655 - mmdet - INFO - Epoch [1][8250/9881] lr: 2.372e-03, eta: 1 day, 2:31:31, time: 0.956, data_time: 0.042, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4093, recall_Car: 0.3179, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0400, num_fg_points: 11.9950, loss_cls.task0: 0.0365, loss_center.task0: 0.9789, loss_size.task0: 0.2964, loss_rot.task0: 0.2074, loss_cls.task1: 0.0022, loss_center.task1: 0.0193, loss_size.task1: 0.0203, loss_rot.task1: 0.0084, loss_cls.task2: 0.0001, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0039, num_pos_rois: 0.0050, num_neg_rois: 6.0350, loss_rcnn_bbox: 0.1044, loss_rcnn_corner: 0.0074, loss: 2.0955, grad_norm: 4.1473 2022-11-24 11:52:27,870 - mmdet - INFO - Epoch [1][8300/9881] lr: 2.388e-03, eta: 1 day, 2:31:40, time: 0.944, data_time: 0.022, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4158, recall_Car: 0.3041, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9975, num_fg_points: 6.9750, loss_cls.task0: 0.0350, loss_center.task0: 1.0125, loss_size.task0: 0.2633, loss_rot.task0: 0.2137, loss_cls.task1: 0.0014, loss_center.task1: 0.0185, loss_size.task1: 0.0130, loss_rot.task1: 0.0042, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0056, num_pos_rois: 0.0075, num_neg_rois: 5.9900, loss_rcnn_bbox: 0.0990, loss_rcnn_corner: 0.0039, loss: 2.0869, grad_norm: 4.5266 2022-11-24 11:53:14,385 - mmdet - INFO - Epoch [1][8350/9881] lr: 2.403e-03, eta: 1 day, 2:31:38, time: 0.930, data_time: 0.499, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3980, recall_Car: 0.3770, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0450, num_fg_points: 12.2200, loss_cls.task0: 0.0298, loss_center.task0: 0.9579, loss_size.task0: 0.2441, loss_rot.task0: 0.1906, loss_cls.task1: 0.0041, loss_center.task1: 0.0544, loss_size.task1: 0.0278, loss_rot.task1: 0.0339, loss_cls.task2: 0.0010, loss_center.task2: 0.0184, loss_size.task2: 0.0143, loss_rot.task2: 0.0060, loss_rcnn_cls: 0.0044, num_pos_rois: 0.0050, num_neg_rois: 6.0400, loss_rcnn_bbox: 0.0963, loss_rcnn_corner: 0.0033, loss: 2.0853, grad_norm: 4.2043 2022-11-24 11:54:01,570 - mmdet - INFO - Epoch [1][8400/9881] lr: 2.419e-03, eta: 1 day, 2:31:46, time: 0.944, data_time: 0.521, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4038, recall_Car: 0.3039, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0175, num_fg_points: 8.9775, loss_cls.task0: 0.0341, loss_center.task0: 1.0790, loss_size.task0: 0.2532, loss_rot.task0: 0.2304, loss_cls.task1: 0.0008, loss_center.task1: 0.0121, loss_size.task1: 0.0065, loss_rot.task1: 0.0059, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0059, num_pos_rois: 0.0075, num_neg_rois: 6.0100, loss_rcnn_bbox: 0.0539, loss_rcnn_corner: 0.0028, loss: 2.0895, grad_norm: 4.7310 2022-11-24 11:54:50,486 - mmdet - INFO - Epoch [1][8450/9881] lr: 2.435e-03, eta: 1 day, 2:32:15, time: 0.978, data_time: 0.538, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4061, recall_Car: 0.3403, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.1050, num_fg_points: 30.3400, loss_cls.task0: 0.0385, loss_center.task0: 1.0106, loss_size.task0: 0.3113, loss_rot.task0: 0.2251, loss_cls.task1: 0.0001, loss_center.task1: 0.0000, loss_size.task1: 0.0000, loss_rot.task1: 0.0000, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0073, num_pos_rois: 0.0100, num_neg_rois: 6.0950, loss_rcnn_bbox: 0.1433, loss_rcnn_corner: 0.0073, loss: 2.1505, grad_norm: 4.4298 2022-11-24 11:55:36,186 - mmdet - INFO - Epoch [1][8500/9881] lr: 2.450e-03, eta: 1 day, 2:32:02, time: 0.914, data_time: 0.365, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3990, recall_Car: 0.2463, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0025, num_fg_points: 6.3675, loss_cls.task0: 0.0314, loss_center.task0: 0.9287, loss_size.task0: 0.2673, loss_rot.task0: 0.2039, loss_cls.task1: 0.0014, loss_center.task1: 0.0152, loss_size.task1: 0.0081, loss_rot.task1: 0.0117, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0098, num_pos_rois: 0.0150, num_neg_rois: 5.9875, loss_rcnn_bbox: 0.2078, loss_rcnn_corner: 0.0080, loss: 2.0933, grad_norm: 4.0378 2022-11-24 11:56:25,397 - mmdet - INFO - Epoch [1][8550/9881] lr: 2.465e-03, eta: 1 day, 2:32:33, time: 0.983, data_time: 0.507, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4040, recall_Car: 0.3603, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.0375, num_fg_points: 13.2575, loss_cls.task0: 0.0412, loss_center.task0: 0.9495, loss_size.task0: 0.2588, loss_rot.task0: 0.2212, loss_cls.task1: 0.0013, loss_center.task1: 0.0264, loss_size.task1: 0.0086, loss_rot.task1: 0.0121, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0076, num_pos_rois: 0.0100, num_neg_rois: 6.0275, loss_rcnn_bbox: 0.1272, loss_rcnn_corner: 0.0045, loss: 2.0635, grad_norm: 4.4501 2022-11-24 11:57:15,501 - mmdet - INFO - Epoch [1][8600/9881] lr: 2.480e-03, eta: 1 day, 2:33:15, time: 1.003, data_time: 0.074, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3906, recall_Car: 0.4033, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.9075, num_fg_points: 42.4025, loss_cls.task0: 0.0441, loss_center.task0: 0.9533, loss_size.task0: 0.3115, loss_rot.task0: 0.2134, loss_cls.task1: 0.0016, loss_center.task1: 0.0216, loss_size.task1: 0.0124, loss_rot.task1: 0.0144, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0078, num_pos_rois: 0.0175, num_neg_rois: 6.8900, loss_rcnn_bbox: 0.1752, loss_rcnn_corner: 0.0125, loss: 2.1593, grad_norm: 4.1662 2022-11-24 11:58:03,319 - mmdet - INFO - Epoch [1][8650/9881] lr: 2.495e-03, eta: 1 day, 2:33:27, time: 0.956, data_time: 0.255, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3848, recall_Car: 0.3168, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9525, num_fg_points: 11.7200, loss_cls.task0: 0.0292, loss_center.task0: 0.8424, loss_size.task0: 0.2863, loss_rot.task0: 0.2008, loss_cls.task1: 0.0001, loss_center.task1: 0.0000, loss_size.task1: 0.0000, loss_rot.task1: 0.0000, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0102, num_pos_rois: 0.0125, num_neg_rois: 5.9400, loss_rcnn_bbox: 0.1263, loss_rcnn_corner: 0.0065, loss: 1.8877, grad_norm: 4.2883 2022-11-24 11:58:53,749 - mmdet - INFO - Epoch [1][8700/9881] lr: 2.510e-03, eta: 1 day, 2:34:12, time: 1.009, data_time: 0.014, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3890, recall_Car: 0.3125, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9875, num_fg_points: 7.8650, loss_cls.task0: 0.0330, loss_center.task0: 0.8723, loss_size.task0: 0.3023, loss_rot.task0: 0.2055, loss_cls.task1: 0.0027, loss_center.task1: 0.0244, loss_size.task1: 0.0125, loss_rot.task1: 0.0121, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0166, num_pos_rois: 0.0250, num_neg_rois: 5.9625, loss_rcnn_bbox: 0.3360, loss_rcnn_corner: 0.0187, loss: 2.2260, grad_norm: 4.4200 2022-11-24 11:59:44,477 - mmdet - INFO - Epoch [1][8750/9881] lr: 2.524e-03, eta: 1 day, 2:34:58, time: 1.014, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3924, recall_Car: 0.2496, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 5.9975, num_fg_points: 7.6300, loss_cls.task0: 0.0301, loss_center.task0: 0.9030, loss_size.task0: 0.2269, loss_rot.task0: 0.2046, loss_cls.task1: 0.0023, loss_center.task1: 0.0158, loss_size.task1: 0.0086, loss_rot.task1: 0.0078, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0112, num_pos_rois: 0.0175, num_neg_rois: 5.9800, loss_rcnn_bbox: 0.3092, loss_rcnn_corner: 0.0158, loss: 2.1289, grad_norm: 4.6148 2022-11-24 12:00:32,099 - mmdet - INFO - Epoch [1][8800/9881] lr: 2.539e-03, eta: 1 day, 2:35:05, time: 0.953, data_time: 0.270, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3955, recall_Car: 0.4109, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 7.2175, num_fg_points: 127.7600, loss_cls.task0: 0.0405, loss_center.task0: 1.0786, loss_size.task0: 0.3794, loss_rot.task0: 0.2359, loss_cls.task1: 0.0018, loss_center.task1: 0.0155, loss_size.task1: 0.0081, loss_rot.task1: 0.0031, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0040, num_pos_rois: 0.0050, num_neg_rois: 7.2125, loss_rcnn_bbox: 0.0815, loss_rcnn_corner: 0.0046, loss: 2.2494, grad_norm: 4.1488 2022-11-24 12:01:23,033 - mmdet - INFO - Epoch [1][8850/9881] lr: 2.553e-03, eta: 1 day, 2:35:53, time: 1.019, data_time: 0.072, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.3906, recall_Car: 0.3799, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.9775, num_fg_points: 71.2050, loss_cls.task0: 0.0463, loss_center.task0: 1.1190, loss_size.task0: 0.4124, loss_rot.task0: 0.2281, loss_cls.task1: 0.0013, loss_center.task1: 0.0173, loss_size.task1: 0.0053, loss_rot.task1: 0.0052, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0077, num_pos_rois: 0.0100, num_neg_rois: 6.9675, loss_rcnn_bbox: 0.1242, loss_rcnn_corner: 0.0087, loss: 2.3672, grad_norm: 4.1664 2022-11-24 12:02:11,065 - mmdet - INFO - Epoch [1][8900/9881] lr: 2.567e-03, eta: 1 day, 2:36:03, time: 0.961, data_time: 0.033, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3923, recall_Car: 0.4571, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 7.9375, num_fg_points: 121.9800, loss_cls.task0: 0.0432, loss_center.task0: 1.4014, loss_size.task0: 0.4186, loss_rot.task0: 0.2459, loss_cls.task1: 0.0022, loss_center.task1: 0.0197, loss_size.task1: 0.0137, loss_rot.task1: 0.0142, loss_cls.task2: 0.0004, loss_center.task2: 0.0229, loss_size.task2: 0.0067, loss_rot.task2: 0.0035, loss_rcnn_cls: 0.0115, num_pos_rois: 0.0275, num_neg_rois: 7.9100, loss_rcnn_bbox: 0.3159, loss_rcnn_corner: 0.0293, loss: 2.9426, grad_norm: 5.0364 2022-11-24 12:03:01,548 - mmdet - INFO - Epoch [1][8950/9881] lr: 2.581e-03, eta: 1 day, 2:36:43, time: 1.010, data_time: 0.125, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3995, recall_Car: 0.3333, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 7.6675, num_fg_points: 126.4125, loss_cls.task0: 0.0542, loss_center.task0: 1.2634, loss_size.task0: 0.4284, loss_rot.task0: 0.2495, loss_cls.task1: 0.0026, loss_center.task1: 0.0513, loss_size.task1: 0.0230, loss_rot.task1: 0.0312, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0177, num_pos_rois: 0.0325, num_neg_rois: 7.6350, loss_rcnn_bbox: 0.4351, loss_rcnn_corner: 0.0268, loss: 2.9835, grad_norm: 4.5020 2022-11-24 12:03:50,526 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-11-24 12:03:50,537 - mmdet - INFO - Epoch [1][9000/9881] lr: 2.594e-03, eta: 1 day, 2:37:04, time: 0.980, data_time: 0.378, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4002, recall_Car: 0.3691, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.4000, num_fg_points: 49.1150, loss_cls.task0: 0.0500, loss_center.task0: 1.1840, loss_size.task0: 0.3983, loss_rot.task0: 0.2442, loss_cls.task1: 0.0026, loss_center.task1: 0.0342, loss_size.task1: 0.0172, loss_rot.task1: 0.0218, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0066, num_pos_rois: 0.0125, num_neg_rois: 6.3875, loss_rcnn_bbox: 0.0880, loss_rcnn_corner: 0.0069, loss: 2.4549, grad_norm: 4.4984 2022-11-24 12:04:43,937 - mmdet - INFO - Epoch [1][9050/9881] lr: 2.608e-03, eta: 1 day, 2:38:17, time: 1.068, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3794, recall_Car: 0.4253, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.6225, num_fg_points: 75.7625, loss_cls.task0: 0.0459, loss_center.task0: 1.1252, loss_size.task0: 0.3917, loss_rot.task0: 0.2316, loss_cls.task1: 0.0009, loss_center.task1: 0.0042, loss_size.task1: 0.0026, loss_rot.task1: 0.0056, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0116, num_pos_rois: 0.0175, num_neg_rois: 6.6050, loss_rcnn_bbox: 0.2459, loss_rcnn_corner: 0.0158, loss: 2.4616, grad_norm: 4.3584 2022-11-24 12:05:31,161 - mmdet - INFO - Epoch [1][9100/9881] lr: 2.621e-03, eta: 1 day, 2:38:15, time: 0.944, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3824, recall_Car: 0.3141, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.2775, num_fg_points: 43.2175, loss_cls.task0: 0.0423, loss_center.task0: 1.1173, loss_size.task0: 0.3438, loss_rot.task0: 0.2285, loss_cls.task1: 0.0014, loss_center.task1: 0.0199, loss_size.task1: 0.0102, loss_rot.task1: 0.0101, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0231, num_pos_rois: 0.0400, num_neg_rois: 6.2375, loss_rcnn_bbox: 0.4043, loss_rcnn_corner: 0.0311, loss: 2.6154, grad_norm: 4.6134 2022-11-24 12:06:21,799 - mmdet - INFO - Epoch [1][9150/9881] lr: 2.634e-03, eta: 1 day, 2:38:53, time: 1.013, data_time: 0.006, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4000, recall_Car: 0.4272, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.5250, num_fg_points: 46.6550, loss_cls.task0: 0.0544, loss_center.task0: 1.2924, loss_size.task0: 0.4072, loss_rot.task0: 0.2417, loss_cls.task1: 0.0030, loss_center.task1: 0.0254, loss_size.task1: 0.0107, loss_rot.task1: 0.0155, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0121, num_pos_rois: 0.0200, num_neg_rois: 6.5050, loss_rcnn_bbox: 0.2001, loss_rcnn_corner: 0.0162, loss: 2.6798, grad_norm: 4.3366 2022-11-24 12:07:09,394 - mmdet - INFO - Epoch [1][9200/9881] lr: 2.647e-03, eta: 1 day, 2:38:54, time: 0.952, data_time: 0.016, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3866, recall_Car: 0.3162, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.1500, num_fg_points: 22.8250, loss_cls.task0: 0.0418, loss_center.task0: 1.0735, loss_size.task0: 0.3611, loss_rot.task0: 0.2195, loss_cls.task1: 0.0001, loss_center.task1: 0.0000, loss_size.task1: 0.0000, loss_rot.task1: 0.0000, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0196, num_pos_rois: 0.0300, num_neg_rois: 6.1200, loss_rcnn_bbox: 0.2671, loss_rcnn_corner: 0.0292, loss: 2.3993, grad_norm: 4.2364 2022-11-24 12:07:57,687 - mmdet - INFO - Epoch [1][9250/9881] lr: 2.659e-03, eta: 1 day, 2:39:02, time: 0.965, data_time: 0.015, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3900, recall_Car: 0.3958, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 7.4575, num_fg_points: 78.0825, loss_cls.task0: 0.0545, loss_center.task0: 1.1467, loss_size.task0: 0.4082, loss_rot.task0: 0.2466, loss_cls.task1: 0.0003, loss_center.task1: 0.0096, loss_size.task1: 0.0053, loss_rot.task1: 0.0053, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0264, num_pos_rois: 0.0675, num_neg_rois: 7.3900, loss_rcnn_bbox: 0.3742, loss_rcnn_corner: 0.0383, loss: 2.7065, grad_norm: 4.4305 2022-11-24 12:08:47,092 - mmdet - INFO - Epoch [1][9300/9881] lr: 2.672e-03, eta: 1 day, 2:39:23, time: 0.989, data_time: 0.046, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3839, recall_Car: 0.3887, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 8.2750, num_fg_points: 173.3125, loss_cls.task0: 0.0612, loss_center.task0: 1.1580, loss_size.task0: 0.3583, loss_rot.task0: 0.2489, loss_cls.task1: 0.0045, loss_center.task1: 0.0403, loss_size.task1: 0.0217, loss_rot.task1: 0.0259, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0227, num_pos_rois: 0.0550, num_neg_rois: 8.2200, loss_rcnn_bbox: 0.5085, loss_rcnn_corner: 0.0324, loss: 2.8673, grad_norm: 4.5086 2022-11-24 12:09:38,403 - mmdet - INFO - Epoch [1][9350/9881] lr: 2.684e-03, eta: 1 day, 2:40:06, time: 1.026, data_time: 0.255, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3863, recall_Car: 0.3506, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.4625, num_fg_points: 41.3325, loss_cls.task0: 0.0542, loss_center.task0: 1.0869, loss_size.task0: 0.3813, loss_rot.task0: 0.2308, loss_cls.task1: 0.0038, loss_center.task1: 0.0290, loss_size.task1: 0.0153, loss_rot.task1: 0.0206, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0194, num_pos_rois: 0.0400, num_neg_rois: 7.8250, loss_rcnn_bbox: 0.3806, loss_rcnn_corner: 0.0286, loss: 2.6379, grad_norm: 4.4317 2022-11-24 12:10:28,246 - mmdet - INFO - Epoch [1][9400/9881] lr: 2.696e-03, eta: 1 day, 2:40:30, time: 0.997, data_time: 0.408, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3888, recall_Car: 0.3445, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.3575, num_fg_points: 54.3375, loss_cls.task0: 0.0639, loss_center.task0: 1.0904, loss_size.task0: 0.3471, loss_rot.task0: 0.2484, loss_cls.task1: 0.0024, loss_center.task1: 0.0333, loss_size.task1: 0.0213, loss_rot.task1: 0.0280, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0448, num_pos_rois: 0.0875, num_neg_rois: 6.2700, loss_rcnn_bbox: 0.6585, loss_rcnn_corner: 0.0384, loss: 2.9662, grad_norm: 4.8079 2022-11-24 12:11:18,836 - mmdet - INFO - Epoch [1][9450/9881] lr: 2.708e-03, eta: 1 day, 2:41:03, time: 1.012, data_time: 0.621, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3815, recall_Car: 0.3487, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 6.5950, num_fg_points: 71.9525, loss_cls.task0: 0.0600, loss_center.task0: 1.1582, loss_size.task0: 0.3732, loss_rot.task0: 0.2510, loss_cls.task1: 0.0012, loss_center.task1: 0.0142, loss_size.task1: 0.0051, loss_rot.task1: 0.0097, loss_cls.task2: 0.0012, loss_center.task2: 0.0209, loss_size.task2: 0.0162, loss_rot.task2: 0.0053, loss_rcnn_cls: 0.0434, num_pos_rois: 0.0875, num_neg_rois: 6.5075, loss_rcnn_bbox: 0.6457, loss_rcnn_corner: 0.0494, loss: 3.0370, grad_norm: 5.2106 2022-11-24 12:12:08,182 - mmdet - INFO - Epoch [1][9500/9881] lr: 2.719e-03, eta: 1 day, 2:41:19, time: 0.986, data_time: 0.236, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3919, recall_Car: 0.3893, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 7.0675, num_fg_points: 78.1800, loss_cls.task0: 0.0581, loss_center.task0: 1.2613, loss_size.task0: 0.3896, loss_rot.task0: 0.2381, loss_cls.task1: 0.0007, loss_center.task1: 0.0123, loss_size.task1: 0.0031, loss_rot.task1: 0.0056, loss_cls.task2: 0.0007, loss_center.task2: 0.0283, loss_size.task2: 0.0042, loss_rot.task2: 0.0041, loss_rcnn_cls: 0.0214, num_pos_rois: 0.0450, num_neg_rois: 7.0225, loss_rcnn_bbox: 0.4152, loss_rcnn_corner: 0.0304, loss: 2.8660, grad_norm: 4.8232 2022-11-24 12:12:59,144 - mmdet - INFO - Epoch [1][9550/9881] lr: 2.731e-03, eta: 1 day, 2:41:55, time: 1.020, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.3837, recall_Car: 0.4838, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 21.9350, num_fg_points: 861.8575, loss_cls.task0: 0.0631, loss_center.task0: 1.1567, loss_size.task0: 0.4219, loss_rot.task0: 0.2462, loss_cls.task1: 0.0015, loss_center.task1: 0.0666, loss_size.task1: 0.0452, loss_rot.task1: 0.0530, loss_cls.task2: 0.0001, loss_center.task2: 0.0161, loss_size.task2: 0.0091, loss_rot.task2: 0.0111, loss_rcnn_cls: 0.0313, num_pos_rois: 0.1900, num_neg_rois: 21.7450, loss_rcnn_bbox: 0.8279, loss_rcnn_corner: 0.0858, loss: 3.4202, grad_norm: 4.6559 2022-11-24 12:13:49,784 - mmdet - INFO - Epoch [1][9600/9881] lr: 2.742e-03, eta: 1 day, 2:42:25, time: 1.013, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.3792, recall_Car: 0.4969, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 21.3275, num_fg_points: 861.2675, loss_cls.task0: 0.0727, loss_center.task0: 1.1488, loss_size.task0: 0.3834, loss_rot.task0: 0.2523, loss_cls.task1: 0.0030, loss_center.task1: 0.1037, loss_size.task1: 0.0801, loss_rot.task1: 0.0507, loss_cls.task2: 0.0001, loss_center.task2: 0.0114, loss_size.task2: 0.0042, loss_rot.task2: 0.0022, loss_rcnn_cls: 0.0506, num_pos_rois: 0.2875, num_neg_rois: 21.0400, loss_rcnn_bbox: 1.1969, loss_rcnn_corner: 0.1272, loss: 3.8677, grad_norm: 4.7966 2022-11-24 12:14:42,000 - mmdet - INFO - Epoch [1][9650/9881] lr: 2.753e-03, eta: 1 day, 2:43:13, time: 1.044, data_time: 0.057, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3696, recall_Car: 0.4222, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 19.2900, num_fg_points: 620.4425, loss_cls.task0: 0.0659, loss_center.task0: 1.0680, loss_size.task0: 0.3967, loss_rot.task0: 0.2564, loss_cls.task1: 0.0022, loss_center.task1: 0.0823, loss_size.task1: 0.0553, loss_rot.task1: 0.0522, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0395, num_pos_rois: 0.2075, num_neg_rois: 19.0825, loss_rcnn_bbox: 1.0128, loss_rcnn_corner: 0.0929, loss: 3.4947, grad_norm: 5.1207 2022-11-24 12:15:36,115 - mmdet - INFO - Epoch [1][9700/9881] lr: 2.764e-03, eta: 1 day, 2:44:20, time: 1.082, data_time: 0.492, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3730, recall_Car: 0.4972, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 21.7475, num_fg_points: 841.5125, loss_cls.task0: 0.0709, loss_center.task0: 1.1513, loss_size.task0: 0.3835, loss_rot.task0: 0.2495, loss_cls.task1: 0.0005, loss_center.task1: 0.0241, loss_size.task1: 0.0194, loss_rot.task1: 0.0171, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0466, num_pos_rois: 0.3400, num_neg_rois: 21.4075, loss_rcnn_bbox: 1.0590, loss_rcnn_corner: 0.1323, loss: 3.5285, grad_norm: 4.6038 2022-11-24 12:16:23,585 - mmdet - INFO - Epoch [1][9750/9881] lr: 2.774e-03, eta: 1 day, 2:44:12, time: 0.949, data_time: 0.385, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3879, recall_Car: 0.4581, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 11.5325, num_fg_points: 321.3250, loss_cls.task0: 0.0780, loss_center.task0: 1.1984, loss_size.task0: 0.4093, loss_rot.task0: 0.2556, loss_cls.task1: 0.0014, loss_center.task1: 0.0385, loss_size.task1: 0.0101, loss_rot.task1: 0.0198, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0244, num_pos_rois: 0.0900, num_neg_rois: 11.4425, loss_rcnn_bbox: 0.6265, loss_rcnn_corner: 0.0510, loss: 3.1021, grad_norm: 4.0567 2022-11-24 12:17:15,112 - mmdet - INFO - Epoch [1][9800/9881] lr: 2.785e-03, eta: 1 day, 2:44:49, time: 1.030, data_time: 0.057, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3791, recall_Car: 0.3390, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 10.2800, num_fg_points: 220.9000, loss_cls.task0: 0.0691, loss_center.task0: 1.1920, loss_size.task0: 0.3727, loss_rot.task0: 0.2533, loss_cls.task1: 0.0005, loss_center.task1: 0.0023, loss_size.task1: 0.0058, loss_rot.task1: 0.0058, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0393, num_pos_rois: 0.1225, num_neg_rois: 10.1575, loss_rcnn_bbox: 0.7639, loss_rcnn_corner: 0.0625, loss: 3.1471, grad_norm: 4.5825 2022-11-24 12:18:05,171 - mmdet - INFO - Epoch [1][9850/9881] lr: 2.795e-03, eta: 1 day, 2:45:09, time: 1.001, data_time: 0.213, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3818, recall_Car: 0.4155, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 14.9450, num_fg_points: 440.6175, loss_cls.task0: 0.0669, loss_center.task0: 1.2068, loss_size.task0: 0.3744, loss_rot.task0: 0.2502, loss_cls.task1: 0.0020, loss_center.task1: 0.0449, loss_size.task1: 0.0211, loss_rot.task1: 0.0349, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0353, num_pos_rois: 0.1600, num_neg_rois: 14.7850, loss_rcnn_bbox: 1.0187, loss_rcnn_corner: 0.0821, loss: 3.5203, grad_norm: 4.9120 2022-11-24 12:18:33,246 - mmdet - INFO - Saving checkpoint at 1 epochs 2022-11-24 12:19:21,090 - mmdet - INFO - Epoch [2][50/9881] lr: 2.811e-03, eta: 1 day, 2:39:20, time: 0.928, data_time: 0.153, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3842, recall_Car: 0.4170, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 13.2300, num_fg_points: 444.5625, loss_cls.task0: 0.0796, loss_center.task0: 1.2085, loss_size.task0: 0.3927, loss_rot.task0: 0.2547, loss_cls.task1: 0.0019, loss_center.task1: 0.0248, loss_size.task1: 0.0120, loss_rot.task1: 0.0126, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0305, num_pos_rois: 0.1250, num_neg_rois: 13.1050, loss_rcnn_bbox: 0.7750, loss_rcnn_corner: 0.0624, loss: 3.2399, grad_norm: 4.0532 2022-11-24 12:19:59,522 - mmdet - INFO - Epoch [2][100/9881] lr: 2.820e-03, eta: 1 day, 2:37:33, time: 0.769, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3857, recall_Car: 0.4273, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 17.6500, num_fg_points: 582.8275, loss_cls.task0: 0.0759, loss_center.task0: 1.0891, loss_size.task0: 0.3777, loss_rot.task0: 0.2522, loss_cls.task1: 0.0020, loss_center.task1: 0.0618, loss_size.task1: 0.0442, loss_rot.task1: 0.0374, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0483, num_pos_rois: 0.3025, num_neg_rois: 17.3475, loss_rcnn_bbox: 1.1969, loss_rcnn_corner: 0.1161, loss: 3.6884, grad_norm: 4.7817 2022-11-24 12:20:38,898 - mmdet - INFO - Epoch [2][150/9881] lr: 2.829e-03, eta: 1 day, 2:35:58, time: 0.788, data_time: 0.192, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3801, recall_Car: 0.3656, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 21.0275, num_fg_points: 920.7025, loss_cls.task0: 0.0746, loss_center.task0: 1.1261, loss_size.task0: 0.3545, loss_rot.task0: 0.2563, loss_cls.task1: 0.0012, loss_center.task1: 0.0431, loss_size.task1: 0.0154, loss_rot.task1: 0.0293, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0464, num_pos_rois: 0.4075, num_neg_rois: 20.6200, loss_rcnn_bbox: 1.1747, loss_rcnn_corner: 0.1424, loss: 3.6450, grad_norm: 4.4693 2022-11-24 12:21:16,994 - mmdet - INFO - Epoch [2][200/9881] lr: 2.838e-03, eta: 1 day, 2:34:09, time: 0.762, data_time: 0.283, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3698, recall_Car: 0.2684, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 10.0400, num_fg_points: 226.8925, loss_cls.task0: 0.0713, loss_center.task0: 1.1731, loss_size.task0: 0.3704, loss_rot.task0: 0.2532, loss_cls.task1: 0.0013, loss_center.task1: 0.0352, loss_size.task1: 0.0258, loss_rot.task1: 0.0285, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0381, num_pos_rois: 0.1675, num_neg_rois: 9.8725, loss_rcnn_bbox: 0.9044, loss_rcnn_corner: 0.0821, loss: 3.3544, grad_norm: 5.0153 2022-11-24 12:21:54,445 - mmdet - INFO - Epoch [2][250/9881] lr: 2.847e-03, eta: 1 day, 2:32:14, time: 0.749, data_time: 0.364, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3878, recall_Car: 0.4277, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 23.5275, num_fg_points: 796.0250, loss_cls.task0: 0.0721, loss_center.task0: 1.0744, loss_size.task0: 0.3700, loss_rot.task0: 0.2561, loss_cls.task1: 0.0014, loss_center.task1: 0.0806, loss_size.task1: 0.0328, loss_rot.task1: 0.0471, loss_cls.task2: 0.0002, loss_center.task2: 0.0122, loss_size.task2: 0.0323, loss_rot.task2: 0.0041, loss_rcnn_cls: 0.0334, num_pos_rois: 0.3350, num_neg_rois: 23.1925, loss_rcnn_bbox: 1.2889, loss_rcnn_corner: 0.1411, loss: 3.8353, grad_norm: 4.9272 2022-11-24 12:22:31,570 - mmdet - INFO - Epoch [2][300/9881] lr: 2.856e-03, eta: 1 day, 2:30:16, time: 0.742, data_time: 0.248, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3883, recall_Car: 0.4075, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 19.4775, num_fg_points: 648.1200, loss_cls.task0: 0.0771, loss_center.task0: 1.0331, loss_size.task0: 0.3589, loss_rot.task0: 0.2531, loss_cls.task1: 0.0022, loss_center.task1: 0.0648, loss_size.task1: 0.0349, loss_rot.task1: 0.0415, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0488, num_pos_rois: 0.4375, num_neg_rois: 19.0400, loss_rcnn_bbox: 1.2497, loss_rcnn_corner: 0.1513, loss: 3.7048, grad_norm: 4.6719 2022-11-24 12:23:08,291 - mmdet - INFO - Epoch [2][350/9881] lr: 2.864e-03, eta: 1 day, 2:28:15, time: 0.735, data_time: 0.295, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3771, recall_Car: 0.5417, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 31.5350, num_fg_points: 945.2625, loss_cls.task0: 0.0793, loss_center.task0: 1.0080, loss_size.task0: 0.3367, loss_rot.task0: 0.2570, loss_cls.task1: 0.0020, loss_center.task1: 0.0951, loss_size.task1: 0.0427, loss_rot.task1: 0.0660, loss_cls.task2: 0.0002, loss_center.task2: 0.0093, loss_size.task2: 0.0099, loss_rot.task2: 0.0053, loss_rcnn_cls: 0.0487, num_pos_rois: 0.5725, num_neg_rois: 30.9625, loss_rcnn_bbox: 1.3924, loss_rcnn_corner: 0.2060, loss: 3.9365, grad_norm: 4.8283 2022-11-24 12:23:45,438 - mmdet - INFO - Epoch [2][400/9881] lr: 2.872e-03, eta: 1 day, 2:26:19, time: 0.743, data_time: 0.369, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3779, recall_Car: 0.4711, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 35.2250, num_fg_points: 1322.9950, loss_cls.task0: 0.0685, loss_center.task0: 1.0838, loss_size.task0: 0.3689, loss_rot.task0: 0.2551, loss_cls.task1: 0.0016, loss_center.task1: 0.0965, loss_size.task1: 0.0642, loss_rot.task1: 0.0683, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0233, num_pos_rois: 0.3875, num_neg_rois: 34.8375, loss_rcnn_bbox: 1.2267, loss_rcnn_corner: 0.1197, loss: 3.7556, grad_norm: 4.6839 2022-11-24 12:24:26,134 - mmdet - INFO - Epoch [2][450/9881] lr: 2.880e-03, eta: 1 day, 2:25:00, time: 0.813, data_time: 0.430, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3752, recall_Car: 0.5191, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 65.5125, num_fg_points: 3037.3875, loss_cls.task0: 0.0681, loss_center.task0: 0.9688, loss_size.task0: 0.3440, loss_rot.task0: 0.2524, loss_cls.task1: 0.0018, loss_center.task1: 0.1536, loss_size.task1: 0.0848, loss_rot.task1: 0.1016, loss_cls.task2: 0.0001, loss_center.task2: 0.0127, loss_size.task2: 0.0029, loss_rot.task2: 0.0084, loss_rcnn_cls: 0.0326, num_pos_rois: 0.8825, num_neg_rois: 64.6300, loss_rcnn_bbox: 1.4810, loss_rcnn_corner: 0.2256, loss: 4.1146, grad_norm: 4.7512 2022-11-24 12:25:05,415 - mmdet - INFO - Epoch [2][500/9881] lr: 2.888e-03, eta: 1 day, 2:23:28, time: 0.786, data_time: 0.412, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3748, recall_Car: 0.3292, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 28.8175, num_fg_points: 1122.9525, loss_cls.task0: 0.0666, loss_center.task0: 1.1896, loss_size.task0: 0.3805, loss_rot.task0: 0.2530, loss_cls.task1: 0.0012, loss_center.task1: 0.0597, loss_size.task1: 0.0371, loss_rot.task1: 0.0539, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0273, num_pos_rois: 0.3150, num_neg_rois: 28.5025, loss_rcnn_bbox: 1.2927, loss_rcnn_corner: 0.1500, loss: 3.8874, grad_norm: 5.0384 2022-11-24 12:25:41,442 - mmdet - INFO - Epoch [2][550/9881] lr: 2.895e-03, eta: 1 day, 2:21:23, time: 0.721, data_time: 0.354, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3779, recall_Car: 0.4751, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 63.4175, num_fg_points: 2465.9700, loss_cls.task0: 0.0698, loss_center.task0: 0.9725, loss_size.task0: 0.3484, loss_rot.task0: 0.2540, loss_cls.task1: 0.0019, loss_center.task1: 0.1533, loss_size.task1: 0.0784, loss_rot.task1: 0.1124, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0347, num_pos_rois: 0.7850, num_neg_rois: 62.6325, loss_rcnn_bbox: 1.3711, loss_rcnn_corner: 0.2239, loss: 3.9993, grad_norm: 4.4917 2022-11-24 12:26:20,251 - mmdet - INFO - Epoch [2][600/9881] lr: 2.902e-03, eta: 1 day, 2:19:46, time: 0.775, data_time: 0.403, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3674, recall_Car: 0.5553, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 83.3975, num_fg_points: 3523.7075, loss_cls.task0: 0.0690, loss_center.task0: 0.7974, loss_size.task0: 0.2760, loss_rot.task0: 0.2543, loss_cls.task1: 0.0019, loss_center.task1: 0.1779, loss_size.task1: 0.0707, loss_rot.task1: 0.1130, loss_cls.task2: 0.0001, loss_center.task2: 0.0206, loss_size.task2: 0.0154, loss_rot.task2: 0.0126, loss_rcnn_cls: 0.0482, num_pos_rois: 1.8150, num_neg_rois: 81.5825, loss_rcnn_bbox: 1.3604, loss_rcnn_corner: 0.2852, loss: 3.8711, grad_norm: 3.1994 2022-11-24 12:26:59,098 - mmdet - INFO - Epoch [2][650/9881] lr: 2.909e-03, eta: 1 day, 2:18:11, time: 0.778, data_time: 0.361, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3695, recall_Car: 0.5021, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 83.1500, num_fg_points: 3467.7550, loss_cls.task0: 0.0653, loss_center.task0: 0.8352, loss_size.task0: 0.3029, loss_rot.task0: 0.2555, loss_cls.task1: 0.0015, loss_center.task1: 0.1759, loss_size.task1: 0.0874, loss_rot.task1: 0.1023, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0438, num_pos_rois: 1.7225, num_neg_rois: 81.4275, loss_rcnn_bbox: 1.3763, loss_rcnn_corner: 0.3124, loss: 3.9290, grad_norm: 3.5674 2022-11-24 12:27:36,614 - mmdet - INFO - Epoch [2][700/9881] lr: 2.916e-03, eta: 1 day, 2:16:23, time: 0.750, data_time: 0.259, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3797, recall_Car: 0.5050, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 60.7400, num_fg_points: 2259.0025, loss_cls.task0: 0.0679, loss_center.task0: 0.9582, loss_size.task0: 0.3411, loss_rot.task0: 0.2524, loss_cls.task1: 0.0016, loss_center.task1: 0.1346, loss_size.task1: 0.0875, loss_rot.task1: 0.0892, loss_cls.task2: 0.0001, loss_center.task2: 0.0159, loss_size.task2: 0.0068, loss_rot.task2: 0.0056, loss_rcnn_cls: 0.0395, num_pos_rois: 1.2250, num_neg_rois: 59.5150, loss_rcnn_bbox: 1.2993, loss_rcnn_corner: 0.2569, loss: 3.9373, grad_norm: 3.9355 2022-11-24 12:28:13,865 - mmdet - INFO - Epoch [2][750/9881] lr: 2.922e-03, eta: 1 day, 2:14:33, time: 0.746, data_time: 0.206, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3742, recall_Car: 0.5384, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 82.5025, num_fg_points: 2664.4725, loss_cls.task0: 0.0632, loss_center.task0: 0.8387, loss_size.task0: 0.2851, loss_rot.task0: 0.2556, loss_cls.task1: 0.0021, loss_center.task1: 0.2213, loss_size.task1: 0.1386, loss_rot.task1: 0.1427, loss_cls.task2: 0.0003, loss_center.task2: 0.0343, loss_size.task2: 0.0193, loss_rot.task2: 0.0122, loss_rcnn_cls: 0.0421, num_pos_rois: 1.5800, num_neg_rois: 80.9225, loss_rcnn_bbox: 1.3272, loss_rcnn_corner: 0.2745, loss: 4.0323, grad_norm: 3.3680 2022-11-24 12:28:51,589 - mmdet - INFO - Epoch [2][800/9881] lr: 2.928e-03, eta: 1 day, 2:12:48, time: 0.755, data_time: 0.055, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3756, recall_Car: 0.5949, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 138.2225, num_fg_points: 6482.8975, loss_cls.task0: 0.0665, loss_center.task0: 0.7879, loss_size.task0: 0.2764, loss_rot.task0: 0.2539, loss_cls.task1: 0.0023, loss_center.task1: 0.2702, loss_size.task1: 0.1409, loss_rot.task1: 0.1890, loss_cls.task2: 0.0001, loss_center.task2: 0.0371, loss_size.task2: 0.0184, loss_rot.task2: 0.0177, loss_rcnn_cls: 0.0411, num_pos_rois: 2.6775, num_neg_rois: 135.5450, loss_rcnn_bbox: 1.3357, loss_rcnn_corner: 0.3359, loss: 4.1498, grad_norm: 3.4964 2022-11-24 12:29:33,260 - mmdet - INFO - Epoch [2][850/9881] lr: 2.934e-03, eta: 1 day, 2:11:44, time: 0.833, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3836, recall_Car: 0.4919, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 77.6075, num_fg_points: 4175.2500, loss_cls.task0: 0.0676, loss_center.task0: 0.8459, loss_size.task0: 0.2961, loss_rot.task0: 0.2554, loss_cls.task1: 0.0027, loss_center.task1: 0.2516, loss_size.task1: 0.1393, loss_rot.task1: 0.1623, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0416, num_pos_rois: 1.5650, num_neg_rois: 76.0425, loss_rcnn_bbox: 1.3890, loss_rcnn_corner: 0.3237, loss: 4.1597, grad_norm: 3.6406 2022-11-24 12:30:10,684 - mmdet - INFO - Epoch [2][900/9881] lr: 2.940e-03, eta: 1 day, 2:09:57, time: 0.748, data_time: 0.014, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3688, recall_Car: 0.4935, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 72.6250, num_fg_points: 3369.3700, loss_cls.task0: 0.0767, loss_center.task0: 0.7396, loss_size.task0: 0.2614, loss_rot.task0: 0.2536, loss_cls.task1: 0.0018, loss_center.task1: 0.1510, loss_size.task1: 0.0918, loss_rot.task1: 0.1093, loss_cls.task2: 0.0001, loss_center.task2: 0.0325, loss_size.task2: 0.0057, loss_rot.task2: 0.0053, loss_rcnn_cls: 0.0679, num_pos_rois: 2.6225, num_neg_rois: 70.0025, loss_rcnn_bbox: 1.3372, loss_rcnn_corner: 0.3323, loss: 3.8361, grad_norm: 2.9967 2022-11-24 12:30:49,778 - mmdet - INFO - Epoch [2][950/9881] lr: 2.945e-03, eta: 1 day, 2:08:28, time: 0.782, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3862, recall_Car: 0.5066, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 104.8100, num_fg_points: 5129.3325, loss_cls.task0: 0.0653, loss_center.task0: 0.8507, loss_size.task0: 0.2898, loss_rot.task0: 0.2539, loss_cls.task1: 0.0014, loss_center.task1: 0.1457, loss_size.task1: 0.0984, loss_rot.task1: 0.1063, loss_cls.task2: 0.0001, loss_center.task2: 0.0045, loss_size.task2: 0.0038, loss_rot.task2: 0.0036, loss_rcnn_cls: 0.0406, num_pos_rois: 2.1525, num_neg_rois: 102.6575, loss_rcnn_bbox: 1.3673, loss_rcnn_corner: 0.3079, loss: 3.9263, grad_norm: 3.1564 2022-11-24 12:31:28,258 - mmdet - INFO - Epoch [2][1000/9881] lr: 2.951e-03, eta: 1 day, 2:06:53, time: 0.770, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3828, recall_Car: 0.5396, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 96.4175, num_fg_points: 3673.9525, loss_cls.task0: 0.0721, loss_center.task0: 0.8088, loss_size.task0: 0.2801, loss_rot.task0: 0.2512, loss_cls.task1: 0.0022, loss_center.task1: 0.2432, loss_size.task1: 0.1247, loss_rot.task1: 0.1643, loss_cls.task2: 0.0001, loss_center.task2: 0.0241, loss_size.task2: 0.0062, loss_rot.task2: 0.0118, loss_rcnn_cls: 0.0474, num_pos_rois: 2.3250, num_neg_rois: 94.0925, loss_rcnn_bbox: 1.3538, loss_rcnn_corner: 0.3352, loss: 4.1089, grad_norm: 3.3444 2022-11-24 12:32:03,817 - mmdet - INFO - Epoch [2][1050/9881] lr: 2.955e-03, eta: 1 day, 2:04:49, time: 0.711, data_time: 0.012, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3688, recall_Car: 0.5872, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 193.7675, num_fg_points: 6028.7150, loss_cls.task0: 0.0573, loss_center.task0: 0.7965, loss_size.task0: 0.2583, loss_rot.task0: 0.2546, loss_cls.task1: 0.0026, loss_center.task1: 0.2958, loss_size.task1: 0.1746, loss_rot.task1: 0.2151, loss_cls.task2: 0.0002, loss_center.task2: 0.0613, loss_size.task2: 0.0223, loss_rot.task2: 0.0244, loss_rcnn_cls: 0.0319, num_pos_rois: 2.8150, num_neg_rois: 189.8250, loss_rcnn_bbox: 1.3624, loss_rcnn_corner: 0.3607, loss: 4.2877, grad_norm: 3.1626 2022-11-24 12:32:40,825 - mmdet - INFO - Epoch [2][1100/9881] lr: 2.960e-03, eta: 1 day, 2:03:01, time: 0.740, data_time: 0.011, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3866, recall_Car: 0.5564, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 195.6950, num_fg_points: 8635.0625, loss_cls.task0: 0.0622, loss_center.task0: 0.7797, loss_size.task0: 0.2354, loss_rot.task0: 0.2528, loss_cls.task1: 0.0019, loss_center.task1: 0.2723, loss_size.task1: 0.1391, loss_rot.task1: 0.1796, loss_cls.task2: 0.0002, loss_center.task2: 0.0417, loss_size.task2: 0.0133, loss_rot.task2: 0.0194, loss_rcnn_cls: 0.0360, num_pos_rois: 3.0350, num_neg_rois: 192.3550, loss_rcnn_bbox: 1.3026, loss_rcnn_corner: 0.3464, loss: 4.0702, grad_norm: 2.8960 2022-11-24 12:33:20,762 - mmdet - INFO - Epoch [2][1150/9881] lr: 2.964e-03, eta: 1 day, 2:01:42, time: 0.799, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3675, recall_Car: 0.4311, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 85.1400, num_fg_points: 3839.7325, loss_cls.task0: 0.0719, loss_center.task0: 0.7408, loss_size.task0: 0.2698, loss_rot.task0: 0.2539, loss_cls.task1: 0.0015, loss_center.task1: 0.1552, loss_size.task1: 0.0904, loss_rot.task1: 0.1100, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0456, num_pos_rois: 2.0100, num_neg_rois: 83.1300, loss_rcnn_bbox: 1.3237, loss_rcnn_corner: 0.2862, loss: 3.7175, grad_norm: 3.1411 2022-11-24 12:33:57,409 - mmdet - INFO - Epoch [2][1200/9881] lr: 2.969e-03, eta: 1 day, 1:59:51, time: 0.733, data_time: 0.130, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3800, recall_Car: 0.6092, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 239.5900, num_fg_points: 10412.4500, loss_cls.task0: 0.0549, loss_center.task0: 0.7907, loss_size.task0: 0.2487, loss_rot.task0: 0.2536, loss_cls.task1: 0.0029, loss_center.task1: 0.3687, loss_size.task1: 0.1953, loss_rot.task1: 0.2489, loss_cls.task2: 0.0001, loss_center.task2: 0.0449, loss_size.task2: 0.0143, loss_rot.task2: 0.0227, loss_rcnn_cls: 0.0267, num_pos_rois: 2.6950, num_neg_rois: 236.4825, loss_rcnn_bbox: 1.3247, loss_rcnn_corner: 0.3551, loss: 4.3334, grad_norm: 2.8510 2022-11-24 12:34:35,089 - mmdet - INFO - Epoch [2][1250/9881] lr: 2.973e-03, eta: 1 day, 1:58:11, time: 0.753, data_time: 0.058, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3802, recall_Car: 0.5540, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 235.4475, num_fg_points: 8237.0675, loss_cls.task0: 0.0587, loss_center.task0: 0.8092, loss_size.task0: 0.2417, loss_rot.task0: 0.2525, loss_cls.task1: 0.0025, loss_center.task1: 0.2897, loss_size.task1: 0.1579, loss_rot.task1: 0.1995, loss_cls.task2: 0.0001, loss_center.task2: 0.0481, loss_size.task2: 0.0276, loss_rot.task2: 0.0342, loss_rcnn_cls: 0.0310, num_pos_rois: 2.1675, num_neg_rois: 221.1900, loss_rcnn_bbox: 1.3526, loss_rcnn_corner: 0.3044, loss: 4.1909, grad_norm: 3.7918 2022-11-24 12:35:14,360 - mmdet - INFO - Epoch [2][1300/9881] lr: 2.976e-03, eta: 1 day, 1:56:47, time: 0.786, data_time: 0.023, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4121, recall_Car: 0.5645, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 330.2700, num_fg_points: 11412.6900, loss_cls.task0: 0.0588, loss_center.task0: 0.8850, loss_size.task0: 0.2294, loss_rot.task0: 0.2549, loss_cls.task1: 0.0028, loss_center.task1: 0.3219, loss_size.task1: 0.1462, loss_rot.task1: 0.2331, loss_cls.task2: 0.0001, loss_center.task2: 0.0657, loss_size.task2: 0.0386, loss_rot.task2: 0.0352, loss_rcnn_cls: 0.0336, num_pos_rois: 2.5975, num_neg_rois: 307.2275, loss_rcnn_bbox: 1.2935, loss_rcnn_corner: 0.3219, loss: 4.3339, grad_norm: 3.0124 2022-11-24 12:35:53,041 - mmdet - INFO - Epoch [2][1350/9881] lr: 2.980e-03, eta: 1 day, 1:55:17, time: 0.773, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3884, recall_Car: 0.5532, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 240.7475, num_fg_points: 6353.4125, loss_cls.task0: 0.0636, loss_center.task0: 0.8120, loss_size.task0: 0.2260, loss_rot.task0: 0.2544, loss_cls.task1: 0.0031, loss_center.task1: 0.3263, loss_size.task1: 0.1596, loss_rot.task1: 0.2261, loss_cls.task2: 0.0002, loss_center.task2: 0.0618, loss_size.task2: 0.0301, loss_rot.task2: 0.0355, loss_rcnn_cls: 0.0414, num_pos_rois: 2.7700, num_neg_rois: 235.3125, loss_rcnn_bbox: 1.3339, loss_rcnn_corner: 0.3286, loss: 4.2919, grad_norm: 2.8931 2022-11-24 12:36:30,827 - mmdet - INFO - Epoch [2][1400/9881] lr: 2.983e-03, eta: 1 day, 1:53:40, time: 0.757, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3923, recall_Car: 0.5757, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 333.7825, num_fg_points: 12547.1800, loss_cls.task0: 0.0552, loss_center.task0: 0.8396, loss_size.task0: 0.2389, loss_rot.task0: 0.2551, loss_cls.task1: 0.0023, loss_center.task1: 0.2939, loss_size.task1: 0.1609, loss_rot.task1: 0.2092, loss_cls.task2: 0.0001, loss_center.task2: 0.0457, loss_size.task2: 0.0158, loss_rot.task2: 0.0254, loss_rcnn_cls: 0.0332, num_pos_rois: 3.2250, num_neg_rois: 292.8625, loss_rcnn_bbox: 1.3330, loss_rcnn_corner: 0.3941, loss: 4.2959, grad_norm: 3.1545 2022-11-24 12:37:09,386 - mmdet - INFO - Epoch [2][1450/9881] lr: 2.986e-03, eta: 1 day, 1:52:10, time: 0.771, data_time: 0.016, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3862, recall_Car: 0.5925, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 311.8975, num_fg_points: 11840.3800, loss_cls.task0: 0.0551, loss_center.task0: 0.8638, loss_size.task0: 0.2409, loss_rot.task0: 0.2534, loss_cls.task1: 0.0031, loss_center.task1: 0.3457, loss_size.task1: 0.1777, loss_rot.task1: 0.2415, loss_cls.task2: 0.0002, loss_center.task2: 0.1167, loss_size.task2: 0.0312, loss_rot.task2: 0.0527, loss_rcnn_cls: 0.0275, num_pos_rois: 3.0700, num_neg_rois: 293.8925, loss_rcnn_bbox: 1.3455, loss_rcnn_corner: 0.3865, loss: 4.5287, grad_norm: 3.0228 2022-11-24 12:37:45,942 - mmdet - INFO - Epoch [2][1500/9881] lr: 2.988e-03, eta: 1 day, 1:50:22, time: 0.731, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3580, recall_Car: 0.5362, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 225.8200, num_fg_points: 10479.8150, loss_cls.task0: 0.0633, loss_center.task0: 0.7845, loss_size.task0: 0.2332, loss_rot.task0: 0.2544, loss_cls.task1: 0.0022, loss_center.task1: 0.3059, loss_size.task1: 0.1445, loss_rot.task1: 0.1983, loss_cls.task2: 0.0001, loss_center.task2: 0.0499, loss_size.task2: 0.0114, loss_rot.task2: 0.0254, loss_rcnn_cls: 0.0356, num_pos_rois: 3.3325, num_neg_rois: 222.2600, loss_rcnn_bbox: 1.3193, loss_rcnn_corner: 0.3769, loss: 4.1639, grad_norm: 2.9639 2022-11-24 12:38:23,787 - mmdet - INFO - Epoch [2][1550/9881] lr: 2.991e-03, eta: 1 day, 1:48:47, time: 0.757, data_time: 0.011, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3618, recall_Car: 0.5634, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 225.9975, num_fg_points: 11274.6850, loss_cls.task0: 0.0644, loss_center.task0: 0.7617, loss_size.task0: 0.2291, loss_rot.task0: 0.2546, loss_cls.task1: 0.0017, loss_center.task1: 0.3229, loss_size.task1: 0.1575, loss_rot.task1: 0.2135, loss_cls.task2: 0.0001, loss_center.task2: 0.0580, loss_size.task2: 0.0119, loss_rot.task2: 0.0201, loss_rcnn_cls: 0.0371, num_pos_rois: 3.3775, num_neg_rois: 222.5600, loss_rcnn_bbox: 1.3374, loss_rcnn_corner: 0.3886, loss: 4.2214, grad_norm: 3.0096 2022-11-24 12:39:02,433 - mmdet - INFO - Epoch [2][1600/9881] lr: 2.993e-03, eta: 1 day, 1:47:19, time: 0.773, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3781, recall_Car: 0.6215, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 301.4700, num_fg_points: 18061.4250, loss_cls.task0: 0.0589, loss_center.task0: 0.7692, loss_size.task0: 0.2231, loss_rot.task0: 0.2557, loss_cls.task1: 0.0024, loss_center.task1: 0.3439, loss_size.task1: 0.1842, loss_rot.task1: 0.2343, loss_cls.task2: 0.0002, loss_center.task2: 0.0719, loss_size.task2: 0.0173, loss_rot.task2: 0.0276, loss_rcnn_cls: 0.0315, num_pos_rois: 3.9775, num_neg_rois: 292.8700, loss_rcnn_bbox: 1.3273, loss_rcnn_corner: 0.3967, loss: 4.3233, grad_norm: 2.6512 2022-11-24 12:39:41,198 - mmdet - INFO - Epoch [2][1650/9881] lr: 2.994e-03, eta: 1 day, 1:45:53, time: 0.775, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3849, recall_Car: 0.6188, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 365.2725, num_fg_points: 18302.6225, loss_cls.task0: 0.0540, loss_center.task0: 0.7836, loss_size.task0: 0.2164, loss_rot.task0: 0.2544, loss_cls.task1: 0.0019, loss_center.task1: 0.3358, loss_size.task1: 0.1835, loss_rot.task1: 0.2235, loss_cls.task2: 0.0001, loss_center.task2: 0.0738, loss_size.task2: 0.0188, loss_rot.task2: 0.0235, loss_rcnn_cls: 0.0287, num_pos_rois: 4.2100, num_neg_rois: 343.2775, loss_rcnn_bbox: 1.2996, loss_rcnn_corner: 0.3675, loss: 4.2511, grad_norm: 2.6056 2022-11-24 12:40:19,441 - mmdet - INFO - Epoch [2][1700/9881] lr: 2.996e-03, eta: 1 day, 1:44:23, time: 0.765, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3615, recall_Car: 0.6432, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 360.6900, num_fg_points: 23715.4850, loss_cls.task0: 0.0554, loss_center.task0: 0.7846, loss_size.task0: 0.2139, loss_rot.task0: 0.2532, loss_cls.task1: 0.0020, loss_center.task1: 0.3521, loss_size.task1: 0.1682, loss_rot.task1: 0.2388, loss_cls.task2: 0.0001, loss_center.task2: 0.0507, loss_size.task2: 0.0167, loss_rot.task2: 0.0315, loss_rcnn_cls: 0.0296, num_pos_rois: 4.5250, num_neg_rois: 344.3225, loss_rcnn_bbox: 1.3044, loss_rcnn_corner: 0.3677, loss: 4.2313, grad_norm: 2.7177 2022-11-24 12:40:56,463 - mmdet - INFO - Epoch [2][1750/9881] lr: 2.997e-03, eta: 1 day, 1:42:42, time: 0.740, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0008, loss_vote: 0.3578, recall_Car: 0.4876, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 231.1025, num_fg_points: 9747.6625, loss_cls.task0: 0.0618, loss_center.task0: 0.7403, loss_size.task0: 0.2220, loss_rot.task0: 0.2546, loss_cls.task1: 0.0018, loss_center.task1: 0.3563, loss_size.task1: 0.1682, loss_rot.task1: 0.2133, loss_cls.task2: 0.0002, loss_center.task2: 0.0600, loss_size.task2: 0.0343, loss_rot.task2: 0.0425, loss_rcnn_cls: 0.0291, num_pos_rois: 2.7650, num_neg_rois: 228.3000, loss_rcnn_bbox: 1.2818, loss_rcnn_corner: 0.2880, loss: 4.1128, grad_norm: 2.9830 2022-11-24 12:41:32,496 - mmdet - INFO - Epoch [2][1800/9881] lr: 2.998e-03, eta: 1 day, 1:40:52, time: 0.721, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3630, recall_Car: 0.5974, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 308.5750, num_fg_points: 17242.3775, loss_cls.task0: 0.0589, loss_center.task0: 0.7510, loss_size.task0: 0.2075, loss_rot.task0: 0.2547, loss_cls.task1: 0.0016, loss_center.task1: 0.3038, loss_size.task1: 0.1422, loss_rot.task1: 0.1953, loss_cls.task2: 0.0001, loss_center.task2: 0.0435, loss_size.task2: 0.0100, loss_rot.task2: 0.0149, loss_rcnn_cls: 0.0225, num_pos_rois: 2.6075, num_neg_rois: 300.5150, loss_rcnn_bbox: 1.3492, loss_rcnn_corner: 0.3289, loss: 4.0481, grad_norm: 2.7457 2022-11-24 12:42:10,933 - mmdet - INFO - Epoch [2][1850/9881] lr: 2.999e-03, eta: 1 day, 1:39:25, time: 0.769, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3624, recall_Car: 0.5614, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 296.1925, num_fg_points: 21650.4100, loss_cls.task0: 0.0604, loss_center.task0: 0.7388, loss_size.task0: 0.2118, loss_rot.task0: 0.2547, loss_cls.task1: 0.0025, loss_center.task1: 0.3290, loss_size.task1: 0.1579, loss_rot.task1: 0.2296, loss_cls.task2: 0.0001, loss_center.task2: 0.0483, loss_size.task2: 0.0079, loss_rot.task2: 0.0208, loss_rcnn_cls: 0.0273, num_pos_rois: 3.2875, num_neg_rois: 287.2800, loss_rcnn_bbox: 1.2997, loss_rcnn_corner: 0.3396, loss: 4.0916, grad_norm: 2.8498 2022-11-24 12:42:49,787 - mmdet - INFO - Epoch [2][1900/9881] lr: 3.000e-03, eta: 1 day, 1:38:03, time: 0.777, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3623, recall_Car: 0.5802, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 279.9950, num_fg_points: 20270.3700, loss_cls.task0: 0.0618, loss_center.task0: 0.7666, loss_size.task0: 0.2174, loss_rot.task0: 0.2553, loss_cls.task1: 0.0022, loss_center.task1: 0.3525, loss_size.task1: 0.1542, loss_rot.task1: 0.2307, loss_cls.task2: 0.0002, loss_center.task2: 0.0924, loss_size.task2: 0.0192, loss_rot.task2: 0.0420, loss_rcnn_cls: 0.0274, num_pos_rois: 3.1475, num_neg_rois: 276.0400, loss_rcnn_bbox: 1.2751, loss_rcnn_corner: 0.3230, loss: 4.1833, grad_norm: 2.8728 2022-11-24 12:43:29,047 - mmdet - INFO - Epoch [2][1950/9881] lr: 3.000e-03, eta: 1 day, 1:36:44, time: 0.785, data_time: 0.011, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3700, recall_Car: 0.5361, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 288.4475, num_fg_points: 17194.9050, loss_cls.task0: 0.0599, loss_center.task0: 0.7771, loss_size.task0: 0.2174, loss_rot.task0: 0.2544, loss_cls.task1: 0.0024, loss_center.task1: 0.3519, loss_size.task1: 0.1832, loss_rot.task1: 0.2276, loss_cls.task2: 0.0002, loss_center.task2: 0.1211, loss_size.task2: 0.0273, loss_rot.task2: 0.0558, loss_rcnn_cls: 0.0274, num_pos_rois: 3.4100, num_neg_rois: 284.2200, loss_rcnn_bbox: 1.2873, loss_rcnn_corner: 0.3355, loss: 4.2994, grad_norm: 2.9092 2022-11-24 12:44:08,109 - mmdet - INFO - Epoch [2][2000/9881] lr: 3.000e-03, eta: 1 day, 1:35:24, time: 0.781, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3414, recall_Car: 0.5243, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 273.8625, num_fg_points: 16962.9500, loss_cls.task0: 0.0633, loss_center.task0: 0.7547, loss_size.task0: 0.2148, loss_rot.task0: 0.2551, loss_cls.task1: 0.0022, loss_center.task1: 0.3164, loss_size.task1: 0.1784, loss_rot.task1: 0.2324, loss_cls.task2: 0.0002, loss_center.task2: 0.1305, loss_size.task2: 0.0264, loss_rot.task2: 0.0595, loss_rcnn_cls: 0.0262, num_pos_rois: 3.0475, num_neg_rois: 270.0825, loss_rcnn_bbox: 1.3042, loss_rcnn_corner: 0.3373, loss: 4.2439, grad_norm: 3.0070 2022-11-24 12:44:46,077 - mmdet - INFO - Epoch [2][2050/9881] lr: 3.000e-03, eta: 1 day, 1:33:54, time: 0.759, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0008, loss_vote: 0.3567, recall_Car: 0.5377, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 297.5050, num_fg_points: 20959.0675, loss_cls.task0: 0.0606, loss_center.task0: 0.7759, loss_size.task0: 0.2127, loss_rot.task0: 0.2544, loss_cls.task1: 0.0025, loss_center.task1: 0.3357, loss_size.task1: 0.1788, loss_rot.task1: 0.2270, loss_cls.task2: 0.0002, loss_center.task2: 0.0721, loss_size.task2: 0.0180, loss_rot.task2: 0.0456, loss_rcnn_cls: 0.0235, num_pos_rois: 2.5450, num_neg_rois: 286.4700, loss_rcnn_bbox: 1.2996, loss_rcnn_corner: 0.3041, loss: 4.1684, grad_norm: 3.0109 2022-11-24 12:45:25,141 - mmdet - INFO - Epoch [2][2100/9881] lr: 3.000e-03, eta: 1 day, 1:32:34, time: 0.781, data_time: 0.051, memory: 6294, loss_sem_seg: 0.0008, loss_vote: 0.3677, recall_Car: 0.5356, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 299.6800, num_fg_points: 19669.3875, loss_cls.task0: 0.0600, loss_center.task0: 0.7538, loss_size.task0: 0.2008, loss_rot.task0: 0.2539, loss_cls.task1: 0.0022, loss_center.task1: 0.3539, loss_size.task1: 0.1632, loss_rot.task1: 0.2315, loss_cls.task2: 0.0002, loss_center.task2: 0.0923, loss_size.task2: 0.0237, loss_rot.task2: 0.0474, loss_rcnn_cls: 0.0214, num_pos_rois: 2.5650, num_neg_rois: 295.5050, loss_rcnn_bbox: 1.3039, loss_rcnn_corner: 0.3256, loss: 4.2023, grad_norm: 3.1024 2022-11-24 12:46:02,684 - mmdet - INFO - Epoch [2][2150/9881] lr: 3.000e-03, eta: 1 day, 1:31:02, time: 0.751, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3584, recall_Car: 0.5631, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 327.0625, num_fg_points: 23309.8000, loss_cls.task0: 0.0542, loss_center.task0: 0.7746, loss_size.task0: 0.2127, loss_rot.task0: 0.2541, loss_cls.task1: 0.0018, loss_center.task1: 0.3105, loss_size.task1: 0.1440, loss_rot.task1: 0.1994, loss_cls.task2: 0.0001, loss_center.task2: 0.0447, loss_size.task2: 0.0153, loss_rot.task2: 0.0209, loss_rcnn_cls: 0.0248, num_pos_rois: 3.4275, num_neg_rois: 318.1200, loss_rcnn_bbox: 1.2617, loss_rcnn_corner: 0.3057, loss: 3.9837, grad_norm: 2.9733 2022-11-24 12:46:40,505 - mmdet - INFO - Epoch [2][2200/9881] lr: 3.000e-03, eta: 1 day, 1:29:32, time: 0.756, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3585, recall_Car: 0.6225, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 367.0300, num_fg_points: 24052.7100, loss_cls.task0: 0.0566, loss_center.task0: 0.7660, loss_size.task0: 0.2096, loss_rot.task0: 0.2539, loss_cls.task1: 0.0020, loss_center.task1: 0.3477, loss_size.task1: 0.1839, loss_rot.task1: 0.2336, loss_cls.task2: 0.0001, loss_center.task2: 0.0474, loss_size.task2: 0.0107, loss_rot.task2: 0.0236, loss_rcnn_cls: 0.0291, num_pos_rois: 4.4000, num_neg_rois: 340.5400, loss_rcnn_bbox: 1.3183, loss_rcnn_corner: 0.3865, loss: 4.2282, grad_norm: 2.7342 2022-11-24 12:47:18,961 - mmdet - INFO - Epoch [2][2250/9881] lr: 3.000e-03, eta: 1 day, 1:28:08, time: 0.769, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3637, recall_Car: 0.5817, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 304.0000, num_fg_points: 25256.7025, loss_cls.task0: 0.0617, loss_center.task0: 0.7859, loss_size.task0: 0.2163, loss_rot.task0: 0.2549, loss_cls.task1: 0.0023, loss_center.task1: 0.3546, loss_size.task1: 0.1771, loss_rot.task1: 0.2378, loss_cls.task2: 0.0001, loss_center.task2: 0.0669, loss_size.task2: 0.0191, loss_rot.task2: 0.0359, loss_rcnn_cls: 0.0307, num_pos_rois: 4.0175, num_neg_rois: 291.5150, loss_rcnn_bbox: 1.3168, loss_rcnn_corner: 0.3758, loss: 4.3006, grad_norm: 2.8414 2022-11-24 12:47:57,356 - mmdet - INFO - Epoch [2][2300/9881] lr: 3.000e-03, eta: 1 day, 1:26:44, time: 0.768, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0008, loss_vote: 0.3643, recall_Car: 0.5189, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 289.9325, num_fg_points: 18227.1600, loss_cls.task0: 0.0622, loss_center.task0: 0.7508, loss_size.task0: 0.2071, loss_rot.task0: 0.2540, loss_cls.task1: 0.0022, loss_center.task1: 0.3220, loss_size.task1: 0.1876, loss_rot.task1: 0.2164, loss_cls.task2: 0.0001, loss_center.task2: 0.0840, loss_size.task2: 0.0170, loss_rot.task2: 0.0334, loss_rcnn_cls: 0.0293, num_pos_rois: 3.8900, num_neg_rois: 283.4225, loss_rcnn_bbox: 1.3098, loss_rcnn_corner: 0.3615, loss: 4.2024, grad_norm: 2.9978 2022-11-24 12:48:36,297 - mmdet - INFO - Epoch [2][2350/9881] lr: 3.000e-03, eta: 1 day, 1:25:25, time: 0.779, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3497, recall_Car: 0.5849, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 446.1975, num_fg_points: 26105.2250, loss_cls.task0: 0.0517, loss_center.task0: 0.7995, loss_size.task0: 0.2153, loss_rot.task0: 0.2552, loss_cls.task1: 0.0023, loss_center.task1: 0.3363, loss_size.task1: 0.1615, loss_rot.task1: 0.2347, loss_cls.task2: 0.0001, loss_center.task2: 0.0713, loss_size.task2: 0.0231, loss_rot.task2: 0.0414, loss_rcnn_cls: 0.0228, num_pos_rois: 3.8100, num_neg_rois: 370.7250, loss_rcnn_bbox: 1.2928, loss_rcnn_corner: 0.3361, loss: 4.1947, grad_norm: 2.9037 2022-11-24 12:49:16,517 - mmdet - INFO - Epoch [2][2400/9881] lr: 3.000e-03, eta: 1 day, 1:24:18, time: 0.804, data_time: 0.015, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3510, recall_Car: 0.6017, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 336.4575, num_fg_points: 24548.7450, loss_cls.task0: 0.0563, loss_center.task0: 0.7780, loss_size.task0: 0.2184, loss_rot.task0: 0.2562, loss_cls.task1: 0.0023, loss_center.task1: 0.3697, loss_size.task1: 0.1893, loss_rot.task1: 0.2358, loss_cls.task2: 0.0001, loss_center.task2: 0.0758, loss_size.task2: 0.0264, loss_rot.task2: 0.0422, loss_rcnn_cls: 0.0225, num_pos_rois: 3.0075, num_neg_rois: 324.0450, loss_rcnn_bbox: 1.3211, loss_rcnn_corner: 0.3488, loss: 4.2949, grad_norm: 2.8168 2022-11-24 12:49:54,055 - mmdet - INFO - Epoch [2][2450/9881] lr: 3.000e-03, eta: 1 day, 1:22:47, time: 0.750, data_time: 0.012, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3694, recall_Car: 0.5092, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 307.4025, num_fg_points: 22221.9275, loss_cls.task0: 0.0586, loss_center.task0: 0.7817, loss_size.task0: 0.2191, loss_rot.task0: 0.2551, loss_cls.task1: 0.0018, loss_center.task1: 0.3126, loss_size.task1: 0.1474, loss_rot.task1: 0.2079, loss_cls.task2: 0.0000, loss_center.task2: 0.0371, loss_size.task2: 0.0154, loss_rot.task2: 0.0165, loss_rcnn_cls: 0.0209, num_pos_rois: 1.9675, num_neg_rois: 300.7200, loss_rcnn_bbox: 1.3929, loss_rcnn_corner: 0.3691, loss: 4.2065, grad_norm: 3.0860 2022-11-24 12:50:33,311 - mmdet - INFO - Epoch [2][2500/9881] lr: 3.000e-03, eta: 1 day, 1:21:33, time: 0.786, data_time: 0.012, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3877, recall_Car: 0.5233, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 343.3375, num_fg_points: 27010.2625, loss_cls.task0: 0.0545, loss_center.task0: 0.8336, loss_size.task0: 0.2213, loss_rot.task0: 0.2534, loss_cls.task1: 0.0027, loss_center.task1: 0.3601, loss_size.task1: 0.2030, loss_rot.task1: 0.2437, loss_cls.task2: 0.0001, loss_center.task2: 0.0846, loss_size.task2: 0.0332, loss_rot.task2: 0.0370, loss_rcnn_cls: 0.0204, num_pos_rois: 1.9775, num_neg_rois: 333.2300, loss_rcnn_bbox: 1.3776, loss_rcnn_corner: 0.3332, loss: 4.4471, grad_norm: 3.0702 2022-11-24 12:51:11,153 - mmdet - INFO - Epoch [2][2550/9881] lr: 3.000e-03, eta: 1 day, 1:20:06, time: 0.757, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0008, loss_vote: 0.3692, recall_Car: 0.4832, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 334.7275, num_fg_points: 19277.1400, loss_cls.task0: 0.0558, loss_center.task0: 0.7586, loss_size.task0: 0.2223, loss_rot.task0: 0.2554, loss_cls.task1: 0.0023, loss_center.task1: 0.3430, loss_size.task1: 0.1595, loss_rot.task1: 0.2434, loss_cls.task2: 0.0000, loss_center.task2: 0.0160, loss_size.task2: 0.0079, loss_rot.task2: 0.0050, loss_rcnn_cls: 0.0273, num_pos_rois: 2.3425, num_neg_rois: 306.2325, loss_rcnn_bbox: 1.3677, loss_rcnn_corner: 0.3302, loss: 4.1646, grad_norm: 3.1478 2022-11-24 12:51:51,517 - mmdet - INFO - Epoch [2][2600/9881] lr: 3.000e-03, eta: 1 day, 1:19:01, time: 0.807, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3599, recall_Car: 0.5250, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 321.3925, num_fg_points: 23014.9825, loss_cls.task0: 0.0568, loss_center.task0: 0.7588, loss_size.task0: 0.2163, loss_rot.task0: 0.2539, loss_cls.task1: 0.0022, loss_center.task1: 0.3529, loss_size.task1: 0.1858, loss_rot.task1: 0.2443, loss_cls.task2: 0.0001, loss_center.task2: 0.0427, loss_size.task2: 0.0201, loss_rot.task2: 0.0234, loss_rcnn_cls: 0.0405, num_pos_rois: 4.1925, num_neg_rois: 311.6375, loss_rcnn_bbox: 1.3159, loss_rcnn_corner: 0.3681, loss: 4.2425, grad_norm: 2.8974 2022-11-24 12:52:29,274 - mmdet - INFO - Epoch [2][2650/9881] lr: 3.000e-03, eta: 1 day, 1:17:34, time: 0.755, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3535, recall_Car: 0.4997, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 358.4100, num_fg_points: 22246.2175, loss_cls.task0: 0.0543, loss_center.task0: 0.7644, loss_size.task0: 0.2115, loss_rot.task0: 0.2530, loss_cls.task1: 0.0023, loss_center.task1: 0.3829, loss_size.task1: 0.1690, loss_rot.task1: 0.2419, loss_cls.task2: 0.0001, loss_center.task2: 0.0480, loss_size.task2: 0.0098, loss_rot.task2: 0.0270, loss_rcnn_cls: 0.0175, num_pos_rois: 1.6300, num_neg_rois: 339.1750, loss_rcnn_bbox: 1.3893, loss_rcnn_corner: 0.3433, loss: 4.2686, grad_norm: 3.0003 2022-11-24 12:53:09,575 - mmdet - INFO - Epoch [2][2700/9881] lr: 3.000e-03, eta: 1 day, 1:16:29, time: 0.806, data_time: 0.165, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3446, recall_Car: 0.5209, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 298.3400, num_fg_points: 23091.4625, loss_cls.task0: 0.0584, loss_center.task0: 0.7720, loss_size.task0: 0.2184, loss_rot.task0: 0.2544, loss_cls.task1: 0.0018, loss_center.task1: 0.3499, loss_size.task1: 0.1942, loss_rot.task1: 0.2191, loss_cls.task2: 0.0001, loss_center.task2: 0.0542, loss_size.task2: 0.0066, loss_rot.task2: 0.0251, loss_rcnn_cls: 0.0253, num_pos_rois: 2.4675, num_neg_rois: 291.3725, loss_rcnn_bbox: 1.4056, loss_rcnn_corner: 0.3743, loss: 4.3050, grad_norm: 3.2561 2022-11-24 12:53:47,961 - mmdet - INFO - Epoch [2][2750/9881] lr: 3.000e-03, eta: 1 day, 1:15:08, time: 0.768, data_time: 0.235, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3502, recall_Car: 0.5404, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 326.5175, num_fg_points: 22398.5250, loss_cls.task0: 0.0540, loss_center.task0: 0.7412, loss_size.task0: 0.2239, loss_rot.task0: 0.2540, loss_cls.task1: 0.0018, loss_center.task1: 0.3182, loss_size.task1: 0.1605, loss_rot.task1: 0.2132, loss_cls.task2: 0.0001, loss_center.task2: 0.0470, loss_size.task2: 0.0137, loss_rot.task2: 0.0247, loss_rcnn_cls: 0.0263, num_pos_rois: 2.5900, num_neg_rois: 317.5625, loss_rcnn_bbox: 1.3819, loss_rcnn_corner: 0.3726, loss: 4.1844, grad_norm: 3.0648 2022-11-24 12:54:26,279 - mmdet - INFO - Epoch [2][2800/9881] lr: 3.000e-03, eta: 1 day, 1:13:46, time: 0.766, data_time: 0.238, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3407, recall_Car: 0.5321, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 293.1700, num_fg_points: 22286.1875, loss_cls.task0: 0.0595, loss_center.task0: 0.7562, loss_size.task0: 0.2181, loss_rot.task0: 0.2530, loss_cls.task1: 0.0024, loss_center.task1: 0.2934, loss_size.task1: 0.1472, loss_rot.task1: 0.2054, loss_cls.task2: 0.0001, loss_center.task2: 0.0605, loss_size.task2: 0.0209, loss_rot.task2: 0.0323, loss_rcnn_cls: 0.0366, num_pos_rois: 3.7175, num_neg_rois: 284.6200, loss_rcnn_bbox: 1.3197, loss_rcnn_corner: 0.3569, loss: 4.1038, grad_norm: 2.8697 2022-11-24 12:55:02,488 - mmdet - INFO - Epoch [2][2850/9881] lr: 3.000e-03, eta: 1 day, 1:12:08, time: 0.724, data_time: 0.052, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3388, recall_Car: 0.5611, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 289.7450, num_fg_points: 25114.8700, loss_cls.task0: 0.0587, loss_center.task0: 0.7681, loss_size.task0: 0.2172, loss_rot.task0: 0.2527, loss_cls.task1: 0.0019, loss_center.task1: 0.2943, loss_size.task1: 0.1954, loss_rot.task1: 0.2199, loss_cls.task2: 0.0001, loss_center.task2: 0.0495, loss_size.task2: 0.0170, loss_rot.task2: 0.0267, loss_rcnn_cls: 0.0363, num_pos_rois: 4.6925, num_neg_rois: 284.1625, loss_rcnn_bbox: 1.3042, loss_rcnn_corner: 0.3800, loss: 4.1618, grad_norm: 2.9972 2022-11-24 12:55:41,222 - mmdet - INFO - Epoch [2][2900/9881] lr: 2.999e-03, eta: 1 day, 1:10:51, time: 0.774, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3554, recall_Car: 0.5237, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 304.9650, num_fg_points: 19505.1625, loss_cls.task0: 0.0596, loss_center.task0: 0.7487, loss_size.task0: 0.2155, loss_rot.task0: 0.2550, loss_cls.task1: 0.0020, loss_center.task1: 0.3197, loss_size.task1: 0.1614, loss_rot.task1: 0.2305, loss_cls.task2: 0.0001, loss_center.task2: 0.0677, loss_size.task2: 0.0156, loss_rot.task2: 0.0346, loss_rcnn_cls: 0.0327, num_pos_rois: 4.3425, num_neg_rois: 297.5125, loss_rcnn_bbox: 1.3165, loss_rcnn_corner: 0.3946, loss: 4.2106, grad_norm: 2.7413 2022-11-24 12:56:21,249 - mmdet - INFO - Epoch [2][2950/9881] lr: 2.999e-03, eta: 1 day, 1:09:45, time: 0.801, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3500, recall_Car: 0.6082, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 490.5925, num_fg_points: 27515.7450, loss_cls.task0: 0.0470, loss_center.task0: 0.8017, loss_size.task0: 0.2194, loss_rot.task0: 0.2522, loss_cls.task1: 0.0017, loss_center.task1: 0.3304, loss_size.task1: 0.1374, loss_rot.task1: 0.2217, loss_cls.task2: 0.0001, loss_center.task2: 0.0701, loss_size.task2: 0.0225, loss_rot.task2: 0.0376, loss_rcnn_cls: 0.0323, num_pos_rois: 3.9275, num_neg_rois: 388.5200, loss_rcnn_bbox: 1.2750, loss_rcnn_corner: 0.3228, loss: 4.1226, grad_norm: 2.9052 2022-11-24 12:57:00,831 - mmdet - INFO - Epoch [2][3000/9881] lr: 2.999e-03, eta: 1 day, 1:08:35, time: 0.791, data_time: 0.011, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3772, recall_Car: 0.5655, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 360.4700, num_fg_points: 25312.5750, loss_cls.task0: 0.0550, loss_center.task0: 0.8900, loss_size.task0: 0.2173, loss_rot.task0: 0.2537, loss_cls.task1: 0.0019, loss_center.task1: 0.3422, loss_size.task1: 0.1615, loss_rot.task1: 0.2347, loss_cls.task2: 0.0001, loss_center.task2: 0.0663, loss_size.task2: 0.0161, loss_rot.task2: 0.0276, loss_rcnn_cls: 0.0267, num_pos_rois: 2.9700, num_neg_rois: 348.7650, loss_rcnn_bbox: 1.3277, loss_rcnn_corner: 0.3210, loss: 4.3199, grad_norm: 3.1219 2022-11-24 12:57:43,245 - mmdet - INFO - Epoch [2][3050/9881] lr: 2.999e-03, eta: 1 day, 1:07:49, time: 0.849, data_time: 0.013, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4428, recall_Car: 0.5135, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 680.2225, num_fg_points: 34969.4400, loss_cls.task0: 0.0413, loss_center.task0: 0.9933, loss_size.task0: 0.2258, loss_rot.task0: 0.2542, loss_cls.task1: 0.0020, loss_center.task1: 0.3580, loss_size.task1: 0.1855, loss_rot.task1: 0.2399, loss_cls.task2: 0.0001, loss_center.task2: 0.0963, loss_size.task2: 0.0346, loss_rot.task2: 0.0369, loss_rcnn_cls: 0.0131, num_pos_rois: 1.5475, num_neg_rois: 431.8325, loss_rcnn_bbox: 1.2727, loss_rcnn_corner: 0.2481, loss: 4.4456, grad_norm: 3.1496 2022-11-24 12:58:26,033 - mmdet - INFO - Epoch [2][3100/9881] lr: 2.999e-03, eta: 1 day, 1:07:06, time: 0.856, data_time: 0.062, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.5028, recall_Car: 0.3354, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 305.4025, num_fg_points: 18727.0075, loss_cls.task0: 0.0535, loss_center.task0: 1.0144, loss_size.task0: 0.2349, loss_rot.task0: 0.2547, loss_cls.task1: 0.0024, loss_center.task1: 0.3202, loss_size.task1: 0.1737, loss_rot.task1: 0.2208, loss_cls.task2: 0.0002, loss_center.task2: 0.0567, loss_size.task2: 0.0115, loss_rot.task2: 0.0251, loss_rcnn_cls: 0.0118, num_pos_rois: 0.8275, num_neg_rois: 291.3375, loss_rcnn_bbox: 1.2685, loss_rcnn_corner: 0.1795, loss: 4.3319, grad_norm: 4.0217 2022-11-24 12:59:04,592 - mmdet - INFO - Epoch [2][3150/9881] lr: 2.999e-03, eta: 1 day, 1:05:49, time: 0.771, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4741, recall_Car: 0.2977, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 382.7750, num_fg_points: 20376.2700, loss_cls.task0: 0.0434, loss_center.task0: 1.0332, loss_size.task0: 0.2438, loss_rot.task0: 0.2523, loss_cls.task1: 0.0021, loss_center.task1: 0.3548, loss_size.task1: 0.1753, loss_rot.task1: 0.2309, loss_cls.task2: 0.0001, loss_center.task2: 0.0667, loss_size.task2: 0.0237, loss_rot.task2: 0.0377, loss_rcnn_cls: 0.0163, num_pos_rois: 1.4375, num_neg_rois: 336.4475, loss_rcnn_bbox: 1.3402, loss_rcnn_corner: 0.2890, loss: 4.5846, grad_norm: 3.5126 2022-11-24 12:59:43,418 - mmdet - INFO - Epoch [2][3200/9881] lr: 2.999e-03, eta: 1 day, 1:04:34, time: 0.777, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0012, loss_vote: 0.4423, recall_Car: 0.4155, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 459.1375, num_fg_points: 23020.7750, loss_cls.task0: 0.0452, loss_center.task0: 1.0003, loss_size.task0: 0.2405, loss_rot.task0: 0.2541, loss_cls.task1: 0.0021, loss_center.task1: 0.3611, loss_size.task1: 0.1588, loss_rot.task1: 0.2402, loss_cls.task2: 0.0000, loss_center.task2: 0.0349, loss_size.task2: 0.0144, loss_rot.task2: 0.0195, loss_rcnn_cls: 0.0156, num_pos_rois: 1.4800, num_neg_rois: 381.5775, loss_rcnn_bbox: 1.3188, loss_rcnn_corner: 0.2752, loss: 4.4242, grad_norm: 3.2353 2022-11-24 13:00:24,991 - mmdet - INFO - Epoch [2][3250/9881] lr: 2.999e-03, eta: 1 day, 1:03:41, time: 0.831, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4054, recall_Car: 0.5092, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 448.2675, num_fg_points: 23835.7925, loss_cls.task0: 0.0495, loss_center.task0: 0.9157, loss_size.task0: 0.2282, loss_rot.task0: 0.2553, loss_cls.task1: 0.0021, loss_center.task1: 0.3588, loss_size.task1: 0.1945, loss_rot.task1: 0.2395, loss_cls.task2: 0.0001, loss_center.task2: 0.1047, loss_size.task2: 0.0272, loss_rot.task2: 0.0534, loss_rcnn_cls: 0.0192, num_pos_rois: 2.0175, num_neg_rois: 374.5875, loss_rcnn_bbox: 1.3416, loss_rcnn_corner: 0.3128, loss: 4.5091, grad_norm: 2.9810 2022-11-24 13:01:02,972 - mmdet - INFO - Epoch [2][3300/9881] lr: 2.999e-03, eta: 1 day, 1:02:20, time: 0.759, data_time: 0.049, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3915, recall_Car: 0.4948, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 377.2750, num_fg_points: 24810.5300, loss_cls.task0: 0.0520, loss_center.task0: 0.8795, loss_size.task0: 0.2291, loss_rot.task0: 0.2558, loss_cls.task1: 0.0026, loss_center.task1: 0.3496, loss_size.task1: 0.1714, loss_rot.task1: 0.2433, loss_cls.task2: 0.0002, loss_center.task2: 0.0939, loss_size.task2: 0.0268, loss_rot.task2: 0.0358, loss_rcnn_cls: 0.0189, num_pos_rois: 1.8350, num_neg_rois: 363.9100, loss_rcnn_bbox: 1.3965, loss_rcnn_corner: 0.3512, loss: 4.4990, grad_norm: 3.1617 2022-11-24 13:01:40,534 - mmdet - INFO - Epoch [2][3350/9881] lr: 2.999e-03, eta: 1 day, 1:00:56, time: 0.752, data_time: 0.090, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3838, recall_Car: 0.4869, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 318.4950, num_fg_points: 21538.1375, loss_cls.task0: 0.0536, loss_center.task0: 0.8006, loss_size.task0: 0.2190, loss_rot.task0: 0.2528, loss_cls.task1: 0.0024, loss_center.task1: 0.3335, loss_size.task1: 0.1650, loss_rot.task1: 0.2295, loss_cls.task2: 0.0001, loss_center.task2: 0.0923, loss_size.task2: 0.0166, loss_rot.task2: 0.0394, loss_rcnn_cls: 0.0368, num_pos_rois: 3.8200, num_neg_rois: 312.1175, loss_rcnn_bbox: 1.3306, loss_rcnn_corner: 0.3736, loss: 4.3305, grad_norm: 2.8588 2022-11-24 13:02:17,409 - mmdet - INFO - Epoch [2][3400/9881] lr: 2.999e-03, eta: 1 day, 0:59:27, time: 0.738, data_time: 0.014, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.3785, recall_Car: 0.6137, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 385.4850, num_fg_points: 30529.9900, loss_cls.task0: 0.0520, loss_center.task0: 0.8374, loss_size.task0: 0.2272, loss_rot.task0: 0.2545, loss_cls.task1: 0.0018, loss_center.task1: 0.3371, loss_size.task1: 0.1993, loss_rot.task1: 0.2350, loss_cls.task2: 0.0001, loss_center.task2: 0.0799, loss_size.task2: 0.0297, loss_rot.task2: 0.0352, loss_rcnn_cls: 0.0318, num_pos_rois: 3.5900, num_neg_rois: 360.1900, loss_rcnn_bbox: 1.3491, loss_rcnn_corner: 0.3888, loss: 4.4387, grad_norm: 2.9561 2022-11-24 13:02:56,562 - mmdet - INFO - Epoch [2][3450/9881] lr: 2.999e-03, eta: 1 day, 0:58:16, time: 0.783, data_time: 0.187, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3711, recall_Car: 0.4969, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 314.8425, num_fg_points: 23155.9725, loss_cls.task0: 0.0560, loss_center.task0: 0.7930, loss_size.task0: 0.2156, loss_rot.task0: 0.2539, loss_cls.task1: 0.0024, loss_center.task1: 0.3160, loss_size.task1: 0.1817, loss_rot.task1: 0.2357, loss_cls.task2: 0.0000, loss_center.task2: 0.0210, loss_size.task2: 0.0032, loss_rot.task2: 0.0108, loss_rcnn_cls: 0.0284, num_pos_rois: 2.8950, num_neg_rois: 306.8050, loss_rcnn_bbox: 1.3159, loss_rcnn_corner: 0.3242, loss: 4.1302, grad_norm: 2.8882 2022-11-24 13:03:37,628 - mmdet - INFO - Epoch [2][3500/9881] lr: 2.998e-03, eta: 1 day, 0:57:20, time: 0.821, data_time: 0.260, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3770, recall_Car: 0.5466, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 377.0125, num_fg_points: 23271.5575, loss_cls.task0: 0.0532, loss_center.task0: 0.8668, loss_size.task0: 0.2148, loss_rot.task0: 0.2562, loss_cls.task1: 0.0020, loss_center.task1: 0.3760, loss_size.task1: 0.2290, loss_rot.task1: 0.2499, loss_cls.task2: 0.0001, loss_center.task2: 0.0558, loss_size.task2: 0.0274, loss_rot.task2: 0.0361, loss_rcnn_cls: 0.0205, num_pos_rois: 2.2825, num_neg_rois: 354.2475, loss_rcnn_bbox: 1.2360, loss_rcnn_corner: 0.2732, loss: 4.2748, grad_norm: 3.0974 2022-11-24 13:04:17,262 - mmdet - INFO - Epoch [2][3550/9881] lr: 2.998e-03, eta: 1 day, 0:56:14, time: 0.793, data_time: 0.231, memory: 6294, loss_sem_seg: 0.0008, loss_vote: 0.3983, recall_Car: 0.4850, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 318.9850, num_fg_points: 19810.5950, loss_cls.task0: 0.0576, loss_center.task0: 0.8798, loss_size.task0: 0.2125, loss_rot.task0: 0.2565, loss_cls.task1: 0.0024, loss_center.task1: 0.3488, loss_size.task1: 0.1826, loss_rot.task1: 0.2444, loss_cls.task2: 0.0001, loss_center.task2: 0.0357, loss_size.task2: 0.0184, loss_rot.task2: 0.0316, loss_rcnn_cls: 0.0278, num_pos_rois: 2.4925, num_neg_rois: 302.9800, loss_rcnn_bbox: 1.1701, loss_rcnn_corner: 0.2282, loss: 4.0956, grad_norm: 3.2088 2022-11-24 13:04:55,594 - mmdet - INFO - Epoch [2][3600/9881] lr: 2.998e-03, eta: 1 day, 0:54:57, time: 0.767, data_time: 0.019, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3975, recall_Car: 0.5675, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 481.2775, num_fg_points: 28080.7250, loss_cls.task0: 0.0476, loss_center.task0: 0.9270, loss_size.task0: 0.2202, loss_rot.task0: 0.2548, loss_cls.task1: 0.0025, loss_center.task1: 0.3566, loss_size.task1: 0.1718, loss_rot.task1: 0.2435, loss_cls.task2: 0.0001, loss_center.task2: 0.0737, loss_size.task2: 0.0293, loss_rot.task2: 0.0417, loss_rcnn_cls: 0.0212, num_pos_rois: 2.5800, num_neg_rois: 392.4700, loss_rcnn_bbox: 1.1831, loss_rcnn_corner: 0.2467, loss: 4.2182, grad_norm: 3.0510 2022-11-24 13:05:36,957 - mmdet - INFO - Epoch [2][3650/9881] lr: 2.998e-03, eta: 1 day, 0:54:04, time: 0.827, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4417, recall_Car: 0.4464, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 345.9400, num_fg_points: 18484.7125, loss_cls.task0: 0.0557, loss_center.task0: 0.9284, loss_size.task0: 0.2147, loss_rot.task0: 0.2539, loss_cls.task1: 0.0026, loss_center.task1: 0.3361, loss_size.task1: 0.1718, loss_rot.task1: 0.2406, loss_cls.task2: 0.0001, loss_center.task2: 0.0496, loss_size.task2: 0.0136, loss_rot.task2: 0.0245, loss_rcnn_cls: 0.0179, num_pos_rois: 1.4800, num_neg_rois: 323.0775, loss_rcnn_bbox: 1.2477, loss_rcnn_corner: 0.1978, loss: 4.1974, grad_norm: 3.2952 2022-11-24 13:06:15,927 - mmdet - INFO - Epoch [2][3700/9881] lr: 2.998e-03, eta: 1 day, 0:52:52, time: 0.779, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4371, recall_Car: 0.5296, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 465.3675, num_fg_points: 27960.7250, loss_cls.task0: 0.0481, loss_center.task0: 0.9969, loss_size.task0: 0.2266, loss_rot.task0: 0.2544, loss_cls.task1: 0.0022, loss_center.task1: 0.3551, loss_size.task1: 0.1611, loss_rot.task1: 0.2419, loss_cls.task2: 0.0001, loss_center.task2: 0.0882, loss_size.task2: 0.0236, loss_rot.task2: 0.0368, loss_rcnn_cls: 0.0142, num_pos_rois: 1.6600, num_neg_rois: 411.7400, loss_rcnn_bbox: 1.2962, loss_rcnn_corner: 0.2491, loss: 4.4326, grad_norm: 3.1084 2022-11-24 13:06:54,898 - mmdet - INFO - Epoch [2][3750/9881] lr: 2.998e-03, eta: 1 day, 0:51:41, time: 0.780, data_time: 0.059, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4256, recall_Car: 0.5801, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 525.6875, num_fg_points: 30212.3825, loss_cls.task0: 0.0463, loss_center.task0: 0.9785, loss_size.task0: 0.2268, loss_rot.task0: 0.2547, loss_cls.task1: 0.0022, loss_center.task1: 0.3663, loss_size.task1: 0.1837, loss_rot.task1: 0.2445, loss_cls.task2: 0.0001, loss_center.task2: 0.1152, loss_size.task2: 0.0431, loss_rot.task2: 0.0535, loss_rcnn_cls: 0.0082, num_pos_rois: 0.9625, num_neg_rois: 426.5675, loss_rcnn_bbox: 1.3761, loss_rcnn_corner: 0.2409, loss: 4.5670, grad_norm: 3.3621 2022-11-24 13:07:33,752 - mmdet - INFO - Epoch [2][3800/9881] lr: 2.998e-03, eta: 1 day, 0:50:30, time: 0.777, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4234, recall_Car: 0.6439, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 750.8975, num_fg_points: 36422.9675, loss_cls.task0: 0.0397, loss_center.task0: 1.0060, loss_size.task0: 0.2303, loss_rot.task0: 0.2542, loss_cls.task1: 0.0024, loss_center.task1: 0.3626, loss_size.task1: 0.1709, loss_rot.task1: 0.2453, loss_cls.task2: 0.0002, loss_center.task2: 0.1360, loss_size.task2: 0.0462, loss_rot.task2: 0.0750, loss_rcnn_cls: 0.0088, num_pos_rois: 1.2125, num_neg_rois: 484.7975, loss_rcnn_bbox: 1.4187, loss_rcnn_corner: 0.3094, loss: 4.7300, grad_norm: 3.2472 2022-11-24 13:08:09,823 - mmdet - INFO - Epoch [2][3850/9881] lr: 2.998e-03, eta: 1 day, 0:48:57, time: 0.721, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4019, recall_Car: 0.4923, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 519.6875, num_fg_points: 23797.8000, loss_cls.task0: 0.0460, loss_center.task0: 0.9087, loss_size.task0: 0.2207, loss_rot.task0: 0.2551, loss_cls.task1: 0.0023, loss_center.task1: 0.3662, loss_size.task1: 0.1833, loss_rot.task1: 0.2434, loss_cls.task2: 0.0001, loss_center.task2: 0.0997, loss_size.task2: 0.0291, loss_rot.task2: 0.0497, loss_rcnn_cls: 0.0137, num_pos_rois: 1.6400, num_neg_rois: 430.7700, loss_rcnn_bbox: 1.3641, loss_rcnn_corner: 0.2546, loss: 4.4395, grad_norm: 3.2306 2022-11-24 13:08:51,505 - mmdet - INFO - Epoch [2][3900/9881] lr: 2.998e-03, eta: 1 day, 0:48:08, time: 0.834, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3852, recall_Car: 0.5964, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 561.7050, num_fg_points: 28192.2425, loss_cls.task0: 0.0445, loss_center.task0: 0.8795, loss_size.task0: 0.2259, loss_rot.task0: 0.2534, loss_cls.task1: 0.0019, loss_center.task1: 0.3583, loss_size.task1: 0.1732, loss_rot.task1: 0.2431, loss_cls.task2: 0.0001, loss_center.task2: 0.1192, loss_size.task2: 0.0303, loss_rot.task2: 0.0542, loss_rcnn_cls: 0.0246, num_pos_rois: 3.5025, num_neg_rois: 450.5350, loss_rcnn_bbox: 1.3134, loss_rcnn_corner: 0.3604, loss: 4.4681, grad_norm: 2.7430 2022-11-24 13:09:33,682 - mmdet - INFO - Epoch [2][3950/9881] lr: 2.997e-03, eta: 1 day, 0:47:22, time: 0.844, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3728, recall_Car: 0.5829, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 521.5175, num_fg_points: 26264.5725, loss_cls.task0: 0.0451, loss_center.task0: 0.8580, loss_size.task0: 0.2232, loss_rot.task0: 0.2555, loss_cls.task1: 0.0022, loss_center.task1: 0.3777, loss_size.task1: 0.1877, loss_rot.task1: 0.2451, loss_cls.task2: 0.0001, loss_center.task2: 0.0873, loss_size.task2: 0.0202, loss_rot.task2: 0.0483, loss_rcnn_cls: 0.0155, num_pos_rois: 1.9175, num_neg_rois: 417.4650, loss_rcnn_bbox: 1.3425, loss_rcnn_corner: 0.3005, loss: 4.3828, grad_norm: 3.1970 2022-11-24 13:10:14,075 - mmdet - INFO - Epoch [2][4000/9881] lr: 2.997e-03, eta: 1 day, 0:46:22, time: 0.808, data_time: 0.011, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3939, recall_Car: 0.5647, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 422.8700, num_fg_points: 28426.5675, loss_cls.task0: 0.0484, loss_center.task0: 0.8608, loss_size.task0: 0.2197, loss_rot.task0: 0.2547, loss_cls.task1: 0.0020, loss_center.task1: 0.3478, loss_size.task1: 0.1681, loss_rot.task1: 0.2347, loss_cls.task2: 0.0001, loss_center.task2: 0.0550, loss_size.task2: 0.0195, loss_rot.task2: 0.0239, loss_rcnn_cls: 0.0130, num_pos_rois: 1.4550, num_neg_rois: 390.2350, loss_rcnn_bbox: 1.2266, loss_rcnn_corner: 0.2423, loss: 4.1115, grad_norm: 3.1654 2022-11-24 13:10:54,715 - mmdet - INFO - Epoch [2][4050/9881] lr: 2.997e-03, eta: 1 day, 0:45:25, time: 0.812, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4204, recall_Car: 0.4572, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 573.2200, num_fg_points: 27516.1300, loss_cls.task0: 0.0402, loss_center.task0: 0.9491, loss_size.task0: 0.2213, loss_rot.task0: 0.2556, loss_cls.task1: 0.0017, loss_center.task1: 0.3643, loss_size.task1: 0.1746, loss_rot.task1: 0.2383, loss_cls.task2: 0.0002, loss_center.task2: 0.1610, loss_size.task2: 0.0491, loss_rot.task2: 0.0796, loss_rcnn_cls: 0.0161, num_pos_rois: 2.1500, num_neg_rois: 446.2925, loss_rcnn_bbox: 1.4137, loss_rcnn_corner: 0.3503, loss: 4.7365, grad_norm: 3.4543 2022-11-24 13:11:32,399 - mmdet - INFO - Epoch [2][4100/9881] lr: 2.997e-03, eta: 1 day, 0:44:06, time: 0.754, data_time: 0.115, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3891, recall_Car: 0.5095, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 552.4225, num_fg_points: 25652.5825, loss_cls.task0: 0.0425, loss_center.task0: 0.9210, loss_size.task0: 0.2264, loss_rot.task0: 0.2546, loss_cls.task1: 0.0025, loss_center.task1: 0.3666, loss_size.task1: 0.1969, loss_rot.task1: 0.2574, loss_cls.task2: 0.0002, loss_center.task2: 0.1411, loss_size.task2: 0.0315, loss_rot.task2: 0.0654, loss_rcnn_cls: 0.0171, num_pos_rois: 2.2525, num_neg_rois: 456.8525, loss_rcnn_bbox: 1.3379, loss_rcnn_corner: 0.3239, loss: 4.5749, grad_norm: 2.9864 2022-11-24 13:12:09,398 - mmdet - INFO - Epoch [2][4150/9881] lr: 2.997e-03, eta: 1 day, 0:42:42, time: 0.740, data_time: 0.101, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3846, recall_Car: 0.5366, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 470.0075, num_fg_points: 27575.0975, loss_cls.task0: 0.0446, loss_center.task0: 0.8825, loss_size.task0: 0.2234, loss_rot.task0: 0.2557, loss_cls.task1: 0.0020, loss_center.task1: 0.3604, loss_size.task1: 0.2222, loss_rot.task1: 0.2550, loss_cls.task2: 0.0001, loss_center.task2: 0.0557, loss_size.task2: 0.0130, loss_rot.task2: 0.0388, loss_rcnn_cls: 0.0172, num_pos_rois: 2.2725, num_neg_rois: 417.5350, loss_rcnn_bbox: 1.3686, loss_rcnn_corner: 0.3515, loss: 4.4762, grad_norm: 3.1087 2022-11-24 13:12:47,759 - mmdet - INFO - Epoch [2][4200/9881] lr: 2.997e-03, eta: 1 day, 0:41:28, time: 0.767, data_time: 0.083, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3705, recall_Car: 0.5444, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 506.7375, num_fg_points: 26272.0100, loss_cls.task0: 0.0438, loss_center.task0: 0.8494, loss_size.task0: 0.2203, loss_rot.task0: 0.2557, loss_cls.task1: 0.0020, loss_center.task1: 0.3486, loss_size.task1: 0.1821, loss_rot.task1: 0.2377, loss_cls.task2: 0.0001, loss_center.task2: 0.0890, loss_size.task2: 0.0190, loss_rot.task2: 0.0423, loss_rcnn_cls: 0.0208, num_pos_rois: 2.9250, num_neg_rois: 442.2925, loss_rcnn_bbox: 1.3589, loss_rcnn_corner: 0.3820, loss: 4.4231, grad_norm: 2.9116 2022-11-24 13:13:27,489 - mmdet - INFO - Epoch [2][4250/9881] lr: 2.997e-03, eta: 1 day, 0:40:25, time: 0.795, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3719, recall_Car: 0.5578, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 532.0750, num_fg_points: 27281.6175, loss_cls.task0: 0.0432, loss_center.task0: 0.8266, loss_size.task0: 0.2197, loss_rot.task0: 0.2533, loss_cls.task1: 0.0020, loss_center.task1: 0.3246, loss_size.task1: 0.1814, loss_rot.task1: 0.2308, loss_cls.task2: 0.0001, loss_center.task2: 0.0662, loss_size.task2: 0.0103, loss_rot.task2: 0.0241, loss_rcnn_cls: 0.0133, num_pos_rois: 1.7400, num_neg_rois: 447.7625, loss_rcnn_bbox: 1.3517, loss_rcnn_corner: 0.3003, loss: 4.2204, grad_norm: 2.9645 2022-11-24 13:14:07,214 - mmdet - INFO - Epoch [2][4300/9881] lr: 2.996e-03, eta: 1 day, 0:39:22, time: 0.795, data_time: 0.087, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3636, recall_Car: 0.5660, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 623.8225, num_fg_points: 26213.4200, loss_cls.task0: 0.0392, loss_center.task0: 0.8670, loss_size.task0: 0.2332, loss_rot.task0: 0.2541, loss_cls.task1: 0.0023, loss_center.task1: 0.3797, loss_size.task1: 0.1792, loss_rot.task1: 0.2542, loss_cls.task2: 0.0001, loss_center.task2: 0.0803, loss_size.task2: 0.0215, loss_rot.task2: 0.0462, loss_rcnn_cls: 0.0236, num_pos_rois: 3.4950, num_neg_rois: 474.4775, loss_rcnn_bbox: 1.2768, loss_rcnn_corner: 0.3264, loss: 4.3485, grad_norm: 2.7472 2022-11-24 13:14:45,811 - mmdet - INFO - Epoch [2][4350/9881] lr: 2.996e-03, eta: 1 day, 0:38:11, time: 0.772, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3603, recall_Car: 0.4883, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 366.8325, num_fg_points: 22338.5400, loss_cls.task0: 0.0500, loss_center.task0: 0.7986, loss_size.task0: 0.2179, loss_rot.task0: 0.2553, loss_cls.task1: 0.0019, loss_center.task1: 0.2967, loss_size.task1: 0.1646, loss_rot.task1: 0.2116, loss_cls.task2: 0.0001, loss_center.task2: 0.0388, loss_size.task2: 0.0089, loss_rot.task2: 0.0270, loss_rcnn_cls: 0.0294, num_pos_rois: 3.3675, num_neg_rois: 352.8725, loss_rcnn_bbox: 1.2586, loss_rcnn_corner: 0.3214, loss: 4.0418, grad_norm: 2.9063 2022-11-24 13:15:24,494 - mmdet - INFO - Epoch [2][4400/9881] lr: 2.996e-03, eta: 1 day, 0:37:00, time: 0.773, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3868, recall_Car: 0.5935, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 552.2700, num_fg_points: 30425.6650, loss_cls.task0: 0.0426, loss_center.task0: 0.8916, loss_size.task0: 0.2145, loss_rot.task0: 0.2538, loss_cls.task1: 0.0021, loss_center.task1: 0.3514, loss_size.task1: 0.1683, loss_rot.task1: 0.2376, loss_cls.task2: 0.0002, loss_center.task2: 0.1481, loss_size.task2: 0.0281, loss_rot.task2: 0.0812, loss_rcnn_cls: 0.0240, num_pos_rois: 3.4700, num_neg_rois: 448.5700, loss_rcnn_bbox: 1.1430, loss_rcnn_corner: 0.2232, loss: 4.1974, grad_norm: 3.0131 2022-11-24 13:16:11,282 - mmdet - INFO - Epoch [2][4450/9881] lr: 2.996e-03, eta: 1 day, 0:36:49, time: 0.936, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3774, recall_Car: 0.5326, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 504.2900, num_fg_points: 25960.2075, loss_cls.task0: 0.0450, loss_center.task0: 0.8766, loss_size.task0: 0.2155, loss_rot.task0: 0.2561, loss_cls.task1: 0.0022, loss_center.task1: 0.3625, loss_size.task1: 0.1813, loss_rot.task1: 0.2480, loss_cls.task2: 0.0001, loss_center.task2: 0.0618, loss_size.task2: 0.0258, loss_rot.task2: 0.0269, loss_rcnn_cls: 0.0223, num_pos_rois: 3.0425, num_neg_rois: 413.5500, loss_rcnn_bbox: 1.1455, loss_rcnn_corner: 0.2254, loss: 4.0731, grad_norm: 2.7221 2022-11-24 13:16:58,827 - mmdet - INFO - Epoch [2][4500/9881] lr: 2.996e-03, eta: 1 day, 0:36:43, time: 0.951, data_time: 0.058, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3893, recall_Car: 0.4580, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 308.0350, num_fg_points: 19823.7750, loss_cls.task0: 0.0545, loss_center.task0: 0.8694, loss_size.task0: 0.2257, loss_rot.task0: 0.2571, loss_cls.task1: 0.0020, loss_center.task1: 0.3194, loss_size.task1: 0.1604, loss_rot.task1: 0.2287, loss_cls.task2: 0.0002, loss_center.task2: 0.0851, loss_size.task2: 0.0211, loss_rot.task2: 0.0441, loss_rcnn_cls: 0.0271, num_pos_rois: 2.7200, num_neg_rois: 302.5200, loss_rcnn_bbox: 1.1490, loss_rcnn_corner: 0.2105, loss: 4.0445, grad_norm: 3.1126 2022-11-24 13:17:44,696 - mmdet - INFO - Epoch [2][4550/9881] lr: 2.996e-03, eta: 1 day, 0:36:25, time: 0.917, data_time: 0.172, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3786, recall_Car: 0.5160, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 336.6425, num_fg_points: 22297.0500, loss_cls.task0: 0.0534, loss_center.task0: 0.8278, loss_size.task0: 0.2204, loss_rot.task0: 0.2551, loss_cls.task1: 0.0018, loss_center.task1: 0.2946, loss_size.task1: 0.1704, loss_rot.task1: 0.2060, loss_cls.task2: 0.0000, loss_center.task2: 0.0297, loss_size.task2: 0.0032, loss_rot.task2: 0.0104, loss_rcnn_cls: 0.0267, num_pos_rois: 2.9100, num_neg_rois: 319.6575, loss_rcnn_bbox: 1.1806, loss_rcnn_corner: 0.2314, loss: 3.8908, grad_norm: 2.9059 2022-11-24 13:18:32,834 - mmdet - INFO - Epoch [2][4600/9881] lr: 2.996e-03, eta: 1 day, 0:36:22, time: 0.963, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4429, recall_Car: 0.4704, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 364.9675, num_fg_points: 27039.3950, loss_cls.task0: 0.0509, loss_center.task0: 0.9363, loss_size.task0: 0.2255, loss_rot.task0: 0.2533, loss_cls.task1: 0.0018, loss_center.task1: 0.3199, loss_size.task1: 0.1686, loss_rot.task1: 0.2140, loss_cls.task2: 0.0000, loss_center.task2: 0.0062, loss_size.task2: 0.0038, loss_rot.task2: 0.0048, loss_rcnn_cls: 0.0105, num_pos_rois: 0.9750, num_neg_rois: 344.8850, loss_rcnn_bbox: 1.1965, loss_rcnn_corner: 0.1583, loss: 3.9943, grad_norm: 3.7932 2022-11-24 13:19:21,651 - mmdet - INFO - Epoch [2][4650/9881] lr: 2.995e-03, eta: 1 day, 0:36:25, time: 0.976, data_time: 0.011, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4276, recall_Car: 0.4168, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 347.2075, num_fg_points: 20515.9975, loss_cls.task0: 0.0530, loss_center.task0: 0.8964, loss_size.task0: 0.2193, loss_rot.task0: 0.2545, loss_cls.task1: 0.0023, loss_center.task1: 0.3464, loss_size.task1: 0.1917, loss_rot.task1: 0.2369, loss_cls.task2: 0.0001, loss_center.task2: 0.0230, loss_size.task2: 0.0077, loss_rot.task2: 0.0147, loss_rcnn_cls: 0.0244, num_pos_rois: 2.6125, num_neg_rois: 340.1200, loss_rcnn_bbox: 1.1619, loss_rcnn_corner: 0.2177, loss: 4.0783, grad_norm: 2.9718 2022-11-24 13:20:07,601 - mmdet - INFO - Epoch [2][4700/9881] lr: 2.995e-03, eta: 1 day, 0:36:06, time: 0.919, data_time: 0.070, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4077, recall_Car: 0.4344, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 323.5750, num_fg_points: 22659.2350, loss_cls.task0: 0.0529, loss_center.task0: 0.8850, loss_size.task0: 0.2279, loss_rot.task0: 0.2526, loss_cls.task1: 0.0019, loss_center.task1: 0.3068, loss_size.task1: 0.1497, loss_rot.task1: 0.2086, loss_cls.task2: 0.0000, loss_center.task2: 0.0188, loss_size.task2: 0.0105, loss_rot.task2: 0.0169, loss_rcnn_cls: 0.0153, num_pos_rois: 1.3325, num_neg_rois: 310.2100, loss_rcnn_bbox: 1.1569, loss_rcnn_corner: 0.1730, loss: 3.8854, grad_norm: 3.4333 2022-11-24 13:20:53,479 - mmdet - INFO - Epoch [2][4750/9881] lr: 2.995e-03, eta: 1 day, 0:35:47, time: 0.918, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4151, recall_Car: 0.5243, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 422.4100, num_fg_points: 28029.3850, loss_cls.task0: 0.0499, loss_center.task0: 0.9094, loss_size.task0: 0.2255, loss_rot.task0: 0.2547, loss_cls.task1: 0.0021, loss_center.task1: 0.3309, loss_size.task1: 0.1557, loss_rot.task1: 0.2219, loss_cls.task2: 0.0001, loss_center.task2: 0.1054, loss_size.task2: 0.0244, loss_rot.task2: 0.0522, loss_rcnn_cls: 0.0147, num_pos_rois: 1.8175, num_neg_rois: 386.5950, loss_rcnn_bbox: 1.1714, loss_rcnn_corner: 0.1940, loss: 4.1284, grad_norm: 3.4144 2022-11-24 13:21:39,823 - mmdet - INFO - Epoch [2][4800/9881] lr: 2.995e-03, eta: 1 day, 0:35:31, time: 0.927, data_time: 0.202, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4019, recall_Car: 0.4985, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 394.2425, num_fg_points: 24611.0575, loss_cls.task0: 0.0514, loss_center.task0: 0.8846, loss_size.task0: 0.2139, loss_rot.task0: 0.2560, loss_cls.task1: 0.0023, loss_center.task1: 0.3591, loss_size.task1: 0.1843, loss_rot.task1: 0.2434, loss_cls.task2: 0.0001, loss_center.task2: 0.0961, loss_size.task2: 0.0334, loss_rot.task2: 0.0525, loss_rcnn_cls: 0.0203, num_pos_rois: 2.4350, num_neg_rois: 377.1375, loss_rcnn_bbox: 1.1554, loss_rcnn_corner: 0.2347, loss: 4.1905, grad_norm: 3.1109 2022-11-24 13:22:27,624 - mmdet - INFO - Epoch [2][4850/9881] lr: 2.995e-03, eta: 1 day, 0:35:25, time: 0.956, data_time: 0.040, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4300, recall_Car: 0.4376, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 289.8700, num_fg_points: 27267.1125, loss_cls.task0: 0.0567, loss_center.task0: 0.9169, loss_size.task0: 0.2129, loss_rot.task0: 0.2544, loss_cls.task1: 0.0018, loss_center.task1: 0.3421, loss_size.task1: 0.1685, loss_rot.task1: 0.2222, loss_cls.task2: 0.0000, loss_center.task2: 0.0405, loss_size.task2: 0.0148, loss_rot.task2: 0.0153, loss_rcnn_cls: 0.0250, num_pos_rois: 2.3275, num_neg_rois: 285.5750, loss_rcnn_bbox: 1.2077, loss_rcnn_corner: 0.2345, loss: 4.1444, grad_norm: 3.2539 2022-11-24 13:23:15,574 - mmdet - INFO - Epoch [2][4900/9881] lr: 2.994e-03, eta: 1 day, 0:35:20, time: 0.959, data_time: 0.020, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4462, recall_Car: 0.4052, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 333.6275, num_fg_points: 19617.4275, loss_cls.task0: 0.0547, loss_center.task0: 0.9402, loss_size.task0: 0.2216, loss_rot.task0: 0.2537, loss_cls.task1: 0.0020, loss_center.task1: 0.3636, loss_size.task1: 0.1850, loss_rot.task1: 0.2424, loss_cls.task2: 0.0001, loss_center.task2: 0.0171, loss_size.task2: 0.0148, loss_rot.task2: 0.0163, loss_rcnn_cls: 0.0212, num_pos_rois: 2.0800, num_neg_rois: 323.6300, loss_rcnn_bbox: 1.2293, loss_rcnn_corner: 0.2178, loss: 4.2268, grad_norm: 3.2484 2022-11-24 13:24:04,581 - mmdet - INFO - Epoch [2][4950/9881] lr: 2.994e-03, eta: 1 day, 0:35:22, time: 0.980, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4017, recall_Car: 0.4916, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 517.4150, num_fg_points: 24120.9375, loss_cls.task0: 0.0450, loss_center.task0: 0.9266, loss_size.task0: 0.2252, loss_rot.task0: 0.2529, loss_cls.task1: 0.0023, loss_center.task1: 0.3478, loss_size.task1: 0.1667, loss_rot.task1: 0.2469, loss_cls.task2: 0.0001, loss_center.task2: 0.0858, loss_size.task2: 0.0343, loss_rot.task2: 0.0484, loss_rcnn_cls: 0.0214, num_pos_rois: 2.8550, num_neg_rois: 433.2025, loss_rcnn_bbox: 1.1326, loss_rcnn_corner: 0.2175, loss: 4.1561, grad_norm: 2.9013 2022-11-24 13:24:51,126 - mmdet - INFO - Epoch [2][5000/9881] lr: 2.994e-03, eta: 1 day, 0:35:06, time: 0.931, data_time: 0.047, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4047, recall_Car: 0.5166, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 521.0575, num_fg_points: 25771.1375, loss_cls.task0: 0.0434, loss_center.task0: 0.8974, loss_size.task0: 0.2197, loss_rot.task0: 0.2545, loss_cls.task1: 0.0024, loss_center.task1: 0.3598, loss_size.task1: 0.2193, loss_rot.task1: 0.2434, loss_cls.task2: 0.0002, loss_center.task2: 0.1193, loss_size.task2: 0.0309, loss_rot.task2: 0.0551, loss_rcnn_cls: 0.0210, num_pos_rois: 3.0025, num_neg_rois: 441.4200, loss_rcnn_bbox: 1.1494, loss_rcnn_corner: 0.2314, loss: 4.2527, grad_norm: 3.1521 2022-11-24 13:25:39,518 - mmdet - INFO - Epoch [2][5050/9881] lr: 2.994e-03, eta: 1 day, 0:35:03, time: 0.968, data_time: 0.328, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3926, recall_Car: 0.5364, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 362.7350, num_fg_points: 27576.2400, loss_cls.task0: 0.0549, loss_center.task0: 0.9044, loss_size.task0: 0.2216, loss_rot.task0: 0.2544, loss_cls.task1: 0.0020, loss_center.task1: 0.3083, loss_size.task1: 0.1497, loss_rot.task1: 0.2175, loss_cls.task2: 0.0001, loss_center.task2: 0.0633, loss_size.task2: 0.0167, loss_rot.task2: 0.0263, loss_rcnn_cls: 0.0217, num_pos_rois: 2.5225, num_neg_rois: 346.0900, loss_rcnn_bbox: 1.2164, loss_rcnn_corner: 0.2361, loss: 4.0870, grad_norm: 3.2171 2022-11-24 13:26:23,933 - mmdet - INFO - Epoch [2][5100/9881] lr: 2.994e-03, eta: 1 day, 0:34:32, time: 0.888, data_time: 0.064, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4274, recall_Car: 0.5098, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 369.8675, num_fg_points: 26415.2750, loss_cls.task0: 0.0534, loss_center.task0: 0.9148, loss_size.task0: 0.2252, loss_rot.task0: 0.2550, loss_cls.task1: 0.0021, loss_center.task1: 0.3555, loss_size.task1: 0.1872, loss_rot.task1: 0.2358, loss_cls.task2: 0.0002, loss_center.task2: 0.0696, loss_size.task2: 0.0184, loss_rot.task2: 0.0413, loss_rcnn_cls: 0.0157, num_pos_rois: 1.6725, num_neg_rois: 359.2900, loss_rcnn_bbox: 1.2160, loss_rcnn_corner: 0.2284, loss: 4.2467, grad_norm: 3.3460 2022-11-24 13:27:12,219 - mmdet - INFO - Epoch [2][5150/9881] lr: 2.993e-03, eta: 1 day, 0:34:28, time: 0.966, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4449, recall_Car: 0.5022, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 506.1325, num_fg_points: 25492.8125, loss_cls.task0: 0.0476, loss_center.task0: 0.9302, loss_size.task0: 0.2244, loss_rot.task0: 0.2513, loss_cls.task1: 0.0022, loss_center.task1: 0.3335, loss_size.task1: 0.1714, loss_rot.task1: 0.2353, loss_cls.task2: 0.0002, loss_center.task2: 0.1207, loss_size.task2: 0.0204, loss_rot.task2: 0.0551, loss_rcnn_cls: 0.0143, num_pos_rois: 1.7950, num_neg_rois: 411.8775, loss_rcnn_bbox: 1.2313, loss_rcnn_corner: 0.2160, loss: 4.2996, grad_norm: 3.2295 2022-11-24 13:28:01,655 - mmdet - INFO - Epoch [2][5200/9881] lr: 2.993e-03, eta: 1 day, 0:34:31, time: 0.988, data_time: 0.016, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4383, recall_Car: 0.5392, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 446.7075, num_fg_points: 28362.4475, loss_cls.task0: 0.0503, loss_center.task0: 0.9384, loss_size.task0: 0.2206, loss_rot.task0: 0.2548, loss_cls.task1: 0.0020, loss_center.task1: 0.3630, loss_size.task1: 0.1842, loss_rot.task1: 0.2556, loss_cls.task2: 0.0001, loss_center.task2: 0.0746, loss_size.task2: 0.0188, loss_rot.task2: 0.0456, loss_rcnn_cls: 0.0213, num_pos_rois: 2.9075, num_neg_rois: 413.3300, loss_rcnn_bbox: 1.1973, loss_rcnn_corner: 0.2549, loss: 4.3209, grad_norm: 3.0169 2022-11-24 13:28:49,059 - mmdet - INFO - Epoch [2][5250/9881] lr: 2.993e-03, eta: 1 day, 0:34:20, time: 0.949, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4170, recall_Car: 0.5510, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 454.5175, num_fg_points: 28778.9025, loss_cls.task0: 0.0495, loss_center.task0: 0.9277, loss_size.task0: 0.2176, loss_rot.task0: 0.2545, loss_cls.task1: 0.0020, loss_center.task1: 0.3362, loss_size.task1: 0.1619, loss_rot.task1: 0.2210, loss_cls.task2: 0.0001, loss_center.task2: 0.0673, loss_size.task2: 0.0160, loss_rot.task2: 0.0363, loss_rcnn_cls: 0.0168, num_pos_rois: 2.0425, num_neg_rois: 414.0475, loss_rcnn_bbox: 1.1917, loss_rcnn_corner: 0.2223, loss: 4.1390, grad_norm: 3.3970 2022-11-24 13:29:38,221 - mmdet - INFO - Epoch [2][5300/9881] lr: 2.993e-03, eta: 1 day, 0:34:21, time: 0.983, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4310, recall_Car: 0.4951, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 414.0900, num_fg_points: 24299.7950, loss_cls.task0: 0.0532, loss_center.task0: 0.9156, loss_size.task0: 0.2152, loss_rot.task0: 0.2531, loss_cls.task1: 0.0023, loss_center.task1: 0.3668, loss_size.task1: 0.1913, loss_rot.task1: 0.2472, loss_cls.task2: 0.0001, loss_center.task2: 0.0575, loss_size.task2: 0.0087, loss_rot.task2: 0.0254, loss_rcnn_cls: 0.0232, num_pos_rois: 2.9125, num_neg_rois: 381.7200, loss_rcnn_bbox: 1.3165, loss_rcnn_corner: 0.3305, loss: 4.4384, grad_norm: 2.6885 2022-11-24 13:30:23,700 - mmdet - INFO - Epoch [2][5350/9881] lr: 2.993e-03, eta: 1 day, 0:33:57, time: 0.909, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4190, recall_Car: 0.5042, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 394.1500, num_fg_points: 27186.7450, loss_cls.task0: 0.0514, loss_center.task0: 0.9335, loss_size.task0: 0.2163, loss_rot.task0: 0.2527, loss_cls.task1: 0.0022, loss_center.task1: 0.3068, loss_size.task1: 0.2050, loss_rot.task1: 0.2282, loss_cls.task2: 0.0000, loss_center.task2: 0.0380, loss_size.task2: 0.0136, loss_rot.task2: 0.0159, loss_rcnn_cls: 0.0133, num_pos_rois: 1.4875, num_neg_rois: 365.1075, loss_rcnn_bbox: 1.2914, loss_rcnn_corner: 0.2534, loss: 4.2417, grad_norm: 3.2717 2022-11-24 13:31:12,435 - mmdet - INFO - Epoch [2][5400/9881] lr: 2.992e-03, eta: 1 day, 0:33:54, time: 0.975, data_time: 0.019, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4224, recall_Car: 0.5120, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 367.3475, num_fg_points: 25022.2600, loss_cls.task0: 0.0509, loss_center.task0: 0.9287, loss_size.task0: 0.2222, loss_rot.task0: 0.2556, loss_cls.task1: 0.0019, loss_center.task1: 0.3348, loss_size.task1: 0.1682, loss_rot.task1: 0.2308, loss_cls.task2: 0.0002, loss_center.task2: 0.0656, loss_size.task2: 0.0224, loss_rot.task2: 0.0313, loss_rcnn_cls: 0.0237, num_pos_rois: 2.5075, num_neg_rois: 356.8300, loss_rcnn_bbox: 1.1670, loss_rcnn_corner: 0.2171, loss: 4.1437, grad_norm: 3.0230 2022-11-24 13:31:59,588 - mmdet - INFO - Epoch [2][5450/9881] lr: 2.992e-03, eta: 1 day, 0:33:41, time: 0.943, data_time: 0.064, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4201, recall_Car: 0.4968, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 311.8950, num_fg_points: 20464.8450, loss_cls.task0: 0.0582, loss_center.task0: 0.8781, loss_size.task0: 0.2077, loss_rot.task0: 0.2549, loss_cls.task1: 0.0018, loss_center.task1: 0.3122, loss_size.task1: 0.1645, loss_rot.task1: 0.2328, loss_cls.task2: 0.0001, loss_center.task2: 0.0496, loss_size.task2: 0.0113, loss_rot.task2: 0.0256, loss_rcnn_cls: 0.0285, num_pos_rois: 2.8100, num_neg_rois: 304.0025, loss_rcnn_bbox: 1.1093, loss_rcnn_corner: 0.1960, loss: 3.9516, grad_norm: 2.9452 2022-11-24 13:32:47,765 - mmdet - INFO - Epoch [2][5500/9881] lr: 2.992e-03, eta: 1 day, 0:33:34, time: 0.963, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4195, recall_Car: 0.5492, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 378.9175, num_fg_points: 26590.1250, loss_cls.task0: 0.0543, loss_center.task0: 0.9047, loss_size.task0: 0.2155, loss_rot.task0: 0.2550, loss_cls.task1: 0.0027, loss_center.task1: 0.3540, loss_size.task1: 0.1863, loss_rot.task1: 0.2466, loss_cls.task2: 0.0002, loss_center.task2: 0.0870, loss_size.task2: 0.0306, loss_rot.task2: 0.0389, loss_rcnn_cls: 0.0214, num_pos_rois: 2.3575, num_neg_rois: 354.1575, loss_rcnn_bbox: 1.1837, loss_rcnn_corner: 0.2239, loss: 4.2251, grad_norm: 3.1469 2022-11-24 13:33:35,195 - mmdet - INFO - Epoch [2][5550/9881] lr: 2.992e-03, eta: 1 day, 0:33:22, time: 0.949, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0008, loss_vote: 0.4357, recall_Car: 0.4068, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 284.7300, num_fg_points: 16778.5950, loss_cls.task0: 0.0596, loss_center.task0: 0.8783, loss_size.task0: 0.2182, loss_rot.task0: 0.2537, loss_cls.task1: 0.0022, loss_center.task1: 0.3223, loss_size.task1: 0.1568, loss_rot.task1: 0.2150, loss_cls.task2: 0.0001, loss_center.task2: 0.0370, loss_size.task2: 0.0084, loss_rot.task2: 0.0148, loss_rcnn_cls: 0.0119, num_pos_rois: 0.9150, num_neg_rois: 283.6775, loss_rcnn_bbox: 1.3514, loss_rcnn_corner: 0.2176, loss: 4.1838, grad_norm: 4.0325 2022-11-24 13:34:24,758 - mmdet - INFO - Epoch [2][5600/9881] lr: 2.991e-03, eta: 1 day, 0:33:23, time: 0.991, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4703, recall_Car: 0.4494, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 309.7475, num_fg_points: 23897.1575, loss_cls.task0: 0.0551, loss_center.task0: 0.9850, loss_size.task0: 0.2318, loss_rot.task0: 0.2537, loss_cls.task1: 0.0023, loss_center.task1: 0.3482, loss_size.task1: 0.2024, loss_rot.task1: 0.2370, loss_cls.task2: 0.0001, loss_center.task2: 0.0442, loss_size.task2: 0.0145, loss_rot.task2: 0.0186, loss_rcnn_cls: 0.0131, num_pos_rois: 1.0850, num_neg_rois: 307.2675, loss_rcnn_bbox: 1.3678, loss_rcnn_corner: 0.2437, loss: 4.4888, grad_norm: 3.7496 2022-11-24 13:35:11,582 - mmdet - INFO - Epoch [2][5650/9881] lr: 2.991e-03, eta: 1 day, 0:33:07, time: 0.937, data_time: 0.086, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4347, recall_Car: 0.5248, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 342.5650, num_fg_points: 31502.9075, loss_cls.task0: 0.0524, loss_center.task0: 0.9343, loss_size.task0: 0.2136, loss_rot.task0: 0.2551, loss_cls.task1: 0.0022, loss_center.task1: 0.3251, loss_size.task1: 0.1650, loss_rot.task1: 0.2263, loss_cls.task2: 0.0001, loss_center.task2: 0.0574, loss_size.task2: 0.0115, loss_rot.task2: 0.0318, loss_rcnn_cls: 0.0172, num_pos_rois: 1.6375, num_neg_rois: 328.8950, loss_rcnn_bbox: 1.2293, loss_rcnn_corner: 0.2316, loss: 4.1886, grad_norm: 3.4619 2022-11-24 13:35:59,637 - mmdet - INFO - Epoch [2][5700/9881] lr: 2.991e-03, eta: 1 day, 0:32:58, time: 0.961, data_time: 0.021, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4371, recall_Car: 0.4810, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 356.6350, num_fg_points: 25856.6750, loss_cls.task0: 0.0538, loss_center.task0: 0.9250, loss_size.task0: 0.2205, loss_rot.task0: 0.2548, loss_cls.task1: 0.0022, loss_center.task1: 0.2948, loss_size.task1: 0.1396, loss_rot.task1: 0.2104, loss_cls.task2: 0.0001, loss_center.task2: 0.0580, loss_size.task2: 0.0109, loss_rot.task2: 0.0255, loss_rcnn_cls: 0.0174, num_pos_rois: 1.6925, num_neg_rois: 325.3300, loss_rcnn_bbox: 1.1746, loss_rcnn_corner: 0.2136, loss: 4.0393, grad_norm: 3.2659 2022-11-24 13:36:47,129 - mmdet - INFO - Epoch [2][5750/9881] lr: 2.991e-03, eta: 1 day, 0:32:45, time: 0.950, data_time: 0.176, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4390, recall_Car: 0.5055, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 306.0175, num_fg_points: 23568.6925, loss_cls.task0: 0.0584, loss_center.task0: 0.9133, loss_size.task0: 0.2230, loss_rot.task0: 0.2523, loss_cls.task1: 0.0024, loss_center.task1: 0.3601, loss_size.task1: 0.1817, loss_rot.task1: 0.2544, loss_cls.task2: 0.0001, loss_center.task2: 0.0480, loss_size.task2: 0.0097, loss_rot.task2: 0.0278, loss_rcnn_cls: 0.0145, num_pos_rois: 1.2225, num_neg_rois: 299.7225, loss_rcnn_bbox: 1.4955, loss_rcnn_corner: 0.3134, loss: 4.5944, grad_norm: 3.6148 2022-11-24 13:37:34,706 - mmdet - INFO - Epoch [2][5800/9881] lr: 2.991e-03, eta: 1 day, 0:32:33, time: 0.952, data_time: 0.026, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4345, recall_Car: 0.6406, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 369.5950, num_fg_points: 30170.5425, loss_cls.task0: 0.0542, loss_center.task0: 0.9820, loss_size.task0: 0.2166, loss_rot.task0: 0.2538, loss_cls.task1: 0.0023, loss_center.task1: 0.3185, loss_size.task1: 0.1850, loss_rot.task1: 0.2373, loss_cls.task2: 0.0002, loss_center.task2: 0.1077, loss_size.task2: 0.0179, loss_rot.task2: 0.0453, loss_rcnn_cls: 0.0124, num_pos_rois: 1.2525, num_neg_rois: 351.8875, loss_rcnn_bbox: 1.3535, loss_rcnn_corner: 0.2735, loss: 4.4958, grad_norm: 3.4825 2022-11-24 13:38:22,257 - mmdet - INFO - Epoch [2][5850/9881] lr: 2.990e-03, eta: 1 day, 0:32:20, time: 0.951, data_time: 0.154, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4001, recall_Car: 0.5993, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 287.3275, num_fg_points: 24123.6250, loss_cls.task0: 0.0589, loss_center.task0: 0.9164, loss_size.task0: 0.2272, loss_rot.task0: 0.2540, loss_cls.task1: 0.0025, loss_center.task1: 0.3200, loss_size.task1: 0.1638, loss_rot.task1: 0.2210, loss_cls.task2: 0.0001, loss_center.task2: 0.0331, loss_size.task2: 0.0061, loss_rot.task2: 0.0167, loss_rcnn_cls: 0.0225, num_pos_rois: 2.0725, num_neg_rois: 284.3050, loss_rcnn_bbox: 1.3496, loss_rcnn_corner: 0.3107, loss: 4.3037, grad_norm: 3.1791 2022-11-24 13:39:13,144 - mmdet - INFO - Epoch [2][5900/9881] lr: 2.990e-03, eta: 1 day, 0:32:29, time: 1.018, data_time: 0.056, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3969, recall_Car: 0.6188, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 331.7200, num_fg_points: 26508.3650, loss_cls.task0: 0.0565, loss_center.task0: 0.9082, loss_size.task0: 0.2179, loss_rot.task0: 0.2548, loss_cls.task1: 0.0022, loss_center.task1: 0.3343, loss_size.task1: 0.1764, loss_rot.task1: 0.2286, loss_cls.task2: 0.0001, loss_center.task2: 0.0451, loss_size.task2: 0.0176, loss_rot.task2: 0.0200, loss_rcnn_cls: 0.0168, num_pos_rois: 1.5850, num_neg_rois: 321.4750, loss_rcnn_bbox: 1.3336, loss_rcnn_corner: 0.2957, loss: 4.3056, grad_norm: 3.3158 2022-11-24 13:40:00,617 - mmdet - INFO - Epoch [2][5950/9881] lr: 2.990e-03, eta: 1 day, 0:32:15, time: 0.950, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3884, recall_Car: 0.6688, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 409.1450, num_fg_points: 28118.7900, loss_cls.task0: 0.0544, loss_center.task0: 0.8774, loss_size.task0: 0.2178, loss_rot.task0: 0.2541, loss_cls.task1: 0.0021, loss_center.task1: 0.3501, loss_size.task1: 0.1937, loss_rot.task1: 0.2517, loss_cls.task2: 0.0001, loss_center.task2: 0.0450, loss_size.task2: 0.0114, loss_rot.task2: 0.0262, loss_rcnn_cls: 0.0216, num_pos_rois: 2.8050, num_neg_rois: 386.1950, loss_rcnn_bbox: 1.2592, loss_rcnn_corner: 0.3040, loss: 4.2582, grad_norm: 2.7987 2022-11-24 13:40:48,273 - mmdet - INFO - Epoch [2][6000/9881] lr: 2.989e-03, eta: 1 day, 0:32:02, time: 0.953, data_time: 0.085, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3902, recall_Car: 0.5824, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 328.0725, num_fg_points: 25965.8400, loss_cls.task0: 0.0585, loss_center.task0: 0.8629, loss_size.task0: 0.2189, loss_rot.task0: 0.2536, loss_cls.task1: 0.0021, loss_center.task1: 0.3211, loss_size.task1: 0.1777, loss_rot.task1: 0.2161, loss_cls.task2: 0.0001, loss_center.task2: 0.0403, loss_size.task2: 0.0112, loss_rot.task2: 0.0207, loss_rcnn_cls: 0.0238, num_pos_rois: 2.5975, num_neg_rois: 323.0775, loss_rcnn_bbox: 1.3563, loss_rcnn_corner: 0.3425, loss: 4.2970, grad_norm: 3.2252 2022-11-24 13:41:37,241 - mmdet - INFO - Epoch [2][6050/9881] lr: 2.989e-03, eta: 1 day, 0:31:58, time: 0.979, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3751, recall_Car: 0.6880, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 440.6175, num_fg_points: 31691.3950, loss_cls.task0: 0.0519, loss_center.task0: 0.8829, loss_size.task0: 0.2198, loss_rot.task0: 0.2535, loss_cls.task1: 0.0020, loss_center.task1: 0.3274, loss_size.task1: 0.1802, loss_rot.task1: 0.2330, loss_cls.task2: 0.0000, loss_center.task2: 0.0391, loss_size.task2: 0.0098, loss_rot.task2: 0.0199, loss_rcnn_cls: 0.0241, num_pos_rois: 3.3650, num_neg_rois: 395.4525, loss_rcnn_bbox: 1.3201, loss_rcnn_corner: 0.3418, loss: 4.2818, grad_norm: 2.9828 2022-11-24 13:42:25,854 - mmdet - INFO - Epoch [2][6100/9881] lr: 2.989e-03, eta: 1 day, 0:31:51, time: 0.972, data_time: 0.202, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3792, recall_Car: 0.6389, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 394.7175, num_fg_points: 24170.6400, loss_cls.task0: 0.0550, loss_center.task0: 0.8297, loss_size.task0: 0.2179, loss_rot.task0: 0.2549, loss_cls.task1: 0.0019, loss_center.task1: 0.3571, loss_size.task1: 0.1815, loss_rot.task1: 0.2397, loss_cls.task2: 0.0001, loss_center.task2: 0.0632, loss_size.task2: 0.0111, loss_rot.task2: 0.0268, loss_rcnn_cls: 0.0232, num_pos_rois: 3.0000, num_neg_rois: 368.9700, loss_rcnn_bbox: 1.2918, loss_rcnn_corner: 0.3356, loss: 4.2696, grad_norm: 2.6588 2022-11-24 13:43:13,959 - mmdet - INFO - Epoch [2][6150/9881] lr: 2.989e-03, eta: 1 day, 0:31:40, time: 0.962, data_time: 0.274, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3625, recall_Car: 0.5941, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 349.1025, num_fg_points: 26451.4125, loss_cls.task0: 0.0530, loss_center.task0: 0.8039, loss_size.task0: 0.2157, loss_rot.task0: 0.2538, loss_cls.task1: 0.0018, loss_center.task1: 0.3178, loss_size.task1: 0.1774, loss_rot.task1: 0.2181, loss_cls.task2: 0.0001, loss_center.task2: 0.0911, loss_size.task2: 0.0409, loss_rot.task2: 0.0353, loss_rcnn_cls: 0.0248, num_pos_rois: 3.0125, num_neg_rois: 339.7825, loss_rcnn_bbox: 1.3080, loss_rcnn_corner: 0.3343, loss: 4.2391, grad_norm: 2.9783 2022-11-24 13:44:02,517 - mmdet - INFO - Epoch [2][6200/9881] lr: 2.988e-03, eta: 1 day, 0:31:32, time: 0.971, data_time: 0.007, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3759, recall_Car: 0.6503, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 484.5625, num_fg_points: 25491.3400, loss_cls.task0: 0.0510, loss_center.task0: 0.8543, loss_size.task0: 0.2115, loss_rot.task0: 0.2561, loss_cls.task1: 0.0021, loss_center.task1: 0.3759, loss_size.task1: 0.1909, loss_rot.task1: 0.2512, loss_cls.task2: 0.0001, loss_center.task2: 0.0605, loss_size.task2: 0.0225, loss_rot.task2: 0.0333, loss_rcnn_cls: 0.0242, num_pos_rois: 3.7350, num_neg_rois: 423.8200, loss_rcnn_bbox: 1.2891, loss_rcnn_corner: 0.3588, loss: 4.3582, grad_norm: 2.7220 2022-11-24 13:44:53,109 - mmdet - INFO - Epoch [2][6250/9881] lr: 2.988e-03, eta: 1 day, 0:31:37, time: 1.012, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3637, recall_Car: 0.6403, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 434.1400, num_fg_points: 28758.0900, loss_cls.task0: 0.0510, loss_center.task0: 0.8263, loss_size.task0: 0.2197, loss_rot.task0: 0.2533, loss_cls.task1: 0.0019, loss_center.task1: 0.3352, loss_size.task1: 0.1630, loss_rot.task1: 0.2301, loss_cls.task2: 0.0001, loss_center.task2: 0.0802, loss_size.task2: 0.0239, loss_rot.task2: 0.0412, loss_rcnn_cls: 0.0223, num_pos_rois: 3.0225, num_neg_rois: 384.0625, loss_rcnn_bbox: 1.3278, loss_rcnn_corner: 0.3591, loss: 4.2999, grad_norm: 2.8258 2022-11-24 13:45:40,545 - mmdet - INFO - Epoch [2][6300/9881] lr: 2.988e-03, eta: 1 day, 0:31:21, time: 0.949, data_time: 0.044, memory: 6294, loss_sem_seg: 0.0008, loss_vote: 0.3579, recall_Car: 0.6682, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 498.5725, num_fg_points: 26831.1700, loss_cls.task0: 0.0488, loss_center.task0: 0.8151, loss_size.task0: 0.2186, loss_rot.task0: 0.2543, loss_cls.task1: 0.0019, loss_center.task1: 0.3361, loss_size.task1: 0.1668, loss_rot.task1: 0.2380, loss_cls.task2: 0.0001, loss_center.task2: 0.0451, loss_size.task2: 0.0062, loss_rot.task2: 0.0195, loss_rcnn_cls: 0.0294, num_pos_rois: 4.2150, num_neg_rois: 401.8825, loss_rcnn_bbox: 1.3542, loss_rcnn_corner: 0.3742, loss: 4.2668, grad_norm: 2.7189 2022-11-24 13:46:28,915 - mmdet - INFO - Epoch [2][6350/9881] lr: 2.988e-03, eta: 1 day, 0:31:11, time: 0.967, data_time: 0.061, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3618, recall_Car: 0.5625, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 345.3425, num_fg_points: 23205.6375, loss_cls.task0: 0.0550, loss_center.task0: 0.7726, loss_size.task0: 0.2107, loss_rot.task0: 0.2551, loss_cls.task1: 0.0019, loss_center.task1: 0.3313, loss_size.task1: 0.1714, loss_rot.task1: 0.2378, loss_cls.task2: 0.0001, loss_center.task2: 0.0333, loss_size.task2: 0.0176, loss_rot.task2: 0.0276, loss_rcnn_cls: 0.0255, num_pos_rois: 3.3875, num_neg_rois: 334.2450, loss_rcnn_bbox: 1.3301, loss_rcnn_corner: 0.3538, loss: 4.1863, grad_norm: 2.9589 2022-11-24 13:47:16,759 - mmdet - INFO - Epoch [2][6400/9881] lr: 2.987e-03, eta: 1 day, 0:30:57, time: 0.957, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3704, recall_Car: 0.5344, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 269.5850, num_fg_points: 20613.4700, loss_cls.task0: 0.0592, loss_center.task0: 0.7586, loss_size.task0: 0.2141, loss_rot.task0: 0.2555, loss_cls.task1: 0.0023, loss_center.task1: 0.3094, loss_size.task1: 0.1501, loss_rot.task1: 0.2140, loss_cls.task2: 0.0001, loss_center.task2: 0.0484, loss_size.task2: 0.0097, loss_rot.task2: 0.0221, loss_rcnn_cls: 0.0348, num_pos_rois: 3.6275, num_neg_rois: 265.3450, loss_rcnn_bbox: 1.2793, loss_rcnn_corner: 0.3157, loss: 4.0445, grad_norm: 2.9783 2022-11-24 13:48:06,657 - mmdet - INFO - Epoch [2][6450/9881] lr: 2.987e-03, eta: 1 day, 0:30:56, time: 0.997, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3837, recall_Car: 0.5418, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 290.1450, num_fg_points: 23142.2150, loss_cls.task0: 0.0595, loss_center.task0: 0.7927, loss_size.task0: 0.2205, loss_rot.task0: 0.2528, loss_cls.task1: 0.0018, loss_center.task1: 0.3129, loss_size.task1: 0.1491, loss_rot.task1: 0.2075, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0266, num_pos_rois: 2.4850, num_neg_rois: 286.8100, loss_rcnn_bbox: 1.3768, loss_rcnn_corner: 0.3469, loss: 4.1316, grad_norm: 3.3132 2022-11-24 13:48:54,667 - mmdet - INFO - Epoch [2][6500/9881] lr: 2.987e-03, eta: 1 day, 0:30:43, time: 0.960, data_time: 0.009, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3749, recall_Car: 0.5708, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 308.0025, num_fg_points: 20703.3400, loss_cls.task0: 0.0580, loss_center.task0: 0.7784, loss_size.task0: 0.2192, loss_rot.task0: 0.2545, loss_cls.task1: 0.0019, loss_center.task1: 0.3221, loss_size.task1: 0.1569, loss_rot.task1: 0.2156, loss_cls.task2: 0.0000, loss_center.task2: 0.0232, loss_size.task2: 0.0119, loss_rot.task2: 0.0106, loss_rcnn_cls: 0.0278, num_pos_rois: 2.8575, num_neg_rois: 302.6375, loss_rcnn_bbox: 1.3611, loss_rcnn_corner: 0.3440, loss: 4.1610, grad_norm: 2.9743 2022-11-24 13:49:44,370 - mmdet - INFO - Epoch [2][6550/9881] lr: 2.986e-03, eta: 1 day, 0:30:41, time: 0.995, data_time: 0.086, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3672, recall_Car: 0.6048, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 348.7200, num_fg_points: 25264.3800, loss_cls.task0: 0.0537, loss_center.task0: 0.8269, loss_size.task0: 0.2205, loss_rot.task0: 0.2553, loss_cls.task1: 0.0014, loss_center.task1: 0.2997, loss_size.task1: 0.1582, loss_rot.task1: 0.2156, loss_cls.task2: 0.0001, loss_center.task2: 0.0391, loss_size.task2: 0.0102, loss_rot.task2: 0.0194, loss_rcnn_cls: 0.0270, num_pos_rois: 3.3950, num_neg_rois: 339.0650, loss_rcnn_bbox: 1.2993, loss_rcnn_corner: 0.3303, loss: 4.1247, grad_norm: 3.2040 2022-11-24 13:50:34,972 - mmdet - INFO - Epoch [2][6600/9881] lr: 2.986e-03, eta: 1 day, 0:30:44, time: 1.012, data_time: 0.008, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3788, recall_Car: 0.5607, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 272.0300, num_fg_points: 26350.0650, loss_cls.task0: 0.0619, loss_center.task0: 0.8010, loss_size.task0: 0.2163, loss_rot.task0: 0.2534, loss_cls.task1: 0.0016, loss_center.task1: 0.2931, loss_size.task1: 0.1613, loss_rot.task1: 0.1928, loss_cls.task2: 0.0001, loss_center.task2: 0.0287, loss_size.task2: 0.0056, loss_rot.task2: 0.0163, loss_rcnn_cls: 0.0310, num_pos_rois: 3.0300, num_neg_rois: 268.3250, loss_rcnn_bbox: 1.1169, loss_rcnn_corner: 0.1905, loss: 3.7502, grad_norm: 2.9521 2022-11-24 13:51:23,658 - mmdet - INFO - Epoch [2][6650/9881] lr: 2.986e-03, eta: 1 day, 0:30:34, time: 0.974, data_time: 0.090, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.3887, recall_Car: 0.6210, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 385.2900, num_fg_points: 30965.2475, loss_cls.task0: 0.0557, loss_center.task0: 0.8554, loss_size.task0: 0.2160, loss_rot.task0: 0.2544, loss_cls.task1: 0.0018, loss_center.task1: 0.3167, loss_size.task1: 0.1430, loss_rot.task1: 0.2104, loss_cls.task2: 0.0000, loss_center.task2: 0.0264, loss_size.task2: 0.0113, loss_rot.task2: 0.0152, loss_rcnn_cls: 0.0154, num_pos_rois: 1.8775, num_neg_rois: 364.6775, loss_rcnn_bbox: 1.1594, loss_rcnn_corner: 0.2039, loss: 3.8748, grad_norm: 3.1999 2022-11-24 13:52:11,698 - mmdet - INFO - Epoch [2][6700/9881] lr: 2.986e-03, eta: 1 day, 0:30:21, time: 0.961, data_time: 0.017, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4185, recall_Car: 0.5587, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 543.8675, num_fg_points: 25566.4275, loss_cls.task0: 0.0420, loss_center.task0: 0.9031, loss_size.task0: 0.2196, loss_rot.task0: 0.2530, loss_cls.task1: 0.0020, loss_center.task1: 0.3607, loss_size.task1: 0.1924, loss_rot.task1: 0.2500, loss_cls.task2: 0.0001, loss_center.task2: 0.0934, loss_size.task2: 0.0352, loss_rot.task2: 0.0477, loss_rcnn_cls: 0.0114, num_pos_rois: 1.3650, num_neg_rois: 442.1425, loss_rcnn_bbox: 1.4091, loss_rcnn_corner: 0.2881, loss: 4.5271, grad_norm: 3.5257 2022-11-24 13:53:00,763 - mmdet - INFO - Epoch [2][6750/9881] lr: 2.985e-03, eta: 1 day, 0:30:13, time: 0.981, data_time: 0.060, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4170, recall_Car: 0.5257, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 366.4575, num_fg_points: 26426.1825, loss_cls.task0: 0.0513, loss_center.task0: 0.8955, loss_size.task0: 0.2281, loss_rot.task0: 0.2518, loss_cls.task1: 0.0023, loss_center.task1: 0.3583, loss_size.task1: 0.1958, loss_rot.task1: 0.2411, loss_cls.task2: 0.0001, loss_center.task2: 0.0541, loss_size.task2: 0.0130, loss_rot.task2: 0.0255, loss_rcnn_cls: 0.0216, num_pos_rois: 2.1375, num_neg_rois: 354.6825, loss_rcnn_bbox: 1.3366, loss_rcnn_corner: 0.2640, loss: 4.3573, grad_norm: 3.2600 2022-11-24 13:53:50,518 - mmdet - INFO - Epoch [2][6800/9881] lr: 2.985e-03, eta: 1 day, 0:30:09, time: 0.995, data_time: 0.015, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4064, recall_Car: 0.5722, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 387.0725, num_fg_points: 27899.3150, loss_cls.task0: 0.0488, loss_center.task0: 0.8644, loss_size.task0: 0.2218, loss_rot.task0: 0.2535, loss_cls.task1: 0.0021, loss_center.task1: 0.3728, loss_size.task1: 0.1769, loss_rot.task1: 0.2498, loss_cls.task2: 0.0001, loss_center.task2: 0.0595, loss_size.task2: 0.0123, loss_rot.task2: 0.0272, loss_rcnn_cls: 0.0233, num_pos_rois: 3.1550, num_neg_rois: 374.3750, loss_rcnn_bbox: 1.2580, loss_rcnn_corner: 0.2996, loss: 4.2774, grad_norm: 2.8387 2022-11-24 13:54:38,360 - mmdet - INFO - Epoch [2][6850/9881] lr: 2.985e-03, eta: 1 day, 0:29:54, time: 0.958, data_time: 0.010, memory: 6294, loss_sem_seg: 0.0011, loss_vote: 0.4482, recall_Car: 0.5260, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 376.7650, num_fg_points: 32052.5825, loss_cls.task0: 0.0482, loss_center.task0: 0.9257, loss_size.task0: 0.2294, loss_rot.task0: 0.2546, loss_cls.task1: 0.0021, loss_center.task1: 0.3146, loss_size.task1: 0.1677, loss_rot.task1: 0.2333, loss_cls.task2: 0.0001, loss_center.task2: 0.0730, loss_size.task2: 0.0201, loss_rot.task2: 0.0378, loss_rcnn_cls: 0.0125, num_pos_rois: 1.3700, num_neg_rois: 364.1250, loss_rcnn_bbox: 1.3451, loss_rcnn_corner: 0.2275, loss: 4.3410, grad_norm: 3.6417 2022-11-24 13:55:25,755 - mmdet - INFO - Epoch [2][6900/9881] lr: 2.984e-03, eta: 1 day, 0:29:35, time: 0.948, data_time: 0.011, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4858, recall_Car: 0.3976, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 365.0825, num_fg_points: 24070.9900, loss_cls.task0: 0.0459, loss_center.task0: 0.9666, loss_size.task0: 0.2413, loss_rot.task0: 0.2542, loss_cls.task1: 0.0017, loss_center.task1: 0.2961, loss_size.task1: 0.1505, loss_rot.task1: 0.2164, loss_cls.task2: 0.0001, loss_center.task2: 0.0678, loss_size.task2: 0.0217, loss_rot.task2: 0.0375, loss_rcnn_cls: 0.0164, num_pos_rois: 1.7350, num_neg_rois: 346.0975, loss_rcnn_bbox: 1.3362, loss_rcnn_corner: 0.2704, loss: 4.4096, grad_norm: 3.8512 2022-11-24 13:56:15,990 - mmdet - INFO - Epoch [2][6950/9881] lr: 2.984e-03, eta: 1 day, 0:29:34, time: 1.005, data_time: 0.243, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.4252, recall_Car: 0.4364, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 352.8950, num_fg_points: 21315.8350, loss_cls.task0: 0.0516, loss_center.task0: 0.8545, loss_size.task0: 0.2161, loss_rot.task0: 0.2531, loss_cls.task1: 0.0019, loss_center.task1: 0.3214, loss_size.task1: 0.1839, loss_rot.task1: 0.2179, loss_cls.task2: 0.0001, loss_center.task2: 0.0616, loss_size.task2: 0.0283, loss_rot.task2: 0.0369, loss_rcnn_cls: 0.0222, num_pos_rois: 2.3725, num_neg_rois: 320.8175, loss_rcnn_bbox: 1.3065, loss_rcnn_corner: 0.3153, loss: 4.2975, grad_norm: 3.1870 2022-11-24 13:57:04,605 - mmdet - INFO - Epoch [2][7000/9881] lr: 2.984e-03, eta: 1 day, 0:29:22, time: 0.972, data_time: 0.417, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3842, recall_Car: 0.5211, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 355.2200, num_fg_points: 25304.4950, loss_cls.task0: 0.0514, loss_center.task0: 0.8269, loss_size.task0: 0.2207, loss_rot.task0: 0.2536, loss_cls.task1: 0.0020, loss_center.task1: 0.3515, loss_size.task1: 0.1920, loss_rot.task1: 0.2383, loss_cls.task2: 0.0001, loss_center.task2: 0.0524, loss_size.task2: 0.0149, loss_rot.task2: 0.0258, loss_rcnn_cls: 0.0256, num_pos_rois: 3.4150, num_neg_rois: 342.9325, loss_rcnn_bbox: 1.3029, loss_rcnn_corner: 0.3583, loss: 4.3016, grad_norm: 2.6833 2022-11-24 13:57:50,581 - mmdet - INFO - Epoch [2][7050/9881] lr: 2.983e-03, eta: 1 day, 0:28:55, time: 0.920, data_time: 0.377, memory: 6294, loss_sem_seg: 0.0009, loss_vote: 0.3924, recall_Car: 0.5678, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 390.2425, num_fg_points: 27720.1975, loss_cls.task0: 0.0479, loss_center.task0: 0.8413, loss_size.task0: 0.2184, loss_rot.task0: 0.2541, loss_cls.task1: 0.0024, loss_center.task1: 0.3399, loss_size.task1: 0.1524, loss_rot.task1: 0.2301, loss_cls.task2: 0.0001, loss_center.task2: 0.0654, loss_size.task2: 0.0313, loss_rot.task2: 0.0372, loss_rcnn_cls: 0.0232, num_pos_rois: 3.2325, num_neg_rois: 368.6400, loss_rcnn_bbox: 1.2533, loss_rcnn_corner: 0.2882, loss: 4.1786, grad_norm: 2.7567 2022-11-24 13:58:41,049 - mmdet - INFO - Epoch [2][7100/9881] lr: 2.983e-03, eta: 1 day, 0:28:54, time: 1.009, data_time: 0.085, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4135, recall_Car: 0.5813, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 607.5100, num_fg_points: 28325.4200, loss_cls.task0: 0.0410, loss_center.task0: 0.9814, loss_size.task0: 0.2325, loss_rot.task0: 0.2546, loss_cls.task1: 0.0024, loss_center.task1: 0.3521, loss_size.task1: 0.1612, loss_rot.task1: 0.2497, loss_cls.task2: 0.0002, loss_center.task2: 0.1663, loss_size.task2: 0.0485, loss_rot.task2: 0.0824, loss_rcnn_cls: 0.0172, num_pos_rois: 2.4625, num_neg_rois: 463.0175, loss_rcnn_bbox: 1.1878, loss_rcnn_corner: 0.2521, loss: 4.4440, grad_norm: 2.7522 2022-11-24 13:59:30,875 - mmdet - INFO - Epoch [2][7150/9881] lr: 2.983e-03, eta: 1 day, 0:28:49, time: 0.996, data_time: 0.083, memory: 6294, loss_sem_seg: 0.0010, loss_vote: 0.4155, recall_Car: 0.5399, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 483.7125, num_fg_points: 25690.2675, loss_cls.task0: 0.0459, loss_center.task0: 0.8984, loss_size.task0: 0.2160, loss_rot.task0: 0.2527, loss_cls.task1: 0.0023, loss_center.task1: 0.3567, loss_size.task1: 0.1754, loss_rot.task1: 0.2436, loss_cls.task2: 0.0000, loss_center.task2: 0.0486, loss_size.task2: 0.0110, loss_rot.task2: 0.0206, loss_rcnn_cls: 0.0195, num_pos_rois: 2.7900, num_neg_rois: 426.4200, loss_rcnn_bbox: 1.1450, loss_rcnn_corner: 0.2212, loss: 4.0733, grad_norm: 2.7571 2022-11-24 14:00:20,137 - mmdet - INFO - Epoch [2][7200/9881] lr: 2.982e-03, eta: 1 day, 0:28:41, time: 0.986, data_time: 0.175, memory: 6993, loss_sem_seg: 0.0011, loss_vote: 0.4562, recall_Car: 0.5492, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 515.7750, num_fg_points: 35788.8175, loss_cls.task0: 0.0432, loss_center.task0: 0.9747, loss_size.task0: 0.2274, loss_rot.task0: 0.2554, loss_cls.task1: 0.0023, loss_center.task1: 0.3505, loss_size.task1: 0.1627, loss_rot.task1: 0.2455, loss_cls.task2: 0.0001, loss_center.task2: 0.1225, loss_size.task2: 0.0270, loss_rot.task2: 0.0645, loss_rcnn_cls: 0.0090, num_pos_rois: 1.0875, num_neg_rois: 433.9450, loss_rcnn_bbox: 1.1596, loss_rcnn_corner: 0.1594, loss: 4.2611, grad_norm: 3.4247 2022-11-24 14:01:09,459 - mmdet - INFO - Epoch [2][7250/9881] lr: 2.982e-03, eta: 1 day, 0:28:32, time: 0.986, data_time: 0.011, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3994, recall_Car: 0.4887, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 417.4725, num_fg_points: 26940.5425, loss_cls.task0: 0.0504, loss_center.task0: 0.9044, loss_size.task0: 0.2134, loss_rot.task0: 0.2537, loss_cls.task1: 0.0016, loss_center.task1: 0.3591, loss_size.task1: 0.1835, loss_rot.task1: 0.2448, loss_cls.task2: 0.0001, loss_center.task2: 0.0897, loss_size.task2: 0.0170, loss_rot.task2: 0.0313, loss_rcnn_cls: 0.0207, num_pos_rois: 2.6475, num_neg_rois: 391.2525, loss_rcnn_bbox: 1.1170, loss_rcnn_corner: 0.2105, loss: 4.0977, grad_norm: 3.0362 2022-11-24 14:01:59,054 - mmdet - INFO - Epoch [2][7300/9881] lr: 2.982e-03, eta: 1 day, 0:28:25, time: 0.993, data_time: 0.059, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.4032, recall_Car: 0.5539, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 321.5125, num_fg_points: 25758.4275, loss_cls.task0: 0.0569, loss_center.task0: 0.8725, loss_size.task0: 0.2192, loss_rot.task0: 0.2545, loss_cls.task1: 0.0018, loss_center.task1: 0.3291, loss_size.task1: 0.1670, loss_rot.task1: 0.2281, loss_cls.task2: 0.0001, loss_center.task2: 0.0374, loss_size.task2: 0.0077, loss_rot.task2: 0.0213, loss_rcnn_cls: 0.0291, num_pos_rois: 3.6075, num_neg_rois: 313.7825, loss_rcnn_bbox: 1.0577, loss_rcnn_corner: 0.1899, loss: 3.8764, grad_norm: 2.7571 2022-11-24 14:02:47,618 - mmdet - INFO - Epoch [2][7350/9881] lr: 2.981e-03, eta: 1 day, 0:28:12, time: 0.971, data_time: 0.154, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3997, recall_Car: 0.5608, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 275.1825, num_fg_points: 21855.2025, loss_cls.task0: 0.0618, loss_center.task0: 0.8469, loss_size.task0: 0.2156, loss_rot.task0: 0.2518, loss_cls.task1: 0.0018, loss_center.task1: 0.2873, loss_size.task1: 0.1711, loss_rot.task1: 0.2156, loss_cls.task2: 0.0001, loss_center.task2: 0.0415, loss_size.task2: 0.0095, loss_rot.task2: 0.0158, loss_rcnn_cls: 0.0265, num_pos_rois: 2.8925, num_neg_rois: 272.1700, loss_rcnn_bbox: 1.0677, loss_rcnn_corner: 0.1861, loss: 3.7997, grad_norm: 3.0911 2022-11-24 14:03:35,948 - mmdet - INFO - Epoch [2][7400/9881] lr: 2.981e-03, eta: 1 day, 0:27:57, time: 0.967, data_time: 0.010, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3747, recall_Car: 0.5889, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 325.9725, num_fg_points: 29279.5650, loss_cls.task0: 0.0552, loss_center.task0: 0.8394, loss_size.task0: 0.2110, loss_rot.task0: 0.2535, loss_cls.task1: 0.0020, loss_center.task1: 0.3378, loss_size.task1: 0.1736, loss_rot.task1: 0.2277, loss_cls.task2: 0.0001, loss_center.task2: 0.0389, loss_size.task2: 0.0084, loss_rot.task2: 0.0256, loss_rcnn_cls: 0.0304, num_pos_rois: 3.9875, num_neg_rois: 318.6375, loss_rcnn_bbox: 1.0419, loss_rcnn_corner: 0.1776, loss: 3.7986, grad_norm: 2.9289 2022-11-24 14:04:26,091 - mmdet - INFO - Epoch [2][7450/9881] lr: 2.981e-03, eta: 1 day, 0:27:52, time: 1.003, data_time: 0.049, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3921, recall_Car: 0.5869, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 430.0050, num_fg_points: 25833.2300, loss_cls.task0: 0.0478, loss_center.task0: 0.8521, loss_size.task0: 0.2179, loss_rot.task0: 0.2567, loss_cls.task1: 0.0018, loss_center.task1: 0.3135, loss_size.task1: 0.1528, loss_rot.task1: 0.2191, loss_cls.task2: 0.0001, loss_center.task2: 0.0531, loss_size.task2: 0.0131, loss_rot.task2: 0.0257, loss_rcnn_cls: 0.0260, num_pos_rois: 4.0375, num_neg_rois: 393.8600, loss_rcnn_bbox: 1.0174, loss_rcnn_corner: 0.1591, loss: 3.7493, grad_norm: 2.6078 2022-11-24 14:05:17,496 - mmdet - INFO - Epoch [2][7500/9881] lr: 2.980e-03, eta: 1 day, 0:27:55, time: 1.027, data_time: 0.009, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3890, recall_Car: 0.6394, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 386.2375, num_fg_points: 30223.8275, loss_cls.task0: 0.0512, loss_center.task0: 0.8682, loss_size.task0: 0.2275, loss_rot.task0: 0.2570, loss_cls.task1: 0.0021, loss_center.task1: 0.3277, loss_size.task1: 0.1982, loss_rot.task1: 0.2447, loss_cls.task2: 0.0001, loss_center.task2: 0.0652, loss_size.task2: 0.0211, loss_rot.task2: 0.0381, loss_rcnn_cls: 0.0252, num_pos_rois: 3.6400, num_neg_rois: 364.1050, loss_rcnn_bbox: 1.0274, loss_rcnn_corner: 0.1613, loss: 3.9051, grad_norm: 2.8910 2022-11-24 14:06:06,277 - mmdet - INFO - Epoch [2][7550/9881] lr: 2.980e-03, eta: 1 day, 0:27:42, time: 0.976, data_time: 0.056, memory: 6993, loss_sem_seg: 0.0011, loss_vote: 0.3806, recall_Car: 0.6384, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 347.0150, num_fg_points: 35187.3975, loss_cls.task0: 0.0537, loss_center.task0: 0.8642, loss_size.task0: 0.2184, loss_rot.task0: 0.2542, loss_cls.task1: 0.0017, loss_center.task1: 0.3310, loss_size.task1: 0.1660, loss_rot.task1: 0.2259, loss_cls.task2: 0.0001, loss_center.task2: 0.0576, loss_size.task2: 0.0188, loss_rot.task2: 0.0272, loss_rcnn_cls: 0.0216, num_pos_rois: 2.7350, num_neg_rois: 334.8750, loss_rcnn_bbox: 1.0252, loss_rcnn_corner: 0.1437, loss: 3.7911, grad_norm: 3.0742 2022-11-24 14:06:54,992 - mmdet - INFO - Epoch [2][7600/9881] lr: 2.979e-03, eta: 1 day, 0:27:28, time: 0.975, data_time: 0.430, memory: 6993, loss_sem_seg: 0.0008, loss_vote: 0.3727, recall_Car: 0.5255, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 208.8575, num_fg_points: 20338.7075, loss_cls.task0: 0.0680, loss_center.task0: 0.7646, loss_size.task0: 0.2073, loss_rot.task0: 0.2531, loss_cls.task1: 0.0014, loss_center.task1: 0.2895, loss_size.task1: 0.1218, loss_rot.task1: 0.1953, loss_cls.task2: 0.0000, loss_center.task2: 0.0095, loss_size.task2: 0.0021, loss_rot.task2: 0.0042, loss_rcnn_cls: 0.0289, num_pos_rois: 2.4850, num_neg_rois: 206.3725, loss_rcnn_bbox: 0.9951, loss_rcnn_corner: 0.1413, loss: 3.4555, grad_norm: 3.2279 2022-11-24 14:07:44,736 - mmdet - INFO - Epoch [2][7650/9881] lr: 2.979e-03, eta: 1 day, 0:27:20, time: 0.995, data_time: 0.452, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.4189, recall_Car: 0.5424, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 254.2725, num_fg_points: 25403.4225, loss_cls.task0: 0.0631, loss_center.task0: 0.8503, loss_size.task0: 0.2046, loss_rot.task0: 0.2531, loss_cls.task1: 0.0018, loss_center.task1: 0.3006, loss_size.task1: 0.1758, loss_rot.task1: 0.2163, loss_cls.task2: 0.0001, loss_center.task2: 0.0316, loss_size.task2: 0.0075, loss_rot.task2: 0.0222, loss_rcnn_cls: 0.0125, num_pos_rois: 0.9500, num_neg_rois: 253.2850, loss_rcnn_bbox: 1.2610, loss_rcnn_corner: 0.1672, loss: 3.9876, grad_norm: 4.2177 2022-11-24 14:08:35,628 - mmdet - INFO - Epoch [2][7700/9881] lr: 2.979e-03, eta: 1 day, 0:27:19, time: 1.018, data_time: 0.255, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.4024, recall_Car: 0.5212, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 216.1750, num_fg_points: 23206.9650, loss_cls.task0: 0.0656, loss_center.task0: 0.8675, loss_size.task0: 0.2085, loss_rot.task0: 0.2506, loss_cls.task1: 0.0015, loss_center.task1: 0.2565, loss_size.task1: 0.1409, loss_rot.task1: 0.1746, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0236, num_pos_rois: 1.8925, num_neg_rois: 214.2825, loss_rcnn_bbox: 1.2941, loss_rcnn_corner: 0.2759, loss: 3.9628, grad_norm: 3.3631 2022-11-24 14:09:25,509 - mmdet - INFO - Epoch [2][7750/9881] lr: 2.978e-03, eta: 1 day, 0:27:11, time: 0.998, data_time: 0.107, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.4001, recall_Car: 0.4958, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 285.1600, num_fg_points: 24131.8250, loss_cls.task0: 0.0569, loss_center.task0: 0.8484, loss_size.task0: 0.2168, loss_rot.task0: 0.2545, loss_cls.task1: 0.0023, loss_center.task1: 0.3454, loss_size.task1: 0.1816, loss_rot.task1: 0.2358, loss_cls.task2: 0.0001, loss_center.task2: 0.0473, loss_size.task2: 0.0103, loss_rot.task2: 0.0204, loss_rcnn_cls: 0.0134, num_pos_rois: 1.3075, num_neg_rois: 282.0850, loss_rcnn_bbox: 1.3596, loss_rcnn_corner: 0.2677, loss: 4.2615, grad_norm: 3.2926 2022-11-24 14:10:14,341 - mmdet - INFO - Epoch [2][7800/9881] lr: 2.978e-03, eta: 1 day, 0:26:58, time: 0.977, data_time: 0.009, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3972, recall_Car: 0.4195, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 246.3150, num_fg_points: 19566.2700, loss_cls.task0: 0.0576, loss_center.task0: 0.8051, loss_size.task0: 0.2195, loss_rot.task0: 0.2540, loss_cls.task1: 0.0020, loss_center.task1: 0.2918, loss_size.task1: 0.1604, loss_rot.task1: 0.2143, loss_cls.task2: 0.0002, loss_center.task2: 0.0758, loss_size.task2: 0.0292, loss_rot.task2: 0.0291, loss_rcnn_cls: 0.0143, num_pos_rois: 1.0750, num_neg_rois: 245.0950, loss_rcnn_bbox: 1.4429, loss_rcnn_corner: 0.3111, loss: 4.3053, grad_norm: 3.5046 2022-11-24 14:11:05,270 - mmdet - INFO - Epoch [2][7850/9881] lr: 2.978e-03, eta: 1 day, 0:26:55, time: 1.019, data_time: 0.008, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3754, recall_Car: 0.4943, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 324.8875, num_fg_points: 21406.6575, loss_cls.task0: 0.0552, loss_center.task0: 0.7700, loss_size.task0: 0.2048, loss_rot.task0: 0.2533, loss_cls.task1: 0.0022, loss_center.task1: 0.3285, loss_size.task1: 0.1598, loss_rot.task1: 0.2280, loss_cls.task2: 0.0001, loss_center.task2: 0.0613, loss_size.task2: 0.0179, loss_rot.task2: 0.0319, loss_rcnn_cls: 0.0154, num_pos_rois: 1.6600, num_neg_rois: 321.5800, loss_rcnn_bbox: 1.3713, loss_rcnn_corner: 0.2907, loss: 4.1667, grad_norm: 3.1067 2022-11-24 14:11:53,516 - mmdet - INFO - Epoch [2][7900/9881] lr: 2.977e-03, eta: 1 day, 0:26:38, time: 0.965, data_time: 0.146, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3819, recall_Car: 0.5564, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 344.4150, num_fg_points: 25734.1325, loss_cls.task0: 0.0550, loss_center.task0: 0.8080, loss_size.task0: 0.2112, loss_rot.task0: 0.2544, loss_cls.task1: 0.0016, loss_center.task1: 0.3267, loss_size.task1: 0.1715, loss_rot.task1: 0.2226, loss_cls.task2: 0.0001, loss_center.task2: 0.0609, loss_size.task2: 0.0168, loss_rot.task2: 0.0239, loss_rcnn_cls: 0.0152, num_pos_rois: 1.8300, num_neg_rois: 337.1125, loss_rcnn_bbox: 1.4141, loss_rcnn_corner: 0.3345, loss: 4.2993, grad_norm: 3.3535 2022-11-24 14:12:42,775 - mmdet - INFO - Epoch [2][7950/9881] lr: 2.977e-03, eta: 1 day, 0:26:26, time: 0.985, data_time: 0.085, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3671, recall_Car: 0.5375, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 313.8825, num_fg_points: 26474.3675, loss_cls.task0: 0.0550, loss_center.task0: 0.7648, loss_size.task0: 0.2169, loss_rot.task0: 0.2538, loss_cls.task1: 0.0016, loss_center.task1: 0.3075, loss_size.task1: 0.1563, loss_rot.task1: 0.2166, loss_cls.task2: 0.0001, loss_center.task2: 0.0565, loss_size.task2: 0.0149, loss_rot.task2: 0.0310, loss_rcnn_cls: 0.0168, num_pos_rois: 1.7900, num_neg_rois: 310.6200, loss_rcnn_bbox: 1.3924, loss_rcnn_corner: 0.3611, loss: 4.2133, grad_norm: 2.9870 2022-11-24 14:13:33,158 - mmdet - INFO - Epoch [2][8000/9881] lr: 2.976e-03, eta: 1 day, 0:26:20, time: 1.008, data_time: 0.274, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3667, recall_Car: 0.5760, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 381.4600, num_fg_points: 25471.4175, loss_cls.task0: 0.0507, loss_center.task0: 0.7688, loss_size.task0: 0.2161, loss_rot.task0: 0.2542, loss_cls.task1: 0.0017, loss_center.task1: 0.3241, loss_size.task1: 0.1727, loss_rot.task1: 0.2278, loss_cls.task2: 0.0001, loss_center.task2: 0.0465, loss_size.task2: 0.0179, loss_rot.task2: 0.0293, loss_rcnn_cls: 0.0272, num_pos_rois: 3.7250, num_neg_rois: 363.5800, loss_rcnn_bbox: 1.3538, loss_rcnn_corner: 0.3728, loss: 4.2315, grad_norm: 2.9369 2022-11-24 14:14:20,866 - mmdet - INFO - Epoch [2][8050/9881] lr: 2.976e-03, eta: 1 day, 0:25:59, time: 0.953, data_time: 0.104, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3446, recall_Car: 0.5787, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 355.8100, num_fg_points: 25054.7025, loss_cls.task0: 0.0540, loss_center.task0: 0.7335, loss_size.task0: 0.2144, loss_rot.task0: 0.2539, loss_cls.task1: 0.0014, loss_center.task1: 0.3022, loss_size.task1: 0.1652, loss_rot.task1: 0.2197, loss_cls.task2: 0.0001, loss_center.task2: 0.0454, loss_size.task2: 0.0247, loss_rot.task2: 0.0235, loss_rcnn_cls: 0.0175, num_pos_rois: 2.0525, num_neg_rois: 341.9575, loss_rcnn_bbox: 1.3478, loss_rcnn_corner: 0.3344, loss: 4.0831, grad_norm: 3.2450 2022-11-24 14:15:12,602 - mmdet - INFO - Epoch [2][8100/9881] lr: 2.976e-03, eta: 1 day, 0:26:00, time: 1.035, data_time: 0.051, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3682, recall_Car: 0.4863, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 277.6925, num_fg_points: 19109.3625, loss_cls.task0: 0.0599, loss_center.task0: 0.7572, loss_size.task0: 0.2381, loss_rot.task0: 0.2546, loss_cls.task1: 0.0016, loss_center.task1: 0.3458, loss_size.task1: 0.1687, loss_rot.task1: 0.2245, loss_cls.task2: 0.0000, loss_center.task2: 0.0166, loss_size.task2: 0.0063, loss_rot.task2: 0.0045, loss_rcnn_cls: 0.0168, num_pos_rois: 1.5250, num_neg_rois: 267.8900, loss_rcnn_bbox: 1.4296, loss_rcnn_corner: 0.3167, loss: 4.2098, grad_norm: 3.3503 2022-11-24 14:16:01,292 - mmdet - INFO - Epoch [2][8150/9881] lr: 2.975e-03, eta: 1 day, 0:25:44, time: 0.974, data_time: 0.010, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3527, recall_Car: 0.5879, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 446.7850, num_fg_points: 23153.4875, loss_cls.task0: 0.0515, loss_center.task0: 0.7840, loss_size.task0: 0.2282, loss_rot.task0: 0.2549, loss_cls.task1: 0.0015, loss_center.task1: 0.3130, loss_size.task1: 0.1846, loss_rot.task1: 0.2390, loss_cls.task2: 0.0001, loss_center.task2: 0.0493, loss_size.task2: 0.0089, loss_rot.task2: 0.0268, loss_rcnn_cls: 0.0172, num_pos_rois: 2.1825, num_neg_rois: 366.9700, loss_rcnn_bbox: 1.3617, loss_rcnn_corner: 0.3467, loss: 4.2212, grad_norm: 3.1185 2022-11-24 14:16:47,944 - mmdet - INFO - Epoch [2][8200/9881] lr: 2.975e-03, eta: 1 day, 0:25:17, time: 0.933, data_time: 0.008, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3575, recall_Car: 0.6112, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 481.5375, num_fg_points: 27489.1425, loss_cls.task0: 0.0479, loss_center.task0: 0.8201, loss_size.task0: 0.2338, loss_rot.task0: 0.2535, loss_cls.task1: 0.0017, loss_center.task1: 0.3537, loss_size.task1: 0.1602, loss_rot.task1: 0.2512, loss_cls.task2: 0.0001, loss_center.task2: 0.0597, loss_size.task2: 0.0287, loss_rot.task2: 0.0313, loss_rcnn_cls: 0.0290, num_pos_rois: 4.1250, num_neg_rois: 401.8825, loss_rcnn_bbox: 1.3300, loss_rcnn_corner: 0.3852, loss: 4.3446, grad_norm: 2.9373 2022-11-24 14:17:39,042 - mmdet - INFO - Epoch [2][8250/9881] lr: 2.974e-03, eta: 1 day, 0:25:14, time: 1.022, data_time: 0.008, memory: 6993, loss_sem_seg: 0.0008, loss_vote: 0.3504, recall_Car: 0.5753, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 316.5900, num_fg_points: 23605.4875, loss_cls.task0: 0.0555, loss_center.task0: 0.7424, loss_size.task0: 0.2160, loss_rot.task0: 0.2541, loss_cls.task1: 0.0015, loss_center.task1: 0.3078, loss_size.task1: 0.1672, loss_rot.task1: 0.2127, loss_cls.task2: 0.0000, loss_center.task2: 0.0195, loss_size.task2: 0.0115, loss_rot.task2: 0.0107, loss_rcnn_cls: 0.0257, num_pos_rois: 2.8175, num_neg_rois: 308.1825, loss_rcnn_bbox: 1.3506, loss_rcnn_corner: 0.3378, loss: 4.0643, grad_norm: 2.9408 2022-11-24 14:18:27,092 - mmdet - INFO - Epoch [2][8300/9881] lr: 2.974e-03, eta: 1 day, 0:24:53, time: 0.960, data_time: 0.008, memory: 6993, loss_sem_seg: 0.0008, loss_vote: 0.3489, recall_Car: 0.5238, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 291.4775, num_fg_points: 18628.5400, loss_cls.task0: 0.0557, loss_center.task0: 0.7544, loss_size.task0: 0.2219, loss_rot.task0: 0.2550, loss_cls.task1: 0.0014, loss_center.task1: 0.2970, loss_size.task1: 0.1855, loss_rot.task1: 0.2042, loss_cls.task2: 0.0001, loss_center.task2: 0.0404, loss_size.task2: 0.0067, loss_rot.task2: 0.0208, loss_rcnn_cls: 0.0155, num_pos_rois: 1.6125, num_neg_rois: 289.0750, loss_rcnn_bbox: 1.4422, loss_rcnn_corner: 0.3598, loss: 4.2105, grad_norm: 3.4348 2022-11-24 14:19:19,644 - mmdet - INFO - Epoch [2][8350/9881] lr: 2.974e-03, eta: 1 day, 0:24:58, time: 1.052, data_time: 0.564, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3521, recall_Car: 0.5220, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 290.2950, num_fg_points: 21215.4150, loss_cls.task0: 0.0559, loss_center.task0: 0.7488, loss_size.task0: 0.2179, loss_rot.task0: 0.2552, loss_cls.task1: 0.0016, loss_center.task1: 0.2984, loss_size.task1: 0.1650, loss_rot.task1: 0.2178, loss_cls.task2: 0.0000, loss_center.task2: 0.0155, loss_size.task2: 0.0074, loss_rot.task2: 0.0089, loss_rcnn_cls: 0.0187, num_pos_rois: 1.9700, num_neg_rois: 287.3150, loss_rcnn_bbox: 1.4296, loss_rcnn_corner: 0.3521, loss: 4.1458, grad_norm: 3.0564 2022-11-24 14:20:07,960 - mmdet - INFO - Epoch [2][8400/9881] lr: 2.973e-03, eta: 1 day, 0:24:39, time: 0.966, data_time: 0.135, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3747, recall_Car: 0.5311, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 256.8850, num_fg_points: 22774.9475, loss_cls.task0: 0.0597, loss_center.task0: 0.8099, loss_size.task0: 0.2141, loss_rot.task0: 0.2546, loss_cls.task1: 0.0021, loss_center.task1: 0.3131, loss_size.task1: 0.1633, loss_rot.task1: 0.2187, loss_cls.task2: 0.0001, loss_center.task2: 0.0523, loss_size.task2: 0.0102, loss_rot.task2: 0.0217, loss_rcnn_cls: 0.0271, num_pos_rois: 2.4675, num_neg_rois: 254.3175, loss_rcnn_bbox: 1.2679, loss_rcnn_corner: 0.3022, loss: 4.0927, grad_norm: 3.0380 2022-11-24 14:20:57,821 - mmdet - INFO - Epoch [2][8450/9881] lr: 2.973e-03, eta: 1 day, 0:24:28, time: 0.997, data_time: 0.008, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.4117, recall_Car: 0.5344, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 376.4350, num_fg_points: 26193.5775, loss_cls.task0: 0.0530, loss_center.task0: 0.9076, loss_size.task0: 0.2207, loss_rot.task0: 0.2518, loss_cls.task1: 0.0020, loss_center.task1: 0.3334, loss_size.task1: 0.1487, loss_rot.task1: 0.2079, loss_cls.task2: 0.0001, loss_center.task2: 0.0638, loss_size.task2: 0.0151, loss_rot.task2: 0.0356, loss_rcnn_cls: 0.0206, num_pos_rois: 2.5450, num_neg_rois: 357.0175, loss_rcnn_bbox: 1.3589, loss_rcnn_corner: 0.3357, loss: 4.3674, grad_norm: 3.1266 2022-11-24 14:21:46,244 - mmdet - INFO - Epoch [2][8500/9881] lr: 2.972e-03, eta: 1 day, 0:24:10, time: 0.968, data_time: 0.008, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3718, recall_Car: 0.4993, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 346.7700, num_fg_points: 20716.3250, loss_cls.task0: 0.0547, loss_center.task0: 0.8126, loss_size.task0: 0.2221, loss_rot.task0: 0.2549, loss_cls.task1: 0.0019, loss_center.task1: 0.3385, loss_size.task1: 0.1616, loss_rot.task1: 0.2230, loss_cls.task2: 0.0000, loss_center.task2: 0.0055, loss_size.task2: 0.0038, loss_rot.task2: 0.0043, loss_rcnn_cls: 0.0192, num_pos_rois: 1.9775, num_neg_rois: 336.4075, loss_rcnn_bbox: 1.3698, loss_rcnn_corner: 0.3134, loss: 4.1581, grad_norm: 3.1726 2022-11-24 14:22:35,281 - mmdet - INFO - Epoch [2][8550/9881] lr: 2.972e-03, eta: 1 day, 0:23:54, time: 0.981, data_time: 0.220, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3610, recall_Car: 0.5418, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 400.9525, num_fg_points: 23834.2600, loss_cls.task0: 0.0511, loss_center.task0: 0.7795, loss_size.task0: 0.2123, loss_rot.task0: 0.2543, loss_cls.task1: 0.0019, loss_center.task1: 0.3532, loss_size.task1: 0.1675, loss_rot.task1: 0.2325, loss_cls.task2: 0.0001, loss_center.task2: 0.0499, loss_size.task2: 0.0141, loss_rot.task2: 0.0258, loss_rcnn_cls: 0.0160, num_pos_rois: 1.7625, num_neg_rois: 382.8425, loss_rcnn_bbox: 1.3500, loss_rcnn_corner: 0.3022, loss: 4.1724, grad_norm: 3.0999 2022-11-24 14:23:26,306 - mmdet - INFO - Epoch [2][8600/9881] lr: 2.972e-03, eta: 1 day, 0:23:49, time: 1.020, data_time: 0.010, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3923, recall_Car: 0.4547, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 360.3800, num_fg_points: 19324.1825, loss_cls.task0: 0.0520, loss_center.task0: 0.8164, loss_size.task0: 0.2138, loss_rot.task0: 0.2531, loss_cls.task1: 0.0022, loss_center.task1: 0.3282, loss_size.task1: 0.1740, loss_rot.task1: 0.2339, loss_cls.task2: 0.0001, loss_center.task2: 0.0301, loss_size.task2: 0.0078, loss_rot.task2: 0.0154, loss_rcnn_cls: 0.0159, num_pos_rois: 1.6975, num_neg_rois: 339.4500, loss_rcnn_bbox: 1.2715, loss_rcnn_corner: 0.2607, loss: 4.0682, grad_norm: 3.2883 2022-11-24 14:24:15,084 - mmdet - INFO - Epoch [2][8650/9881] lr: 2.971e-03, eta: 1 day, 0:23:31, time: 0.976, data_time: 0.014, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.4461, recall_Car: 0.3888, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 308.4200, num_fg_points: 20920.6300, loss_cls.task0: 0.0560, loss_center.task0: 0.9186, loss_size.task0: 0.2242, loss_rot.task0: 0.2541, loss_cls.task1: 0.0019, loss_center.task1: 0.3052, loss_size.task1: 0.1548, loss_rot.task1: 0.2151, loss_cls.task2: 0.0001, loss_center.task2: 0.0412, loss_size.task2: 0.0146, loss_rot.task2: 0.0199, loss_rcnn_cls: 0.0112, num_pos_rois: 0.9025, num_neg_rois: 296.8275, loss_rcnn_bbox: 1.4123, loss_rcnn_corner: 0.2310, loss: 4.3072, grad_norm: 3.9718 2022-11-24 14:25:06,077 - mmdet - INFO - Epoch [2][8700/9881] lr: 2.971e-03, eta: 1 day, 0:23:26, time: 1.020, data_time: 0.312, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.4013, recall_Car: 0.5223, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 320.1325, num_fg_points: 27620.2100, loss_cls.task0: 0.0511, loss_center.task0: 0.8910, loss_size.task0: 0.2268, loss_rot.task0: 0.2530, loss_cls.task1: 0.0022, loss_center.task1: 0.3237, loss_size.task1: 0.1611, loss_rot.task1: 0.2309, loss_cls.task2: 0.0001, loss_center.task2: 0.0428, loss_size.task2: 0.0081, loss_rot.task2: 0.0200, loss_rcnn_cls: 0.0218, num_pos_rois: 2.3300, num_neg_rois: 315.0125, loss_rcnn_bbox: 1.3224, loss_rcnn_corner: 0.3285, loss: 4.2858, grad_norm: 3.0868 2022-11-24 14:25:57,041 - mmdet - INFO - Epoch [2][8750/9881] lr: 2.970e-03, eta: 1 day, 0:23:20, time: 1.019, data_time: 0.309, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3849, recall_Car: 0.4544, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 240.0425, num_fg_points: 18291.0575, loss_cls.task0: 0.0634, loss_center.task0: 0.8122, loss_size.task0: 0.2208, loss_rot.task0: 0.2537, loss_cls.task1: 0.0019, loss_center.task1: 0.2985, loss_size.task1: 0.1954, loss_rot.task1: 0.2179, loss_cls.task2: 0.0001, loss_center.task2: 0.0432, loss_size.task2: 0.0099, loss_rot.task2: 0.0201, loss_rcnn_cls: 0.0296, num_pos_rois: 2.5200, num_neg_rois: 237.2525, loss_rcnn_bbox: 1.3352, loss_rcnn_corner: 0.3486, loss: 4.2363, grad_norm: 3.1621 2022-11-24 14:26:45,351 - mmdet - INFO - Epoch [2][8800/9881] lr: 2.970e-03, eta: 1 day, 0:22:59, time: 0.966, data_time: 0.116, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3839, recall_Car: 0.4894, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 289.2700, num_fg_points: 24873.7450, loss_cls.task0: 0.0576, loss_center.task0: 0.7935, loss_size.task0: 0.2177, loss_rot.task0: 0.2534, loss_cls.task1: 0.0022, loss_center.task1: 0.2910, loss_size.task1: 0.1460, loss_rot.task1: 0.2216, loss_cls.task2: 0.0001, loss_center.task2: 0.0609, loss_size.task2: 0.0199, loss_rot.task2: 0.0400, loss_rcnn_cls: 0.0172, num_pos_rois: 1.4800, num_neg_rois: 286.8350, loss_rcnn_bbox: 1.3048, loss_rcnn_corner: 0.2369, loss: 4.0478, grad_norm: 3.3374 2022-11-24 14:27:36,326 - mmdet - INFO - Epoch [2][8850/9881] lr: 2.969e-03, eta: 1 day, 0:22:53, time: 1.019, data_time: 0.009, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3859, recall_Car: 0.4721, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 249.5850, num_fg_points: 19824.5200, loss_cls.task0: 0.0604, loss_center.task0: 0.7679, loss_size.task0: 0.2161, loss_rot.task0: 0.2522, loss_cls.task1: 0.0018, loss_center.task1: 0.3006, loss_size.task1: 0.1721, loss_rot.task1: 0.2109, loss_cls.task2: 0.0000, loss_center.task2: 0.0246, loss_size.task2: 0.0066, loss_rot.task2: 0.0092, loss_rcnn_cls: 0.0171, num_pos_rois: 1.4825, num_neg_rois: 247.5175, loss_rcnn_bbox: 1.2035, loss_rcnn_corner: 0.1953, loss: 3.8254, grad_norm: 3.2595 2022-11-24 14:28:27,078 - mmdet - INFO - Epoch [2][8900/9881] lr: 2.969e-03, eta: 1 day, 0:22:45, time: 1.015, data_time: 0.008, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.4107, recall_Car: 0.5132, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 404.3200, num_fg_points: 27257.1325, loss_cls.task0: 0.0514, loss_center.task0: 0.8744, loss_size.task0: 0.2206, loss_rot.task0: 0.2552, loss_cls.task1: 0.0024, loss_center.task1: 0.3159, loss_size.task1: 0.1716, loss_rot.task1: 0.2331, loss_cls.task2: 0.0001, loss_center.task2: 0.1051, loss_size.task2: 0.0307, loss_rot.task2: 0.0507, loss_rcnn_cls: 0.0188, num_pos_rois: 2.3550, num_neg_rois: 365.4950, loss_rcnn_bbox: 1.2574, loss_rcnn_corner: 0.2538, loss: 4.2530, grad_norm: 3.2733 2022-11-24 14:29:16,763 - mmdet - INFO - Epoch [2][8950/9881] lr: 2.969e-03, eta: 1 day, 0:22:31, time: 0.994, data_time: 0.023, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.4112, recall_Car: 0.4063, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 363.2200, num_fg_points: 22237.4300, loss_cls.task0: 0.0517, loss_center.task0: 0.8861, loss_size.task0: 0.2186, loss_rot.task0: 0.2556, loss_cls.task1: 0.0024, loss_center.task1: 0.3630, loss_size.task1: 0.1883, loss_rot.task1: 0.2545, loss_cls.task2: 0.0001, loss_center.task2: 0.0550, loss_size.task2: 0.0284, loss_rot.task2: 0.0437, loss_rcnn_cls: 0.0173, num_pos_rois: 2.0600, num_neg_rois: 354.2375, loss_rcnn_bbox: 1.2728, loss_rcnn_corner: 0.2857, loss: 4.3353, grad_norm: 3.2900 2022-11-24 14:30:05,768 - mmdet - INFO - Epoch [2][9000/9881] lr: 2.968e-03, eta: 1 day, 0:22:14, time: 0.980, data_time: 0.009, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.4101, recall_Car: 0.5025, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 592.8675, num_fg_points: 23090.6375, loss_cls.task0: 0.0459, loss_center.task0: 0.9387, loss_size.task0: 0.2125, loss_rot.task0: 0.2536, loss_cls.task1: 0.0028, loss_center.task1: 0.3413, loss_size.task1: 0.1978, loss_rot.task1: 0.2501, loss_cls.task2: 0.0002, loss_center.task2: 0.0765, loss_size.task2: 0.0341, loss_rot.task2: 0.0408, loss_rcnn_cls: 0.0085, num_pos_rois: 1.0775, num_neg_rois: 459.1925, loss_rcnn_bbox: 1.4062, loss_rcnn_corner: 0.2521, loss: 4.4721, grad_norm: 3.3926 2022-11-24 14:30:56,580 - mmdet - INFO - Epoch [2][9050/9881] lr: 2.968e-03, eta: 1 day, 0:22:06, time: 1.016, data_time: 0.008, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3862, recall_Car: 0.5244, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 435.3500, num_fg_points: 24544.4275, loss_cls.task0: 0.0492, loss_center.task0: 0.8629, loss_size.task0: 0.2154, loss_rot.task0: 0.2548, loss_cls.task1: 0.0025, loss_center.task1: 0.3564, loss_size.task1: 0.1775, loss_rot.task1: 0.2513, loss_cls.task2: 0.0002, loss_center.task2: 0.0982, loss_size.task2: 0.0262, loss_rot.task2: 0.0479, loss_rcnn_cls: 0.0141, num_pos_rois: 1.8375, num_neg_rois: 409.0875, loss_rcnn_bbox: 1.3749, loss_rcnn_corner: 0.3294, loss: 4.4482, grad_norm: 3.2003 2022-11-24 14:31:43,628 - mmdet - INFO - Epoch [2][9100/9881] lr: 2.967e-03, eta: 1 day, 0:21:37, time: 0.940, data_time: 0.011, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3819, recall_Car: 0.4769, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 359.5525, num_fg_points: 20404.6100, loss_cls.task0: 0.0523, loss_center.task0: 0.8263, loss_size.task0: 0.2249, loss_rot.task0: 0.2550, loss_cls.task1: 0.0022, loss_center.task1: 0.3100, loss_size.task1: 0.1663, loss_rot.task1: 0.2338, loss_cls.task2: 0.0001, loss_center.task2: 0.0453, loss_size.task2: 0.0086, loss_rot.task2: 0.0210, loss_rcnn_cls: 0.0241, num_pos_rois: 3.0675, num_neg_rois: 346.3275, loss_rcnn_bbox: 1.3314, loss_rcnn_corner: 0.3613, loss: 4.2455, grad_norm: 2.8323 2022-11-24 14:32:34,724 - mmdet - INFO - Epoch [2][9150/9881] lr: 2.967e-03, eta: 1 day, 0:21:30, time: 1.023, data_time: 0.229, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3637, recall_Car: 0.5687, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 463.0875, num_fg_points: 26728.9175, loss_cls.task0: 0.0459, loss_center.task0: 0.8486, loss_size.task0: 0.2245, loss_rot.task0: 0.2548, loss_cls.task1: 0.0020, loss_center.task1: 0.3709, loss_size.task1: 0.1710, loss_rot.task1: 0.2414, loss_cls.task2: 0.0001, loss_center.task2: 0.0618, loss_size.task2: 0.0176, loss_rot.task2: 0.0363, loss_rcnn_cls: 0.0239, num_pos_rois: 3.9800, num_neg_rois: 420.2600, loss_rcnn_bbox: 1.3439, loss_rcnn_corner: 0.4007, loss: 4.4080, grad_norm: 2.7757 2022-11-24 14:33:27,521 - mmdet - INFO - Epoch [2][9200/9881] lr: 2.966e-03, eta: 1 day, 0:21:32, time: 1.056, data_time: 0.077, memory: 6993, loss_sem_seg: 0.0011, loss_vote: 0.3612, recall_Car: 0.5743, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 415.3300, num_fg_points: 28651.5825, loss_cls.task0: 0.0504, loss_center.task0: 0.8071, loss_size.task0: 0.2200, loss_rot.task0: 0.2540, loss_cls.task1: 0.0022, loss_center.task1: 0.3694, loss_size.task1: 0.2115, loss_rot.task1: 0.2493, loss_cls.task2: 0.0001, loss_center.task2: 0.0706, loss_size.task2: 0.0145, loss_rot.task2: 0.0300, loss_rcnn_cls: 0.0264, num_pos_rois: 4.2650, num_neg_rois: 385.1575, loss_rcnn_bbox: 1.3209, loss_rcnn_corner: 0.3695, loss: 4.3582, grad_norm: 2.5811 2022-11-24 14:34:15,722 - mmdet - INFO - Epoch [2][9250/9881] lr: 2.966e-03, eta: 1 day, 0:21:09, time: 0.964, data_time: 0.127, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3642, recall_Car: 0.5681, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 369.3750, num_fg_points: 28739.0500, loss_cls.task0: 0.0496, loss_center.task0: 0.8010, loss_size.task0: 0.2211, loss_rot.task0: 0.2557, loss_cls.task1: 0.0020, loss_center.task1: 0.3491, loss_size.task1: 0.1876, loss_rot.task1: 0.2370, loss_cls.task2: 0.0002, loss_center.task2: 0.0897, loss_size.task2: 0.0334, loss_rot.task2: 0.0530, loss_rcnn_cls: 0.0150, num_pos_rois: 1.6775, num_neg_rois: 340.7975, loss_rcnn_bbox: 1.3543, loss_rcnn_corner: 0.2782, loss: 4.2920, grad_norm: 3.0761 2022-11-24 14:35:06,227 - mmdet - INFO - Epoch [2][9300/9881] lr: 2.965e-03, eta: 1 day, 0:20:59, time: 1.010, data_time: 0.008, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3529, recall_Car: 0.5100, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 277.6225, num_fg_points: 22199.7100, loss_cls.task0: 0.0601, loss_center.task0: 0.7554, loss_size.task0: 0.2108, loss_rot.task0: 0.2538, loss_cls.task1: 0.0021, loss_center.task1: 0.3059, loss_size.task1: 0.1577, loss_rot.task1: 0.2107, loss_cls.task2: 0.0001, loss_center.task2: 0.0312, loss_size.task2: 0.0126, loss_rot.task2: 0.0160, loss_rcnn_cls: 0.0279, num_pos_rois: 2.6325, num_neg_rois: 273.1600, loss_rcnn_bbox: 1.3865, loss_rcnn_corner: 0.3754, loss: 4.1598, grad_norm: 3.0390 2022-11-24 14:35:55,686 - mmdet - INFO - Epoch [2][9350/9881] lr: 2.965e-03, eta: 1 day, 0:20:42, time: 0.989, data_time: 0.011, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3523, recall_Car: 0.5069, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 272.8350, num_fg_points: 21954.5975, loss_cls.task0: 0.0563, loss_center.task0: 0.7448, loss_size.task0: 0.2154, loss_rot.task0: 0.2544, loss_cls.task1: 0.0016, loss_center.task1: 0.2824, loss_size.task1: 0.1562, loss_rot.task1: 0.1965, loss_cls.task2: 0.0001, loss_center.task2: 0.0830, loss_size.task2: 0.0188, loss_rot.task2: 0.0394, loss_rcnn_cls: 0.0318, num_pos_rois: 3.5600, num_neg_rois: 268.8475, loss_rcnn_bbox: 1.3509, loss_rcnn_corner: 0.3637, loss: 4.1487, grad_norm: 3.1169 2022-11-24 14:36:45,775 - mmdet - INFO - Epoch [2][9400/9881] lr: 2.964e-03, eta: 1 day, 0:20:29, time: 1.002, data_time: 0.062, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3512, recall_Car: 0.5488, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 312.4150, num_fg_points: 25878.6400, loss_cls.task0: 0.0545, loss_center.task0: 0.7576, loss_size.task0: 0.2201, loss_rot.task0: 0.2538, loss_cls.task1: 0.0017, loss_center.task1: 0.3246, loss_size.task1: 0.1682, loss_rot.task1: 0.2305, loss_cls.task2: 0.0001, loss_center.task2: 0.0669, loss_size.task2: 0.0181, loss_rot.task2: 0.0292, loss_rcnn_cls: 0.0293, num_pos_rois: 3.8850, num_neg_rois: 307.7150, loss_rcnn_bbox: 1.2804, loss_rcnn_corner: 0.3391, loss: 4.1263, grad_norm: 2.8887 2022-11-24 14:37:35,662 - mmdet - INFO - Epoch [2][9450/9881] lr: 2.964e-03, eta: 1 day, 0:20:14, time: 0.998, data_time: 0.109, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3646, recall_Car: 0.5332, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 277.2375, num_fg_points: 21516.2625, loss_cls.task0: 0.0599, loss_center.task0: 0.7721, loss_size.task0: 0.2238, loss_rot.task0: 0.2559, loss_cls.task1: 0.0013, loss_center.task1: 0.2694, loss_size.task1: 0.1461, loss_rot.task1: 0.1966, loss_cls.task2: 0.0001, loss_center.task2: 0.0439, loss_size.task2: 0.0251, loss_rot.task2: 0.0211, loss_rcnn_cls: 0.0326, num_pos_rois: 3.7825, num_neg_rois: 272.5325, loss_rcnn_bbox: 1.3152, loss_rcnn_corner: 0.3589, loss: 4.0874, grad_norm: 2.8156 2022-11-24 14:38:24,969 - mmdet - INFO - Epoch [2][9500/9881] lr: 2.963e-03, eta: 1 day, 0:19:57, time: 0.986, data_time: 0.025, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3912, recall_Car: 0.5162, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 323.3275, num_fg_points: 23255.1150, loss_cls.task0: 0.0548, loss_center.task0: 0.8636, loss_size.task0: 0.2334, loss_rot.task0: 0.2556, loss_cls.task1: 0.0020, loss_center.task1: 0.3604, loss_size.task1: 0.2161, loss_rot.task1: 0.2367, loss_cls.task2: 0.0001, loss_center.task2: 0.0265, loss_size.task2: 0.0149, loss_rot.task2: 0.0164, loss_rcnn_cls: 0.0279, num_pos_rois: 3.0700, num_neg_rois: 301.4950, loss_rcnn_bbox: 1.1671, loss_rcnn_corner: 0.2462, loss: 4.1136, grad_norm: 3.1422 2022-11-24 14:39:16,161 - mmdet - INFO - Epoch [2][9550/9881] lr: 2.963e-03, eta: 1 day, 0:19:48, time: 1.024, data_time: 0.054, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3872, recall_Car: 0.5156, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 437.2425, num_fg_points: 20585.9375, loss_cls.task0: 0.0493, loss_center.task0: 0.8390, loss_size.task0: 0.2154, loss_rot.task0: 0.2533, loss_cls.task1: 0.0015, loss_center.task1: 0.3158, loss_size.task1: 0.1724, loss_rot.task1: 0.2174, loss_cls.task2: 0.0001, loss_center.task2: 0.0672, loss_size.task2: 0.0184, loss_rot.task2: 0.0364, loss_rcnn_cls: 0.0244, num_pos_rois: 3.5075, num_neg_rois: 391.8600, loss_rcnn_bbox: 1.1585, loss_rcnn_corner: 0.2189, loss: 3.9759, grad_norm: 2.9992 2022-11-24 14:40:07,090 - mmdet - INFO - Epoch [2][9600/9881] lr: 2.962e-03, eta: 1 day, 0:19:38, time: 1.019, data_time: 0.047, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3752, recall_Car: 0.5483, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 408.4350, num_fg_points: 22460.9000, loss_cls.task0: 0.0523, loss_center.task0: 0.8496, loss_size.task0: 0.2169, loss_rot.task0: 0.2524, loss_cls.task1: 0.0016, loss_center.task1: 0.3039, loss_size.task1: 0.1571, loss_rot.task1: 0.2150, loss_cls.task2: 0.0000, loss_center.task2: 0.0197, loss_size.task2: 0.0170, loss_rot.task2: 0.0186, loss_rcnn_cls: 0.0221, num_pos_rois: 2.7825, num_neg_rois: 381.8475, loss_rcnn_bbox: 1.4429, loss_rcnn_corner: 0.3787, loss: 4.3240, grad_norm: 3.1208 2022-11-24 14:40:53,704 - mmdet - INFO - Epoch [2][9650/9881] lr: 2.962e-03, eta: 1 day, 0:19:07, time: 0.932, data_time: 0.306, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3654, recall_Car: 0.5780, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 340.1450, num_fg_points: 23161.9850, loss_cls.task0: 0.0553, loss_center.task0: 0.7975, loss_size.task0: 0.2154, loss_rot.task0: 0.2515, loss_cls.task1: 0.0016, loss_center.task1: 0.3508, loss_size.task1: 0.1951, loss_rot.task1: 0.2250, loss_cls.task2: 0.0001, loss_center.task2: 0.0590, loss_size.task2: 0.0183, loss_rot.task2: 0.0360, loss_rcnn_cls: 0.0296, num_pos_rois: 3.9500, num_neg_rois: 329.2100, loss_rcnn_bbox: 1.3510, loss_rcnn_corner: 0.3643, loss: 4.3167, grad_norm: 2.9183 2022-11-24 14:41:46,406 - mmdet - INFO - Epoch [2][9700/9881] lr: 2.961e-03, eta: 1 day, 0:19:05, time: 1.054, data_time: 0.573, memory: 6993, loss_sem_seg: 0.0008, loss_vote: 0.3604, recall_Car: 0.5547, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 301.5500, num_fg_points: 21061.7850, loss_cls.task0: 0.0568, loss_center.task0: 0.7795, loss_size.task0: 0.2074, loss_rot.task0: 0.2544, loss_cls.task1: 0.0013, loss_center.task1: 0.3547, loss_size.task1: 0.1479, loss_rot.task1: 0.2041, loss_cls.task2: 0.0000, loss_center.task2: 0.0234, loss_size.task2: 0.0037, loss_rot.task2: 0.0101, loss_rcnn_cls: 0.0288, num_pos_rois: 3.3050, num_neg_rois: 297.8625, loss_rcnn_bbox: 1.3463, loss_rcnn_corner: 0.3652, loss: 4.1446, grad_norm: 3.1744 2022-11-24 14:42:35,926 - mmdet - INFO - Epoch [2][9750/9881] lr: 2.961e-03, eta: 1 day, 0:18:48, time: 0.990, data_time: 0.027, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.3682, recall_Car: 0.5453, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 292.1225, num_fg_points: 24380.6350, loss_cls.task0: 0.0561, loss_center.task0: 0.8013, loss_size.task0: 0.2125, loss_rot.task0: 0.2525, loss_cls.task1: 0.0016, loss_center.task1: 0.2924, loss_size.task1: 0.1595, loss_rot.task1: 0.2066, loss_cls.task2: 0.0000, loss_center.task2: 0.0150, loss_size.task2: 0.0090, loss_rot.task2: 0.0053, loss_rcnn_cls: 0.0266, num_pos_rois: 3.0000, num_neg_rois: 289.0575, loss_rcnn_bbox: 1.1568, loss_rcnn_corner: 0.2361, loss: 3.8005, grad_norm: 3.1008 2022-11-24 14:43:27,298 - mmdet - INFO - Epoch [2][9800/9881] lr: 2.960e-03, eta: 1 day, 0:18:40, time: 1.028, data_time: 0.009, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.4079, recall_Car: 0.4966, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 266.6225, num_fg_points: 19027.1450, loss_cls.task0: 0.0589, loss_center.task0: 0.8447, loss_size.task0: 0.2215, loss_rot.task0: 0.2538, loss_cls.task1: 0.0017, loss_center.task1: 0.3022, loss_size.task1: 0.1499, loss_rot.task1: 0.2131, loss_cls.task2: 0.0000, loss_center.task2: 0.0197, loss_size.task2: 0.0034, loss_rot.task2: 0.0100, loss_rcnn_cls: 0.0294, num_pos_rois: 2.8850, num_neg_rois: 263.4800, loss_rcnn_bbox: 1.3026, loss_rcnn_corner: 0.2925, loss: 4.1122, grad_norm: 2.9824 2022-11-24 14:44:13,824 - mmdet - INFO - Epoch [2][9850/9881] lr: 2.960e-03, eta: 1 day, 0:18:07, time: 0.931, data_time: 0.010, memory: 6993, loss_sem_seg: 0.0010, loss_vote: 0.4021, recall_Car: 0.4969, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 268.9800, num_fg_points: 21849.3425, loss_cls.task0: 0.0634, loss_center.task0: 0.8610, loss_size.task0: 0.2250, loss_rot.task0: 0.2532, loss_cls.task1: 0.0014, loss_center.task1: 0.3178, loss_size.task1: 0.1689, loss_rot.task1: 0.2163, loss_cls.task2: 0.0001, loss_center.task2: 0.0117, loss_size.task2: 0.0050, loss_rot.task2: 0.0103, loss_rcnn_cls: 0.0295, num_pos_rois: 2.7375, num_neg_rois: 263.8275, loss_rcnn_bbox: 1.2654, loss_rcnn_corner: 0.3074, loss: 4.1395, grad_norm: 3.2124 2022-11-24 14:44:45,000 - mmdet - INFO - Saving checkpoint at 2 epochs 2022-11-24 14:45:36,733 - mmdet - INFO - Epoch [3][50/9881] lr: 2.959e-03, eta: 1 day, 0:15:12, time: 1.021, data_time: 0.545, memory: 6993, loss_sem_seg: 0.0009, loss_vote: 0.3778, recall_Car: 0.5326, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 275.9175, num_fg_points: 22956.8425, loss_cls.task0: 0.0591, loss_center.task0: 0.7880, loss_size.task0: 0.2158, loss_rot.task0: 0.2559, loss_cls.task1: 0.0016, loss_center.task1: 0.3082, loss_size.task1: 0.1492, loss_rot.task1: 0.2032, loss_cls.task2: 0.0000, loss_center.task2: 0.0021, loss_size.task2: 0.0011, loss_rot.task2: 0.0044, loss_rcnn_cls: 0.0205, num_pos_rois: 1.9275, num_neg_rois: 273.4175, loss_rcnn_bbox: 1.3469, loss_rcnn_corner: 0.2953, loss: 4.0298, grad_norm: 3.2846