mkdir: cannot create directory ‘waymodata7’: File exists s3fs: MOUNTPOINT directory ./waymodata7 is not empty. if you are sure this is safe, can use the 'nonempty' mount option. fatal: Not a git repository (or any parent up to mount point /dev/shm) Stopping at filesystem boundary (GIT_DISCOVERY_ACROSS_FILESYSTEM not set). 2022-10-27 15:39:05,398 - mmdet - INFO - Environment info: ------------------------------------------------------------ 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: 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 ------------------------------------------------------------ 2022-10-27 15:39:07,755 - mmdet - INFO - Distributed training: True 2022-10-27 15:39:10,191 - 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='ObjectSample', 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')))), 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=24, 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='ObjectSample', 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')))), 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_1x_2/' 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, 1) 2022-10-27 15:39:10,192 - mmdet - INFO - Set random seed to 1, deterministic: False 2022-10-27 15:39:10,554 - 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() ) ) 2022-10-27 15:40:29,533 - mmdet - INFO - Start running, host: wangyingjie@SH-IDC1-10-140-1-46, work_dir: /mnt/lustre/wangyingjie/SST2/work_dirs/fsd_waymoD1_1x_2 2022-10-27 15:40:29,552 - 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 -------------------- 2022-10-27 15:40:29,559 - mmdet - INFO - workflow: [('train', 1)], max: 12 epochs 2022-10-27 15:40:31.417923: I tensorflow/stream_executor/platform/default/dso_loader.cc:53] Successfully opened dynamic library libcudart.so.11.0 2022-10-27 15:42:09,909 - mmcv - INFO - Reducer buckets have been rebuilt in this iteration. 2022-10-27 15:45:26,896 - mmdet - INFO - Epoch [1][50/6587] lr: 3.028e-05, eta: 5 days, 6:50:55, time: 5.781, data_time: 2.801, memory: 38188, loss_sem_seg: 0.0158, loss_vote: 0.9941, recall_Car: 1.0000, recall_Ped: 1.0000, recall_Cyc: 1.0000, num_clusters: 137.7200, num_fg_points: 395.5800, loss_cls.task0: 0.0087, loss_center.task0: 0.1709, loss_size.task0: 0.1327, loss_rot.task0: 0.0093, loss_cls.task1: 0.0152, loss_center.task1: 0.0000, loss_size.task1: 0.0000, loss_rot.task1: 0.0000, loss_cls.task2: 0.0168, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0199, num_pos_rois: 0.0000, num_neg_rois: 305.7800, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 1.3834, grad_norm: 7.5680 2022-10-27 15:49:19,359 - mmdet - INFO - Epoch [1][100/6587] lr: 3.115e-05, eta: 4 days, 18:21:40, time: 4.649, data_time: 2.951, memory: 38675, loss_sem_seg: 0.0141, loss_vote: 0.8855, recall_Car: 0.9995, recall_Ped: 1.0000, recall_Cyc: 1.0000, num_clusters: 140.4000, num_fg_points: 451.0800, loss_cls.task0: 0.0033, loss_center.task0: 0.6309, loss_size.task0: 0.2616, loss_rot.task0: 0.0712, loss_cls.task1: 0.0012, loss_center.task1: 0.0000, loss_size.task1: 0.0000, loss_rot.task1: 0.0000, loss_cls.task2: 0.0010, loss_center.task2: 0.0197, loss_size.task2: 0.0080, loss_rot.task2: 0.0054, loss_rcnn_cls: 0.0027, num_pos_rois: 0.0000, num_neg_rois: 40.4800, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 1.9045, grad_norm: 20.9856 2022-10-27 15:53:03,610 - mmdet - INFO - Epoch [1][150/6587] lr: 3.260e-05, eta: 4 days, 12:57:19, time: 4.485, data_time: 2.817, memory: 38962, loss_sem_seg: 0.0130, loss_vote: 0.8263, recall_Car: 0.9996, recall_Ped: 1.0000, recall_Cyc: 1.0000, num_clusters: 138.6600, num_fg_points: 497.5800, loss_cls.task0: 0.0098, loss_center.task0: 0.9201, loss_size.task0: 0.2554, loss_rot.task0: 0.1541, loss_cls.task1: 0.0016, loss_center.task1: 0.0651, loss_size.task1: 0.0284, loss_rot.task1: 0.0229, loss_cls.task2: 0.0006, loss_center.task2: 0.0187, loss_size.task2: 0.0108, loss_rot.task2: 0.0075, loss_rcnn_cls: 0.0008, num_pos_rois: 0.0000, num_neg_rois: 27.6800, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 2.3353, grad_norm: 28.1011 2022-10-27 15:56:45,075 - mmdet - INFO - Epoch [1][200/6587] lr: 3.464e-05, eta: 4 days, 9:54:58, time: 4.429, data_time: 2.722, memory: 38962, loss_sem_seg: 0.0120, loss_vote: 0.7882, recall_Car: 0.9999, recall_Ped: 0.9999, recall_Cyc: 1.0000, num_clusters: 141.7600, num_fg_points: 468.0000, loss_cls.task0: 0.0155, loss_center.task0: 1.0231, loss_size.task0: 0.2793, loss_rot.task0: 0.2181, loss_cls.task1: 0.0009, loss_center.task1: 0.0317, loss_size.task1: 0.0164, loss_rot.task1: 0.0103, loss_cls.task2: 0.0003, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0069, num_pos_rois: 0.1800, num_neg_rois: 93.4000, loss_rcnn_bbox: 0.8702, loss_rcnn_corner: 0.6817, loss: 3.9547, grad_norm: 64.2069 2022-10-27 16:00:52,097 - mmdet - INFO - Epoch [1][250/6587] lr: 3.727e-05, eta: 4 days, 10:18:20, time: 4.940, data_time: 3.215, memory: 38962, loss_sem_seg: 0.0112, loss_vote: 0.7727, recall_Car: 0.9994, recall_Ped: 1.0000, recall_Cyc: 1.0000, num_clusters: 140.9200, num_fg_points: 468.5800, loss_cls.task0: 0.0127, loss_center.task0: 1.1399, loss_size.task0: 0.3146, loss_rot.task0: 0.2162, loss_cls.task1: 0.0011, loss_center.task1: 0.0378, loss_size.task1: 0.0196, loss_rot.task1: 0.0261, loss_cls.task2: 0.0004, loss_center.task2: 0.0102, loss_size.task2: 0.0072, loss_rot.task2: 0.0038, loss_rcnn_cls: 0.0044, num_pos_rois: 0.1000, num_neg_rois: 108.7200, loss_rcnn_bbox: 0.3129, loss_rcnn_corner: 0.2342, loss: 3.1249, grad_norm: 44.4770 2022-10-27 16:04:53,514 - mmdet - INFO - Epoch [1][300/6587] lr: 4.047e-05, eta: 4 days, 10:07:59, time: 4.828, data_time: 3.132, memory: 39154, loss_sem_seg: 0.0103, loss_vote: 0.7433, recall_Car: 0.9997, recall_Ped: 1.0000, recall_Cyc: 1.0000, num_clusters: 147.6800, num_fg_points: 456.9000, loss_cls.task0: 0.0140, loss_center.task0: 1.0709, loss_size.task0: 0.2921, loss_rot.task0: 0.2233, loss_cls.task1: 0.0011, loss_center.task1: 0.0729, loss_size.task1: 0.0310, loss_rot.task1: 0.0319, loss_cls.task2: 0.0001, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0066, num_pos_rois: 0.1600, num_neg_rois: 99.5200, loss_rcnn_bbox: 0.3959, loss_rcnn_corner: 0.2303, loss: 3.1237, grad_norm: 40.9476 2022-10-27 16:09:00,389 - mmdet - INFO - Epoch [1][350/6587] lr: 4.426e-05, eta: 4 days, 10:19:57, time: 4.938, data_time: 3.241, memory: 39154, loss_sem_seg: 0.0094, loss_vote: 0.7323, recall_Car: 0.9986, recall_Ped: 1.0000, recall_Cyc: 1.0000, num_clusters: 147.8600, num_fg_points: 431.1600, loss_cls.task0: 0.0118, loss_center.task0: 1.1022, loss_size.task0: 0.3047, loss_rot.task0: 0.1844, loss_cls.task1: 0.0008, loss_center.task1: 0.0195, loss_size.task1: 0.0065, loss_rot.task1: 0.0104, loss_cls.task2: 0.0003, loss_center.task2: 0.0153, loss_size.task2: 0.0111, loss_rot.task2: 0.0038, loss_rcnn_cls: 0.0070, num_pos_rois: 0.1200, num_neg_rois: 73.5000, loss_rcnn_bbox: 0.3904, loss_rcnn_corner: 0.1687, loss: 2.9787, grad_norm: 36.9106 2022-10-27 16:12:55,589 - mmdet - INFO - Epoch [1][400/6587] lr: 4.864e-05, eta: 4 days, 9:49:37, time: 4.704, data_time: 2.999, memory: 39154, loss_sem_seg: 0.0085, loss_vote: 0.7304, recall_Car: 0.9982, recall_Ped: 1.0000, recall_Cyc: 1.0000, num_clusters: 143.0000, num_fg_points: 411.2600, loss_cls.task0: 0.0112, loss_center.task0: 1.0635, loss_size.task0: 0.2922, loss_rot.task0: 0.2284, loss_cls.task1: 0.0015, loss_center.task1: 0.0645, loss_size.task1: 0.0687, loss_rot.task1: 0.0419, loss_cls.task2: 0.0001, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0057, num_pos_rois: 0.1000, num_neg_rois: 69.0800, loss_rcnn_bbox: 0.3368, loss_rcnn_corner: 0.1855, loss: 3.0388, grad_norm: 32.6947 2022-10-27 16:17:07,346 - mmdet - INFO - Epoch [1][450/6587] lr: 5.359e-05, eta: 4 days, 10:13:22, time: 5.035, data_time: 3.342, memory: 39154, loss_sem_seg: 0.0074, loss_vote: 0.6848, recall_Car: 0.9968, recall_Ped: 1.0000, recall_Cyc: 1.0000, num_clusters: 145.4000, num_fg_points: 438.0200, loss_cls.task0: 0.0092, loss_center.task0: 0.8868, loss_size.task0: 0.2642, loss_rot.task0: 0.1699, loss_cls.task1: 0.0003, loss_center.task1: 0.0153, loss_size.task1: 0.0014, loss_rot.task1: 0.0058, loss_cls.task2: 0.0003, loss_center.task2: 0.0048, loss_size.task2: 0.0014, loss_rot.task2: 0.0071, loss_rcnn_cls: 0.0067, num_pos_rois: 0.0400, num_neg_rois: 34.1200, loss_rcnn_bbox: 0.2433, loss_rcnn_corner: 0.1663, loss: 2.4750, grad_norm: 22.1122 2022-10-27 16:21:05,384 - mmdet - INFO - Epoch [1][500/6587] lr: 5.911e-05, eta: 4 days, 9:55:35, time: 4.761, data_time: 3.096, memory: 39154, loss_sem_seg: 0.0065, loss_vote: 0.6712, recall_Car: 0.9875, recall_Ped: 0.9998, recall_Cyc: 1.0000, num_clusters: 148.3200, num_fg_points: 450.1400, loss_cls.task0: 0.0092, loss_center.task0: 0.9830, loss_size.task0: 0.2498, loss_rot.task0: 0.2169, loss_cls.task1: 0.0007, loss_center.task1: 0.0344, loss_size.task1: 0.0262, loss_rot.task1: 0.0132, loss_cls.task2: 0.0003, loss_center.task2: 0.0192, loss_size.task2: 0.0117, loss_rot.task2: 0.0022, loss_rcnn_cls: 0.0017, num_pos_rois: 0.0200, num_neg_rois: 53.2400, loss_rcnn_bbox: 0.0671, loss_rcnn_corner: 0.0396, loss: 2.3529, grad_norm: 22.0132 2022-10-27 16:25:13,144 - mmdet - INFO - Epoch [1][550/6587] lr: 6.521e-05, eta: 4 days, 10:03:27, time: 4.955, data_time: 3.257, memory: 39154, loss_sem_seg: 0.0057, loss_vote: 0.6703, recall_Car: 0.9770, recall_Ped: 0.9997, recall_Cyc: 1.0000, num_clusters: 137.3600, num_fg_points: 378.8200, loss_cls.task0: 0.0115, loss_center.task0: 1.0397, loss_size.task0: 0.2468, loss_rot.task0: 0.1933, loss_cls.task1: 0.0010, loss_center.task1: 0.0418, loss_size.task1: 0.0243, loss_rot.task1: 0.0265, loss_cls.task2: 0.0005, loss_center.task2: 0.0297, loss_size.task2: 0.0155, loss_rot.task2: 0.0057, loss_rcnn_cls: 0.0014, num_pos_rois: 0.0200, num_neg_rois: 51.5600, loss_rcnn_bbox: 0.0803, loss_rcnn_corner: 0.0428, loss: 2.4369, grad_norm: 19.6742 2022-10-27 16:29:12,459 - mmdet - INFO - Epoch [1][600/6587] lr: 7.189e-05, eta: 4 days, 9:50:55, time: 4.786, data_time: 3.081, memory: 39154, loss_sem_seg: 0.0050, loss_vote: 0.6606, recall_Car: 0.9564, recall_Ped: 0.9986, recall_Cyc: 1.0000, num_clusters: 132.4600, num_fg_points: 363.5800, loss_cls.task0: 0.0096, loss_center.task0: 0.9389, loss_size.task0: 0.2430, loss_rot.task0: 0.1813, loss_cls.task1: 0.0003, loss_center.task1: 0.0086, loss_size.task1: 0.0055, loss_rot.task1: 0.0073, loss_cls.task2: 0.0003, loss_center.task2: 0.0152, loss_size.task2: 0.0144, loss_rot.task2: 0.0109, loss_rcnn_cls: 0.0080, num_pos_rois: 0.1000, num_neg_rois: 49.3800, loss_rcnn_bbox: 0.4581, loss_rcnn_corner: 0.1885, loss: 2.7555, grad_norm: 27.1463 2022-10-27 16:33:12,501 - mmdet - INFO - Epoch [1][650/6587] lr: 7.913e-05, eta: 4 days, 9:41:09, time: 4.801, data_time: 3.115, memory: 39154, loss_sem_seg: 0.0044, loss_vote: 0.6638, recall_Car: 0.9554, recall_Ped: 0.9976, recall_Cyc: 0.9998, num_clusters: 129.4800, num_fg_points: 358.2800, loss_cls.task0: 0.0104, loss_center.task0: 0.9318, loss_size.task0: 0.2485, loss_rot.task0: 0.1827, loss_cls.task1: 0.0010, loss_center.task1: 0.0515, loss_size.task1: 0.0448, loss_rot.task1: 0.0201, loss_cls.task2: 0.0003, loss_center.task2: 0.0029, loss_size.task2: 0.0029, loss_rot.task2: 0.0042, loss_rcnn_cls: 0.0021, num_pos_rois: 0.0200, num_neg_rois: 50.3400, loss_rcnn_bbox: 0.1188, loss_rcnn_corner: 0.1508, loss: 2.4408, grad_norm: 16.8025 2022-10-27 16:36:59,057 - mmdet - INFO - Epoch [1][700/6587] lr: 8.695e-05, eta: 4 days, 9:07:03, time: 4.531, data_time: 2.821, memory: 39154, loss_sem_seg: 0.0038, loss_vote: 0.6621, recall_Car: 0.9294, recall_Ped: 0.9990, recall_Cyc: 0.9989, num_clusters: 134.3200, num_fg_points: 386.0800, loss_cls.task0: 0.0134, loss_center.task0: 1.1712, loss_size.task0: 0.3157, loss_rot.task0: 0.2006, loss_cls.task1: 0.0009, loss_center.task1: 0.0654, loss_size.task1: 0.0257, loss_rot.task1: 0.0212, loss_cls.task2: 0.0003, loss_center.task2: 0.0214, loss_size.task2: 0.0160, loss_rot.task2: 0.0008, loss_rcnn_cls: 0.0002, num_pos_rois: 0.0000, num_neg_rois: 110.6000, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 2.5186, grad_norm: 17.3470 2022-10-27 16:41:04,086 - mmdet - INFO - Epoch [1][750/6587] lr: 9.532e-05, eta: 4 days, 9:09:09, time: 4.901, data_time: 3.181, memory: 39154, loss_sem_seg: 0.0035, loss_vote: 0.6635, recall_Car: 0.9157, recall_Ped: 0.9981, recall_Cyc: 0.9984, num_clusters: 135.5600, num_fg_points: 383.9000, loss_cls.task0: 0.0116, loss_center.task0: 1.1929, loss_size.task0: 0.2953, loss_rot.task0: 0.1869, loss_cls.task1: 0.0003, loss_center.task1: 0.0112, loss_size.task1: 0.0068, loss_rot.task1: 0.0082, 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: 79.2800, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 2.3806, grad_norm: 14.1617 2022-10-27 16:45:10,477 - mmdet - INFO - Epoch [1][800/6587] lr: 1.043e-04, eta: 4 days, 9:12:41, time: 4.928, data_time: 3.202, memory: 39154, loss_sem_seg: 0.0031, loss_vote: 0.6615, recall_Car: 0.8366, recall_Ped: 0.9914, recall_Cyc: 0.9997, num_clusters: 130.3800, num_fg_points: 339.8200, loss_cls.task0: 0.0106, loss_center.task0: 0.9948, loss_size.task0: 0.2974, loss_rot.task0: 0.1567, loss_cls.task1: 0.0003, loss_center.task1: 0.0085, loss_size.task1: 0.0047, loss_rot.task1: 0.0041, loss_cls.task2: 0.0003, loss_center.task2: 0.0157, loss_size.task2: 0.0049, loss_rot.task2: 0.0089, loss_rcnn_cls: 0.0001, num_pos_rois: 0.0000, num_neg_rois: 61.1000, loss_rcnn_bbox: 0.0000, loss_rcnn_corner: 0.0000, loss: 2.1717, grad_norm: 16.2689 2022-10-27 16:48:55,318 - mmdet - INFO - Epoch [1][850/6587] lr: 1.138e-04, eta: 4 days, 8:42:16, time: 4.497, data_time: 2.710, memory: 39154, loss_sem_seg: 0.0029, loss_vote: 0.6590, recall_Car: 0.8114, recall_Ped: 0.9871, recall_Cyc: 0.9974, num_clusters: 127.0200, num_fg_points: 344.1400, loss_cls.task0: 0.0111, loss_center.task0: 1.1105, loss_size.task0: 0.2714, loss_rot.task0: 0.1855, loss_cls.task1: 0.0000, 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: 0.0042, num_pos_rois: 0.0600, num_neg_rois: 73.7000, loss_rcnn_bbox: 0.3229, loss_rcnn_corner: 0.2018, loss: 2.7693, grad_norm: 22.5043 2022-10-27 16:53:07,006 - mmdet - INFO - Epoch [1][900/6587] lr: 1.238e-04, eta: 4 days, 8:53:41, time: 5.034, data_time: 3.148, memory: 39154, loss_sem_seg: 0.0025, loss_vote: 0.6507, recall_Car: 0.6943, recall_Ped: 0.9864, recall_Cyc: 0.9875, num_clusters: 138.6000, num_fg_points: 380.5600, loss_cls.task0: 0.0107, loss_center.task0: 1.3054, loss_size.task0: 0.3228, loss_rot.task0: 0.2063, loss_cls.task1: 0.0000, 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: 0.0051, num_pos_rois: 0.0800, num_neg_rois: 64.9200, loss_rcnn_bbox: 0.2840, loss_rcnn_corner: 0.1787, loss: 2.9663, grad_norm: 21.3566 2022-10-27 16:57:14,384 - mmdet - INFO - Epoch [1][950/6587] lr: 1.344e-04, eta: 4 days, 8:57:32, time: 4.947, data_time: 3.052, memory: 39154, loss_sem_seg: 0.0025, loss_vote: 0.6601, recall_Car: 0.6283, recall_Ped: 0.9697, recall_Cyc: 0.9813, num_clusters: 137.5000, num_fg_points: 389.6000, loss_cls.task0: 0.0174, loss_center.task0: 1.2202, loss_size.task0: 0.3030, loss_rot.task0: 0.2389, loss_cls.task1: 0.0012, loss_center.task1: 0.0298, loss_size.task1: 0.0304, loss_rot.task1: 0.0208, loss_cls.task2: 0.0016, loss_center.task2: 0.1011, loss_size.task2: 0.0411, loss_rot.task2: 0.0472, loss_rcnn_cls: 0.0098, num_pos_rois: 0.1600, num_neg_rois: 87.2800, loss_rcnn_bbox: 0.5072, loss_rcnn_corner: 0.2480, loss: 3.4802, grad_norm: 27.5243 2022-10-27 17:01:25,370 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-10-27 17:01:25,377 - mmdet - INFO - Epoch [1][1000/6587] lr: 1.455e-04, eta: 4 days, 9:05:18, time: 5.020, data_time: 3.125, memory: 39235, loss_sem_seg: 0.0022, loss_vote: 0.6328, recall_Car: 0.5359, recall_Ped: 0.9625, recall_Cyc: 0.9793, num_clusters: 135.3000, num_fg_points: 419.0600, loss_cls.task0: 0.0139, loss_center.task0: 0.9717, loss_size.task0: 0.2900, loss_rot.task0: 0.1871, loss_cls.task1: 0.0002, loss_center.task1: 0.0028, loss_size.task1: 0.0088, loss_rot.task1: 0.0054, loss_cls.task2: 0.0001, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0142, num_pos_rois: 0.2200, num_neg_rois: 73.1000, loss_rcnn_bbox: 0.7216, loss_rcnn_corner: 0.4189, loss: 3.2695, grad_norm: 33.2612 2022-10-27 17:05:24,758 - mmdet - INFO - Epoch [1][1050/6587] lr: 1.572e-04, eta: 4 days, 8:57:34, time: 4.788, data_time: 2.926, memory: 39235, loss_sem_seg: 0.0020, loss_vote: 0.6453, recall_Car: 0.3599, recall_Ped: 0.9184, recall_Cyc: 0.9552, num_clusters: 133.0400, num_fg_points: 402.6400, loss_cls.task0: 0.0128, loss_center.task0: 0.9159, loss_size.task0: 0.2480, loss_rot.task0: 0.1847, loss_cls.task1: 0.0007, loss_center.task1: 0.0358, loss_size.task1: 0.0155, loss_rot.task1: 0.0124, 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: 0.0600, num_neg_rois: 82.7200, loss_rcnn_bbox: 0.2277, loss_rcnn_corner: 0.1471, loss: 2.4503, grad_norm: 17.1554 2022-10-27 17:09:38,592 - mmdet - INFO - Epoch [1][1100/6587] lr: 1.694e-04, eta: 4 days, 9:07:14, time: 5.077, data_time: 3.170, memory: 39235, loss_sem_seg: 0.0018, loss_vote: 0.6313, recall_Car: 0.2026, recall_Ped: 0.8919, recall_Cyc: 0.8890, num_clusters: 137.1600, num_fg_points: 386.2200, loss_cls.task0: 0.0165, loss_center.task0: 1.2357, loss_size.task0: 0.2991, loss_rot.task0: 0.2265, loss_cls.task1: 0.0012, loss_center.task1: 0.0406, loss_size.task1: 0.0383, loss_rot.task1: 0.0358, loss_cls.task2: 0.0007, loss_center.task2: 0.0453, loss_size.task2: 0.0330, loss_rot.task2: 0.0215, loss_rcnn_cls: 0.0021, num_pos_rois: 0.0600, num_neg_rois: 118.2200, loss_rcnn_bbox: 0.2045, loss_rcnn_corner: 0.1270, loss: 2.9609, grad_norm: 19.5805 2022-10-27 17:13:37,600 - mmdet - INFO - Epoch [1][1150/6587] lr: 1.822e-04, eta: 4 days, 8:58:57, time: 4.780, data_time: 2.912, memory: 39235, loss_sem_seg: 0.0021, loss_vote: 0.6490, recall_Car: 0.3382, recall_Ped: 0.9059, recall_Cyc: 0.9344, num_clusters: 123.7400, num_fg_points: 340.3800, loss_cls.task0: 0.0109, loss_center.task0: 0.9997, loss_size.task0: 0.2728, loss_rot.task0: 0.1734, loss_cls.task1: 0.0003, loss_center.task1: 0.0356, loss_size.task1: 0.0299, 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: 0.0016, num_pos_rois: 0.0200, num_neg_rois: 69.9000, loss_rcnn_bbox: 0.0910, loss_rcnn_corner: 0.0436, loss: 2.3190, grad_norm: 12.3330 2022-10-27 17:17:40,699 - mmdet - INFO - Epoch [1][1200/6587] lr: 1.955e-04, eta: 4 days, 8:55:26, time: 4.862, data_time: 2.720, memory: 39235, loss_sem_seg: 0.0019, loss_vote: 0.6351, recall_Car: 0.2653, recall_Ped: 0.7894, recall_Cyc: 0.8495, num_clusters: 132.1200, num_fg_points: 375.2800, loss_cls.task0: 0.0129, loss_center.task0: 1.0013, loss_size.task0: 0.3029, loss_rot.task0: 0.1940, loss_cls.task1: 0.0003, loss_center.task1: 0.0058, loss_size.task1: 0.0071, loss_rot.task1: 0.0046, loss_cls.task2: 0.0003, loss_center.task2: 0.0232, loss_size.task2: 0.0055, loss_rot.task2: 0.0059, loss_rcnn_cls: 0.0014, num_pos_rois: 0.0200, num_neg_rois: 76.0000, loss_rcnn_bbox: 0.0651, loss_rcnn_corner: 0.0355, loss: 2.3029, grad_norm: 11.4259 2022-10-27 17:21:46,030 - mmdet - INFO - Epoch [1][1250/6587] lr: 2.093e-04, eta: 4 days, 8:54:12, time: 4.907, data_time: 3.002, memory: 39235, loss_sem_seg: 0.0018, loss_vote: 0.6295, recall_Car: 0.1465, recall_Ped: 0.4963, recall_Cyc: 0.5281, num_clusters: 139.7800, num_fg_points: 419.3400, loss_cls.task0: 0.0168, loss_center.task0: 0.8576, loss_size.task0: 0.2753, loss_rot.task0: 0.2263, loss_cls.task1: 0.0011, loss_center.task1: 0.0312, loss_size.task1: 0.0339, loss_rot.task1: 0.0181, 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: 0.1200, num_neg_rois: 96.5200, loss_rcnn_bbox: 0.3615, loss_rcnn_corner: 0.2100, loss: 2.6691, grad_norm: 14.7374 2022-10-27 17:26:03,252 - mmdet - INFO - Epoch [1][1300/6587] lr: 2.236e-04, eta: 4 days, 9:04:36, time: 5.144, data_time: 3.185, memory: 39552, loss_sem_seg: 0.0017, loss_vote: 0.6365, recall_Car: 0.0600, recall_Ped: 0.2191, recall_Cyc: 0.2504, num_clusters: 137.3800, num_fg_points: 390.3000, loss_cls.task0: 0.0128, loss_center.task0: 1.0980, loss_size.task0: 0.2951, loss_rot.task0: 0.1870, loss_cls.task1: 0.0009, loss_center.task1: 0.0314, loss_size.task1: 0.0159, loss_rot.task1: 0.0237, loss_cls.task2: 0.0001, loss_center.task2: 0.0150, loss_size.task2: 0.0142, loss_rot.task2: 0.0076, loss_rcnn_cls: 0.0079, num_pos_rois: 0.1600, num_neg_rois: 93.7200, loss_rcnn_bbox: 0.3145, loss_rcnn_corner: 0.2512, loss: 2.9134, grad_norm: 19.2627 2022-10-27 17:30:04,970 - mmdet - INFO - Epoch [1][1350/6587] lr: 2.384e-04, eta: 4 days, 8:59:03, time: 4.834, data_time: 2.919, memory: 39552, loss_sem_seg: 0.0018, loss_vote: 0.6257, recall_Car: 0.1000, recall_Ped: 0.0731, recall_Cyc: 0.0955, num_clusters: 128.8400, num_fg_points: 370.4600, loss_cls.task0: 0.0112, loss_center.task0: 0.7378, loss_size.task0: 0.2251, loss_rot.task0: 0.1705, loss_cls.task1: 0.0000, 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: 0.0092, num_pos_rois: 0.1400, num_neg_rois: 72.6200, loss_rcnn_bbox: 0.3973, loss_rcnn_corner: 0.2195, loss: 2.3981, grad_norm: 17.9733 2022-10-27 17:34:15,357 - mmdet - INFO - Epoch [1][1400/6587] lr: 2.537e-04, eta: 4 days, 9:01:37, time: 5.008, data_time: 3.117, memory: 39552, loss_sem_seg: 0.0017, loss_vote: 0.6139, recall_Car: 0.1060, recall_Ped: 0.0551, recall_Cyc: 0.0711, num_clusters: 130.9000, num_fg_points: 396.5200, loss_cls.task0: 0.0209, loss_center.task0: 1.0629, loss_size.task0: 0.3435, loss_rot.task0: 0.2208, loss_cls.task1: 0.0000, loss_center.task1: 0.0000, loss_size.task1: 0.0000, loss_rot.task1: 0.0000, loss_cls.task2: 0.0003, loss_center.task2: 0.0050, loss_size.task2: 0.0050, loss_rot.task2: 0.0054, loss_rcnn_cls: 0.0123, num_pos_rois: 0.2800, num_neg_rois: 102.2800, loss_rcnn_bbox: 0.6144, loss_rcnn_corner: 0.3140, loss: 3.2199, grad_norm: 19.7366 2022-10-27 17:38:16,077 - mmdet - INFO - Epoch [1][1450/6587] lr: 2.696e-04, eta: 4 days, 8:55:06, time: 4.814, data_time: 2.919, memory: 39552, loss_sem_seg: 0.0017, loss_vote: 0.5993, recall_Car: 0.0521, recall_Ped: 0.0049, recall_Cyc: 0.0092, num_clusters: 126.6600, num_fg_points: 396.5200, loss_cls.task0: 0.0169, loss_center.task0: 1.0608, loss_size.task0: 0.2897, loss_rot.task0: 0.1898, loss_cls.task1: 0.0003, loss_center.task1: 0.0069, loss_size.task1: 0.0096, loss_rot.task1: 0.0060, loss_cls.task2: 0.0003, loss_center.task2: 0.0035, loss_size.task2: 0.0036, loss_rot.task2: 0.0060, loss_rcnn_cls: 0.0035, num_pos_rois: 0.0800, num_neg_rois: 108.1200, loss_rcnn_bbox: 0.2343, loss_rcnn_corner: 0.1569, loss: 2.5891, grad_norm: 13.3553 2022-10-27 17:42:29,298 - mmdet - INFO - Epoch [1][1500/6587] lr: 2.859e-04, eta: 4 days, 8:59:29, time: 5.064, data_time: 3.176, memory: 39552, loss_sem_seg: 0.0015, loss_vote: 0.5840, recall_Car: 0.0251, recall_Ped: 0.0017, recall_Cyc: 0.0031, num_clusters: 121.5000, num_fg_points: 367.5200, loss_cls.task0: 0.0087, loss_center.task0: 0.7426, loss_size.task0: 0.2080, loss_rot.task0: 0.1334, loss_cls.task1: 0.0000, 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: 0.0020, num_pos_rois: 0.0200, num_neg_rois: 46.8000, loss_rcnn_bbox: 0.0650, loss_rcnn_corner: 0.0489, loss: 1.7940, grad_norm: 7.2859 2022-10-27 17:46:26,454 - mmdet - INFO - Epoch [1][1550/6587] lr: 3.027e-04, eta: 4 days, 8:49:58, time: 4.743, data_time: 2.859, memory: 39552, loss_sem_seg: 0.0016, loss_vote: 0.5948, recall_Car: 0.0205, recall_Ped: 0.0002, recall_Cyc: 0.0000, num_clusters: 127.1400, num_fg_points: 364.5000, loss_cls.task0: 0.0126, loss_center.task0: 1.1765, loss_size.task0: 0.3078, loss_rot.task0: 0.2016, loss_cls.task1: 0.0000, loss_center.task1: 0.0000, loss_size.task1: 0.0000, loss_rot.task1: 0.0000, loss_cls.task2: 0.0009, loss_center.task2: 0.0281, loss_size.task2: 0.0198, loss_rot.task2: 0.0143, loss_rcnn_cls: 0.0019, num_pos_rois: 0.0400, num_neg_rois: 104.7000, loss_rcnn_bbox: 0.1354, loss_rcnn_corner: 0.0769, loss: 2.5722, grad_norm: 10.9382 2022-10-27 17:50:34,451 - mmdet - INFO - Epoch [1][1600/6587] lr: 3.200e-04, eta: 4 days, 8:49:31, time: 4.959, data_time: 3.116, memory: 39552, loss_sem_seg: 0.0016, loss_vote: 0.6149, recall_Car: 0.0541, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 128.7000, num_fg_points: 385.0800, loss_cls.task0: 0.0114, loss_center.task0: 0.9519, loss_size.task0: 0.2739, loss_rot.task0: 0.1743, loss_cls.task1: 0.0006, loss_center.task1: 0.0425, loss_size.task1: 0.0128, loss_rot.task1: 0.0121, loss_cls.task2: 0.0003, loss_center.task2: 0.0098, loss_size.task2: 0.0107, loss_rot.task2: 0.0064, loss_rcnn_cls: 0.0023, num_pos_rois: 0.0400, num_neg_rois: 67.3400, loss_rcnn_bbox: 0.0917, loss_rcnn_corner: 0.0669, loss: 2.2840, grad_norm: 10.5896 2022-10-27 17:54:37,170 - mmdet - INFO - Epoch [1][1650/6587] lr: 3.377e-04, eta: 4 days, 8:44:45, time: 4.855, data_time: 2.975, memory: 39552, loss_sem_seg: 0.0015, loss_vote: 0.6040, recall_Car: 0.0489, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 127.0400, num_fg_points: 383.8200, loss_cls.task0: 0.0133, loss_center.task0: 1.0607, loss_size.task0: 0.2989, loss_rot.task0: 0.2097, loss_cls.task1: 0.0006, loss_center.task1: 0.0194, loss_size.task1: 0.0223, loss_rot.task1: 0.0146, loss_cls.task2: 0.0003, loss_center.task2: 0.0055, loss_size.task2: 0.0128, loss_rot.task2: 0.0072, loss_rcnn_cls: 0.0027, num_pos_rois: 0.0400, num_neg_rois: 99.6000, loss_rcnn_bbox: 0.1155, loss_rcnn_corner: 0.1095, loss: 2.4983, grad_norm: 10.2223 2022-10-27 17:58:44,743 - mmdet - INFO - Epoch [1][1700/6587] lr: 3.559e-04, eta: 4 days, 8:43:42, time: 4.952, data_time: 3.074, memory: 39552, loss_sem_seg: 0.0015, loss_vote: 0.5886, recall_Car: 0.0709, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 140.5600, num_fg_points: 439.8400, loss_cls.task0: 0.0157, loss_center.task0: 1.1468, loss_size.task0: 0.3145, loss_rot.task0: 0.1910, loss_cls.task1: 0.0005, loss_center.task1: 0.0132, loss_size.task1: 0.0146, loss_rot.task1: 0.0057, loss_cls.task2: 0.0003, loss_center.task2: 0.0273, loss_size.task2: 0.0133, loss_rot.task2: 0.0041, loss_rcnn_cls: 0.0031, num_pos_rois: 0.0800, num_neg_rois: 84.9800, loss_rcnn_bbox: 0.3798, loss_rcnn_corner: 0.2499, loss: 2.9699, grad_norm: 12.1498 2022-10-27 18:02:49,579 - mmdet - INFO - Epoch [1][1750/6587] lr: 3.746e-04, eta: 4 days, 8:40:27, time: 4.897, data_time: 3.017, memory: 39552, loss_sem_seg: 0.0016, loss_vote: 0.5587, recall_Car: 0.0462, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 137.2000, num_fg_points: 433.8200, loss_cls.task0: 0.0153, loss_center.task0: 1.3010, loss_size.task0: 0.2969, loss_rot.task0: 0.2180, loss_cls.task1: 0.0005, loss_center.task1: 0.0296, loss_size.task1: 0.0142, loss_rot.task1: 0.0138, loss_cls.task2: 0.0003, loss_center.task2: 0.0156, loss_size.task2: 0.0011, loss_rot.task2: 0.0030, loss_rcnn_cls: 0.0013, num_pos_rois: 0.0400, num_neg_rois: 121.6200, loss_rcnn_bbox: 0.1580, loss_rcnn_corner: 0.1158, loss: 2.7447, grad_norm: 10.3706 2022-10-27 18:06:49,281 - mmdet - INFO - Epoch [1][1800/6587] lr: 3.937e-04, eta: 4 days, 8:33:29, time: 4.794, data_time: 2.922, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.5432, recall_Car: 0.0573, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 139.9600, num_fg_points: 491.2000, loss_cls.task0: 0.0136, loss_center.task0: 0.9829, loss_size.task0: 0.2658, loss_rot.task0: 0.1960, loss_cls.task1: 0.0000, 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: 0.0015, num_pos_rois: 0.0400, num_neg_rois: 110.6600, loss_rcnn_bbox: 0.1418, loss_rcnn_corner: 0.0629, loss: 2.2091, grad_norm: 9.1442 2022-10-27 18:10:44,389 - mmdet - INFO - Epoch [1][1850/6587] lr: 4.133e-04, eta: 4 days, 8:23:29, time: 4.702, data_time: 2.828, memory: 39552, loss_sem_seg: 0.0015, loss_vote: 0.5647, recall_Car: 0.0547, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 125.4800, num_fg_points: 547.9400, loss_cls.task0: 0.0191, loss_center.task0: 1.3222, loss_size.task0: 0.2791, loss_rot.task0: 0.2165, loss_cls.task1: 0.0009, loss_center.task1: 0.0379, loss_size.task1: 0.0203, loss_rot.task1: 0.0186, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0014, num_pos_rois: 0.0400, num_neg_rois: 106.5400, loss_rcnn_bbox: 0.2905, loss_rcnn_corner: 0.2255, loss: 2.9983, grad_norm: 10.2293 2022-10-27 18:14:45,263 - mmdet - INFO - Epoch [1][1900/6587] lr: 4.333e-04, eta: 4 days, 8:17:43, time: 4.817, data_time: 2.872, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.5394, recall_Car: 0.0540, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 132.1200, num_fg_points: 468.2600, loss_cls.task0: 0.0174, loss_center.task0: 1.0088, loss_size.task0: 0.3225, loss_rot.task0: 0.2231, loss_cls.task1: 0.0009, loss_center.task1: 0.0388, loss_size.task1: 0.0287, loss_rot.task1: 0.0187, loss_cls.task2: 0.0003, loss_center.task2: 0.0070, loss_size.task2: 0.0205, loss_rot.task2: 0.0079, loss_rcnn_cls: 0.0023, num_pos_rois: 0.0600, num_neg_rois: 131.0600, loss_rcnn_bbox: 0.1044, loss_rcnn_corner: 0.0721, loss: 2.4143, grad_norm: 9.9201 2022-10-27 18:18:57,012 - mmdet - INFO - Epoch [1][1950/6587] lr: 4.537e-04, eta: 4 days, 8:19:11, time: 5.035, data_time: 3.168, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.5117, recall_Car: 0.0328, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 120.2600, num_fg_points: 557.5600, loss_cls.task0: 0.0146, loss_center.task0: 1.0470, loss_size.task0: 0.2615, loss_rot.task0: 0.1722, loss_cls.task1: 0.0004, loss_center.task1: 0.0174, loss_size.task1: 0.0064, loss_rot.task1: 0.0037, loss_cls.task2: 0.0004, loss_center.task2: 0.0129, loss_size.task2: 0.0032, loss_rot.task2: 0.0088, loss_rcnn_cls: 0.0017, num_pos_rois: 0.0400, num_neg_rois: 116.6400, loss_rcnn_bbox: 0.1659, loss_rcnn_corner: 0.1395, loss: 2.3688, grad_norm: 10.0570 2022-10-27 18:23:03,755 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-10-27 18:23:03,762 - mmdet - INFO - Epoch [1][2000/6587] lr: 4.746e-04, eta: 4 days, 8:17:10, time: 4.935, data_time: 3.062, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.5314, recall_Car: 0.0329, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 127.0600, num_fg_points: 612.5200, loss_cls.task0: 0.0167, loss_center.task0: 1.2955, loss_size.task0: 0.2834, loss_rot.task0: 0.2036, loss_cls.task1: 0.0003, loss_center.task1: 0.0168, loss_size.task1: 0.0052, 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: 0.0038, num_pos_rois: 0.0800, num_neg_rois: 124.2400, loss_rcnn_bbox: 0.1756, loss_rcnn_corner: 0.1513, loss: 2.6927, grad_norm: 10.0311 2022-10-27 18:27:16,815 - mmdet - INFO - Epoch [1][2050/6587] lr: 4.959e-04, eta: 4 days, 8:19:00, time: 5.061, data_time: 3.223, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.5210, recall_Car: 0.0345, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 113.8000, num_fg_points: 593.2400, loss_cls.task0: 0.0193, loss_center.task0: 1.1531, loss_size.task0: 0.3123, loss_rot.task0: 0.1918, loss_cls.task1: 0.0000, 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: 0.0047, num_pos_rois: 0.1200, num_neg_rois: 104.8800, loss_rcnn_bbox: 0.2120, loss_rcnn_corner: 0.2344, loss: 2.6500, grad_norm: 10.9771 2022-10-27 18:31:22,552 - mmdet - INFO - Epoch [1][2100/6587] lr: 5.175e-04, eta: 4 days, 8:16:04, time: 4.915, data_time: 3.058, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.5136, recall_Car: 0.0377, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 101.3600, num_fg_points: 603.2400, loss_cls.task0: 0.0191, loss_center.task0: 1.4300, loss_size.task0: 0.3457, loss_rot.task0: 0.1889, loss_cls.task1: 0.0003, loss_center.task1: 0.0084, loss_size.task1: 0.0021, 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: 0.0019, num_pos_rois: 0.0400, num_neg_rois: 97.3200, loss_rcnn_bbox: 0.1601, loss_rcnn_corner: 0.1094, loss: 2.7901, grad_norm: 8.9364 2022-10-27 18:35:32,914 - mmdet - INFO - Epoch [1][2150/6587] lr: 5.396e-04, eta: 4 days, 8:15:50, time: 5.007, data_time: 3.145, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.5064, recall_Car: 0.0467, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 110.3200, num_fg_points: 571.3800, loss_cls.task0: 0.0236, loss_center.task0: 1.3441, loss_size.task0: 0.3588, loss_rot.task0: 0.2278, loss_cls.task1: 0.0013, loss_center.task1: 0.0364, loss_size.task1: 0.0288, loss_rot.task1: 0.0184, loss_cls.task2: 0.0003, loss_center.task2: 0.0291, loss_size.task2: 0.0153, loss_rot.task2: 0.0083, loss_rcnn_cls: 0.0079, num_pos_rois: 0.1600, num_neg_rois: 112.9200, loss_rcnn_bbox: 0.3707, loss_rcnn_corner: 0.1993, loss: 3.1777, grad_norm: 12.5462 2022-10-27 18:42:02,055 - mmdet - INFO - Epoch [1][2200/6587] lr: 5.620e-04, eta: 4 days, 9:36:12, time: 7.782, data_time: 2.945, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.5016, recall_Car: 0.0578, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 98.1000, num_fg_points: 590.0000, loss_cls.task0: 0.0274, loss_center.task0: 1.2483, loss_size.task0: 0.3611, loss_rot.task0: 0.2241, loss_cls.task1: 0.0009, loss_center.task1: 0.0334, loss_size.task1: 0.0319, loss_rot.task1: 0.0244, loss_cls.task2: 0.0004, loss_center.task2: 0.0154, loss_size.task2: 0.0153, loss_rot.task2: 0.0059, loss_rcnn_cls: 0.0012, num_pos_rois: 0.0200, num_neg_rois: 102.0800, loss_rcnn_bbox: 0.0776, loss_rcnn_corner: 0.0434, loss: 2.6135, grad_norm: 8.5630 2022-10-27 18:46:07,825 - mmdet - INFO - Epoch [1][2250/6587] lr: 5.848e-04, eta: 4 days, 9:31:12, time: 4.916, data_time: 3.061, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.5014, recall_Car: 0.0613, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 88.2600, num_fg_points: 601.4600, loss_cls.task0: 0.0190, loss_center.task0: 1.0322, loss_size.task0: 0.3238, loss_rot.task0: 0.1786, loss_cls.task1: 0.0008, loss_center.task1: 0.0224, loss_size.task1: 0.0077, 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: 0.0030, num_pos_rois: 0.0600, num_neg_rois: 95.5400, loss_rcnn_bbox: 0.2614, loss_rcnn_corner: 0.1423, loss: 2.5086, grad_norm: 9.4291 2022-10-27 18:50:30,314 - mmdet - INFO - Epoch [1][2300/6587] lr: 6.080e-04, eta: 4 days, 9:35:30, time: 5.250, data_time: 3.378, memory: 39552, loss_sem_seg: 0.0015, loss_vote: 0.5117, recall_Car: 0.1097, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 72.7200, num_fg_points: 625.4400, loss_cls.task0: 0.0270, loss_center.task0: 1.0075, loss_size.task0: 0.2543, loss_rot.task0: 0.1921, loss_cls.task1: 0.0010, loss_center.task1: 0.0356, loss_size.task1: 0.0245, loss_rot.task1: 0.0095, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0226, num_pos_rois: 0.2600, num_neg_rois: 67.1200, loss_rcnn_bbox: 0.4624, loss_rcnn_corner: 0.3073, loss: 2.8572, grad_norm: 12.3525 2022-10-27 18:54:31,622 - mmdet - INFO - Epoch [1][2350/6587] lr: 6.316e-04, eta: 4 days, 9:27:53, time: 4.825, data_time: 3.005, memory: 39552, loss_sem_seg: 0.0015, loss_vote: 0.4883, recall_Car: 0.1178, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 68.6000, num_fg_points: 655.3400, loss_cls.task0: 0.0263, loss_center.task0: 0.9173, loss_size.task0: 0.1795, loss_rot.task0: 0.1790, loss_cls.task1: 0.0000, loss_center.task1: 0.0000, loss_size.task1: 0.0000, loss_rot.task1: 0.0000, loss_cls.task2: 0.0006, loss_center.task2: 0.0226, loss_size.task2: 0.0266, loss_rot.task2: 0.0090, loss_rcnn_cls: 0.0094, num_pos_rois: 0.1400, num_neg_rois: 74.2800, loss_rcnn_bbox: 0.3119, loss_rcnn_corner: 0.2641, loss: 2.4359, grad_norm: 11.0967 2022-10-27 18:58:37,443 - mmdet - INFO - Epoch [1][2400/6587] lr: 6.555e-04, eta: 4 days, 9:22:53, time: 4.917, data_time: 3.068, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.4934, recall_Car: 0.0575, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 92.9200, num_fg_points: 631.7000, loss_cls.task0: 0.0316, loss_center.task0: 1.2239, loss_size.task0: 0.3051, loss_rot.task0: 0.2326, loss_cls.task1: 0.0006, loss_center.task1: 0.0105, loss_size.task1: 0.0223, loss_rot.task1: 0.0099, loss_cls.task2: 0.0000, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0178, num_pos_rois: 0.4200, num_neg_rois: 94.3600, loss_rcnn_bbox: 0.4567, loss_rcnn_corner: 0.2844, loss: 3.0901, grad_norm: 13.6881 2022-10-27 19:02:46,327 - mmdet - INFO - Epoch [1][2450/6587] lr: 6.797e-04, eta: 4 days, 9:19:29, time: 4.978, data_time: 3.132, memory: 39552, loss_sem_seg: 0.0015, loss_vote: 0.4903, recall_Car: 0.0927, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 105.3600, num_fg_points: 577.7800, loss_cls.task0: 0.0324, loss_center.task0: 1.2083, loss_size.task0: 0.3796, loss_rot.task0: 0.2266, loss_cls.task1: 0.0004, loss_center.task1: 0.0194, loss_size.task1: 0.0083, loss_rot.task1: 0.0023, 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: 0.0800, num_neg_rois: 107.8600, loss_rcnn_bbox: 0.1611, loss_rcnn_corner: 0.1059, loss: 2.6400, grad_norm: 9.7062 2022-10-27 19:07:01,799 - mmdet - INFO - Epoch [1][2500/6587] lr: 7.043e-04, eta: 4 days, 9:19:25, time: 5.109, data_time: 3.257, memory: 39552, loss_sem_seg: 0.0015, loss_vote: 0.5014, recall_Car: 0.1753, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 99.8200, num_fg_points: 573.5000, loss_cls.task0: 0.0370, loss_center.task0: 1.3945, loss_size.task0: 0.3196, loss_rot.task0: 0.2382, loss_cls.task1: 0.0008, loss_center.task1: 0.0103, loss_size.task1: 0.0117, loss_rot.task1: 0.0073, 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: 0.1200, num_neg_rois: 102.6800, loss_rcnn_bbox: 0.2449, loss_rcnn_corner: 0.1914, loss: 2.9634, grad_norm: 10.4836 2022-10-27 19:10:55,316 - mmdet - INFO - Epoch [1][2550/6587] lr: 7.291e-04, eta: 4 days, 9:08:13, time: 4.671, data_time: 2.809, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4797, recall_Car: 0.0646, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 109.2200, num_fg_points: 502.6000, loss_cls.task0: 0.0197, loss_center.task0: 1.0860, loss_size.task0: 0.2398, loss_rot.task0: 0.1814, loss_cls.task1: 0.0000, 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: 0.0062, num_pos_rois: 0.1800, num_neg_rois: 108.0200, loss_rcnn_bbox: 0.3091, loss_rcnn_corner: 0.2690, loss: 2.5921, grad_norm: 10.3180 2022-10-27 19:15:00,805 - mmdet - INFO - Epoch [1][2600/6587] lr: 7.543e-04, eta: 4 days, 9:03:09, time: 4.910, data_time: 3.061, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.4851, recall_Car: 0.0924, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 110.6600, num_fg_points: 539.5800, loss_cls.task0: 0.0241, loss_center.task0: 1.4854, loss_size.task0: 0.3256, loss_rot.task0: 0.2153, loss_cls.task1: 0.0006, loss_center.task1: 0.0180, loss_size.task1: 0.0129, loss_rot.task1: 0.0048, 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: 0.2400, num_neg_rois: 114.2800, loss_rcnn_bbox: 0.5036, loss_rcnn_corner: 0.3283, loss: 3.4138, grad_norm: 13.4444 2022-10-27 19:19:06,230 - mmdet - INFO - Epoch [1][2650/6587] lr: 7.798e-04, eta: 4 days, 8:58:06, time: 4.908, data_time: 3.056, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.4755, recall_Car: 0.1724, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 99.0400, num_fg_points: 575.5800, loss_cls.task0: 0.0276, loss_center.task0: 1.4009, loss_size.task0: 0.3293, loss_rot.task0: 0.2365, loss_cls.task1: 0.0003, loss_center.task1: 0.0150, loss_size.task1: 0.0122, 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: 0.0062, num_pos_rois: 0.1800, num_neg_rois: 102.6400, loss_rcnn_bbox: 0.3677, loss_rcnn_corner: 0.2184, loss: 3.0995, grad_norm: 10.5437 2022-10-27 19:23:30,713 - mmdet - INFO - Epoch [1][2700/6587] lr: 8.056e-04, eta: 4 days, 9:02:04, time: 5.290, data_time: 3.403, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4730, recall_Car: 0.1213, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 107.4400, num_fg_points: 548.7400, loss_cls.task0: 0.0245, loss_center.task0: 1.0689, loss_size.task0: 0.2558, loss_rot.task0: 0.2107, loss_cls.task1: 0.0000, 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: 0.0062, num_pos_rois: 0.1400, num_neg_rois: 110.6000, loss_rcnn_bbox: 0.2762, loss_rcnn_corner: 0.2146, loss: 2.5311, grad_norm: 8.5383 2022-10-27 19:27:34,751 - mmdet - INFO - Epoch [1][2750/6587] lr: 8.317e-04, eta: 4 days, 8:56:14, time: 4.879, data_time: 3.025, memory: 39552, loss_sem_seg: 0.0012, loss_vote: 0.4539, recall_Car: 0.1097, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 93.8800, num_fg_points: 581.0400, loss_cls.task0: 0.0305, loss_center.task0: 1.2435, loss_size.task0: 0.2818, loss_rot.task0: 0.2182, loss_cls.task1: 0.0014, loss_center.task1: 0.0308, loss_size.task1: 0.0208, loss_rot.task1: 0.0158, loss_cls.task2: 0.0006, loss_center.task2: 0.0140, loss_size.task2: 0.0065, loss_rot.task2: 0.0069, loss_rcnn_cls: 0.0043, num_pos_rois: 0.1000, num_neg_rois: 97.5600, loss_rcnn_bbox: 0.1133, loss_rcnn_corner: 0.0879, loss: 2.5313, grad_norm: 8.4498 2022-10-27 19:31:55,490 - mmdet - INFO - Epoch [1][2800/6587] lr: 8.580e-04, eta: 4 days, 8:58:06, time: 5.216, data_time: 3.380, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4784, recall_Car: 0.1208, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 87.0400, num_fg_points: 593.0000, loss_cls.task0: 0.0282, loss_center.task0: 1.2511, loss_size.task0: 0.2777, loss_rot.task0: 0.2387, loss_cls.task1: 0.0005, loss_center.task1: 0.0085, loss_size.task1: 0.0088, loss_rot.task1: 0.0044, loss_cls.task2: 0.0005, loss_center.task2: 0.0272, loss_size.task2: 0.0185, loss_rot.task2: 0.0200, loss_rcnn_cls: 0.0064, num_pos_rois: 0.1200, num_neg_rois: 90.9800, loss_rcnn_bbox: 0.0797, loss_rcnn_corner: 0.0678, loss: 2.5174, grad_norm: 8.5266 2022-10-27 19:35:58,535 - mmdet - INFO - Epoch [1][2850/6587] lr: 8.846e-04, eta: 4 days, 8:51:51, time: 4.861, data_time: 3.013, memory: 39552, loss_sem_seg: 0.0012, loss_vote: 0.4808, recall_Car: 0.1084, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 100.3800, num_fg_points: 574.2600, loss_cls.task0: 0.0268, loss_center.task0: 1.4238, loss_size.task0: 0.3725, loss_rot.task0: 0.2452, loss_cls.task1: 0.0000, loss_center.task1: 0.0000, loss_size.task1: 0.0000, loss_rot.task1: 0.0000, loss_cls.task2: 0.0009, loss_center.task2: 0.0108, loss_size.task2: 0.0064, loss_rot.task2: 0.0062, loss_rcnn_cls: 0.0053, num_pos_rois: 0.1200, num_neg_rois: 103.2800, loss_rcnn_bbox: 0.2308, loss_rcnn_corner: 0.1850, loss: 2.9959, grad_norm: 9.2189 2022-10-27 19:40:07,225 - mmdet - INFO - Epoch [1][2900/6587] lr: 9.115e-04, eta: 4 days, 8:48:09, time: 4.974, data_time: 3.113, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.4465, recall_Car: 0.1517, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 92.0000, num_fg_points: 572.9600, loss_cls.task0: 0.0295, loss_center.task0: 1.2784, loss_size.task0: 0.2918, loss_rot.task0: 0.2438, loss_cls.task1: 0.0005, loss_center.task1: 0.0081, loss_size.task1: 0.0065, loss_rot.task1: 0.0028, loss_cls.task2: 0.0011, loss_center.task2: 0.0337, loss_size.task2: 0.0465, loss_rot.task2: 0.0144, loss_rcnn_cls: 0.0053, num_pos_rois: 0.1200, num_neg_rois: 95.2600, loss_rcnn_bbox: 0.2306, loss_rcnn_corner: 0.1331, loss: 2.7740, grad_norm: 9.3547 2022-10-27 19:43:59,924 - mmdet - INFO - Epoch [1][2950/6587] lr: 9.385e-04, eta: 4 days, 8:37:33, time: 4.654, data_time: 2.823, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4598, recall_Car: 0.1430, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 106.4600, num_fg_points: 570.1800, loss_cls.task0: 0.0195, loss_center.task0: 1.0924, loss_size.task0: 0.2470, loss_rot.task0: 0.1991, loss_cls.task1: 0.0006, loss_center.task1: 0.0210, loss_size.task1: 0.0156, loss_rot.task1: 0.0123, loss_cls.task2: 0.0004, loss_center.task2: 0.0161, loss_size.task2: 0.0238, loss_rot.task2: 0.0138, loss_rcnn_cls: 0.0068, num_pos_rois: 0.1200, num_neg_rois: 98.7600, loss_rcnn_bbox: 0.1469, loss_rcnn_corner: 0.0965, loss: 2.3730, grad_norm: 8.2454 2022-10-27 19:48:10,686 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-10-27 19:48:10,699 - mmdet - INFO - Epoch [1][3000/6587] lr: 9.659e-04, eta: 4 days, 8:34:48, time: 5.015, data_time: 3.193, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4939, recall_Car: 0.0706, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 103.0800, num_fg_points: 567.1000, loss_cls.task0: 0.0250, loss_center.task0: 1.0276, loss_size.task0: 0.2695, loss_rot.task0: 0.2025, loss_cls.task1: 0.0007, loss_center.task1: 0.0309, loss_size.task1: 0.0146, loss_rot.task1: 0.0142, loss_cls.task2: 0.0004, loss_center.task2: 0.0163, loss_size.task2: 0.0064, loss_rot.task2: 0.0054, loss_rcnn_cls: 0.0076, num_pos_rois: 0.1800, num_neg_rois: 104.3400, loss_rcnn_bbox: 0.2826, loss_rcnn_corner: 0.1317, loss: 2.5305, grad_norm: 8.0922 2022-10-27 19:52:17,072 - mmdet - INFO - Epoch [1][3050/6587] lr: 9.934e-04, eta: 4 days, 8:30:12, time: 4.928, data_time: 3.047, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4699, recall_Car: 0.1732, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 89.6600, num_fg_points: 622.5600, loss_cls.task0: 0.0359, loss_center.task0: 1.1969, loss_size.task0: 0.2314, loss_rot.task0: 0.2333, loss_cls.task1: 0.0028, loss_center.task1: 0.0607, loss_size.task1: 0.0622, loss_rot.task1: 0.0299, loss_cls.task2: 0.0016, loss_center.task2: 0.0705, loss_size.task2: 0.0361, loss_rot.task2: 0.0230, loss_rcnn_cls: 0.0034, num_pos_rois: 0.0800, num_neg_rois: 92.8600, loss_rcnn_bbox: 0.1327, loss_rcnn_corner: 0.0451, loss: 2.6367, grad_norm: 7.5603 2022-10-27 19:56:31,399 - mmdet - INFO - Epoch [1][3100/6587] lr: 1.021e-03, eta: 4 days, 8:28:50, time: 5.086, data_time: 3.192, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4620, recall_Car: 0.0717, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 88.0400, num_fg_points: 630.8200, loss_cls.task0: 0.0288, loss_center.task0: 1.3103, loss_size.task0: 0.2914, loss_rot.task0: 0.2251, loss_cls.task1: 0.0007, loss_center.task1: 0.0219, loss_size.task1: 0.0267, loss_rot.task1: 0.0155, loss_cls.task2: 0.0025, loss_center.task2: 0.0866, loss_size.task2: 0.0410, loss_rot.task2: 0.0386, loss_rcnn_cls: 0.0065, num_pos_rois: 0.1400, num_neg_rois: 93.4000, loss_rcnn_bbox: 0.1686, loss_rcnn_corner: 0.1916, loss: 2.9189, grad_norm: 9.5246 2022-10-27 20:00:24,125 - mmdet - INFO - Epoch [1][3150/6587] lr: 1.049e-03, eta: 4 days, 8:18:44, time: 4.655, data_time: 2.814, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.4521, recall_Car: 0.2467, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 84.0600, num_fg_points: 615.4400, loss_cls.task0: 0.0415, loss_center.task0: 1.2594, loss_size.task0: 0.2937, loss_rot.task0: 0.2455, loss_cls.task1: 0.0005, loss_center.task1: 0.0100, loss_size.task1: 0.0092, loss_rot.task1: 0.0086, loss_cls.task2: 0.0015, loss_center.task2: 0.0525, loss_size.task2: 0.0184, loss_rot.task2: 0.0153, loss_rcnn_cls: 0.0085, num_pos_rois: 0.1400, num_neg_rois: 87.9600, loss_rcnn_bbox: 0.1935, loss_rcnn_corner: 0.1706, loss: 2.7821, grad_norm: 7.9893 2022-10-27 20:04:30,676 - mmdet - INFO - Epoch [1][3200/6587] lr: 1.077e-03, eta: 4 days, 8:14:16, time: 4.931, data_time: 3.045, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4406, recall_Car: 0.2247, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 82.4200, num_fg_points: 633.5600, loss_cls.task0: 0.0314, loss_center.task0: 1.1584, loss_size.task0: 0.2477, loss_rot.task0: 0.2043, loss_cls.task1: 0.0017, loss_center.task1: 0.0234, loss_size.task1: 0.0228, loss_rot.task1: 0.0097, 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: 0.0600, num_neg_rois: 86.5400, loss_rcnn_bbox: 0.0559, loss_rcnn_corner: 0.0384, loss: 2.2389, grad_norm: 7.0220 2022-10-27 20:08:30,920 - mmdet - INFO - Epoch [1][3250/6587] lr: 1.105e-03, eta: 4 days, 8:07:22, time: 4.805, data_time: 2.944, memory: 39552, loss_sem_seg: 0.0012, loss_vote: 0.4475, recall_Car: 0.2174, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 74.4400, num_fg_points: 660.6800, loss_cls.task0: 0.0395, loss_center.task0: 1.1677, loss_size.task0: 0.2681, loss_rot.task0: 0.2196, loss_cls.task1: 0.0004, loss_center.task1: 0.0184, loss_size.task1: 0.0050, loss_rot.task1: 0.0100, loss_cls.task2: 0.0007, loss_center.task2: 0.0209, loss_size.task2: 0.0052, loss_rot.task2: 0.0081, loss_rcnn_cls: 0.0127, num_pos_rois: 0.2400, num_neg_rois: 79.0200, loss_rcnn_bbox: 0.3447, loss_rcnn_corner: 0.1987, loss: 2.7681, grad_norm: 8.4370 2022-10-27 20:12:43,029 - mmdet - INFO - Epoch [1][3300/6587] lr: 1.134e-03, eta: 4 days, 8:05:05, time: 5.042, data_time: 3.229, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4357, recall_Car: 0.2129, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 75.4800, num_fg_points: 632.4600, loss_cls.task0: 0.0363, loss_center.task0: 1.1975, loss_size.task0: 0.2659, loss_rot.task0: 0.2305, loss_cls.task1: 0.0006, loss_center.task1: 0.0041, loss_size.task1: 0.0111, 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: 0.0167, num_pos_rois: 0.2600, num_neg_rois: 79.4000, loss_rcnn_bbox: 0.2000, loss_rcnn_corner: 0.1230, loss: 2.5286, grad_norm: 7.6591 2022-10-27 20:16:51,118 - mmdet - INFO - Epoch [1][3350/6587] lr: 1.162e-03, eta: 4 days, 8:01:15, time: 4.962, data_time: 3.127, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.4351, recall_Car: 0.2953, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 75.5400, num_fg_points: 665.6800, loss_cls.task0: 0.0394, loss_center.task0: 1.1643, loss_size.task0: 0.2652, loss_rot.task0: 0.2340, loss_cls.task1: 0.0000, loss_center.task1: 0.0000, loss_size.task1: 0.0000, loss_rot.task1: 0.0000, loss_cls.task2: 0.0004, loss_center.task2: 0.0103, loss_size.task2: 0.0027, loss_rot.task2: 0.0008, loss_rcnn_cls: 0.0094, num_pos_rois: 0.1800, num_neg_rois: 79.9400, loss_rcnn_bbox: 0.2244, loss_rcnn_corner: 0.0729, loss: 2.4603, grad_norm: 6.8837 2022-10-27 20:21:06,395 - mmdet - INFO - Epoch [1][3400/6587] lr: 1.191e-03, eta: 4 days, 8:00:04, time: 5.105, data_time: 3.253, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4494, recall_Car: 0.2815, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 77.1600, num_fg_points: 650.2400, loss_cls.task0: 0.0484, loss_center.task0: 1.3695, loss_size.task0: 0.3267, loss_rot.task0: 0.2462, loss_cls.task1: 0.0005, loss_center.task1: 0.0100, loss_size.task1: 0.0037, loss_rot.task1: 0.0081, loss_cls.task2: 0.0022, loss_center.task2: 0.0165, loss_size.task2: 0.0147, loss_rot.task2: 0.0249, loss_rcnn_cls: 0.0072, num_pos_rois: 0.1400, num_neg_rois: 81.5800, loss_rcnn_bbox: 0.1916, loss_rcnn_corner: 0.0772, loss: 2.7983, grad_norm: 6.8675 2022-10-27 20:25:04,010 - mmdet - INFO - Epoch [1][3450/6587] lr: 1.220e-03, eta: 4 days, 7:52:20, time: 4.752, data_time: 2.914, memory: 39552, loss_sem_seg: 0.0012, loss_vote: 0.4299, recall_Car: 0.2061, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 68.5000, num_fg_points: 657.6800, loss_cls.task0: 0.0375, loss_center.task0: 1.0532, loss_size.task0: 0.2482, loss_rot.task0: 0.2115, loss_cls.task1: 0.0005, loss_center.task1: 0.0151, loss_size.task1: 0.0091, loss_rot.task1: 0.0063, loss_cls.task2: 0.0005, loss_center.task2: 0.0433, loss_size.task2: 0.0114, loss_rot.task2: 0.0007, loss_rcnn_cls: 0.0077, num_pos_rois: 0.1600, num_neg_rois: 74.2600, loss_rcnn_bbox: 0.1992, loss_rcnn_corner: 0.1229, loss: 2.3981, grad_norm: 6.8667 2022-10-27 20:29:16,360 - mmdet - INFO - Epoch [1][3500/6587] lr: 1.249e-03, eta: 4 days, 7:50:01, time: 5.047, data_time: 3.184, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4368, recall_Car: 0.3127, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 67.3600, num_fg_points: 676.3400, loss_cls.task0: 0.0410, loss_center.task0: 1.2596, loss_size.task0: 0.3066, loss_rot.task0: 0.2420, loss_cls.task1: 0.0012, loss_center.task1: 0.0117, loss_size.task1: 0.0203, loss_rot.task1: 0.0046, loss_cls.task2: 0.0008, loss_center.task2: 0.0170, loss_size.task2: 0.0064, loss_rot.task2: 0.0082, loss_rcnn_cls: 0.0043, num_pos_rois: 0.0600, num_neg_rois: 72.4800, loss_rcnn_bbox: 0.0590, loss_rcnn_corner: 0.0584, loss: 2.4792, grad_norm: 6.3762 2022-10-27 20:33:12,110 - mmdet - INFO - Epoch [1][3550/6587] lr: 1.278e-03, eta: 4 days, 7:41:46, time: 4.715, data_time: 2.900, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4440, recall_Car: 0.2611, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 73.9400, num_fg_points: 662.8200, loss_cls.task0: 0.0329, loss_center.task0: 1.3354, loss_size.task0: 0.3031, loss_rot.task0: 0.2174, loss_cls.task1: 0.0018, loss_center.task1: 0.0292, loss_size.task1: 0.0212, loss_rot.task1: 0.0134, 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: 0.1600, num_neg_rois: 78.8600, loss_rcnn_bbox: 0.1833, loss_rcnn_corner: 0.1337, loss: 2.7266, grad_norm: 7.6633 2022-10-27 20:37:24,424 - mmdet - INFO - Epoch [1][3600/6587] lr: 1.307e-03, eta: 4 days, 7:39:25, time: 5.046, data_time: 3.196, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4374, recall_Car: 0.3107, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 74.0000, num_fg_points: 640.2600, loss_cls.task0: 0.0393, loss_center.task0: 1.3074, loss_size.task0: 0.2679, loss_rot.task0: 0.2370, loss_cls.task1: 0.0015, loss_center.task1: 0.0538, loss_size.task1: 0.0217, loss_rot.task1: 0.0311, loss_cls.task2: 0.0012, loss_center.task2: 0.0239, loss_size.task2: 0.0130, loss_rot.task2: 0.0117, loss_rcnn_cls: 0.0160, num_pos_rois: 0.3200, num_neg_rois: 78.9000, loss_rcnn_bbox: 0.3638, loss_rcnn_corner: 0.3014, loss: 3.1296, grad_norm: 9.1411 2022-10-27 20:41:21,408 - mmdet - INFO - Epoch [1][3650/6587] lr: 1.337e-03, eta: 4 days, 7:31:43, time: 4.739, data_time: 2.896, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.4388, recall_Car: 0.2975, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 80.9400, num_fg_points: 643.8600, loss_cls.task0: 0.0350, loss_center.task0: 1.2299, loss_size.task0: 0.2645, loss_rot.task0: 0.2270, loss_cls.task1: 0.0007, loss_center.task1: 0.0117, loss_size.task1: 0.0037, loss_rot.task1: 0.0047, loss_cls.task2: 0.0018, loss_center.task2: 0.0331, loss_size.task2: 0.0165, loss_rot.task2: 0.0183, loss_rcnn_cls: 0.0021, num_pos_rois: 0.0400, num_neg_rois: 85.7600, loss_rcnn_bbox: 0.0735, loss_rcnn_corner: 0.0685, loss: 2.4314, grad_norm: 7.0203 2022-10-27 20:45:27,120 - mmdet - INFO - Epoch [1][3700/6587] lr: 1.366e-03, eta: 4 days, 7:27:07, time: 4.915, data_time: 3.069, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4445, recall_Car: 0.2499, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 76.7600, num_fg_points: 650.1600, loss_cls.task0: 0.0278, loss_center.task0: 1.1575, loss_size.task0: 0.2692, loss_rot.task0: 0.2118, loss_cls.task1: 0.0009, loss_center.task1: 0.0176, loss_size.task1: 0.0117, loss_rot.task1: 0.0061, loss_cls.task2: 0.0001, loss_center.task2: 0.0000, loss_size.task2: 0.0000, loss_rot.task2: 0.0000, loss_rcnn_cls: 0.0042, num_pos_rois: 0.1000, num_neg_rois: 82.8200, loss_rcnn_bbox: 0.1078, loss_rcnn_corner: 0.1013, loss: 2.3617, grad_norm: 6.8993 2022-10-27 20:49:28,497 - mmdet - INFO - Epoch [1][3750/6587] lr: 1.395e-03, eta: 4 days, 7:21:04, time: 4.827, data_time: 3.012, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.4480, recall_Car: 0.2814, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 72.3600, num_fg_points: 649.8400, loss_cls.task0: 0.0337, loss_center.task0: 1.4040, loss_size.task0: 0.3448, loss_rot.task0: 0.2313, loss_cls.task1: 0.0014, loss_center.task1: 0.0258, loss_size.task1: 0.0081, loss_rot.task1: 0.0112, loss_cls.task2: 0.0006, loss_center.task2: 0.0112, loss_size.task2: 0.0059, loss_rot.task2: 0.0067, loss_rcnn_cls: 0.0051, num_pos_rois: 0.1000, num_neg_rois: 77.1600, loss_rcnn_bbox: 0.1876, loss_rcnn_corner: 0.1373, loss: 2.8641, grad_norm: 7.9082 2022-10-27 20:53:44,935 - mmdet - INFO - Epoch [1][3800/6587] lr: 1.425e-03, eta: 4 days, 7:20:03, time: 5.129, data_time: 3.297, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.4479, recall_Car: 0.3221, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 73.9800, num_fg_points: 618.3800, loss_cls.task0: 0.0338, loss_center.task0: 1.1462, loss_size.task0: 0.2838, loss_rot.task0: 0.2220, loss_cls.task1: 0.0009, loss_center.task1: 0.0204, loss_size.task1: 0.0185, 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: 0.0080, num_pos_rois: 0.1400, num_neg_rois: 78.7400, loss_rcnn_bbox: 0.1579, loss_rcnn_corner: 0.0727, loss: 2.4245, grad_norm: 6.0932 2022-10-27 20:57:55,200 - mmdet - INFO - Epoch [1][3850/6587] lr: 1.454e-03, eta: 4 days, 7:16:55, time: 5.005, data_time: 3.200, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4455, recall_Car: 0.2499, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 59.3600, num_fg_points: 647.1200, loss_cls.task0: 0.0239, loss_center.task0: 0.8158, loss_size.task0: 0.2270, loss_rot.task0: 0.1575, loss_cls.task1: 0.0016, loss_center.task1: 0.0203, loss_size.task1: 0.0080, loss_rot.task1: 0.0079, 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: 0.0400, num_neg_rois: 60.5200, loss_rcnn_bbox: 0.0704, loss_rcnn_corner: 0.0498, loss: 1.8314, grad_norm: 5.0560 2022-10-27 21:02:23,805 - mmdet - INFO - Epoch [1][3900/6587] lr: 1.484e-03, eta: 4 days, 7:19:40, time: 5.372, data_time: 3.471, memory: 39552, loss_sem_seg: 0.0014, loss_vote: 0.4310, recall_Car: 0.3149, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 71.9000, num_fg_points: 619.0800, loss_cls.task0: 0.0264, loss_center.task0: 1.0557, loss_size.task0: 0.2701, loss_rot.task0: 0.1837, loss_cls.task1: 0.0009, loss_center.task1: 0.0055, loss_size.task1: 0.0088, loss_rot.task1: 0.0184, loss_cls.task2: 0.0005, loss_center.task2: 0.0114, loss_size.task2: 0.0072, loss_rot.task2: 0.0026, loss_rcnn_cls: 0.0022, num_pos_rois: 0.0400, num_neg_rois: 76.9600, loss_rcnn_bbox: 0.0895, loss_rcnn_corner: 0.0425, loss: 2.1579, grad_norm: 5.8855 2022-10-27 21:06:34,019 - mmdet - INFO - Epoch [1][3950/6587] lr: 1.513e-03, eta: 4 days, 7:16:23, time: 5.004, data_time: 3.188, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4508, recall_Car: 0.2946, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 74.0400, num_fg_points: 629.2600, loss_cls.task0: 0.0344, loss_center.task0: 1.2883, loss_size.task0: 0.3300, loss_rot.task0: 0.2348, loss_cls.task1: 0.0005, loss_center.task1: 0.0091, loss_size.task1: 0.0108, loss_rot.task1: 0.0046, 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: 0.0800, num_neg_rois: 78.4400, loss_rcnn_bbox: 0.1355, loss_rcnn_corner: 0.1029, loss: 2.6078, grad_norm: 6.5871 2022-10-27 21:10:52,264 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-10-27 21:10:52,284 - mmdet - INFO - Epoch [1][4000/6587] lr: 1.543e-03, eta: 4 days, 7:15:37, time: 5.165, data_time: 3.349, memory: 39552, loss_sem_seg: 0.0013, loss_vote: 0.4424, recall_Car: 0.2719, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 69.1200, num_fg_points: 633.4600, loss_cls.task0: 0.0381, loss_center.task0: 1.2527, loss_size.task0: 0.2806, loss_rot.task0: 0.2245, loss_cls.task1: 0.0007, loss_center.task1: 0.0180, loss_size.task1: 0.0095, loss_rot.task1: 0.0033, 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: 0.1000, num_neg_rois: 73.4800, loss_rcnn_bbox: 0.1516, loss_rcnn_corner: 0.1624, loss: 2.5909, grad_norm: 6.4620 2022-10-27 21:10:52,339 - mmdet - INFO - Enable FSD Detection from now. 2022-10-27 21:14:50,025 - mmdet - INFO - Epoch [1][4050/6587] lr: 1.572e-03, eta: 4 days, 7:08:25, time: 4.755, data_time: 2.896, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4181, recall_Car: 0.2549, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 137.8800, num_fg_points: 4285.3000, loss_cls.task0: 0.0364, loss_center.task0: 0.9829, loss_size.task0: 0.2770, loss_rot.task0: 0.2393, loss_cls.task1: 0.0060, loss_center.task1: 0.0788, loss_size.task1: 0.0482, loss_rot.task1: 0.0585, loss_cls.task2: 0.0026, loss_center.task2: 0.0815, loss_size.task2: 0.0378, loss_rot.task2: 0.0360, loss_rcnn_cls: 0.0145, num_pos_rois: 0.2400, num_neg_rois: 143.7000, loss_rcnn_bbox: 0.3340, loss_rcnn_corner: 0.1319, loss: 2.7846, grad_norm: 6.9845 2022-10-27 21:18:51,539 - mmdet - INFO - Epoch [1][4100/6587] lr: 1.602e-03, eta: 4 days, 7:02:27, time: 4.831, data_time: 3.030, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4316, recall_Car: 0.2729, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 72.0000, num_fg_points: 72.0000, loss_cls.task0: 0.0410, loss_center.task0: 0.9749, loss_size.task0: 0.2084, loss_rot.task0: 0.2596, loss_cls.task1: 0.0033, loss_center.task1: 0.0661, loss_size.task1: 0.0165, loss_rot.task1: 0.0396, loss_cls.task2: 0.0040, loss_center.task2: 0.1081, loss_size.task2: 0.0300, loss_rot.task2: 0.0569, loss_rcnn_cls: 0.0154, num_pos_rois: 0.2600, num_neg_rois: 71.8400, loss_rcnn_bbox: 0.3114, loss_rcnn_corner: 0.0776, loss: 2.6457, grad_norm: 6.7037 2022-10-27 21:23:00,637 - mmdet - INFO - Epoch [1][4150/6587] lr: 1.631e-03, eta: 4 days, 6:58:49, time: 4.982, data_time: 3.169, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4057, recall_Car: 0.2487, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 72.0000, num_fg_points: 72.0000, loss_cls.task0: 0.0402, loss_center.task0: 0.9910, loss_size.task0: 0.2378, loss_rot.task0: 0.2481, loss_cls.task1: 0.0049, loss_center.task1: 0.1313, loss_size.task1: 0.0634, loss_rot.task1: 0.0674, loss_cls.task2: 0.0014, loss_center.task2: 0.0458, loss_size.task2: 0.0138, loss_rot.task2: 0.0130, loss_rcnn_cls: 0.0087, num_pos_rois: 0.1800, num_neg_rois: 80.4000, loss_rcnn_bbox: 0.1629, loss_rcnn_corner: 0.0626, loss: 2.4992, grad_norm: 6.2775 2022-10-27 21:27:10,983 - mmdet - INFO - Epoch [1][4200/6587] lr: 1.661e-03, eta: 4 days, 6:55:32, time: 5.007, data_time: 3.195, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4198, recall_Car: 0.2666, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 72.0000, num_fg_points: 72.0000, loss_cls.task0: 0.0418, loss_center.task0: 0.9758, loss_size.task0: 0.2215, loss_rot.task0: 0.2531, loss_cls.task1: 0.0038, loss_center.task1: 0.0938, loss_size.task1: 0.0469, loss_rot.task1: 0.0520, loss_cls.task2: 0.0026, loss_center.task2: 0.0716, loss_size.task2: 0.0215, loss_rot.task2: 0.0290, loss_rcnn_cls: 0.0121, num_pos_rois: 0.2200, num_neg_rois: 71.7800, loss_rcnn_bbox: 0.3530, loss_rcnn_corner: 0.1197, loss: 2.7193, grad_norm: 6.6022 2022-10-27 21:31:08,328 - mmdet - INFO - Epoch [1][4250/6587] lr: 1.690e-03, eta: 4 days, 6:48:25, time: 4.747, data_time: 2.928, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4064, recall_Car: 0.3404, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 69.3000, num_fg_points: 72.7000, loss_cls.task0: 0.0395, loss_center.task0: 0.9381, loss_size.task0: 0.2087, loss_rot.task0: 0.2591, loss_cls.task1: 0.0046, loss_center.task1: 0.0758, loss_size.task1: 0.0315, loss_rot.task1: 0.0413, loss_cls.task2: 0.0028, loss_center.task2: 0.0510, loss_size.task2: 0.0148, loss_rot.task2: 0.0246, loss_rcnn_cls: 0.0162, num_pos_rois: 0.3000, num_neg_rois: 74.4400, loss_rcnn_bbox: 0.4017, loss_rcnn_corner: 0.1635, loss: 2.6807, grad_norm: 6.7588 2022-10-27 21:35:24,648 - mmdet - INFO - Epoch [1][4300/6587] lr: 1.719e-03, eta: 4 days, 6:46:53, time: 5.126, data_time: 3.318, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4068, recall_Car: 0.3770, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 69.3800, num_fg_points: 71.4000, loss_cls.task0: 0.0377, loss_center.task0: 0.9955, loss_size.task0: 0.2253, loss_rot.task0: 0.2482, loss_cls.task1: 0.0046, loss_center.task1: 0.0702, loss_size.task1: 0.0612, loss_rot.task1: 0.0498, loss_cls.task2: 0.0037, loss_center.task2: 0.0480, loss_size.task2: 0.0233, loss_rot.task2: 0.0295, loss_rcnn_cls: 0.0062, num_pos_rois: 0.1200, num_neg_rois: 77.5200, loss_rcnn_bbox: 0.1302, loss_rcnn_corner: 0.0421, loss: 2.3835, grad_norm: 5.7241 2022-10-27 21:39:28,511 - mmdet - INFO - Epoch [1][4350/6587] lr: 1.748e-03, eta: 4 days, 6:41:42, time: 4.877, data_time: 3.058, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4093, recall_Car: 0.3358, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 71.5400, num_fg_points: 71.5800, loss_cls.task0: 0.0364, loss_center.task0: 0.9847, loss_size.task0: 0.2458, loss_rot.task0: 0.2462, loss_cls.task1: 0.0045, loss_center.task1: 0.1072, loss_size.task1: 0.0571, loss_rot.task1: 0.0653, loss_cls.task2: 0.0023, loss_center.task2: 0.0534, loss_size.task2: 0.0202, loss_rot.task2: 0.0262, loss_rcnn_cls: 0.0070, num_pos_rois: 0.1200, num_neg_rois: 88.7200, loss_rcnn_bbox: 0.2088, loss_rcnn_corner: 0.0314, loss: 2.5069, grad_norm: 5.5840 2022-10-27 21:43:42,970 - mmdet - INFO - Epoch [1][4400/6587] lr: 1.777e-03, eta: 4 days, 6:39:33, time: 5.089, data_time: 3.284, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4190, recall_Car: 0.3500, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 69.4600, num_fg_points: 80.5800, loss_cls.task0: 0.0364, loss_center.task0: 0.9249, loss_size.task0: 0.2318, loss_rot.task0: 0.2434, loss_cls.task1: 0.0038, loss_center.task1: 0.0693, loss_size.task1: 0.0428, loss_rot.task1: 0.0471, loss_cls.task2: 0.0024, loss_center.task2: 0.0797, loss_size.task2: 0.0198, loss_rot.task2: 0.0306, loss_rcnn_cls: 0.0139, num_pos_rois: 0.2600, num_neg_rois: 69.2000, loss_rcnn_bbox: 0.3286, loss_rcnn_corner: 0.0864, loss: 2.5812, grad_norm: 6.6924 2022-10-27 21:47:39,718 - mmdet - INFO - Epoch [1][4450/6587] lr: 1.806e-03, eta: 4 days, 6:32:25, time: 4.735, data_time: 2.937, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4113, recall_Car: 0.3587, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 65.9800, num_fg_points: 72.4200, loss_cls.task0: 0.0380, loss_center.task0: 1.0563, loss_size.task0: 0.2417, loss_rot.task0: 0.2361, loss_cls.task1: 0.0036, loss_center.task1: 0.0510, loss_size.task1: 0.0331, loss_rot.task1: 0.0345, loss_cls.task2: 0.0024, loss_center.task2: 0.0594, loss_size.task2: 0.0245, loss_rot.task2: 0.0240, loss_rcnn_cls: 0.0182, num_pos_rois: 0.3200, num_neg_rois: 65.6600, loss_rcnn_bbox: 0.3115, loss_rcnn_corner: 0.1031, loss: 2.6500, grad_norm: 6.4846 2022-10-27 21:51:50,371 - mmdet - INFO - Epoch [1][4500/6587] lr: 1.835e-03, eta: 4 days, 6:29:10, time: 5.013, data_time: 3.198, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4378, recall_Car: 0.3215, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 71.1800, num_fg_points: 71.3800, loss_cls.task0: 0.0379, loss_center.task0: 0.8994, loss_size.task0: 0.1997, loss_rot.task0: 0.2558, loss_cls.task1: 0.0026, loss_center.task1: 0.0538, loss_size.task1: 0.0247, loss_rot.task1: 0.0236, loss_cls.task2: 0.0034, loss_center.task2: 0.1030, loss_size.task2: 0.0348, loss_rot.task2: 0.0498, loss_rcnn_cls: 0.0139, num_pos_rois: 0.2600, num_neg_rois: 70.9200, loss_rcnn_bbox: 0.3264, loss_rcnn_corner: 0.1134, loss: 2.5813, grad_norm: 6.3308 2022-10-27 21:55:52,270 - mmdet - INFO - Epoch [1][4550/6587] lr: 1.864e-03, eta: 4 days, 6:23:32, time: 4.838, data_time: 2.970, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4354, recall_Car: 0.2383, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 70.0600, num_fg_points: 72.4400, loss_cls.task0: 0.0398, loss_center.task0: 1.0469, loss_size.task0: 0.2457, loss_rot.task0: 0.2478, loss_cls.task1: 0.0042, loss_center.task1: 0.0771, loss_size.task1: 0.0441, loss_rot.task1: 0.0665, loss_cls.task2: 0.0025, loss_center.task2: 0.0541, loss_size.task2: 0.0183, loss_rot.task2: 0.0308, loss_rcnn_cls: 0.0116, num_pos_rois: 0.2000, num_neg_rois: 69.8600, loss_rcnn_bbox: 0.2586, loss_rcnn_corner: 0.1001, loss: 2.6847, grad_norm: 6.1635 2022-10-27 21:59:57,747 - mmdet - INFO - Epoch [1][4600/6587] lr: 1.893e-03, eta: 4 days, 6:18:53, time: 4.910, data_time: 3.074, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4150, recall_Car: 0.3600, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 69.8600, num_fg_points: 71.9400, loss_cls.task0: 0.0415, loss_center.task0: 1.0218, loss_size.task0: 0.2205, loss_rot.task0: 0.2542, loss_cls.task1: 0.0035, loss_center.task1: 0.0651, loss_size.task1: 0.0304, loss_rot.task1: 0.0405, loss_cls.task2: 0.0041, loss_center.task2: 0.0579, loss_size.task2: 0.0257, loss_rot.task2: 0.0344, loss_rcnn_cls: 0.0118, num_pos_rois: 0.2200, num_neg_rois: 69.6400, loss_rcnn_bbox: 0.3427, loss_rcnn_corner: 0.1207, loss: 2.6910, grad_norm: 6.7550 2022-10-27 22:03:50,696 - mmdet - INFO - Epoch [1][4650/6587] lr: 1.921e-03, eta: 4 days, 6:10:55, time: 4.659, data_time: 2.839, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4258, recall_Car: 0.3304, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 71.1000, num_fg_points: 71.2200, loss_cls.task0: 0.0338, loss_center.task0: 0.9326, loss_size.task0: 0.2169, loss_rot.task0: 0.2300, loss_cls.task1: 0.0025, loss_center.task1: 0.0412, loss_size.task1: 0.0281, loss_rot.task1: 0.0242, loss_cls.task2: 0.0025, loss_center.task2: 0.0490, loss_size.task2: 0.0270, loss_rot.task2: 0.0295, loss_rcnn_cls: 0.0024, num_pos_rois: 0.0200, num_neg_rois: 71.0800, loss_rcnn_bbox: 0.0135, loss_rcnn_corner: 0.0029, loss: 2.0630, grad_norm: 5.4491 2022-10-27 22:08:01,774 - mmdet - INFO - Epoch [1][4700/6587] lr: 1.949e-03, eta: 4 days, 6:07:48, time: 5.021, data_time: 3.158, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4261, recall_Car: 0.3337, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 68.5000, num_fg_points: 69.5800, loss_cls.task0: 0.0407, loss_center.task0: 0.9829, loss_size.task0: 0.2526, loss_rot.task0: 0.2530, loss_cls.task1: 0.0040, loss_center.task1: 0.0492, loss_size.task1: 0.0229, loss_rot.task1: 0.0354, loss_cls.task2: 0.0021, loss_center.task2: 0.0505, loss_size.task2: 0.0101, loss_rot.task2: 0.0273, loss_rcnn_cls: 0.0050, num_pos_rois: 0.0800, num_neg_rois: 68.4200, loss_rcnn_bbox: 0.0879, loss_rcnn_corner: 0.0322, loss: 2.2831, grad_norm: 5.7982 2022-10-27 22:11:57,959 - mmdet - INFO - Epoch [1][4750/6587] lr: 1.978e-03, eta: 4 days, 6:00:47, time: 4.724, data_time: 2.892, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4297, recall_Car: 0.3878, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 68.8600, num_fg_points: 71.0400, loss_cls.task0: 0.0384, loss_center.task0: 1.0655, loss_size.task0: 0.2409, loss_rot.task0: 0.2573, loss_cls.task1: 0.0041, loss_center.task1: 0.0585, loss_size.task1: 0.0554, loss_rot.task1: 0.0451, loss_cls.task2: 0.0026, loss_center.task2: 0.0444, loss_size.task2: 0.0251, loss_rot.task2: 0.0347, loss_rcnn_cls: 0.0129, num_pos_rois: 0.2800, num_neg_rois: 82.9800, loss_rcnn_bbox: 0.3610, loss_rcnn_corner: 0.1288, loss: 2.8059, grad_norm: 5.9455 2022-10-27 22:16:18,131 - mmdet - INFO - Epoch [1][4800/6587] lr: 2.006e-03, eta: 4 days, 6:00:01, time: 5.203, data_time: 3.375, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4345, recall_Car: 0.2965, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 71.0800, num_fg_points: 71.6800, loss_cls.task0: 0.0387, loss_center.task0: 0.8979, loss_size.task0: 0.2593, loss_rot.task0: 0.2407, loss_cls.task1: 0.0045, loss_center.task1: 0.0908, loss_size.task1: 0.0395, loss_rot.task1: 0.0528, loss_cls.task2: 0.0025, loss_center.task2: 0.0679, loss_size.task2: 0.0168, loss_rot.task2: 0.0289, loss_rcnn_cls: 0.0134, num_pos_rois: 0.2200, num_neg_rois: 70.8600, loss_rcnn_bbox: 0.3124, loss_rcnn_corner: 0.1066, loss: 2.6086, grad_norm: 6.1089 2022-10-27 22:20:15,378 - mmdet - INFO - Epoch [1][4850/6587] lr: 2.033e-03, eta: 4 days, 5:53:20, time: 4.745, data_time: 2.925, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4088, recall_Car: 0.3793, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 68.3600, num_fg_points: 74.3200, loss_cls.task0: 0.0385, loss_center.task0: 0.8351, loss_size.task0: 0.2171, loss_rot.task0: 0.2408, loss_cls.task1: 0.0044, loss_center.task1: 0.0738, loss_size.task1: 0.0425, loss_rot.task1: 0.0488, loss_cls.task2: 0.0027, loss_center.task2: 0.0426, loss_size.task2: 0.0209, loss_rot.task2: 0.0241, loss_rcnn_cls: 0.0118, num_pos_rois: 0.2200, num_neg_rois: 68.1400, loss_rcnn_bbox: 0.3364, loss_rcnn_corner: 0.1267, loss: 2.4764, grad_norm: 5.6577 2022-10-27 22:24:28,346 - mmdet - INFO - Epoch [1][4900/6587] lr: 2.061e-03, eta: 4 days, 5:50:41, time: 5.059, data_time: 3.218, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4316, recall_Car: 0.2898, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 68.7000, num_fg_points: 77.7800, loss_cls.task0: 0.0392, loss_center.task0: 0.9245, loss_size.task0: 0.2125, loss_rot.task0: 0.2538, loss_cls.task1: 0.0034, loss_center.task1: 0.0391, loss_size.task1: 0.0265, loss_rot.task1: 0.0280, loss_cls.task2: 0.0026, loss_center.task2: 0.0568, loss_size.task2: 0.0145, loss_rot.task2: 0.0290, loss_rcnn_cls: 0.0202, num_pos_rois: 0.3400, num_neg_rois: 68.3600, loss_rcnn_bbox: 0.4015, loss_rcnn_corner: 0.1398, loss: 2.6243, grad_norm: 6.2749 2022-10-27 22:28:38,098 - mmdet - INFO - Epoch [1][4950/6587] lr: 2.088e-03, eta: 4 days, 5:47:11, time: 4.995, data_time: 3.184, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4271, recall_Car: 0.3318, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 70.6400, num_fg_points: 70.9400, loss_cls.task0: 0.0397, loss_center.task0: 1.0735, loss_size.task0: 0.2503, loss_rot.task0: 0.2408, loss_cls.task1: 0.0031, loss_center.task1: 0.0664, loss_size.task1: 0.0299, loss_rot.task1: 0.0369, loss_cls.task2: 0.0018, loss_center.task2: 0.0502, loss_size.task2: 0.0152, loss_rot.task2: 0.0208, loss_rcnn_cls: 0.0084, num_pos_rois: 0.1200, num_neg_rois: 70.5200, loss_rcnn_bbox: 0.1922, loss_rcnn_corner: 0.0547, loss: 2.5122, grad_norm: 4.9799 2022-10-27 22:33:04,900 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-10-27 22:33:04,906 - mmdet - INFO - Epoch [1][5000/6587] lr: 2.115e-03, eta: 4 days, 5:47:53, time: 5.336, data_time: 3.520, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4046, recall_Car: 0.3122, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 69.8000, num_fg_points: 70.5800, loss_cls.task0: 0.0402, loss_center.task0: 0.8919, loss_size.task0: 0.2734, loss_rot.task0: 0.2548, loss_cls.task1: 0.0033, loss_center.task1: 0.0664, loss_size.task1: 0.0382, loss_rot.task1: 0.0463, loss_cls.task2: 0.0014, loss_center.task2: 0.0364, loss_size.task2: 0.0073, loss_rot.task2: 0.0146, loss_rcnn_cls: 0.0200, num_pos_rois: 0.4000, num_neg_rois: 69.4000, loss_rcnn_bbox: 0.4723, loss_rcnn_corner: 0.1348, loss: 2.7071, grad_norm: 6.4698 2022-10-27 22:37:12,412 - mmdet - INFO - Epoch [1][5050/6587] lr: 2.142e-03, eta: 4 days, 5:43:46, time: 4.950, data_time: 3.170, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4055, recall_Car: 0.3078, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 64.7600, num_fg_points: 77.5600, loss_cls.task0: 0.0352, loss_center.task0: 0.9903, loss_size.task0: 0.2124, loss_rot.task0: 0.2393, loss_cls.task1: 0.0036, loss_center.task1: 0.0609, loss_size.task1: 0.0433, loss_rot.task1: 0.0405, loss_cls.task2: 0.0032, loss_center.task2: 0.0548, loss_size.task2: 0.0176, loss_rot.task2: 0.0321, loss_rcnn_cls: 0.0083, num_pos_rois: 0.1000, num_neg_rois: 64.6600, loss_rcnn_bbox: 0.1065, loss_rcnn_corner: 0.0400, loss: 2.2947, grad_norm: 5.3396 2022-10-27 22:41:31,203 - mmdet - INFO - Epoch [1][5100/6587] lr: 2.169e-03, eta: 4 days, 5:42:23, time: 5.176, data_time: 3.394, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4066, recall_Car: 0.2614, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 66.2200, num_fg_points: 73.4800, loss_cls.task0: 0.0333, loss_center.task0: 1.0016, loss_size.task0: 0.2064, loss_rot.task0: 0.2349, loss_cls.task1: 0.0032, loss_center.task1: 0.0641, loss_size.task1: 0.0438, loss_rot.task1: 0.0410, loss_cls.task2: 0.0030, loss_center.task2: 0.0505, loss_size.task2: 0.0149, loss_rot.task2: 0.0381, loss_rcnn_cls: 0.0025, num_pos_rois: 0.0400, num_neg_rois: 66.1800, loss_rcnn_bbox: 0.0696, loss_rcnn_corner: 0.0294, loss: 2.2441, grad_norm: 5.3426 2022-10-27 22:45:33,524 - mmdet - INFO - Epoch [1][5150/6587] lr: 2.195e-03, eta: 4 days, 5:36:59, time: 4.846, data_time: 3.055, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4032, recall_Car: 0.4036, recall_Ped: 0.0001, recall_Cyc: 0.0000, num_clusters: 62.1400, num_fg_points: 67.9800, loss_cls.task0: 0.0341, loss_center.task0: 0.9253, loss_size.task0: 0.2819, loss_rot.task0: 0.2154, loss_cls.task1: 0.0041, loss_center.task1: 0.0839, loss_size.task1: 0.0376, loss_rot.task1: 0.0572, loss_cls.task2: 0.0028, loss_center.task2: 0.0335, loss_size.task2: 0.0236, loss_rot.task2: 0.0299, loss_rcnn_cls: 0.0013, num_pos_rois: 0.0200, num_neg_rois: 62.1200, loss_rcnn_bbox: 0.0262, loss_rcnn_corner: 0.0028, loss: 2.1643, grad_norm: 5.1221 2022-10-27 22:49:43,479 - mmdet - INFO - Epoch [1][5200/6587] lr: 2.221e-03, eta: 4 days, 5:33:26, time: 4.999, data_time: 3.131, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4085, recall_Car: 0.2802, recall_Ped: 0.0001, recall_Cyc: 0.0001, num_clusters: 67.7200, num_fg_points: 70.3200, loss_cls.task0: 0.0383, loss_center.task0: 1.0041, loss_size.task0: 0.2857, loss_rot.task0: 0.2400, loss_cls.task1: 0.0047, loss_center.task1: 0.0884, loss_size.task1: 0.0884, loss_rot.task1: 0.0518, loss_cls.task2: 0.0030, loss_center.task2: 0.0852, loss_size.task2: 0.0280, loss_rot.task2: 0.0384, loss_rcnn_cls: 0.0083, num_pos_rois: 0.1400, num_neg_rois: 67.5800, loss_rcnn_bbox: 0.2292, loss_rcnn_corner: 0.0868, loss: 2.6899, grad_norm: 5.9949 2022-10-27 22:53:48,749 - mmdet - INFO - Epoch [1][5250/6587] lr: 2.247e-03, eta: 4 days, 5:28:47, time: 4.905, data_time: 3.110, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4035, recall_Car: 0.3902, recall_Ped: 0.0000, recall_Cyc: 0.0001, num_clusters: 63.2000, num_fg_points: 69.9800, loss_cls.task0: 0.0396, loss_center.task0: 0.9834, loss_size.task0: 0.2535, loss_rot.task0: 0.2460, loss_cls.task1: 0.0038, loss_center.task1: 0.0968, loss_size.task1: 0.0396, loss_rot.task1: 0.0485, loss_cls.task2: 0.0039, loss_center.task2: 0.0456, loss_size.task2: 0.0139, loss_rot.task2: 0.0199, loss_rcnn_cls: 0.0064, num_pos_rois: 0.1000, num_neg_rois: 63.1000, loss_rcnn_bbox: 0.1606, loss_rcnn_corner: 0.0573, loss: 2.4235, grad_norm: 5.5900 2022-10-27 22:58:07,413 - mmdet - INFO - Epoch [1][5300/6587] lr: 2.273e-03, eta: 4 days, 5:27:14, time: 5.173, data_time: 3.381, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4128, recall_Car: 0.3777, recall_Ped: 0.0001, recall_Cyc: 0.0000, num_clusters: 65.6000, num_fg_points: 89.0200, loss_cls.task0: 0.0407, loss_center.task0: 0.9418, loss_size.task0: 0.2553, loss_rot.task0: 0.2361, loss_cls.task1: 0.0039, loss_center.task1: 0.0752, loss_size.task1: 0.0575, loss_rot.task1: 0.0419, loss_cls.task2: 0.0017, loss_center.task2: 0.0255, loss_size.task2: 0.0123, loss_rot.task2: 0.0242, loss_rcnn_cls: 0.0022, num_pos_rois: 0.0400, num_neg_rois: 65.5600, loss_rcnn_bbox: 0.0997, loss_rcnn_corner: 0.0361, loss: 2.2684, grad_norm: 4.8678 2022-10-27 23:02:04,013 - mmdet - INFO - Epoch [1][5350/6587] lr: 2.298e-03, eta: 4 days, 5:20:34, time: 4.732, data_time: 2.965, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4140, recall_Car: 0.4134, recall_Ped: 0.0010, recall_Cyc: 0.0000, num_clusters: 71.1000, num_fg_points: 73.2200, loss_cls.task0: 0.0399, loss_center.task0: 1.0648, loss_size.task0: 0.2855, loss_rot.task0: 0.2409, loss_cls.task1: 0.0033, loss_center.task1: 0.0588, loss_size.task1: 0.0441, loss_rot.task1: 0.0421, loss_cls.task2: 0.0024, loss_center.task2: 0.0503, loss_size.task2: 0.0171, loss_rot.task2: 0.0248, loss_rcnn_cls: 0.0223, num_pos_rois: 0.4200, num_neg_rois: 70.6800, loss_rcnn_bbox: 0.4982, loss_rcnn_corner: 0.1651, loss: 2.9748, grad_norm: 6.3055 2022-10-27 23:06:24,278 - mmdet - INFO - Epoch [1][5400/6587] lr: 2.323e-03, eta: 4 days, 5:19:21, time: 5.205, data_time: 3.376, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4304, recall_Car: 0.3110, recall_Ped: 0.0003, recall_Cyc: 0.0000, num_clusters: 67.2200, num_fg_points: 80.4400, loss_cls.task0: 0.0414, loss_center.task0: 0.9947, loss_size.task0: 0.2639, loss_rot.task0: 0.2521, loss_cls.task1: 0.0033, loss_center.task1: 0.0348, loss_size.task1: 0.0257, loss_rot.task1: 0.0377, loss_cls.task2: 0.0014, loss_center.task2: 0.0139, loss_size.task2: 0.0069, loss_rot.task2: 0.0100, loss_rcnn_cls: 0.0123, num_pos_rois: 0.1600, num_neg_rois: 67.0600, loss_rcnn_bbox: 0.2402, loss_rcnn_corner: 0.0779, loss: 2.4480, grad_norm: 5.6644 2022-10-27 23:10:24,906 - mmdet - INFO - Epoch [1][5450/6587] lr: 2.347e-03, eta: 4 days, 5:13:38, time: 4.813, data_time: 3.029, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.3964, recall_Car: 0.3749, recall_Ped: 0.0000, recall_Cyc: 0.0001, num_clusters: 65.1800, num_fg_points: 79.8800, loss_cls.task0: 0.0355, loss_center.task0: 0.9616, loss_size.task0: 0.2784, loss_rot.task0: 0.2460, loss_cls.task1: 0.0047, loss_center.task1: 0.0605, loss_size.task1: 0.0393, loss_rot.task1: 0.0419, loss_cls.task2: 0.0012, loss_center.task2: 0.0208, loss_size.task2: 0.0150, loss_rot.task2: 0.0113, loss_rcnn_cls: 0.0033, num_pos_rois: 0.0400, num_neg_rois: 69.8600, loss_rcnn_bbox: 0.0626, loss_rcnn_corner: 0.0314, loss: 2.2112, grad_norm: 5.8608 2022-10-27 23:14:46,426 - mmdet - INFO - Epoch [1][5500/6587] lr: 2.372e-03, eta: 4 days, 5:12:37, time: 5.230, data_time: 3.425, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3979, recall_Car: 0.3041, recall_Ped: 0.0001, recall_Cyc: 0.0000, num_clusters: 64.8800, num_fg_points: 72.9400, loss_cls.task0: 0.0370, loss_center.task0: 0.9232, loss_size.task0: 0.2080, loss_rot.task0: 0.2406, loss_cls.task1: 0.0038, loss_center.task1: 0.0493, loss_size.task1: 0.0385, loss_rot.task1: 0.0327, loss_cls.task2: 0.0045, loss_center.task2: 0.0718, loss_size.task2: 0.0325, loss_rot.task2: 0.0521, loss_rcnn_cls: 0.0150, num_pos_rois: 0.2600, num_neg_rois: 70.5600, loss_rcnn_bbox: 0.2835, loss_rcnn_corner: 0.0919, loss: 2.4835, grad_norm: 6.0736 2022-10-27 23:18:55,148 - mmdet - INFO - Epoch [1][5550/6587] lr: 2.396e-03, eta: 4 days, 5:08:42, time: 4.974, data_time: 3.144, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3979, recall_Car: 0.3734, recall_Ped: 0.0002, recall_Cyc: 0.0000, num_clusters: 67.2600, num_fg_points: 71.3200, loss_cls.task0: 0.0403, loss_center.task0: 1.0621, loss_size.task0: 0.2527, loss_rot.task0: 0.2568, loss_cls.task1: 0.0045, loss_center.task1: 0.0875, loss_size.task1: 0.0459, loss_rot.task1: 0.0585, loss_cls.task2: 0.0037, loss_center.task2: 0.0834, loss_size.task2: 0.0298, loss_rot.task2: 0.0457, loss_rcnn_cls: 0.0178, num_pos_rois: 0.3000, num_neg_rois: 78.1200, loss_rcnn_bbox: 0.3623, loss_rcnn_corner: 0.1214, loss: 2.8718, grad_norm: 6.2868 2022-10-27 23:23:11,458 - mmdet - INFO - Epoch [1][5600/6587] lr: 2.419e-03, eta: 4 days, 5:06:27, time: 5.126, data_time: 3.306, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4138, recall_Car: 0.4160, recall_Ped: 0.0004, recall_Cyc: 0.0000, num_clusters: 62.4800, num_fg_points: 105.2200, loss_cls.task0: 0.0373, loss_center.task0: 0.9254, loss_size.task0: 0.2685, loss_rot.task0: 0.2256, loss_cls.task1: 0.0030, loss_center.task1: 0.0690, loss_size.task1: 0.0317, loss_rot.task1: 0.0349, loss_cls.task2: 0.0021, loss_center.task2: 0.0282, loss_size.task2: 0.0249, loss_rot.task2: 0.0230, loss_rcnn_cls: 0.0138, num_pos_rois: 0.2200, num_neg_rois: 62.2600, loss_rcnn_bbox: 0.2843, loss_rcnn_corner: 0.0839, loss: 2.4708, grad_norm: 5.2781 2022-10-27 23:27:10,219 - mmdet - INFO - Epoch [1][5650/6587] lr: 2.442e-03, eta: 4 days, 5:00:22, time: 4.775, data_time: 3.014, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.3926, recall_Car: 0.4121, recall_Ped: 0.0001, recall_Cyc: 0.0001, num_clusters: 53.1400, num_fg_points: 148.4800, loss_cls.task0: 0.0391, loss_center.task0: 1.1417, loss_size.task0: 0.3938, loss_rot.task0: 0.2499, loss_cls.task1: 0.0045, loss_center.task1: 0.0607, loss_size.task1: 0.0504, loss_rot.task1: 0.0470, loss_cls.task2: 0.0038, loss_center.task2: 0.0399, loss_size.task2: 0.0203, loss_rot.task2: 0.0302, loss_rcnn_cls: 0.0022, num_pos_rois: 0.0200, num_neg_rois: 53.1200, loss_rcnn_bbox: 0.0300, loss_rcnn_corner: 0.0075, loss: 2.5148, grad_norm: 5.1188 2022-10-27 23:31:26,776 - mmdet - INFO - Epoch [1][5700/6587] lr: 2.465e-03, eta: 4 days, 4:58:08, time: 5.131, data_time: 3.322, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4055, recall_Car: 0.3674, recall_Ped: 0.0001, recall_Cyc: 0.0000, num_clusters: 66.1600, num_fg_points: 143.5400, loss_cls.task0: 0.0372, loss_center.task0: 0.9820, loss_size.task0: 0.2950, loss_rot.task0: 0.2326, loss_cls.task1: 0.0041, loss_center.task1: 0.0575, loss_size.task1: 0.0295, loss_rot.task1: 0.0405, loss_cls.task2: 0.0023, loss_center.task2: 0.0353, loss_size.task2: 0.0106, loss_rot.task2: 0.0214, loss_rcnn_cls: 0.0116, num_pos_rois: 0.2000, num_neg_rois: 65.9600, loss_rcnn_bbox: 0.2227, loss_rcnn_corner: 0.0735, loss: 2.4628, grad_norm: 5.7459 2022-10-27 23:35:31,683 - mmdet - INFO - Epoch [1][5750/6587] lr: 2.488e-03, eta: 4 days, 4:53:23, time: 4.898, data_time: 3.086, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4247, recall_Car: 0.3149, recall_Ped: 0.0015, recall_Cyc: 0.0006, num_clusters: 72.0000, num_fg_points: 72.0000, loss_cls.task0: 0.0396, loss_center.task0: 0.9540, loss_size.task0: 0.2334, loss_rot.task0: 0.2557, loss_cls.task1: 0.0063, loss_center.task1: 0.0734, loss_size.task1: 0.0417, loss_rot.task1: 0.0564, loss_cls.task2: 0.0026, loss_center.task2: 0.0594, loss_size.task2: 0.0196, loss_rot.task2: 0.0306, loss_rcnn_cls: 0.0134, num_pos_rois: 0.2400, num_neg_rois: 86.1600, loss_rcnn_bbox: 0.3145, loss_rcnn_corner: 0.1245, loss: 2.6511, grad_norm: 5.5213 2022-10-27 23:39:50,594 - mmdet - INFO - Epoch [1][5800/6587] lr: 2.510e-03, eta: 4 days, 4:51:36, time: 5.178, data_time: 3.356, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4005, recall_Car: 0.2784, recall_Ped: 0.0011, recall_Cyc: 0.0003, num_clusters: 70.2200, num_fg_points: 71.9400, loss_cls.task0: 0.0376, loss_center.task0: 0.8797, loss_size.task0: 0.2452, loss_rot.task0: 0.2471, loss_cls.task1: 0.0038, loss_center.task1: 0.0819, loss_size.task1: 0.0476, loss_rot.task1: 0.0464, loss_cls.task2: 0.0045, loss_center.task2: 0.0717, loss_size.task2: 0.0351, loss_rot.task2: 0.0535, loss_rcnn_cls: 0.0172, num_pos_rois: 0.3200, num_neg_rois: 69.9000, loss_rcnn_bbox: 0.4271, loss_rcnn_corner: 0.1372, loss: 2.7373, grad_norm: 6.0889 2022-10-27 23:43:48,817 - mmdet - INFO - Epoch [1][5850/6587] lr: 2.532e-03, eta: 4 days, 4:45:28, time: 4.764, data_time: 2.985, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4156, recall_Car: 0.3696, recall_Ped: 0.0006, recall_Cyc: 0.0001, num_clusters: 57.9800, num_fg_points: 140.2800, loss_cls.task0: 0.0403, loss_center.task0: 1.0457, loss_size.task0: 0.3356, loss_rot.task0: 0.2433, loss_cls.task1: 0.0019, loss_center.task1: 0.0299, loss_size.task1: 0.0130, loss_rot.task1: 0.0187, loss_cls.task2: 0.0032, loss_center.task2: 0.0483, loss_size.task2: 0.0215, loss_rot.task2: 0.0318, loss_rcnn_cls: 0.0047, num_pos_rois: 0.0800, num_neg_rois: 57.9000, loss_rcnn_bbox: 0.0990, loss_rcnn_corner: 0.0384, loss: 2.3922, grad_norm: 5.1658 2022-10-27 23:47:54,505 - mmdet - INFO - Epoch [1][5900/6587] lr: 2.553e-03, eta: 4 days, 4:40:53, time: 4.913, data_time: 3.123, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4567, recall_Car: 0.3946, recall_Ped: 0.0003, recall_Cyc: 0.0007, num_clusters: 67.7400, num_fg_points: 79.5800, loss_cls.task0: 0.0400, loss_center.task0: 0.9913, loss_size.task0: 0.2540, loss_rot.task0: 0.2517, loss_cls.task1: 0.0015, loss_center.task1: 0.0170, loss_size.task1: 0.0148, loss_rot.task1: 0.0159, loss_cls.task2: 0.0012, loss_center.task2: 0.0185, loss_size.task2: 0.0080, loss_rot.task2: 0.0089, loss_rcnn_cls: 0.0029, num_pos_rois: 0.0400, num_neg_rois: 67.7000, loss_rcnn_bbox: 0.0413, loss_rcnn_corner: 0.0068, loss: 2.1319, grad_norm: 4.7751 2022-10-27 23:51:56,955 - mmdet - INFO - Epoch [1][5950/6587] lr: 2.574e-03, eta: 4 days, 4:35:41, time: 4.850, data_time: 3.063, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4221, recall_Car: 0.3770, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 68.8200, num_fg_points: 71.9600, loss_cls.task0: 0.0401, loss_center.task0: 1.0574, loss_size.task0: 0.2342, loss_rot.task0: 0.2491, loss_cls.task1: 0.0056, loss_center.task1: 0.0722, loss_size.task1: 0.0383, loss_rot.task1: 0.0469, loss_cls.task2: 0.0025, loss_center.task2: 0.0618, loss_size.task2: 0.0189, loss_rot.task2: 0.0242, loss_rcnn_cls: 0.0146, num_pos_rois: 0.2400, num_neg_rois: 68.5800, loss_rcnn_bbox: 0.2580, loss_rcnn_corner: 0.0662, loss: 2.6134, grad_norm: 5.1245 2022-10-27 23:56:12,654 - mmdet - INFO - Exp name: fsd_waymoD1_1x.py 2022-10-27 23:56:12,657 - mmdet - INFO - Epoch [1][6000/6587] lr: 2.594e-03, eta: 4 days, 4:33:10, time: 5.114, data_time: 3.315, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4064, recall_Car: 0.3794, recall_Ped: 0.0005, recall_Cyc: 0.0007, num_clusters: 70.3200, num_fg_points: 76.3800, loss_cls.task0: 0.0406, loss_center.task0: 0.9941, loss_size.task0: 0.2660, loss_rot.task0: 0.2533, loss_cls.task1: 0.0025, loss_center.task1: 0.0569, loss_size.task1: 0.0151, loss_rot.task1: 0.0310, loss_cls.task2: 0.0028, loss_center.task2: 0.0651, loss_size.task2: 0.0260, loss_rot.task2: 0.0386, loss_rcnn_cls: 0.0085, num_pos_rois: 0.1400, num_neg_rois: 70.1800, loss_rcnn_bbox: 0.2359, loss_rcnn_corner: 0.0860, loss: 2.5301, grad_norm: 4.9355 2022-10-28 00:00:19,420 - mmdet - INFO - Epoch [1][6050/6587] lr: 2.614e-03, eta: 4 days, 4:28:50, time: 4.935, data_time: 3.077, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4024, recall_Car: 0.3793, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 69.4000, num_fg_points: 74.2600, loss_cls.task0: 0.0366, loss_center.task0: 0.9654, loss_size.task0: 0.2544, loss_rot.task0: 0.2378, loss_cls.task1: 0.0056, loss_center.task1: 0.0956, loss_size.task1: 0.0448, loss_rot.task1: 0.0595, loss_cls.task2: 0.0019, loss_center.task2: 0.0452, loss_size.task2: 0.0109, loss_rot.task2: 0.0212, loss_rcnn_cls: 0.0133, num_pos_rois: 0.3000, num_neg_rois: 86.7400, loss_rcnn_bbox: 0.4484, loss_rcnn_corner: 0.1364, loss: 2.7806, grad_norm: 5.2340 2022-10-28 00:04:33,031 - mmdet - INFO - Epoch [1][6100/6587] lr: 2.634e-03, eta: 4 days, 4:25:52, time: 5.072, data_time: 3.281, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4455, recall_Car: 0.3550, recall_Ped: 0.0000, recall_Cyc: 0.0001, num_clusters: 67.3400, num_fg_points: 83.7400, loss_cls.task0: 0.0405, loss_center.task0: 1.1298, loss_size.task0: 0.3090, loss_rot.task0: 0.2540, loss_cls.task1: 0.0029, loss_center.task1: 0.0395, loss_size.task1: 0.0251, loss_rot.task1: 0.0282, loss_cls.task2: 0.0022, loss_center.task2: 0.0523, loss_size.task2: 0.0248, loss_rot.task2: 0.0253, loss_rcnn_cls: 0.0097, num_pos_rois: 0.1800, num_neg_rois: 67.1600, loss_rcnn_bbox: 0.2453, loss_rcnn_corner: 0.0922, loss: 2.7275, grad_norm: 5.4751 2022-10-28 00:08:39,572 - mmdet - INFO - Epoch [1][6150/6587] lr: 2.653e-03, eta: 4 days, 4:21:29, time: 4.931, data_time: 3.161, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4144, recall_Car: 0.3713, recall_Ped: 0.0000, recall_Cyc: 0.0001, num_clusters: 66.4800, num_fg_points: 290.8600, loss_cls.task0: 0.0384, loss_center.task0: 0.9562, loss_size.task0: 0.2978, loss_rot.task0: 0.2435, loss_cls.task1: 0.0036, loss_center.task1: 0.0839, loss_size.task1: 0.0393, loss_rot.task1: 0.0424, loss_cls.task2: 0.0026, loss_center.task2: 0.0420, loss_size.task2: 0.0180, loss_rot.task2: 0.0317, loss_rcnn_cls: 0.0049, num_pos_rois: 0.0800, num_neg_rois: 66.4000, loss_rcnn_bbox: 0.1329, loss_rcnn_corner: 0.0550, loss: 2.4078, grad_norm: 4.4268 2022-10-28 00:12:49,486 - mmdet - INFO - Epoch [1][6200/6587] lr: 2.672e-03, eta: 4 days, 4:17:46, time: 4.998, data_time: 3.224, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4187, recall_Car: 0.3732, recall_Ped: 0.0000, recall_Cyc: 0.0001, num_clusters: 56.4600, num_fg_points: 133.2000, loss_cls.task0: 0.0387, loss_center.task0: 1.0597, loss_size.task0: 0.3330, loss_rot.task0: 0.2419, loss_cls.task1: 0.0046, loss_center.task1: 0.0611, loss_size.task1: 0.0352, loss_rot.task1: 0.0436, loss_cls.task2: 0.0040, loss_center.task2: 0.0699, loss_size.task2: 0.0242, loss_rot.task2: 0.0362, loss_rcnn_cls: 0.0043, num_pos_rois: 0.0600, num_neg_rois: 58.3400, loss_rcnn_bbox: 0.1158, loss_rcnn_corner: 0.0434, loss: 2.5356, grad_norm: 5.5470 2022-10-28 00:16:49,864 - mmdet - INFO - Epoch [1][6250/6587] lr: 2.690e-03, eta: 4 days, 4:12:11, time: 4.807, data_time: 3.001, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4029, recall_Car: 0.3521, recall_Ped: 0.0000, recall_Cyc: 0.0001, num_clusters: 59.2800, num_fg_points: 81.5800, loss_cls.task0: 0.0383, loss_center.task0: 1.1138, loss_size.task0: 0.3300, loss_rot.task0: 0.2587, loss_cls.task1: 0.0031, loss_center.task1: 0.0429, loss_size.task1: 0.0309, loss_rot.task1: 0.0391, loss_cls.task2: 0.0034, loss_center.task2: 0.0571, loss_size.task2: 0.0145, loss_rot.task2: 0.0323, loss_rcnn_cls: 0.0120, num_pos_rois: 0.1800, num_neg_rois: 59.1000, loss_rcnn_bbox: 0.2871, loss_rcnn_corner: 0.0806, loss: 2.7479, grad_norm: 5.7166 2022-10-28 00:21:07,058 - mmdet - INFO - Epoch [1][6300/6587] lr: 2.708e-03, eta: 4 days, 4:09:52, time: 5.144, data_time: 3.318, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4010, recall_Car: 0.3129, recall_Ped: 0.0000, recall_Cyc: 0.0001, num_clusters: 60.3000, num_fg_points: 142.0000, loss_cls.task0: 0.0343, loss_center.task0: 0.9313, loss_size.task0: 0.2888, loss_rot.task0: 0.2039, loss_cls.task1: 0.0019, loss_center.task1: 0.0327, loss_size.task1: 0.0233, loss_rot.task1: 0.0224, loss_cls.task2: 0.0038, loss_center.task2: 0.0754, loss_size.task2: 0.0276, loss_rot.task2: 0.0382, loss_rcnn_cls: 0.0121, num_pos_rois: 0.2000, num_neg_rois: 60.1000, loss_rcnn_bbox: 0.3351, loss_rcnn_corner: 0.1120, loss: 2.5450, grad_norm: 5.3414 2022-10-28 00:25:10,408 - mmdet - INFO - Epoch [1][6350/6587] lr: 2.725e-03, eta: 4 days, 4:04:53, time: 4.867, data_time: 3.097, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4136, recall_Car: 0.3613, recall_Ped: 0.0000, recall_Cyc: 0.0002, num_clusters: 61.2800, num_fg_points: 160.8200, loss_cls.task0: 0.0377, loss_center.task0: 1.2210, loss_size.task0: 0.3883, loss_rot.task0: 0.2561, loss_cls.task1: 0.0033, loss_center.task1: 0.0562, loss_size.task1: 0.0392, loss_rot.task1: 0.0367, loss_cls.task2: 0.0023, loss_center.task2: 0.0514, loss_size.task2: 0.0105, loss_rot.task2: 0.0207, loss_rcnn_cls: 0.0095, num_pos_rois: 0.1400, num_neg_rois: 61.1400, loss_rcnn_bbox: 0.2067, loss_rcnn_corner: 0.0776, loss: 2.8321, grad_norm: 5.8131 2022-10-28 00:29:23,648 - mmdet - INFO - Epoch [1][6400/6587] lr: 2.742e-03, eta: 4 days, 4:01:46, time: 5.065, data_time: 3.267, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4033, recall_Car: 0.3791, recall_Ped: 0.0000, recall_Cyc: 0.0000, num_clusters: 59.4600, num_fg_points: 102.8600, loss_cls.task0: 0.0388, loss_center.task0: 0.9636, loss_size.task0: 0.3010, loss_rot.task0: 0.2369, loss_cls.task1: 0.0036, loss_center.task1: 0.0668, loss_size.task1: 0.0357, loss_rot.task1: 0.0392, loss_cls.task2: 0.0036, loss_center.task2: 0.0631, loss_size.task2: 0.0225, loss_rot.task2: 0.0395, loss_rcnn_cls: 0.0108, num_pos_rois: 0.1600, num_neg_rois: 60.7600, loss_rcnn_bbox: 0.2383, loss_rcnn_corner: 0.0879, loss: 2.5557, grad_norm: 5.1904 2022-10-28 00:33:23,842 - mmdet - INFO - Epoch [1][6450/6587] lr: 2.759e-03, eta: 4 days, 3:56:12, time: 4.804, data_time: 3.000, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4130, recall_Car: 0.3921, recall_Ped: 0.0003, recall_Cyc: 0.0007, num_clusters: 57.3600, num_fg_points: 103.6600, loss_cls.task0: 0.0434, loss_center.task0: 1.0829, loss_size.task0: 0.3406, loss_rot.task0: 0.2475, loss_cls.task1: 0.0031, loss_center.task1: 0.0650, loss_size.task1: 0.0307, loss_rot.task1: 0.0282, loss_cls.task2: 0.0023, loss_center.task2: 0.0372, loss_size.task2: 0.0080, loss_rot.task2: 0.0205, loss_rcnn_cls: 0.0142, num_pos_rois: 0.2200, num_neg_rois: 57.1400, loss_rcnn_bbox: 0.3042, loss_rcnn_corner: 0.1354, loss: 2.7776, grad_norm: 5.3352 2022-10-28 00:37:37,438 - mmdet - INFO - Epoch [1][6500/6587] lr: 2.774e-03, eta: 4 days, 3:53:09, time: 5.072, data_time: 3.305, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4013, recall_Car: 0.4041, recall_Ped: 0.0002, recall_Cyc: 0.0007, num_clusters: 58.4000, num_fg_points: 460.8200, loss_cls.task0: 0.0431, loss_center.task0: 1.2486, loss_size.task0: 0.4649, loss_rot.task0: 0.2558, loss_cls.task1: 0.0016, loss_center.task1: 0.0221, loss_size.task1: 0.0090, loss_rot.task1: 0.0154, loss_cls.task2: 0.0023, loss_center.task2: 0.0332, loss_size.task2: 0.0099, loss_rot.task2: 0.0212, loss_rcnn_cls: 0.0104, num_pos_rois: 0.1600, num_neg_rois: 58.2400, loss_rcnn_bbox: 0.2262, loss_rcnn_corner: 0.1050, loss: 2.8714, grad_norm: 5.4437 2022-10-28 00:41:53,561 - mmdet - INFO - Epoch [1][6550/6587] lr: 2.790e-03, eta: 4 days, 3:50:33, time: 5.122, data_time: 3.339, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4277, recall_Car: 0.3222, recall_Ped: 0.0008, recall_Cyc: 0.0006, num_clusters: 55.4600, num_fg_points: 125.3400, loss_cls.task0: 0.0407, loss_center.task0: 1.1235, loss_size.task0: 0.4353, loss_rot.task0: 0.2359, loss_cls.task1: 0.0013, loss_center.task1: 0.0192, loss_size.task1: 0.0046, loss_rot.task1: 0.0097, loss_cls.task2: 0.0041, loss_center.task2: 0.0549, loss_size.task2: 0.0255, loss_rot.task2: 0.0308, loss_rcnn_cls: 0.0072, num_pos_rois: 0.1000, num_neg_rois: 55.3600, loss_rcnn_bbox: 0.1515, loss_rcnn_corner: 0.0741, loss: 2.6472, grad_norm: 5.4774 2022-10-28 00:44:57,788 - mmdet - INFO - Saving checkpoint at 1 epochs 2022-10-28 00:49:20,731 - mmdet - INFO - Epoch [2][50/6587] lr: 2.815e-03, eta: 4 days, 3:12:26, time: 5.225, data_time: 3.405, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3904, recall_Car: 0.3269, recall_Ped: 0.0002, recall_Cyc: 0.0005, num_clusters: 59.4200, num_fg_points: 167.3200, loss_cls.task0: 0.0387, loss_center.task0: 0.9981, loss_size.task0: 0.3318, loss_rot.task0: 0.2307, loss_cls.task1: 0.0026, loss_center.task1: 0.0377, loss_size.task1: 0.0199, loss_rot.task1: 0.0237, loss_cls.task2: 0.0023, loss_center.task2: 0.0507, loss_size.task2: 0.0147, loss_rot.task2: 0.0266, loss_rcnn_cls: 0.0181, num_pos_rois: 0.2800, num_neg_rois: 59.1400, loss_rcnn_bbox: 0.3580, loss_rcnn_corner: 0.1338, loss: 2.6790, grad_norm: 5.2172 2022-10-28 00:53:05,437 - mmdet - INFO - Epoch [2][100/6587] lr: 2.829e-03, eta: 4 days, 3:04:22, time: 4.494, data_time: 2.705, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4028, recall_Car: 0.2932, recall_Ped: 0.0001, recall_Cyc: 0.0002, num_clusters: 61.4400, num_fg_points: 365.0000, loss_cls.task0: 0.0368, loss_center.task0: 1.1565, loss_size.task0: 0.3403, loss_rot.task0: 0.2453, loss_cls.task1: 0.0050, loss_center.task1: 0.0559, loss_size.task1: 0.0339, loss_rot.task1: 0.0528, loss_cls.task2: 0.0014, loss_center.task2: 0.0125, loss_size.task2: 0.0078, loss_rot.task2: 0.0099, loss_rcnn_cls: 0.0048, num_pos_rois: 0.0600, num_neg_rois: 64.7200, loss_rcnn_bbox: 0.1468, loss_rcnn_corner: 0.0208, loss: 2.5344, grad_norm: 4.7753 2022-10-28 00:57:10,425 - mmdet - INFO - Epoch [2][150/6587] lr: 2.843e-03, eta: 4 days, 3:00:00, time: 4.900, data_time: 3.091, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4331, recall_Car: 0.3191, recall_Ped: 0.0001, recall_Cyc: 0.0009, num_clusters: 60.0800, num_fg_points: 353.7400, loss_cls.task0: 0.0454, loss_center.task0: 1.0028, loss_size.task0: 0.3363, loss_rot.task0: 0.2437, loss_cls.task1: 0.0043, loss_center.task1: 0.0607, loss_size.task1: 0.0422, loss_rot.task1: 0.0343, loss_cls.task2: 0.0035, loss_center.task2: 0.0507, loss_size.task2: 0.0120, loss_rot.task2: 0.0305, loss_rcnn_cls: 0.0115, num_pos_rois: 0.1800, num_neg_rois: 59.9000, loss_rcnn_bbox: 0.2290, loss_rcnn_corner: 0.0761, loss: 2.6174, grad_norm: 5.2011 2022-10-28 01:01:09,259 - mmdet - INFO - Epoch [2][200/6587] lr: 2.856e-03, eta: 4 days, 2:54:32, time: 4.777, data_time: 2.942, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4236, recall_Car: 0.3242, recall_Ped: 0.0000, recall_Cyc: 0.0001, num_clusters: 62.9200, num_fg_points: 85.1200, loss_cls.task0: 0.0381, loss_center.task0: 1.0094, loss_size.task0: 0.3494, loss_rot.task0: 0.2470, loss_cls.task1: 0.0052, loss_center.task1: 0.0561, loss_size.task1: 0.0280, loss_rot.task1: 0.0554, loss_cls.task2: 0.0030, loss_center.task2: 0.0443, loss_size.task2: 0.0174, loss_rot.task2: 0.0294, loss_rcnn_cls: 0.0178, num_pos_rois: 0.4000, num_neg_rois: 74.5600, loss_rcnn_bbox: 0.4342, loss_rcnn_corner: 0.1309, loss: 2.8904, grad_norm: 5.8161 2022-10-28 01:05:12,382 - mmdet - INFO - Epoch [2][250/6587] lr: 2.868e-03, eta: 4 days, 2:49:51, time: 4.862, data_time: 3.009, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4186, recall_Car: 0.2791, recall_Ped: 0.0000, recall_Cyc: 0.0005, num_clusters: 60.5000, num_fg_points: 85.1600, loss_cls.task0: 0.0378, loss_center.task0: 1.0207, loss_size.task0: 0.3339, loss_rot.task0: 0.2440, loss_cls.task1: 0.0041, loss_center.task1: 0.0735, loss_size.task1: 0.0464, loss_rot.task1: 0.0463, loss_cls.task2: 0.0051, loss_center.task2: 0.0980, loss_size.task2: 0.0242, loss_rot.task2: 0.0492, loss_rcnn_cls: 0.0160, num_pos_rois: 0.3000, num_neg_rois: 60.2000, loss_rcnn_bbox: 0.3572, loss_rcnn_corner: 0.1296, loss: 2.9057, grad_norm: 5.7027 2022-10-28 01:09:07,945 - mmdet - INFO - Epoch [2][300/6587] lr: 2.880e-03, eta: 4 days, 2:43:52, time: 4.711, data_time: 2.918, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4167, recall_Car: 0.3360, recall_Ped: 0.0000, recall_Cyc: 0.0005, num_clusters: 62.0600, num_fg_points: 82.2800, loss_cls.task0: 0.0360, loss_center.task0: 0.9621, loss_size.task0: 0.3149, loss_rot.task0: 0.2394, loss_cls.task1: 0.0035, loss_center.task1: 0.0666, loss_size.task1: 0.0284, loss_rot.task1: 0.0407, loss_cls.task2: 0.0027, loss_center.task2: 0.0421, loss_size.task2: 0.0132, loss_rot.task2: 0.0217, loss_rcnn_cls: 0.0141, num_pos_rois: 0.2200, num_neg_rois: 61.8400, loss_rcnn_bbox: 0.2963, loss_rcnn_corner: 0.1004, loss: 2.6000, grad_norm: 5.2733 2022-10-28 01:13:17,163 - mmdet - INFO - Epoch [2][350/6587] lr: 2.891e-03, eta: 4 days, 2:40:16, time: 4.984, data_time: 3.191, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3839, recall_Car: 0.2967, recall_Ped: 0.0000, recall_Cyc: 0.0002, num_clusters: 57.7200, num_fg_points: 215.7400, loss_cls.task0: 0.0386, loss_center.task0: 0.9975, loss_size.task0: 0.3274, loss_rot.task0: 0.2290, loss_cls.task1: 0.0031, loss_center.task1: 0.0638, loss_size.task1: 0.0169, loss_rot.task1: 0.0300, loss_cls.task2: 0.0031, loss_center.task2: 0.0543, loss_size.task2: 0.0181, loss_rot.task2: 0.0285, loss_rcnn_cls: 0.0058, num_pos_rois: 0.0800, num_neg_rois: 57.6400, loss_rcnn_bbox: 0.1361, loss_rcnn_corner: 0.0478, loss: 2.3853, grad_norm: 4.8549 2022-10-28 01:17:06,680 - mmdet - INFO - Epoch [2][400/6587] lr: 2.902e-03, eta: 4 days, 2:33:16, time: 4.590, data_time: 2.820, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3995, recall_Car: 0.3540, recall_Ped: 0.0017, recall_Cyc: 0.0018, num_clusters: 54.9000, num_fg_points: 192.8200, loss_cls.task0: 0.0417, loss_center.task0: 1.1438, loss_size.task0: 0.3529, loss_rot.task0: 0.2417, loss_cls.task1: 0.0019, loss_center.task1: 0.0286, loss_size.task1: 0.0148, loss_rot.task1: 0.0135, loss_cls.task2: 0.0025, loss_center.task2: 0.0549, loss_size.task2: 0.0184, loss_rot.task2: 0.0254, loss_rcnn_cls: 0.0163, num_pos_rois: 0.2400, num_neg_rois: 54.6600, loss_rcnn_bbox: 0.3462, loss_rcnn_corner: 0.1427, loss: 2.8462, grad_norm: 5.6357 2022-10-28 01:21:11,582 - mmdet - INFO - Epoch [2][450/6587] lr: 2.912e-03, eta: 4 days, 2:28:57, time: 4.898, data_time: 3.077, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3963, recall_Car: 0.2778, recall_Ped: 0.0046, recall_Cyc: 0.0029, num_clusters: 59.0000, num_fg_points: 184.1400, loss_cls.task0: 0.0354, loss_center.task0: 1.0892, loss_size.task0: 0.3316, loss_rot.task0: 0.2384, loss_cls.task1: 0.0064, loss_center.task1: 0.1034, loss_size.task1: 0.0631, loss_rot.task1: 0.0657, loss_cls.task2: 0.0040, loss_center.task2: 0.0632, loss_size.task2: 0.0147, loss_rot.task2: 0.0276, loss_rcnn_cls: 0.0139, num_pos_rois: 0.1800, num_neg_rois: 58.8200, loss_rcnn_bbox: 0.2968, loss_rcnn_corner: 0.0971, loss: 2.8480, grad_norm: 5.5771 2022-10-28 01:25:02,993 - mmdet - INFO - Epoch [2][500/6587] lr: 2.922e-03, eta: 4 days, 2:22:21, time: 4.628, data_time: 2.825, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3838, recall_Car: 0.3272, recall_Ped: 0.0027, recall_Cyc: 0.0020, num_clusters: 61.2000, num_fg_points: 91.8600, loss_cls.task0: 0.0427, loss_center.task0: 1.0240, loss_size.task0: 0.3139, loss_rot.task0: 0.2355, loss_cls.task1: 0.0039, loss_center.task1: 0.0633, loss_size.task1: 0.0311, loss_rot.task1: 0.0409, loss_cls.task2: 0.0038, loss_center.task2: 0.0646, loss_size.task2: 0.0216, loss_rot.task2: 0.0413, loss_rcnn_cls: 0.0181, num_pos_rois: 0.3000, num_neg_rois: 60.9000, loss_rcnn_bbox: 0.4485, loss_rcnn_corner: 0.1449, loss: 2.8831, grad_norm: 5.5476 2022-10-28 01:29:10,605 - mmdet - INFO - Epoch [2][550/6587] lr: 2.931e-03, eta: 4 days, 2:18:30, time: 4.952, data_time: 3.171, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3889, recall_Car: 0.3864, recall_Ped: 0.0012, recall_Cyc: 0.0024, num_clusters: 62.7000, num_fg_points: 153.5600, loss_cls.task0: 0.0456, loss_center.task0: 0.9759, loss_size.task0: 0.3521, loss_rot.task0: 0.2447, loss_cls.task1: 0.0035, loss_center.task1: 0.0600, loss_size.task1: 0.0429, loss_rot.task1: 0.0415, loss_cls.task2: 0.0028, loss_center.task2: 0.0484, loss_size.task2: 0.0219, loss_rot.task2: 0.0293, loss_rcnn_cls: 0.0125, num_pos_rois: 0.2200, num_neg_rois: 62.4800, loss_rcnn_bbox: 0.3100, loss_rcnn_corner: 0.1125, loss: 2.6939, grad_norm: 4.8142 2022-10-28 01:32:59,485 - mmdet - INFO - Epoch [2][600/6587] lr: 2.940e-03, eta: 4 days, 2:11:32, time: 4.578, data_time: 2.801, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3833, recall_Car: 0.4066, recall_Ped: 0.0005, recall_Cyc: 0.0006, num_clusters: 57.8600, num_fg_points: 265.3400, loss_cls.task0: 0.0463, loss_center.task0: 1.1469, loss_size.task0: 0.4207, loss_rot.task0: 0.2468, loss_cls.task1: 0.0037, loss_center.task1: 0.0720, loss_size.task1: 0.0273, loss_rot.task1: 0.0424, loss_cls.task2: 0.0019, loss_center.task2: 0.0278, loss_size.task2: 0.0075, loss_rot.task2: 0.0149, loss_rcnn_cls: 0.0102, num_pos_rois: 0.1600, num_neg_rois: 57.7000, loss_rcnn_bbox: 0.2552, loss_rcnn_corner: 0.1065, loss: 2.8145, grad_norm: 4.8248 2022-10-28 01:36:55,724 - mmdet - INFO - Epoch [2][650/6587] lr: 2.948e-03, eta: 4 days, 2:05:50, time: 4.725, data_time: 2.936, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3895, recall_Car: 0.4189, recall_Ped: 0.0018, recall_Cyc: 0.0024, num_clusters: 59.2200, num_fg_points: 347.1000, loss_cls.task0: 0.0437, loss_center.task0: 1.2421, loss_size.task0: 0.4587, loss_rot.task0: 0.2465, loss_cls.task1: 0.0041, loss_center.task1: 0.0478, loss_size.task1: 0.0301, loss_rot.task1: 0.0387, loss_cls.task2: 0.0017, loss_center.task2: 0.0200, loss_size.task2: 0.0052, loss_rot.task2: 0.0142, loss_rcnn_cls: 0.0046, num_pos_rois: 0.0600, num_neg_rois: 59.1600, loss_rcnn_bbox: 0.0978, loss_rcnn_corner: 0.0490, loss: 2.6950, grad_norm: 4.7955 2022-10-28 01:40:59,253 - mmdet - INFO - Epoch [2][700/6587] lr: 2.955e-03, eta: 4 days, 2:01:20, time: 4.870, data_time: 3.088, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3757, recall_Car: 0.4047, recall_Ped: 0.0013, recall_Cyc: 0.0025, num_clusters: 70.8000, num_fg_points: 1238.8800, loss_cls.task0: 0.0466, loss_center.task0: 1.2862, loss_size.task0: 0.4906, loss_rot.task0: 0.2384, loss_cls.task1: 0.0035, loss_center.task1: 0.0524, loss_size.task1: 0.0310, loss_rot.task1: 0.0442, loss_cls.task2: 0.0024, loss_center.task2: 0.0372, loss_size.task2: 0.0062, loss_rot.task2: 0.0204, loss_rcnn_cls: 0.0113, num_pos_rois: 0.2000, num_neg_rois: 70.6000, loss_rcnn_bbox: 0.2848, loss_rcnn_corner: 0.1778, loss: 3.1099, grad_norm: 5.1005 2022-10-28 01:45:10,759 - mmdet - INFO - Epoch [2][750/6587] lr: 2.962e-03, eta: 4 days, 1:58:09, time: 5.030, data_time: 3.195, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4257, recall_Car: 0.2919, recall_Ped: 0.0029, recall_Cyc: 0.0030, num_clusters: 119.1400, num_fg_points: 4641.4400, loss_cls.task0: 0.0359, loss_center.task0: 1.4195, loss_size.task0: 0.3947, loss_rot.task0: 0.2536, loss_cls.task1: 0.0029, loss_center.task1: 0.0691, loss_size.task1: 0.0335, loss_rot.task1: 0.0468, loss_cls.task2: 0.0016, loss_center.task2: 0.0695, loss_size.task2: 0.0165, loss_rot.task2: 0.0264, loss_rcnn_cls: 0.0090, num_pos_rois: 0.2800, num_neg_rois: 118.8600, loss_rcnn_bbox: 0.2831, loss_rcnn_corner: 0.1802, loss: 3.2693, grad_norm: 5.5493 2022-10-28 01:48:57,573 - mmdet - INFO - Epoch [2][800/6587] lr: 2.969e-03, eta: 4 days, 1:50:58, time: 4.536, data_time: 2.727, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4507, recall_Car: 0.3758, recall_Ped: 0.0042, recall_Cyc: 0.0092, num_clusters: 56.4400, num_fg_points: 497.3800, loss_cls.task0: 0.0416, loss_center.task0: 1.1318, loss_size.task0: 0.3751, loss_rot.task0: 0.2342, loss_cls.task1: 0.0058, loss_center.task1: 0.1135, loss_size.task1: 0.0525, loss_rot.task1: 0.0638, loss_cls.task2: 0.0020, loss_center.task2: 0.0310, loss_size.task2: 0.0105, loss_rot.task2: 0.0203, loss_rcnn_cls: 0.0071, num_pos_rois: 0.0800, num_neg_rois: 63.1000, loss_rcnn_bbox: 0.1504, loss_rcnn_corner: 0.0287, loss: 2.7205, grad_norm: 4.5854 2022-10-28 01:53:07,237 - mmdet - INFO - Epoch [2][850/6587] lr: 2.974e-03, eta: 4 days, 1:47:30, time: 4.993, data_time: 3.187, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4664, recall_Car: 0.3698, recall_Ped: 0.0023, recall_Cyc: 0.0040, num_clusters: 58.9600, num_fg_points: 675.5800, loss_cls.task0: 0.0366, loss_center.task0: 1.0941, loss_size.task0: 0.3393, loss_rot.task0: 0.2416, loss_cls.task1: 0.0033, loss_center.task1: 0.0332, loss_size.task1: 0.0199, loss_rot.task1: 0.0302, loss_cls.task2: 0.0034, loss_center.task2: 0.0604, loss_size.task2: 0.0189, loss_rot.task2: 0.0380, loss_rcnn_cls: 0.0091, num_pos_rois: 0.1400, num_neg_rois: 58.8200, loss_rcnn_bbox: 0.2349, loss_rcnn_corner: 0.1118, loss: 2.7426, grad_norm: 4.9922 2022-10-28 01:56:53,935 - mmdet - INFO - Epoch [2][900/6587] lr: 2.980e-03, eta: 4 days, 1:40:21, time: 4.534, data_time: 2.759, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4305, recall_Car: 0.3322, recall_Ped: 0.0006, recall_Cyc: 0.0013, num_clusters: 59.7000, num_fg_points: 117.6600, loss_cls.task0: 0.0381, loss_center.task0: 1.0714, loss_size.task0: 0.2821, loss_rot.task0: 0.2280, loss_cls.task1: 0.0038, loss_center.task1: 0.0475, loss_size.task1: 0.0230, loss_rot.task1: 0.0370, loss_cls.task2: 0.0025, loss_center.task2: 0.0389, loss_size.task2: 0.0120, loss_rot.task2: 0.0338, loss_rcnn_cls: 0.0097, num_pos_rois: 0.1400, num_neg_rois: 59.5600, loss_rcnn_bbox: 0.1544, loss_rcnn_corner: 0.0584, loss: 2.4723, grad_norm: 4.5335 2022-10-28 02:00:55,329 - mmdet - INFO - Epoch [2][950/6587] lr: 2.984e-03, eta: 4 days, 1:35:34, time: 4.828, data_time: 3.056, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4325, recall_Car: 0.3856, recall_Ped: 0.0011, recall_Cyc: 0.0011, num_clusters: 61.5200, num_fg_points: 435.9000, loss_cls.task0: 0.0399, loss_center.task0: 1.0396, loss_size.task0: 0.3075, loss_rot.task0: 0.2382, loss_cls.task1: 0.0048, loss_center.task1: 0.0850, loss_size.task1: 0.0386, loss_rot.task1: 0.0520, loss_cls.task2: 0.0022, loss_center.task2: 0.0408, loss_size.task2: 0.0110, loss_rot.task2: 0.0193, loss_rcnn_cls: 0.0092, num_pos_rois: 0.1400, num_neg_rois: 61.3800, loss_rcnn_bbox: 0.1621, loss_rcnn_corner: 0.0504, loss: 2.5345, grad_norm: 4.5000 2022-10-28 02:04:52,251 - mmdet - INFO - Epoch [2][1000/6587] lr: 2.988e-03, eta: 4 days, 1:30:06, time: 4.738, data_time: 2.923, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3832, recall_Car: 0.2942, recall_Ped: 0.0012, recall_Cyc: 0.0019, num_clusters: 55.2000, num_fg_points: 213.3600, loss_cls.task0: 0.0426, loss_center.task0: 1.1719, loss_size.task0: 0.4121, loss_rot.task0: 0.2519, loss_cls.task1: 0.0043, loss_center.task1: 0.0474, loss_size.task1: 0.0235, loss_rot.task1: 0.0336, loss_cls.task2: 0.0037, loss_center.task2: 0.0585, loss_size.task2: 0.0145, loss_rot.task2: 0.0357, loss_rcnn_cls: 0.0135, num_pos_rois: 0.1600, num_neg_rois: 55.0400, loss_rcnn_bbox: 0.1820, loss_rcnn_corner: 0.0438, loss: 2.7235, grad_norm: 4.6408 2022-10-28 02:08:52,483 - mmdet - INFO - Epoch [2][1050/6587] lr: 2.992e-03, eta: 4 days, 1:25:11, time: 4.805, data_time: 3.012, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4012, recall_Car: 0.2946, recall_Ped: 0.0033, recall_Cyc: 0.0011, num_clusters: 55.4400, num_fg_points: 357.4400, loss_cls.task0: 0.0432, loss_center.task0: 1.0774, loss_size.task0: 0.2735, loss_rot.task0: 0.2365, loss_cls.task1: 0.0035, loss_center.task1: 0.0524, loss_size.task1: 0.0190, loss_rot.task1: 0.0369, loss_cls.task2: 0.0030, loss_center.task2: 0.0523, loss_size.task2: 0.0190, loss_rot.task2: 0.0311, loss_rcnn_cls: 0.0117, num_pos_rois: 0.1800, num_neg_rois: 56.7400, loss_rcnn_bbox: 0.2332, loss_rcnn_corner: 0.1303, loss: 2.6255, grad_norm: 5.0043 2022-10-28 02:12:47,603 - mmdet - INFO - Epoch [2][1100/6587] lr: 2.994e-03, eta: 4 days, 1:19:28, time: 4.702, data_time: 2.908, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4076, recall_Car: 0.3447, recall_Ped: 0.0007, recall_Cyc: 0.0022, num_clusters: 61.7600, num_fg_points: 431.5600, loss_cls.task0: 0.0410, loss_center.task0: 1.0087, loss_size.task0: 0.2330, loss_rot.task0: 0.2400, loss_cls.task1: 0.0029, loss_center.task1: 0.0280, loss_size.task1: 0.0124, loss_rot.task1: 0.0232, loss_cls.task2: 0.0008, loss_center.task2: 0.0093, loss_size.task2: 0.0021, loss_rot.task2: 0.0042, loss_rcnn_cls: 0.0112, num_pos_rois: 0.1800, num_neg_rois: 61.5800, loss_rcnn_bbox: 0.2539, loss_rcnn_corner: 0.1439, loss: 2.4235, grad_norm: 4.7224 2022-10-28 02:16:51,957 - mmdet - INFO - Epoch [2][1150/6587] lr: 2.997e-03, eta: 4 days, 1:15:12, time: 4.887, data_time: 3.049, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4049, recall_Car: 0.3315, recall_Ped: 0.0008, recall_Cyc: 0.0020, num_clusters: 72.2600, num_fg_points: 1025.6000, loss_cls.task0: 0.0487, loss_center.task0: 1.3762, loss_size.task0: 0.2485, loss_rot.task0: 0.2556, loss_cls.task1: 0.0030, loss_center.task1: 0.0586, loss_size.task1: 0.0253, loss_rot.task1: 0.0374, loss_cls.task2: 0.0029, loss_center.task2: 0.0680, loss_size.task2: 0.0138, loss_rot.task2: 0.0344, loss_rcnn_cls: 0.0053, num_pos_rois: 0.0800, num_neg_rois: 72.1800, loss_rcnn_bbox: 0.1116, loss_rcnn_corner: 0.0665, loss: 2.7620, grad_norm: 4.2443 2022-10-28 02:21:04,522 - mmdet - INFO - Epoch [2][1200/6587] lr: 2.998e-03, eta: 4 days, 1:12:11, time: 5.051, data_time: 3.220, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3951, recall_Car: 0.3819, recall_Ped: 0.0068, recall_Cyc: 0.0131, num_clusters: 106.2600, num_fg_points: 1583.8000, loss_cls.task0: 0.0371, loss_center.task0: 1.2858, loss_size.task0: 0.2325, loss_rot.task0: 0.2453, loss_cls.task1: 0.0026, loss_center.task1: 0.0487, loss_size.task1: 0.0158, loss_rot.task1: 0.0243, loss_cls.task2: 0.0029, loss_center.task2: 0.0689, loss_size.task2: 0.0185, loss_rot.task2: 0.0405, loss_rcnn_cls: 0.0052, num_pos_rois: 0.1200, num_neg_rois: 106.1400, loss_rcnn_bbox: 0.1784, loss_rcnn_corner: 0.0949, loss: 2.6979, grad_norm: 4.3462 2022-10-28 02:24:52,381 - mmdet - INFO - Epoch [2][1250/6587] lr: 2.999e-03, eta: 4 days, 1:05:25, time: 4.557, data_time: 2.759, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4532, recall_Car: 0.3216, recall_Ped: 0.0017, recall_Cyc: 0.0054, num_clusters: 100.8800, num_fg_points: 2877.4200, loss_cls.task0: 0.0333, loss_center.task0: 1.1836, loss_size.task0: 0.2741, loss_rot.task0: 0.2360, loss_cls.task1: 0.0038, loss_center.task1: 0.0550, loss_size.task1: 0.0287, loss_rot.task1: 0.0368, loss_cls.task2: 0.0008, loss_center.task2: 0.0194, loss_size.task2: 0.0078, loss_rot.task2: 0.0163, loss_rcnn_cls: 0.0060, num_pos_rois: 0.1200, num_neg_rois: 104.0800, loss_rcnn_bbox: 0.1408, loss_rcnn_corner: 0.0592, loss: 2.5565, grad_norm: 4.3409 2022-10-28 02:28:53,991 - mmdet - INFO - Epoch [2][1300/6587] lr: 3.000e-03, eta: 4 days, 1:00:45, time: 4.832, data_time: 3.045, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.4671, recall_Car: 0.2720, recall_Ped: 0.0094, recall_Cyc: 0.0157, num_clusters: 62.3600, num_fg_points: 1066.7800, loss_cls.task0: 0.0297, loss_center.task0: 0.8678, loss_size.task0: 0.2607, loss_rot.task0: 0.2247, loss_cls.task1: 0.0033, loss_center.task1: 0.0567, loss_size.task1: 0.0232, loss_rot.task1: 0.0380, loss_cls.task2: 0.0016, loss_center.task2: 0.0242, loss_size.task2: 0.0081, loss_rot.task2: 0.0168, loss_rcnn_cls: 0.0048, num_pos_rois: 0.0400, num_neg_rois: 63.7400, loss_rcnn_bbox: 0.0706, loss_rcnn_corner: 0.0284, loss: 2.1272, grad_norm: 4.1111 2022-10-28 02:32:53,154 - mmdet - INFO - Epoch [2][1350/6587] lr: 3.000e-03, eta: 4 days, 0:55:44, time: 4.783, data_time: 2.989, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4722, recall_Car: 0.2868, recall_Ped: 0.0010, recall_Cyc: 0.0016, num_clusters: 58.5000, num_fg_points: 183.6400, loss_cls.task0: 0.0345, loss_center.task0: 0.9261, loss_size.task0: 0.2539, loss_rot.task0: 0.2193, loss_cls.task1: 0.0031, loss_center.task1: 0.0626, loss_size.task1: 0.0220, loss_rot.task1: 0.0297, loss_cls.task2: 0.0025, loss_center.task2: 0.0349, loss_size.task2: 0.0107, loss_rot.task2: 0.0215, loss_rcnn_cls: 0.0111, num_pos_rois: 0.1600, num_neg_rois: 58.3400, loss_rcnn_bbox: 0.2467, loss_rcnn_corner: 0.0689, loss: 2.4209, grad_norm: 4.6164 2022-10-28 02:37:03,555 - mmdet - INFO - Epoch [2][1400/6587] lr: 3.000e-03, eta: 4 days, 0:52:23, time: 5.008, data_time: 3.193, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4135, recall_Car: 0.2875, recall_Ped: 0.0032, recall_Cyc: 0.0040, num_clusters: 54.9600, num_fg_points: 126.5000, loss_cls.task0: 0.0401, loss_center.task0: 0.9882, loss_size.task0: 0.2267, loss_rot.task0: 0.2289, loss_cls.task1: 0.0064, loss_center.task1: 0.0711, loss_size.task1: 0.0572, loss_rot.task1: 0.0650, loss_cls.task2: 0.0029, loss_center.task2: 0.0446, loss_size.task2: 0.0084, loss_rot.task2: 0.0251, loss_rcnn_cls: 0.0100, num_pos_rois: 0.1800, num_neg_rois: 66.3000, loss_rcnn_bbox: 0.2681, loss_rcnn_corner: 0.0907, loss: 2.5484, grad_norm: 4.7084 2022-10-28 02:40:56,751 - mmdet - INFO - Epoch [2][1450/6587] lr: 3.000e-03, eta: 4 days, 0:46:30, time: 4.664, data_time: 2.887, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4061, recall_Car: 0.3574, recall_Ped: 0.0098, recall_Cyc: 0.0113, num_clusters: 59.8600, num_fg_points: 373.5200, loss_cls.task0: 0.0397, loss_center.task0: 1.1048, loss_size.task0: 0.1954, loss_rot.task0: 0.2361, loss_cls.task1: 0.0030, loss_center.task1: 0.0366, loss_size.task1: 0.0196, loss_rot.task1: 0.0245, loss_cls.task2: 0.0012, loss_center.task2: 0.0184, loss_size.task2: 0.0043, loss_rot.task2: 0.0111, loss_rcnn_cls: 0.0111, num_pos_rois: 0.1800, num_neg_rois: 60.0800, loss_rcnn_bbox: 0.2832, loss_rcnn_corner: 0.1176, loss: 2.5141, grad_norm: 4.6863 2022-10-28 02:45:07,776 - mmdet - INFO - Epoch [2][1500/6587] lr: 3.000e-03, eta: 4 days, 0:43:15, time: 5.021, data_time: 3.215, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4012, recall_Car: 0.3165, recall_Ped: 0.0071, recall_Cyc: 0.0087, num_clusters: 54.6800, num_fg_points: 226.9600, loss_cls.task0: 0.0375, loss_center.task0: 0.9487, loss_size.task0: 0.1607, loss_rot.task0: 0.2258, loss_cls.task1: 0.0046, loss_center.task1: 0.0732, loss_size.task1: 0.0338, loss_rot.task1: 0.0513, loss_cls.task2: 0.0050, loss_center.task2: 0.0950, loss_size.task2: 0.0223, loss_rot.task2: 0.0432, loss_rcnn_cls: 0.0071, num_pos_rois: 0.1000, num_neg_rois: 69.3400, loss_rcnn_bbox: 0.1577, loss_rcnn_corner: 0.0427, loss: 2.3110, grad_norm: 4.1965 2022-10-28 02:49:01,219 - mmdet - INFO - Epoch [2][1550/6587] lr: 3.000e-03, eta: 4 days, 0:37:25, time: 4.669, data_time: 2.871, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3970, recall_Car: 0.2780, recall_Ped: 0.0042, recall_Cyc: 0.0054, num_clusters: 64.8600, num_fg_points: 352.1800, loss_cls.task0: 0.0445, loss_center.task0: 1.2895, loss_size.task0: 0.2357, loss_rot.task0: 0.2616, loss_cls.task1: 0.0012, loss_center.task1: 0.0159, loss_size.task1: 0.0054, loss_rot.task1: 0.0129, loss_cls.task2: 0.0021, loss_center.task2: 0.0346, loss_size.task2: 0.0100, loss_rot.task2: 0.0215, loss_rcnn_cls: 0.0160, num_pos_rois: 0.2800, num_neg_rois: 64.5800, loss_rcnn_bbox: 0.3342, loss_rcnn_corner: 0.2136, loss: 2.8970, grad_norm: 5.5692 2022-10-28 02:53:13,234 - mmdet - INFO - Epoch [2][1600/6587] lr: 3.000e-03, eta: 4 days, 0:34:18, time: 5.040, data_time: 3.217, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4192, recall_Car: 0.3145, recall_Ped: 0.0055, recall_Cyc: 0.0068, num_clusters: 79.2400, num_fg_points: 970.7400, loss_cls.task0: 0.0470, loss_center.task0: 1.1879, loss_size.task0: 0.2188, loss_rot.task0: 0.2469, loss_cls.task1: 0.0027, loss_center.task1: 0.0418, loss_size.task1: 0.0170, loss_rot.task1: 0.0340, loss_cls.task2: 0.0039, loss_center.task2: 0.0623, loss_size.task2: 0.0120, loss_rot.task2: 0.0390, loss_rcnn_cls: 0.0219, num_pos_rois: 0.4600, num_neg_rois: 78.7800, loss_rcnn_bbox: 0.3726, loss_rcnn_corner: 0.2410, loss: 2.9692, grad_norm: 5.4052 2022-10-28 02:57:04,964 - mmdet - INFO - Epoch [2][1650/6587] lr: 3.000e-03, eta: 4 days, 0:28:16, time: 4.635, data_time: 2.801, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4003, recall_Car: 0.4306, recall_Ped: 0.0239, recall_Cyc: 0.0325, num_clusters: 77.6400, num_fg_points: 1544.5600, loss_cls.task0: 0.0509, loss_center.task0: 1.2235, loss_size.task0: 0.2028, loss_rot.task0: 0.2532, loss_cls.task1: 0.0032, loss_center.task1: 0.0577, loss_size.task1: 0.0308, loss_rot.task1: 0.0495, loss_cls.task2: 0.0033, loss_center.task2: 0.0468, loss_size.task2: 0.0096, loss_rot.task2: 0.0296, loss_rcnn_cls: 0.0180, num_pos_rois: 0.3800, num_neg_rois: 82.8000, loss_rcnn_bbox: 0.3751, loss_rcnn_corner: 0.2821, loss: 3.0376, grad_norm: 5.1057 2022-10-28 03:01:11,115 - mmdet - INFO - Epoch [2][1700/6587] lr: 3.000e-03, eta: 4 days, 0:24:19, time: 4.923, data_time: 3.104, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3781, recall_Car: 0.3130, recall_Ped: 0.0054, recall_Cyc: 0.0114, num_clusters: 58.9000, num_fg_points: 491.0800, loss_cls.task0: 0.0450, loss_center.task0: 1.0840, loss_size.task0: 0.2409, loss_rot.task0: 0.2507, loss_cls.task1: 0.0029, loss_center.task1: 0.0575, loss_size.task1: 0.0467, loss_rot.task1: 0.0309, loss_cls.task2: 0.0026, loss_center.task2: 0.0484, loss_size.task2: 0.0110, loss_rot.task2: 0.0265, loss_rcnn_cls: 0.0240, num_pos_rois: 0.3400, num_neg_rois: 58.5600, loss_rcnn_bbox: 0.3478, loss_rcnn_corner: 0.1706, loss: 2.7690, grad_norm: 5.2170 2022-10-28 03:05:04,702 - mmdet - INFO - Epoch [2][1750/6587] lr: 3.000e-03, eta: 4 days, 0:18:34, time: 4.671, data_time: 2.847, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.3962, recall_Car: 0.4304, recall_Ped: 0.0052, recall_Cyc: 0.0118, num_clusters: 91.6400, num_fg_points: 2127.2800, loss_cls.task0: 0.0550, loss_center.task0: 1.3438, loss_size.task0: 0.2465, loss_rot.task0: 0.2569, loss_cls.task1: 0.0032, loss_center.task1: 0.0574, loss_size.task1: 0.0280, loss_rot.task1: 0.0496, loss_cls.task2: 0.0025, loss_center.task2: 0.0561, loss_size.task2: 0.0103, loss_rot.task2: 0.0348, loss_rcnn_cls: 0.0257, num_pos_rois: 0.6600, num_neg_rois: 90.9800, loss_rcnn_bbox: 0.5164, loss_rcnn_corner: 0.3398, loss: 3.4235, grad_norm: 6.0806 2022-10-28 03:09:06,187 - mmdet - INFO - Epoch [2][1800/6587] lr: 3.000e-03, eta: 4 days, 0:13:58, time: 4.830, data_time: 2.981, memory: 61278, loss_sem_seg: 0.0014, loss_vote: 0.3904, recall_Car: 0.4356, recall_Ped: 0.0085, recall_Cyc: 0.0194, num_clusters: 109.4400, num_fg_points: 2385.5600, loss_cls.task0: 0.0555, loss_center.task0: 1.2624, loss_size.task0: 0.2807, loss_rot.task0: 0.2574, loss_cls.task1: 0.0015, loss_center.task1: 0.0415, loss_size.task1: 0.0139, loss_rot.task1: 0.0208, loss_cls.task2: 0.0014, loss_center.task2: 0.0396, loss_size.task2: 0.0105, loss_rot.task2: 0.0192, loss_rcnn_cls: 0.0396, num_pos_rois: 1.3200, num_neg_rois: 108.1200, loss_rcnn_bbox: 0.9522, loss_rcnn_corner: 0.6783, loss: 4.0663, grad_norm: 7.1286 2022-10-28 03:13:04,381 - mmdet - INFO - Epoch [2][1850/6587] lr: 3.000e-03, eta: 4 days, 0:08:55, time: 4.764, data_time: 2.933, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3879, recall_Car: 0.3738, recall_Ped: 0.0183, recall_Cyc: 0.0316, num_clusters: 81.8200, num_fg_points: 1414.3800, loss_cls.task0: 0.0510, loss_center.task0: 1.5363, loss_size.task0: 0.2427, loss_rot.task0: 0.2599, loss_cls.task1: 0.0048, loss_center.task1: 0.0989, loss_size.task1: 0.0804, loss_rot.task1: 0.0658, loss_cls.task2: 0.0023, loss_center.task2: 0.0641, loss_size.task2: 0.0174, loss_rot.task2: 0.0339, loss_rcnn_cls: 0.0282, num_pos_rois: 0.6600, num_neg_rois: 81.1600, loss_rcnn_bbox: 0.5562, loss_rcnn_corner: 0.4674, loss: 3.8984, grad_norm: 6.3556 2022-10-28 03:17:08,127 - mmdet - INFO - Epoch [2][1900/6587] lr: 3.000e-03, eta: 4 days, 0:04:38, time: 4.875, data_time: 3.036, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3802, recall_Car: 0.4113, recall_Ped: 0.0146, recall_Cyc: 0.0255, num_clusters: 104.4400, num_fg_points: 2286.1400, loss_cls.task0: 0.0548, loss_center.task0: 1.3175, loss_size.task0: 0.2348, loss_rot.task0: 0.2566, loss_cls.task1: 0.0027, loss_center.task1: 0.0509, loss_size.task1: 0.0232, loss_rot.task1: 0.0396, loss_cls.task2: 0.0026, loss_center.task2: 0.0694, loss_size.task2: 0.0204, loss_rot.task2: 0.0381, loss_rcnn_cls: 0.0471, num_pos_rois: 1.5800, num_neg_rois: 102.8600, loss_rcnn_bbox: 0.8358, loss_rcnn_corner: 0.6779, loss: 4.0530, grad_norm: 7.3089 2022-10-28 03:21:04,670 - mmdet - INFO - Epoch [2][1950/6587] lr: 2.999e-03, eta: 3 days, 23:59:22, time: 4.731, data_time: 2.922, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3755, recall_Car: 0.3837, recall_Ped: 0.0111, recall_Cyc: 0.0250, num_clusters: 82.5000, num_fg_points: 1494.2600, loss_cls.task0: 0.0511, loss_center.task0: 1.3585, loss_size.task0: 0.2337, loss_rot.task0: 0.2505, loss_cls.task1: 0.0028, loss_center.task1: 0.0403, loss_size.task1: 0.0317, loss_rot.task1: 0.0359, loss_cls.task2: 0.0014, loss_center.task2: 0.0153, loss_size.task2: 0.0061, loss_rot.task2: 0.0157, loss_rcnn_cls: 0.0278, num_pos_rois: 0.6400, num_neg_rois: 81.8600, loss_rcnn_bbox: 0.6048, loss_rcnn_corner: 0.4592, loss: 3.5115, grad_norm: 6.5988 2022-10-28 03:25:05,068 - mmdet - INFO - Epoch [2][2000/6587] lr: 2.999e-03, eta: 3 days, 23:54:39, time: 4.808, data_time: 2.977, memory: 61278, loss_sem_seg: 0.0011, loss_vote: 0.3747, recall_Car: 0.3263, recall_Ped: 0.0059, recall_Cyc: 0.0139, num_clusters: 96.7800, num_fg_points: 1911.2400, loss_cls.task0: 0.0477, loss_center.task0: 1.2841, loss_size.task0: 0.2746, loss_rot.task0: 0.2555, loss_cls.task1: 0.0032, loss_center.task1: 0.0592, loss_size.task1: 0.0171, loss_rot.task1: 0.0352, loss_cls.task2: 0.0013, loss_center.task2: 0.0384, loss_size.task2: 0.0110, loss_rot.task2: 0.0266, loss_rcnn_cls: 0.0178, num_pos_rois: 0.4000, num_neg_rois: 96.3800, loss_rcnn_bbox: 0.4240, loss_rcnn_corner: 0.3284, loss: 3.2001, grad_norm: 6.2432 2022-10-28 03:28:55,248 - mmdet - INFO - Epoch [2][2050/6587] lr: 2.999e-03, eta: 3 days, 23:48:33, time: 4.604, data_time: 2.777, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4226, recall_Car: 0.3399, recall_Ped: 0.0038, recall_Cyc: 0.0037, num_clusters: 82.9600, num_fg_points: 618.2000, loss_cls.task0: 0.0538, loss_center.task0: 1.2581, loss_size.task0: 0.2952, loss_rot.task0: 0.2524, loss_cls.task1: 0.0023, loss_center.task1: 0.0514, loss_size.task1: 0.0260, loss_rot.task1: 0.0326, loss_cls.task2: 0.0017, loss_center.task2: 0.0349, loss_size.task2: 0.0107, loss_rot.task2: 0.0197, loss_rcnn_cls: 0.0179, num_pos_rois: 0.4200, num_neg_rois: 82.5400, loss_rcnn_bbox: 0.4473, loss_rcnn_corner: 0.2666, loss: 3.1946, grad_norm: 4.8867 2022-10-28 03:33:00,317 - mmdet - INFO - Epoch [2][2100/6587] lr: 2.999e-03, eta: 3 days, 23:44:29, time: 4.901, data_time: 3.074, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4120, recall_Car: 0.3332, recall_Ped: 0.0159, recall_Cyc: 0.0102, num_clusters: 88.8200, num_fg_points: 1079.6000, loss_cls.task0: 0.0506, loss_center.task0: 1.3322, loss_size.task0: 0.3043, loss_rot.task0: 0.2506, loss_cls.task1: 0.0028, loss_center.task1: 0.0600, loss_size.task1: 0.0304, loss_rot.task1: 0.0351, loss_cls.task2: 0.0020, loss_center.task2: 0.0661, loss_size.task2: 0.0184, loss_rot.task2: 0.0319, loss_rcnn_cls: 0.0166, num_pos_rois: 0.3400, num_neg_rois: 88.7600, loss_rcnn_bbox: 0.2978, loss_rcnn_corner: 0.1841, loss: 3.0962, grad_norm: 4.4128 2022-10-28 03:37:01,485 - mmdet - INFO - Epoch [2][2150/6587] lr: 2.999e-03, eta: 3 days, 23:39:54, time: 4.823, data_time: 3.045, memory: 61278, loss_sem_seg: 0.0011, loss_vote: 0.4083, recall_Car: 0.2915, recall_Ped: 0.0087, recall_Cyc: 0.0185, num_clusters: 62.8400, num_fg_points: 462.1000, loss_cls.task0: 0.0434, loss_center.task0: 1.1778, loss_size.task0: 0.2468, loss_rot.task0: 0.2479, loss_cls.task1: 0.0018, loss_center.task1: 0.0269, loss_size.task1: 0.0162, loss_rot.task1: 0.0179, loss_cls.task2: 0.0028, loss_center.task2: 0.0593, loss_size.task2: 0.0129, loss_rot.task2: 0.0252, loss_rcnn_cls: 0.0112, num_pos_rois: 0.1800, num_neg_rois: 62.6600, loss_rcnn_bbox: 0.1570, loss_rcnn_corner: 0.0967, loss: 2.5529, grad_norm: 3.9728 2022-10-28 03:41:11,158 - mmdet - INFO - Epoch [2][2200/6587] lr: 2.999e-03, eta: 3 days, 23:36:27, time: 4.994, data_time: 3.141, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4035, recall_Car: 0.4233, recall_Ped: 0.0101, recall_Cyc: 0.0110, num_clusters: 95.4000, num_fg_points: 1286.1400, loss_cls.task0: 0.0520, loss_center.task0: 1.2440, loss_size.task0: 0.2876, loss_rot.task0: 0.2555, loss_cls.task1: 0.0027, loss_center.task1: 0.0653, loss_size.task1: 0.0590, loss_rot.task1: 0.0431, loss_cls.task2: 0.0015, loss_center.task2: 0.0233, loss_size.task2: 0.0098, loss_rot.task2: 0.0185, loss_rcnn_cls: 0.0135, num_pos_rois: 0.2800, num_neg_rois: 95.1200, loss_rcnn_bbox: 0.2848, loss_rcnn_corner: 0.2230, loss: 2.9885, grad_norm: 5.1218 2022-10-28 03:45:08,850 - mmdet - INFO - Epoch [2][2250/6587] lr: 2.999e-03, eta: 3 days, 23:31:24, time: 4.754, data_time: 2.933, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3894, recall_Car: 0.3202, recall_Ped: 0.0071, recall_Cyc: 0.0134, num_clusters: 72.8800, num_fg_points: 921.3600, loss_cls.task0: 0.0513, loss_center.task0: 1.1591, loss_size.task0: 0.3583, loss_rot.task0: 0.2617, loss_cls.task1: 0.0029, loss_center.task1: 0.0552, loss_size.task1: 0.0274, loss_rot.task1: 0.0380, loss_cls.task2: 0.0022, loss_center.task2: 0.0526, loss_size.task2: 0.0093, loss_rot.task2: 0.0245, loss_rcnn_cls: 0.0103, num_pos_rois: 0.1800, num_neg_rois: 72.7000, loss_rcnn_bbox: 0.1967, loss_rcnn_corner: 0.1205, loss: 2.7605, grad_norm: 4.2123 2022-10-28 03:49:08,923 - mmdet - INFO - Epoch [2][2300/6587] lr: 2.999e-03, eta: 3 days, 23:26:41, time: 4.801, data_time: 2.955, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3943, recall_Car: 0.4601, recall_Ped: 0.0104, recall_Cyc: 0.0162, num_clusters: 84.3000, num_fg_points: 1309.0600, loss_cls.task0: 0.0550, loss_center.task0: 1.3275, loss_size.task0: 0.2557, loss_rot.task0: 0.2571, loss_cls.task1: 0.0017, loss_center.task1: 0.0299, loss_size.task1: 0.0228, loss_rot.task1: 0.0232, loss_cls.task2: 0.0041, loss_center.task2: 0.0865, loss_size.task2: 0.0216, loss_rot.task2: 0.0534, loss_rcnn_cls: 0.0350, num_pos_rois: 0.8200, num_neg_rois: 99.1400, loss_rcnn_bbox: 0.6232, loss_rcnn_corner: 0.4770, loss: 3.6692, grad_norm: 6.1039 2022-10-28 03:53:05,883 - mmdet - INFO - Epoch [2][2350/6587] lr: 2.998e-03, eta: 3 days, 23:21:34, time: 4.739, data_time: 2.884, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3865, recall_Car: 0.3789, recall_Ped: 0.0132, recall_Cyc: 0.0212, num_clusters: 122.6600, num_fg_points: 2389.9400, loss_cls.task0: 0.0490, loss_center.task0: 1.2577, loss_size.task0: 0.3050, loss_rot.task0: 0.2576, loss_cls.task1: 0.0028, loss_center.task1: 0.0771, loss_size.task1: 0.0313, loss_rot.task1: 0.0452, loss_cls.task2: 0.0014, loss_center.task2: 0.0535, loss_size.task2: 0.0107, loss_rot.task2: 0.0259, loss_rcnn_cls: 0.0190, num_pos_rois: 0.5800, num_neg_rois: 122.0800, loss_rcnn_bbox: 0.5726, loss_rcnn_corner: 0.4404, loss: 3.5369, grad_norm: 6.0056 2022-10-28 03:57:17,137 - mmdet - INFO - Epoch [2][2400/6587] lr: 2.998e-03, eta: 3 days, 23:18:19, time: 5.025, data_time: 3.126, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3797, recall_Car: 0.4375, recall_Ped: 0.0065, recall_Cyc: 0.0103, num_clusters: 171.4600, num_fg_points: 5311.4000, loss_cls.task0: 0.0518, loss_center.task0: 1.1956, loss_size.task0: 0.3154, loss_rot.task0: 0.2566, loss_cls.task1: 0.0028, loss_center.task1: 0.0797, loss_size.task1: 0.0634, loss_rot.task1: 0.0573, loss_cls.task2: 0.0022, loss_center.task2: 0.0919, loss_size.task2: 0.0239, loss_rot.task2: 0.0542, loss_rcnn_cls: 0.0264, num_pos_rois: 1.0600, num_neg_rois: 170.4000, loss_rcnn_bbox: 0.6959, loss_rcnn_corner: 0.3660, loss: 3.6642, grad_norm: 5.4812 2022-10-28 04:01:16,040 - mmdet - INFO - Epoch [2][2450/6587] lr: 2.998e-03, eta: 3 days, 23:13:28, time: 4.778, data_time: 2.948, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3643, recall_Car: 0.3882, recall_Ped: 0.0085, recall_Cyc: 0.0170, num_clusters: 99.3800, num_fg_points: 1590.4800, loss_cls.task0: 0.0507, loss_center.task0: 1.2477, loss_size.task0: 0.2828, loss_rot.task0: 0.2559, loss_cls.task1: 0.0015, loss_center.task1: 0.0445, loss_size.task1: 0.0171, loss_rot.task1: 0.0264, loss_cls.task2: 0.0024, loss_center.task2: 0.0691, loss_size.task2: 0.0170, loss_rot.task2: 0.0348, loss_rcnn_cls: 0.0189, num_pos_rois: 0.5000, num_neg_rois: 98.8800, loss_rcnn_bbox: 0.5876, loss_rcnn_corner: 0.4730, loss: 3.4949, grad_norm: 6.1679 2022-10-28 04:05:20,277 - mmdet - INFO - Epoch [2][2500/6587] lr: 2.998e-03, eta: 3 days, 23:09:19, time: 4.885, data_time: 3.031, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3742, recall_Car: 0.3913, recall_Ped: 0.0163, recall_Cyc: 0.0230, num_clusters: 127.0800, num_fg_points: 2414.5200, loss_cls.task0: 0.0542, loss_center.task0: 1.2659, loss_size.task0: 0.3011, loss_rot.task0: 0.2605, loss_cls.task1: 0.0016, loss_center.task1: 0.0551, loss_size.task1: 0.0218, loss_rot.task1: 0.0288, loss_cls.task2: 0.0010, loss_center.task2: 0.0369, loss_size.task2: 0.0087, loss_rot.task2: 0.0176, loss_rcnn_cls: 0.0182, num_pos_rois: 0.5400, num_neg_rois: 126.5400, loss_rcnn_bbox: 0.6007, loss_rcnn_corner: 0.3728, loss: 3.4202, grad_norm: 5.6700 2022-10-28 04:09:08,654 - mmdet - INFO - Epoch [2][2550/6587] lr: 2.998e-03, eta: 3 days, 23:03:08, time: 4.567, data_time: 2.708, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3700, recall_Car: 0.4108, recall_Ped: 0.0188, recall_Cyc: 0.0245, num_clusters: 109.9800, num_fg_points: 1997.1000, loss_cls.task0: 0.0552, loss_center.task0: 1.2175, loss_size.task0: 0.2664, loss_rot.task0: 0.2473, loss_cls.task1: 0.0021, loss_center.task1: 0.0440, loss_size.task1: 0.0244, loss_rot.task1: 0.0355, loss_cls.task2: 0.0021, loss_center.task2: 0.0321, loss_size.task2: 0.0087, loss_rot.task2: 0.0235, loss_rcnn_cls: 0.0268, num_pos_rois: 0.7800, num_neg_rois: 109.4200, loss_rcnn_bbox: 0.7588, loss_rcnn_corner: 0.5197, loss: 3.6354, grad_norm: 6.1841 2022-10-28 04:13:17,852 - mmdet - INFO - Epoch [2][2600/6587] lr: 2.998e-03, eta: 3 days, 22:59:37, time: 4.984, data_time: 3.119, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3711, recall_Car: 0.4623, recall_Ped: 0.0171, recall_Cyc: 0.0260, num_clusters: 230.6000, num_fg_points: 7904.5600, loss_cls.task0: 0.0576, loss_center.task0: 1.2222, loss_size.task0: 0.3634, loss_rot.task0: 0.2577, loss_cls.task1: 0.0019, loss_center.task1: 0.0865, loss_size.task1: 0.0450, loss_rot.task1: 0.0636, loss_cls.task2: 0.0012, loss_center.task2: 0.0428, loss_size.task2: 0.0170, loss_rot.task2: 0.0429, loss_rcnn_cls: 0.0150, num_pos_rois: 0.9200, num_neg_rois: 229.8400, loss_rcnn_bbox: 0.7660, loss_rcnn_corner: 0.4621, loss: 3.8173, grad_norm: 5.7275 2022-10-28 04:17:15,338 - mmdet - INFO - Epoch [2][2650/6587] lr: 2.997e-03, eta: 3 days, 22:54:37, time: 4.750, data_time: 2.893, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3880, recall_Car: 0.4321, recall_Ped: 0.0064, recall_Cyc: 0.0145, num_clusters: 156.0000, num_fg_points: 5523.6200, loss_cls.task0: 0.0566, loss_center.task0: 1.2381, loss_size.task0: 0.3129, loss_rot.task0: 0.2565, loss_cls.task1: 0.0032, loss_center.task1: 0.1281, loss_size.task1: 0.1040, loss_rot.task1: 0.0616, loss_cls.task2: 0.0016, loss_center.task2: 0.0389, loss_size.task2: 0.0128, loss_rot.task2: 0.0243, loss_rcnn_cls: 0.0051, num_pos_rois: 0.1800, num_neg_rois: 155.8200, loss_rcnn_bbox: 0.2318, loss_rcnn_corner: 0.1042, loss: 2.9691, grad_norm: 3.9818 2022-10-28 04:21:18,435 - mmdet - INFO - Epoch [2][2700/6587] lr: 2.997e-03, eta: 3 days, 22:50:20, time: 4.862, data_time: 3.000, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3769, recall_Car: 0.4429, recall_Ped: 0.0220, recall_Cyc: 0.0359, num_clusters: 153.0000, num_fg_points: 5802.6800, loss_cls.task0: 0.0599, loss_center.task0: 1.3596, loss_size.task0: 0.2608, loss_rot.task0: 0.2569, loss_cls.task1: 0.0025, loss_center.task1: 0.0768, loss_size.task1: 0.0318, loss_rot.task1: 0.0506, loss_cls.task2: 0.0024, loss_center.task2: 0.1146, loss_size.task2: 0.0181, loss_rot.task2: 0.0586, loss_rcnn_cls: 0.0069, num_pos_rois: 0.3000, num_neg_rois: 152.9400, loss_rcnn_bbox: 0.3957, loss_rcnn_corner: 0.2865, loss: 3.3599, grad_norm: 4.4827 2022-10-28 04:25:05,739 - mmdet - INFO - Epoch [2][2750/6587] lr: 2.997e-03, eta: 3 days, 22:44:06, time: 4.546, data_time: 2.692, memory: 61278, loss_sem_seg: 0.0011, loss_vote: 0.3675, recall_Car: 0.4017, recall_Ped: 0.0132, recall_Cyc: 0.0187, num_clusters: 163.9400, num_fg_points: 4420.6800, loss_cls.task0: 0.0563, loss_center.task0: 1.2863, loss_size.task0: 0.2722, loss_rot.task0: 0.2553, loss_cls.task1: 0.0030, loss_center.task1: 0.1101, loss_size.task1: 0.0556, loss_rot.task1: 0.0790, loss_cls.task2: 0.0011, loss_center.task2: 0.0678, loss_size.task2: 0.0209, loss_rot.task2: 0.0245, loss_rcnn_cls: 0.0042, num_pos_rois: 0.1400, num_neg_rois: 163.8000, loss_rcnn_bbox: 0.2015, loss_rcnn_corner: 0.1316, loss: 2.9380, grad_norm: 3.8759 2022-10-28 04:29:14,524 - mmdet - INFO - Epoch [2][2800/6587] lr: 2.997e-03, eta: 3 days, 22:40:32, time: 4.976, data_time: 3.106, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3834, recall_Car: 0.4518, recall_Ped: 0.0162, recall_Cyc: 0.0329, num_clusters: 206.8200, num_fg_points: 5104.7400, loss_cls.task0: 0.0594, loss_center.task0: 1.2832, loss_size.task0: 0.3548, loss_rot.task0: 0.2564, loss_cls.task1: 0.0027, loss_center.task1: 0.1390, loss_size.task1: 0.0650, loss_rot.task1: 0.0915, loss_cls.task2: 0.0016, loss_center.task2: 0.0532, loss_size.task2: 0.0168, loss_rot.task2: 0.0300, loss_rcnn_cls: 0.0083, num_pos_rois: 0.3600, num_neg_rois: 206.8200, loss_rcnn_bbox: 0.3150, loss_rcnn_corner: 0.1636, loss: 3.2253, grad_norm: 4.1918 2022-10-28 04:33:05,439 - mmdet - INFO - Epoch [2][2850/6587] lr: 2.997e-03, eta: 3 days, 22:34:46, time: 4.618, data_time: 2.728, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3780, recall_Car: 0.4051, recall_Ped: 0.0124, recall_Cyc: 0.0245, num_clusters: 237.5600, num_fg_points: 4549.2800, loss_cls.task0: 0.0540, loss_center.task0: 1.2935, loss_size.task0: 0.3506, loss_rot.task0: 0.2531, loss_cls.task1: 0.0026, loss_center.task1: 0.1262, loss_size.task1: 0.0802, loss_rot.task1: 0.0713, loss_cls.task2: 0.0012, loss_center.task2: 0.0594, loss_size.task2: 0.0139, loss_rot.task2: 0.0376, loss_rcnn_cls: 0.0128, num_pos_rois: 0.7800, num_neg_rois: 237.0600, loss_rcnn_bbox: 0.6609, loss_rcnn_corner: 0.3921, loss: 3.7885, grad_norm: 5.7267 2022-10-28 04:37:05,109 - mmdet - INFO - Epoch [2][2900/6587] lr: 2.996e-03, eta: 3 days, 22:30:05, time: 4.793, data_time: 2.802, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3881, recall_Car: 0.4044, recall_Ped: 0.0161, recall_Cyc: 0.0224, num_clusters: 790.7000, num_fg_points: 12980.5600, loss_cls.task0: 0.0456, loss_center.task0: 1.1787, loss_size.task0: 0.3345, loss_rot.task0: 0.2535, loss_cls.task1: 0.0022, loss_center.task1: 0.1906, loss_size.task1: 0.1338, loss_rot.task1: 0.1003, loss_cls.task2: 0.0014, loss_center.task2: 0.0932, loss_size.task2: 0.0199, loss_rot.task2: 0.0446, loss_rcnn_cls: 0.0162, num_pos_rois: 2.6400, num_neg_rois: 776.7200, loss_rcnn_bbox: 1.0256, loss_rcnn_corner: 0.5452, loss: 4.3746, grad_norm: 6.0523 2022-10-28 04:40:56,691 - mmdet - INFO - Epoch [2][2950/6587] lr: 2.996e-03, eta: 3 days, 22:24:26, time: 4.632, data_time: 2.646, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3783, recall_Car: 0.4404, recall_Ped: 0.0118, recall_Cyc: 0.0217, num_clusters: 488.9000, num_fg_points: 12533.7800, loss_cls.task0: 0.0578, loss_center.task0: 1.1694, loss_size.task0: 0.3519, loss_rot.task0: 0.2554, loss_cls.task1: 0.0036, loss_center.task1: 0.2598, loss_size.task1: 0.1257, loss_rot.task1: 0.1688, loss_cls.task2: 0.0012, loss_center.task2: 0.1768, loss_size.task2: 0.0407, loss_rot.task2: 0.0829, loss_rcnn_cls: 0.0284, num_pos_rois: 3.4600, num_neg_rois: 485.4400, loss_rcnn_bbox: 1.3460, loss_rcnn_corner: 0.6587, loss: 5.1065, grad_norm: 6.6454 2022-10-28 04:44:59,827 - mmdet - INFO - Epoch [2][3000/6587] lr: 2.996e-03, eta: 3 days, 22:20:12, time: 4.863, data_time: 2.963, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3891, recall_Car: 0.4040, recall_Ped: 0.0149, recall_Cyc: 0.0322, num_clusters: 333.5000, num_fg_points: 11775.0800, loss_cls.task0: 0.0541, loss_center.task0: 1.1894, loss_size.task0: 0.3529, loss_rot.task0: 0.2562, loss_cls.task1: 0.0027, loss_center.task1: 0.1615, loss_size.task1: 0.0600, loss_rot.task1: 0.1058, loss_cls.task2: 0.0013, loss_center.task2: 0.1254, loss_size.task2: 0.0289, loss_rot.task2: 0.0651, loss_rcnn_cls: 0.0132, num_pos_rois: 1.2000, num_neg_rois: 332.3000, loss_rcnn_bbox: 0.9856, loss_rcnn_corner: 0.5353, loss: 4.3276, grad_norm: 6.4278 2022-10-28 04:48:51,303 - mmdet - INFO - Epoch [2][3050/6587] lr: 2.996e-03, eta: 3 days, 22:14:34, time: 4.630, data_time: 2.738, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3820, recall_Car: 0.3193, recall_Ped: 0.0145, recall_Cyc: 0.0357, num_clusters: 194.7800, num_fg_points: 4876.9200, loss_cls.task0: 0.0583, loss_center.task0: 1.3197, loss_size.task0: 0.2786, loss_rot.task0: 0.2557, loss_cls.task1: 0.0025, loss_center.task1: 0.1131, loss_size.task1: 0.0464, loss_rot.task1: 0.0682, loss_cls.task2: 0.0006, loss_center.task2: 0.0415, loss_size.task2: 0.0054, loss_rot.task2: 0.0218, loss_rcnn_cls: 0.0283, num_pos_rois: 1.7600, num_neg_rois: 193.0200, loss_rcnn_bbox: 1.1384, loss_rcnn_corner: 0.8577, loss: 4.6196, grad_norm: 6.8764 2022-10-28 04:52:52,353 - mmdet - INFO - Epoch [2][3100/6587] lr: 2.995e-03, eta: 3 days, 22:10:05, time: 4.821, data_time: 2.868, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3998, recall_Car: 0.4629, recall_Ped: 0.0100, recall_Cyc: 0.0217, num_clusters: 371.4600, num_fg_points: 12947.7200, loss_cls.task0: 0.0626, loss_center.task0: 1.2112, loss_size.task0: 0.3317, loss_rot.task0: 0.2535, loss_cls.task1: 0.0025, loss_center.task1: 0.1582, loss_size.task1: 0.0926, loss_rot.task1: 0.1077, loss_cls.task2: 0.0010, loss_center.task2: 0.0821, loss_size.task2: 0.0216, loss_rot.task2: 0.0407, loss_rcnn_cls: 0.0277, num_pos_rois: 3.1600, num_neg_rois: 368.3200, loss_rcnn_bbox: 1.2828, loss_rcnn_corner: 0.6788, loss: 4.7558, grad_norm: 6.5639 2022-10-28 04:56:37,742 - mmdet - INFO - Epoch [2][3150/6587] lr: 2.995e-03, eta: 3 days, 22:03:46, time: 4.508, data_time: 2.616, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4117, recall_Car: 0.3895, recall_Ped: 0.0013, recall_Cyc: 0.0027, num_clusters: 296.9200, num_fg_points: 14436.7600, loss_cls.task0: 0.0780, loss_center.task0: 1.2006, loss_size.task0: 0.3011, loss_rot.task0: 0.2563, loss_cls.task1: 0.0029, loss_center.task1: 0.1699, loss_size.task1: 0.1742, loss_rot.task1: 0.1329, loss_cls.task2: 0.0010, loss_center.task2: 0.0664, loss_size.task2: 0.0116, loss_rot.task2: 0.0306, loss_rcnn_cls: 0.0230, num_pos_rois: 2.1200, num_neg_rois: 294.8000, loss_rcnn_bbox: 0.8414, loss_rcnn_corner: 0.3507, loss: 4.0538, grad_norm: 4.9693 2022-10-28 05:00:53,651 - mmdet - INFO - Epoch [2][3200/6587] lr: 2.995e-03, eta: 3 days, 22:01:04, time: 5.118, data_time: 3.158, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4086, recall_Car: 0.3721, recall_Ped: 0.0039, recall_Cyc: 0.0178, num_clusters: 395.4800, num_fg_points: 11293.0800, loss_cls.task0: 0.0419, loss_center.task0: 1.2907, loss_size.task0: 0.3154, loss_rot.task0: 0.2542, loss_cls.task1: 0.0014, loss_center.task1: 0.0970, loss_size.task1: 0.0565, loss_rot.task1: 0.0839, loss_cls.task2: 0.0008, loss_center.task2: 0.0686, loss_size.task2: 0.0189, loss_rot.task2: 0.0440, loss_rcnn_cls: 0.0140, num_pos_rois: 1.5600, num_neg_rois: 393.9200, loss_rcnn_bbox: 0.8394, loss_rcnn_corner: 0.4726, loss: 4.0089, grad_norm: 5.8840 2022-10-28 05:04:40,605 - mmdet - INFO - Epoch [2][3250/6587] lr: 2.995e-03, eta: 3 days, 21:54:57, time: 4.539, data_time: 2.608, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3804, recall_Car: 0.4085, recall_Ped: 0.0016, recall_Cyc: 0.0053, num_clusters: 299.1400, num_fg_points: 9132.9800, loss_cls.task0: 0.0492, loss_center.task0: 1.2233, loss_size.task0: 0.3073, loss_rot.task0: 0.2522, loss_cls.task1: 0.0013, loss_center.task1: 0.0618, loss_size.task1: 0.0402, loss_rot.task1: 0.0533, loss_cls.task2: 0.0009, loss_center.task2: 0.0719, loss_size.task2: 0.0134, loss_rot.task2: 0.0347, loss_rcnn_cls: 0.0232, num_pos_rois: 2.0800, num_neg_rois: 297.0600, loss_rcnn_bbox: 1.0399, loss_rcnn_corner: 0.6323, loss: 4.1863, grad_norm: 6.8544 2022-10-28 05:08:44,950 - mmdet - INFO - Epoch [2][3300/6587] lr: 2.994e-03, eta: 3 days, 21:50:53, time: 4.887, data_time: 2.848, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3947, recall_Car: 0.4162, recall_Ped: 0.0055, recall_Cyc: 0.0142, num_clusters: 503.0800, num_fg_points: 17888.8800, loss_cls.task0: 0.0458, loss_center.task0: 1.2133, loss_size.task0: 0.3243, loss_rot.task0: 0.2547, loss_cls.task1: 0.0020, loss_center.task1: 0.1840, loss_size.task1: 0.1052, loss_rot.task1: 0.1299, loss_cls.task2: 0.0015, loss_center.task2: 0.1580, loss_size.task2: 0.0357, loss_rot.task2: 0.0911, loss_rcnn_cls: 0.0177, num_pos_rois: 2.4600, num_neg_rois: 500.6200, loss_rcnn_bbox: 1.0943, loss_rcnn_corner: 0.6015, loss: 4.6548, grad_norm: 5.9475 2022-10-28 05:12:36,648 - mmdet - INFO - Epoch [2][3350/6587] lr: 2.994e-03, eta: 3 days, 21:45:21, time: 4.634, data_time: 2.662, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4060, recall_Car: 0.3690, recall_Ped: 0.0065, recall_Cyc: 0.0185, num_clusters: 340.3400, num_fg_points: 13941.3600, loss_cls.task0: 0.0456, loss_center.task0: 1.3577, loss_size.task0: 0.2995, loss_rot.task0: 0.2508, loss_cls.task1: 0.0032, loss_center.task1: 0.1777, loss_size.task1: 0.0963, loss_rot.task1: 0.1221, loss_cls.task2: 0.0010, loss_center.task2: 0.0537, loss_size.task2: 0.0305, loss_rot.task2: 0.0461, loss_rcnn_cls: 0.0198, num_pos_rois: 1.6000, num_neg_rois: 338.7400, loss_rcnn_bbox: 0.9243, loss_rcnn_corner: 0.6315, loss: 4.4669, grad_norm: 6.2642 2022-10-28 05:16:39,882 - mmdet - INFO - Epoch [2][3400/6587] lr: 2.994e-03, eta: 3 days, 21:41:11, time: 4.865, data_time: 2.900, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3820, recall_Car: 0.4424, recall_Ped: 0.0123, recall_Cyc: 0.0348, num_clusters: 330.7600, num_fg_points: 12373.7200, loss_cls.task0: 0.0564, loss_center.task0: 1.2763, loss_size.task0: 0.3611, loss_rot.task0: 0.2557, loss_cls.task1: 0.0024, loss_center.task1: 0.1461, loss_size.task1: 0.0653, loss_rot.task1: 0.0897, loss_cls.task2: 0.0012, loss_center.task2: 0.0669, loss_size.task2: 0.0176, loss_rot.task2: 0.0411, loss_rcnn_cls: 0.0233, num_pos_rois: 1.9600, num_neg_rois: 328.8200, loss_rcnn_bbox: 1.1325, loss_rcnn_corner: 0.7026, loss: 4.6213, grad_norm: 6.6832 2022-10-28 05:20:20,766 - mmdet - INFO - Epoch [2][3450/6587] lr: 2.993e-03, eta: 3 days, 21:34:26, time: 4.418, data_time: 2.481, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3720, recall_Car: 0.4786, recall_Ped: 0.0296, recall_Cyc: 0.0512, num_clusters: 317.8400, num_fg_points: 11179.7600, loss_cls.task0: 0.0550, loss_center.task0: 1.2315, loss_size.task0: 0.3200, loss_rot.task0: 0.2563, loss_cls.task1: 0.0032, loss_center.task1: 0.1610, loss_size.task1: 0.1062, loss_rot.task1: 0.1133, loss_cls.task2: 0.0016, loss_center.task2: 0.1269, loss_size.task2: 0.0280, loss_rot.task2: 0.0630, loss_rcnn_cls: 0.0179, num_pos_rois: 1.5800, num_neg_rois: 316.3000, loss_rcnn_bbox: 1.1158, loss_rcnn_corner: 0.8154, loss: 4.7884, grad_norm: 7.5005 2022-10-28 05:24:31,689 - mmdet - INFO - Epoch [2][3500/6587] lr: 2.993e-03, eta: 3 days, 21:31:09, time: 5.018, data_time: 3.037, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3797, recall_Car: 0.4374, recall_Ped: 0.0150, recall_Cyc: 0.0399, num_clusters: 430.4400, num_fg_points: 17950.6800, loss_cls.task0: 0.0457, loss_center.task0: 1.2237, loss_size.task0: 0.3087, loss_rot.task0: 0.2575, loss_cls.task1: 0.0013, loss_center.task1: 0.1155, loss_size.task1: 0.0677, loss_rot.task1: 0.0768, loss_cls.task2: 0.0012, loss_center.task2: 0.1442, loss_size.task2: 0.0361, loss_rot.task2: 0.0726, loss_rcnn_cls: 0.0185, num_pos_rois: 2.4800, num_neg_rois: 427.9600, loss_rcnn_bbox: 1.1432, loss_rcnn_corner: 0.7337, loss: 4.6274, grad_norm: 6.7454 2022-10-28 05:28:20,554 - mmdet - INFO - Epoch [2][3550/6587] lr: 2.993e-03, eta: 3 days, 21:25:21, time: 4.577, data_time: 2.593, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3614, recall_Car: 0.4314, recall_Ped: 0.0128, recall_Cyc: 0.0289, num_clusters: 476.2600, num_fg_points: 17525.3200, loss_cls.task0: 0.0476, loss_center.task0: 1.2394, loss_size.task0: 0.3299, loss_rot.task0: 0.2560, loss_cls.task1: 0.0021, loss_center.task1: 0.1618, loss_size.task1: 0.1027, loss_rot.task1: 0.1136, loss_cls.task2: 0.0011, loss_center.task2: 0.1411, loss_size.task2: 0.0316, loss_rot.task2: 0.0689, loss_rcnn_cls: 0.0173, num_pos_rois: 2.7800, num_neg_rois: 473.4800, loss_rcnn_bbox: 1.1487, loss_rcnn_corner: 0.6676, loss: 4.6919, grad_norm: 6.6092 2022-10-28 05:32:28,303 - mmdet - INFO - Epoch [2][3600/6587] lr: 2.992e-03, eta: 3 days, 21:21:42, time: 4.955, data_time: 2.830, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4031, recall_Car: 0.4390, recall_Ped: 0.0053, recall_Cyc: 0.0311, num_clusters: 727.0800, num_fg_points: 36073.9800, loss_cls.task0: 0.0399, loss_center.task0: 1.2747, loss_size.task0: 0.3144, loss_rot.task0: 0.2573, loss_cls.task1: 0.0025, loss_center.task1: 0.2680, loss_size.task1: 0.1225, loss_rot.task1: 0.1704, loss_cls.task2: 0.0008, loss_center.task2: 0.1136, loss_size.task2: 0.0272, loss_rot.task2: 0.0703, loss_rcnn_cls: 0.0130, num_pos_rois: 2.8400, num_neg_rois: 724.2400, loss_rcnn_bbox: 1.2303, loss_rcnn_corner: 0.7274, loss: 5.0368, grad_norm: 6.6212 2022-10-28 05:36:20,694 - mmdet - INFO - Epoch [2][3650/6587] lr: 2.992e-03, eta: 3 days, 21:16:20, time: 4.648, data_time: 2.607, memory: 61278, loss_sem_seg: 0.0011, loss_vote: 0.3809, recall_Car: 0.3788, recall_Ped: 0.0195, recall_Cyc: 0.0637, num_clusters: 447.8000, num_fg_points: 28015.2200, loss_cls.task0: 0.0396, loss_center.task0: 1.3382, loss_size.task0: 0.2992, loss_rot.task0: 0.2574, loss_cls.task1: 0.0025, loss_center.task1: 0.2052, loss_size.task1: 0.1247, loss_rot.task1: 0.1324, loss_cls.task2: 0.0010, loss_center.task2: 0.0881, loss_size.task2: 0.0322, loss_rot.task2: 0.0529, loss_rcnn_cls: 0.0085, num_pos_rois: 1.1600, num_neg_rois: 446.6400, loss_rcnn_bbox: 0.9059, loss_rcnn_corner: 0.6537, loss: 4.5235, grad_norm: 6.6114 2022-10-28 05:40:25,096 - mmdet - INFO - Epoch [2][3700/6587] lr: 2.992e-03, eta: 3 days, 21:12:18, time: 4.888, data_time: 2.887, memory: 61278, loss_sem_seg: 0.0011, loss_vote: 0.3700, recall_Car: 0.4022, recall_Ped: 0.0354, recall_Cyc: 0.0569, num_clusters: 416.2000, num_fg_points: 18666.9000, loss_cls.task0: 0.0433, loss_center.task0: 1.2706, loss_size.task0: 0.2635, loss_rot.task0: 0.2563, loss_cls.task1: 0.0027, loss_center.task1: 0.2201, loss_size.task1: 0.1130, loss_rot.task1: 0.1393, loss_cls.task2: 0.0013, loss_center.task2: 0.1259, loss_size.task2: 0.0308, loss_rot.task2: 0.0696, loss_rcnn_cls: 0.0169, num_pos_rois: 2.4000, num_neg_rois: 413.9000, loss_rcnn_bbox: 1.2358, loss_rcnn_corner: 0.8521, loss: 5.0123, grad_norm: 6.9188 2022-10-28 05:44:10,429 - mmdet - INFO - Epoch [2][3750/6587] lr: 2.991e-03, eta: 3 days, 21:06:10, time: 4.507, data_time: 2.474, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3950, recall_Car: 0.4377, recall_Ped: 0.0261, recall_Cyc: 0.0634, num_clusters: 558.0800, num_fg_points: 27441.8000, loss_cls.task0: 0.0430, loss_center.task0: 1.2590, loss_size.task0: 0.2692, loss_rot.task0: 0.2562, loss_cls.task1: 0.0035, loss_center.task1: 0.2510, loss_size.task1: 0.1766, loss_rot.task1: 0.1859, loss_cls.task2: 0.0013, loss_center.task2: 0.1575, loss_size.task2: 0.0515, loss_rot.task2: 0.0840, loss_rcnn_cls: 0.0234, num_pos_rois: 4.1600, num_neg_rois: 553.9200, loss_rcnn_bbox: 1.3261, loss_rcnn_corner: 0.8154, loss: 5.3000, grad_norm: 6.4821 2022-10-28 05:48:16,431 - mmdet - INFO - Epoch [2][3800/6587] lr: 2.991e-03, eta: 3 days, 21:02:20, time: 4.920, data_time: 2.755, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4148, recall_Car: 0.4780, recall_Ped: 0.0111, recall_Cyc: 0.0368, num_clusters: 870.2600, num_fg_points: 37201.6400, loss_cls.task0: 0.0360, loss_center.task0: 1.2847, loss_size.task0: 0.2714, loss_rot.task0: 0.2555, loss_cls.task1: 0.0033, loss_center.task1: 0.2522, loss_size.task1: 0.1585, loss_rot.task1: 0.1812, loss_cls.task2: 0.0008, loss_center.task2: 0.1283, loss_size.task2: 0.0337, loss_rot.task2: 0.0653, loss_rcnn_cls: 0.0106, num_pos_rois: 2.9200, num_neg_rois: 867.3600, loss_rcnn_bbox: 1.1208, loss_rcnn_corner: 0.7270, loss: 4.9452, grad_norm: 6.5920 2022-10-28 05:52:07,852 - mmdet - INFO - Epoch [2][3850/6587] lr: 2.991e-03, eta: 3 days, 20:56:54, time: 4.629, data_time: 2.638, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4015, recall_Car: 0.3676, recall_Ped: 0.0066, recall_Cyc: 0.0434, num_clusters: 430.0000, num_fg_points: 18749.9600, loss_cls.task0: 0.0446, loss_center.task0: 1.2255, loss_size.task0: 0.2438, loss_rot.task0: 0.2545, loss_cls.task1: 0.0041, loss_center.task1: 0.2641, loss_size.task1: 0.1198, loss_rot.task1: 0.1754, loss_cls.task2: 0.0017, loss_center.task2: 0.1735, loss_size.task2: 0.0374, loss_rot.task2: 0.0846, loss_rcnn_cls: 0.0122, num_pos_rois: 1.8400, num_neg_rois: 428.2000, loss_rcnn_bbox: 0.9510, loss_rcnn_corner: 0.4812, loss: 4.4762, grad_norm: 6.7345 2022-10-28 05:56:07,021 - mmdet - INFO - Epoch [2][3900/6587] lr: 2.990e-03, eta: 3 days, 20:52:19, time: 4.783, data_time: 2.727, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4108, recall_Car: 0.4575, recall_Ped: 0.0180, recall_Cyc: 0.0436, num_clusters: 589.3600, num_fg_points: 24681.5000, loss_cls.task0: 0.0482, loss_center.task0: 1.1511, loss_size.task0: 0.2690, loss_rot.task0: 0.2551, loss_cls.task1: 0.0047, loss_center.task1: 0.2505, loss_size.task1: 0.1526, loss_rot.task1: 0.1831, loss_cls.task2: 0.0025, loss_center.task2: 0.1917, loss_size.task2: 0.0477, loss_rot.task2: 0.0997, loss_rcnn_cls: 0.0112, num_pos_rois: 2.2800, num_neg_rois: 600.9400, loss_rcnn_bbox: 1.0052, loss_rcnn_corner: 0.4880, loss: 4.5724, grad_norm: 5.5556 2022-10-28 06:00:03,414 - mmdet - INFO - Epoch [2][3950/6587] lr: 2.990e-03, eta: 3 days, 20:47:27, time: 4.728, data_time: 2.653, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3911, recall_Car: 0.4059, recall_Ped: 0.0110, recall_Cyc: 0.0292, num_clusters: 707.7200, num_fg_points: 25363.3200, loss_cls.task0: 0.0380, loss_center.task0: 1.2529, loss_size.task0: 0.2463, loss_rot.task0: 0.2539, loss_cls.task1: 0.0026, loss_center.task1: 0.2012, loss_size.task1: 0.1198, loss_rot.task1: 0.1498, loss_cls.task2: 0.0011, loss_center.task2: 0.1634, loss_size.task2: 0.0353, loss_rot.task2: 0.0804, loss_rcnn_cls: 0.0130, num_pos_rois: 3.2200, num_neg_rois: 704.5200, loss_rcnn_bbox: 0.7616, loss_rcnn_corner: 0.4099, loss: 4.1215, grad_norm: 5.4399 2022-10-28 06:04:08,702 - mmdet - INFO - Epoch [2][4000/6587] lr: 2.989e-03, eta: 3 days, 20:43:33, time: 4.906, data_time: 2.707, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.3948, recall_Car: 0.4474, recall_Ped: 0.0231, recall_Cyc: 0.0344, num_clusters: 793.1200, num_fg_points: 46514.9000, loss_cls.task0: 0.0345, loss_center.task0: 1.1759, loss_size.task0: 0.2278, loss_rot.task0: 0.2564, loss_cls.task1: 0.0021, loss_center.task1: 0.2242, loss_size.task1: 0.1021, loss_rot.task1: 0.1465, loss_cls.task2: 0.0009, loss_center.task2: 0.1728, loss_size.task2: 0.0443, loss_rot.task2: 0.1012, loss_rcnn_cls: 0.0139, num_pos_rois: 3.8600, num_neg_rois: 789.3800, loss_rcnn_bbox: 1.3276, loss_rcnn_corner: 0.7893, loss: 5.0159, grad_norm: 6.1684 2022-10-28 06:08:05,213 - mmdet - INFO - Epoch [2][4050/6587] lr: 2.989e-03, eta: 3 days, 20:38:42, time: 4.730, data_time: 2.644, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3934, recall_Car: 0.4105, recall_Ped: 0.0165, recall_Cyc: 0.0366, num_clusters: 687.5800, num_fg_points: 36622.7000, loss_cls.task0: 0.0351, loss_center.task0: 1.2439, loss_size.task0: 0.2518, loss_rot.task0: 0.2556, loss_cls.task1: 0.0018, loss_center.task1: 0.1645, loss_size.task1: 0.0889, loss_rot.task1: 0.1227, loss_cls.task2: 0.0007, loss_center.task2: 0.1025, loss_size.task2: 0.0224, loss_rot.task2: 0.0572, loss_rcnn_cls: 0.0141, num_pos_rois: 3.4600, num_neg_rois: 684.1400, loss_rcnn_bbox: 1.2381, loss_rcnn_corner: 0.8308, loss: 4.8247, grad_norm: 6.8479 2022-10-28 06:12:08,771 - mmdet - INFO - Epoch [2][4100/6587] lr: 2.989e-03, eta: 3 days, 20:34:37, time: 4.871, data_time: 2.601, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3844, recall_Car: 0.4410, recall_Ped: 0.0238, recall_Cyc: 0.0456, num_clusters: 1105.7000, num_fg_points: 59949.2000, loss_cls.task0: 0.0354, loss_center.task0: 1.1800, loss_size.task0: 0.2522, loss_rot.task0: 0.2537, loss_cls.task1: 0.0027, loss_center.task1: 0.2951, loss_size.task1: 0.1799, loss_rot.task1: 0.2049, loss_cls.task2: 0.0010, loss_center.task2: 0.2441, loss_size.task2: 0.0659, loss_rot.task2: 0.1289, loss_rcnn_cls: 0.0092, num_pos_rois: 3.0200, num_neg_rois: 1102.6800, loss_rcnn_bbox: 1.4112, loss_rcnn_corner: 0.8745, loss: 5.5244, grad_norm: 7.0525 2022-10-28 06:16:05,135 - mmdet - INFO - Epoch [2][4150/6587] lr: 2.988e-03, eta: 3 days, 20:29:46, time: 4.727, data_time: 2.520, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3921, recall_Car: 0.4107, recall_Ped: 0.0175, recall_Cyc: 0.0284, num_clusters: 947.5200, num_fg_points: 64014.3000, loss_cls.task0: 0.0340, loss_center.task0: 1.2089, loss_size.task0: 0.2536, loss_rot.task0: 0.2546, loss_cls.task1: 0.0029, loss_center.task1: 0.2904, loss_size.task1: 0.1354, loss_rot.task1: 0.2010, loss_cls.task2: 0.0012, loss_center.task2: 0.1841, loss_size.task2: 0.0421, loss_rot.task2: 0.1094, loss_rcnn_cls: 0.0055, num_pos_rois: 1.4200, num_neg_rois: 959.5200, loss_rcnn_bbox: 1.0275, loss_rcnn_corner: 0.4225, loss: 4.5663, grad_norm: 6.1524 2022-10-28 06:20:03,574 - mmdet - INFO - Epoch [2][4200/6587] lr: 2.988e-03, eta: 3 days, 20:25:09, time: 4.769, data_time: 2.477, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4173, recall_Car: 0.3925, recall_Ped: 0.0063, recall_Cyc: 0.0184, num_clusters: 1137.8200, num_fg_points: 61477.9200, loss_cls.task0: 0.0328, loss_center.task0: 1.2349, loss_size.task0: 0.2694, loss_rot.task0: 0.2543, loss_cls.task1: 0.0042, loss_center.task1: 0.3563, loss_size.task1: 0.1800, loss_rot.task1: 0.2409, loss_cls.task2: 0.0011, loss_center.task2: 0.2962, loss_size.task2: 0.0598, loss_rot.task2: 0.1412, loss_rcnn_cls: 0.0065, num_pos_rois: 2.3800, num_neg_rois: 1152.7600, loss_rcnn_bbox: 1.0282, loss_rcnn_corner: 0.4991, loss: 5.0234, grad_norm: 5.9213 2022-10-28 06:23:53,915 - mmdet - INFO - Epoch [2][4250/6587] lr: 2.987e-03, eta: 3 days, 20:19:41, time: 4.607, data_time: 2.397, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.4195, recall_Car: 0.3914, recall_Ped: 0.0066, recall_Cyc: 0.0235, num_clusters: 862.5400, num_fg_points: 41892.0800, loss_cls.task0: 0.0312, loss_center.task0: 1.3013, loss_size.task0: 0.2779, loss_rot.task0: 0.2573, loss_cls.task1: 0.0033, loss_center.task1: 0.3092, loss_size.task1: 0.1680, loss_rot.task1: 0.2125, loss_cls.task2: 0.0013, loss_center.task2: 0.2464, loss_size.task2: 0.0510, loss_rot.task2: 0.1214, loss_rcnn_cls: 0.0053, num_pos_rois: 1.2400, num_neg_rois: 880.6600, loss_rcnn_bbox: 0.8401, loss_rcnn_corner: 0.4390, loss: 4.6860, grad_norm: 6.0023 2022-10-28 06:27:53,771 - mmdet - INFO - Epoch [2][4300/6587] lr: 2.987e-03, eta: 3 days, 20:15:13, time: 4.797, data_time: 2.407, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4352, recall_Car: 0.3967, recall_Ped: 0.0169, recall_Cyc: 0.0391, num_clusters: 1457.6800, num_fg_points: 60300.8200, loss_cls.task0: 0.0330, loss_center.task0: 1.1322, loss_size.task0: 0.2574, loss_rot.task0: 0.2540, loss_cls.task1: 0.0033, loss_center.task1: 0.3210, loss_size.task1: 0.1884, loss_rot.task1: 0.2261, loss_cls.task2: 0.0019, loss_center.task2: 0.4146, loss_size.task2: 0.0827, loss_rot.task2: 0.2039, loss_rcnn_cls: 0.0121, num_pos_rois: 4.9400, num_neg_rois: 1462.0000, loss_rcnn_bbox: 1.2646, loss_rcnn_corner: 0.6436, loss: 5.4753, grad_norm: 6.2710 2022-10-28 06:31:41,705 - mmdet - INFO - Epoch [2][4350/6587] lr: 2.987e-03, eta: 3 days, 20:09:32, time: 4.559, data_time: 2.418, memory: 61278, loss_sem_seg: 0.0013, loss_vote: 0.4135, recall_Car: 0.4444, recall_Ped: 0.0136, recall_Cyc: 0.0270, num_clusters: 757.5800, num_fg_points: 51334.0000, loss_cls.task0: 0.0387, loss_center.task0: 1.1740, loss_size.task0: 0.2474, loss_rot.task0: 0.2533, loss_cls.task1: 0.0021, loss_center.task1: 0.1989, loss_size.task1: 0.1370, loss_rot.task1: 0.1268, loss_cls.task2: 0.0010, loss_center.task2: 0.1671, loss_size.task2: 0.0303, loss_rot.task2: 0.0887, loss_rcnn_cls: 0.0133, num_pos_rois: 3.6800, num_neg_rois: 753.9200, loss_rcnn_bbox: 1.2392, loss_rcnn_corner: 0.6828, loss: 4.8156, grad_norm: 6.3632 2022-10-28 06:35:47,912 - mmdet - INFO - Epoch [2][4400/6587] lr: 2.986e-03, eta: 3 days, 20:05:45, time: 4.924, data_time: 2.684, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3979, recall_Car: 0.3782, recall_Ped: 0.0179, recall_Cyc: 0.0397, num_clusters: 934.0400, num_fg_points: 53002.0600, loss_cls.task0: 0.0354, loss_center.task0: 1.1392, loss_size.task0: 0.2519, loss_rot.task0: 0.2527, loss_cls.task1: 0.0024, loss_center.task1: 0.2469, loss_size.task1: 0.1235, loss_rot.task1: 0.1691, loss_cls.task2: 0.0021, loss_center.task2: 0.3171, loss_size.task2: 0.0696, loss_rot.task2: 0.1883, loss_rcnn_cls: 0.0131, num_pos_rois: 4.1400, num_neg_rois: 945.5800, loss_rcnn_bbox: 1.2278, loss_rcnn_corner: 0.6781, loss: 5.1161, grad_norm: 5.8381 2022-10-28 06:39:35,708 - mmdet - INFO - Epoch [2][4450/6587] lr: 2.986e-03, eta: 3 days, 20:00:04, time: 4.556, data_time: 2.134, memory: 61278, loss_sem_seg: 0.0011, loss_vote: 0.3921, recall_Car: 0.4342, recall_Ped: 0.0272, recall_Cyc: 0.0428, num_clusters: 1560.5800, num_fg_points: 71227.7200, loss_cls.task0: 0.0446, loss_center.task0: 0.8818, loss_size.task0: 0.2182, loss_rot.task0: 0.2528, loss_cls.task1: 0.0037, loss_center.task1: 0.3298, loss_size.task1: 0.1891, loss_rot.task1: 0.2432, loss_cls.task2: 0.0013, loss_center.task2: 0.3576, loss_size.task2: 0.0763, loss_rot.task2: 0.1922, loss_rcnn_cls: 0.0216, num_pos_rois: 12.8200, num_neg_rois: 1547.7600, loss_rcnn_bbox: 1.4506, loss_rcnn_corner: 0.6214, loss: 5.2773, grad_norm: 5.0857 2022-10-28 06:43:42,511 - mmdet - INFO - Epoch [2][4500/6587] lr: 2.985e-03, eta: 3 days, 19:56:20, time: 4.936, data_time: 2.673, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3928, recall_Car: 0.4343, recall_Ped: 0.0164, recall_Cyc: 0.0480, num_clusters: 1147.2800, num_fg_points: 49615.6600, loss_cls.task0: 0.0513, loss_center.task0: 0.8814, loss_size.task0: 0.1881, loss_rot.task0: 0.2511, loss_cls.task1: 0.0032, loss_center.task1: 0.3283, loss_size.task1: 0.1968, loss_rot.task1: 0.2235, loss_cls.task2: 0.0018, loss_center.task2: 0.2314, loss_size.task2: 0.0638, loss_rot.task2: 0.1750, loss_rcnn_cls: 0.0321, num_pos_rois: 16.8000, num_neg_rois: 1133.3400, loss_rcnn_bbox: 1.3586, loss_rcnn_corner: 0.5696, loss: 4.9499, grad_norm: 4.1706 2022-10-28 06:47:32,219 - mmdet - INFO - Epoch [2][4550/6587] lr: 2.985e-03, eta: 3 days, 19:50:53, time: 4.594, data_time: 2.320, memory: 61278, loss_sem_seg: 0.0011, loss_vote: 0.3792, recall_Car: 0.4746, recall_Ped: 0.0161, recall_Cyc: 0.0650, num_clusters: 1204.3600, num_fg_points: 59202.2200, loss_cls.task0: 0.0504, loss_center.task0: 0.8262, loss_size.task0: 0.1869, loss_rot.task0: 0.2520, loss_cls.task1: 0.0025, loss_center.task1: 0.3019, loss_size.task1: 0.2142, loss_rot.task1: 0.2304, loss_cls.task2: 0.0017, loss_center.task2: 0.3199, loss_size.task2: 0.0736, loss_rot.task2: 0.1965, loss_rcnn_cls: 0.0341, num_pos_rois: 19.9200, num_neg_rois: 1184.4400, loss_rcnn_bbox: 1.3696, loss_rcnn_corner: 0.5903, loss: 5.0304, grad_norm: 4.0563 2022-10-28 06:51:32,958 - mmdet - INFO - Epoch [2][4600/6587] lr: 2.984e-03, eta: 3 days, 19:46:33, time: 4.815, data_time: 2.284, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3834, recall_Car: 0.5017, recall_Ped: 0.0214, recall_Cyc: 0.0618, num_clusters: 2147.7800, num_fg_points: 79788.4200, loss_cls.task0: 0.0466, loss_center.task0: 0.8177, loss_size.task0: 0.1848, loss_rot.task0: 0.2506, loss_cls.task1: 0.0029, loss_center.task1: 0.3135, loss_size.task1: 0.1757, loss_rot.task1: 0.2343, loss_cls.task2: 0.0022, loss_center.task2: 0.3825, loss_size.task2: 0.0908, loss_rot.task2: 0.2311, loss_rcnn_cls: 0.0259, num_pos_rois: 25.8800, num_neg_rois: 2211.4400, loss_rcnn_bbox: 1.3587, loss_rcnn_corner: 0.5552, loss: 5.0569, grad_norm: 3.3349 2022-10-28 06:55:29,538 - mmdet - INFO - Epoch [2][4650/6587] lr: 2.984e-03, eta: 3 days, 19:41:48, time: 4.732, data_time: 2.283, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3827, recall_Car: 0.4221, recall_Ped: 0.0128, recall_Cyc: 0.0353, num_clusters: 1902.4400, num_fg_points: 70313.9600, loss_cls.task0: 0.0561, loss_center.task0: 0.7149, loss_size.task0: 0.1641, loss_rot.task0: 0.2516, loss_cls.task1: 0.0035, loss_center.task1: 0.3589, loss_size.task1: 0.1923, loss_rot.task1: 0.2432, loss_cls.task2: 0.0020, loss_center.task2: 0.3678, loss_size.task2: 0.0923, loss_rot.task2: 0.2148, loss_rcnn_cls: 0.0375, num_pos_rois: 34.1200, num_neg_rois: 1872.5200, loss_rcnn_bbox: 1.3335, loss_rcnn_corner: 0.4890, loss: 4.9053, grad_norm: 3.2229 2022-10-28 06:59:27,771 - mmdet - INFO - Epoch [2][4700/6587] lr: 2.983e-03, eta: 3 days, 19:37:13, time: 4.765, data_time: 2.316, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3797, recall_Car: 0.4334, recall_Ped: 0.0317, recall_Cyc: 0.0747, num_clusters: 1605.7000, num_fg_points: 73608.6600, loss_cls.task0: 0.0506, loss_center.task0: 0.7821, loss_size.task0: 0.1776, loss_rot.task0: 0.2506, loss_cls.task1: 0.0032, loss_center.task1: 0.3192, loss_size.task1: 0.2148, loss_rot.task1: 0.2387, loss_cls.task2: 0.0030, loss_center.task2: 0.4004, loss_size.task2: 0.0975, loss_rot.task2: 0.2444, loss_rcnn_cls: 0.0300, num_pos_rois: 21.2000, num_neg_rois: 1625.4200, loss_rcnn_bbox: 1.3477, loss_rcnn_corner: 0.5244, loss: 5.0650, grad_norm: 3.5167 2022-10-28 07:03:16,197 - mmdet - INFO - Epoch [2][4750/6587] lr: 2.983e-03, eta: 3 days, 19:31:41, time: 4.569, data_time: 2.087, memory: 61278, loss_sem_seg: 0.0011, loss_vote: 0.3832, recall_Car: 0.4761, recall_Ped: 0.0310, recall_Cyc: 0.0453, num_clusters: 2042.1200, num_fg_points: 88218.5400, loss_cls.task0: 0.0576, loss_center.task0: 0.7515, loss_size.task0: 0.1658, loss_rot.task0: 0.2520, loss_cls.task1: 0.0028, loss_center.task1: 0.3480, loss_size.task1: 0.1925, loss_rot.task1: 0.2353, loss_cls.task2: 0.0016, loss_center.task2: 0.3474, loss_size.task2: 0.0682, loss_rot.task2: 0.2138, loss_rcnn_cls: 0.0392, num_pos_rois: 36.7000, num_neg_rois: 2035.4400, loss_rcnn_bbox: 1.2848, loss_rcnn_corner: 0.4502, loss: 4.7952, grad_norm: 3.4113 2022-10-28 07:07:21,260 - mmdet - INFO - Epoch [2][4800/6587] lr: 2.982e-03, eta: 3 days, 19:27:48, time: 4.901, data_time: 2.109, memory: 61278, loss_sem_seg: 0.0012, loss_vote: 0.3853, recall_Car: 0.5565, recall_Ped: 0.0371, recall_Cyc: 0.0407, num_clusters: 2714.0600, num_fg_points: 142872.4800, loss_cls.task0: 0.0514, loss_center.task0: 0.7582, loss_size.task0: 0.1753, loss_rot.task0: 0.2536, loss_cls.task1: 0.0033, loss_center.task1: 0.3577, loss_size.task1: 0.1983, loss_rot.task1: 0.2558, loss_cls.task2: 0.0014, loss_center.task2: 0.3561, loss_size.task2: 0.0785, loss_rot.task2: 0.2164, loss_rcnn_cls: 0.0322, num_pos_rois: 40.0600, num_neg_rois: 2746.0800, loss_rcnn_bbox: 1.2958, loss_rcnn_corner: 0.4699, loss: 4.8903, grad_norm: 3.1629 2022-10-28 07:11:14,344 - mmdet - INFO - Epoch [2][4850/6587] lr: 2.982e-03, eta: 3 days, 19:22:44, time: 4.662, data_time: 1.667, memory: 61502, loss_sem_seg: 0.0012, loss_vote: 0.3823, recall_Car: 0.5745, recall_Ped: 0.0298, recall_Cyc: 0.0628, num_clusters: 3396.2800, num_fg_points: 158373.4000, loss_cls.task0: 0.0517, loss_center.task0: 0.7252, loss_size.task0: 0.1674, loss_rot.task0: 0.2535, loss_cls.task1: 0.0034, loss_center.task1: 0.3391, loss_size.task1: 0.1865, loss_rot.task1: 0.2547, loss_cls.task2: 0.0018, loss_center.task2: 0.3458, loss_size.task2: 0.1027, loss_rot.task2: 0.2469, loss_rcnn_cls: 0.0295, num_pos_rois: 48.3600, num_neg_rois: 3584.4200, loss_rcnn_bbox: 1.3398, loss_rcnn_corner: 0.4679, loss: 4.8993, grad_norm: 2.7476 2022-10-28 07:15:16,467 - mmdet - INFO - Epoch [2][4900/6587] lr: 2.981e-03, eta: 3 days, 19:18:33, time: 4.842, data_time: 1.955, memory: 61502, loss_sem_seg: 0.0011, loss_vote: 0.3705, recall_Car: 0.5434, recall_Ped: 0.0193, recall_Cyc: 0.0380, num_clusters: 3173.8600, num_fg_points: 123969.0800, loss_cls.task0: 0.0477, loss_center.task0: 0.7523, loss_size.task0: 0.1641, loss_rot.task0: 0.2547, loss_cls.task1: 0.0031, loss_center.task1: 0.3448, loss_size.task1: 0.1759, loss_rot.task1: 0.2547, loss_cls.task2: 0.0019, loss_center.task2: 0.4164, loss_size.task2: 0.0985, loss_rot.task2: 0.2440, loss_rcnn_cls: 0.0260, num_pos_rois: 36.5400, num_neg_rois: 3276.8600, loss_rcnn_bbox: 1.3462, loss_rcnn_corner: 0.4876, loss: 4.9893, grad_norm: 3.0037 2022-10-28 07:19:20,217 - mmdet - INFO - Epoch [2][4950/6587] lr: 2.981e-03, eta: 3 days, 19:14:33, time: 4.875, data_time: 1.765, memory: 61502, loss_sem_seg: 0.0011, loss_vote: 0.3640, recall_Car: 0.5738, recall_Ped: 0.0373, recall_Cyc: 0.0778, num_clusters: 4372.2000, num_fg_points: 167563.1200, loss_cls.task0: 0.0484, loss_center.task0: 0.7586, loss_size.task0: 0.1702, loss_rot.task0: 0.2536, loss_cls.task1: 0.0038, loss_center.task1: 0.3404, loss_size.task1: 0.1909, loss_rot.task1: 0.2548, loss_cls.task2: 0.0026, loss_center.task2: 0.4030, loss_size.task2: 0.1119, loss_rot.task2: 0.2510, loss_rcnn_cls: 0.0265, num_pos_rois: 52.1200, num_neg_rois: 4616.0400, loss_rcnn_bbox: 1.4142, loss_rcnn_corner: 0.4793, loss: 5.0742, grad_norm: 2.7197 2022-10-28 07:23:20,000 - mmdet - INFO - Epoch [2][5000/6587] lr: 2.980e-03, eta: 3 days, 19:10:09, time: 4.795, data_time: 1.952, memory: 61502, loss_sem_seg: 0.0011, loss_vote: 0.3782, recall_Car: 0.4927, recall_Ped: 0.0336, recall_Cyc: 0.0602, num_clusters: 3121.5200, num_fg_points: 118243.1200, loss_cls.task0: 0.0481, loss_center.task0: 0.7795, loss_size.task0: 0.1776, loss_rot.task0: 0.2519, loss_cls.task1: 0.0038, loss_center.task1: 0.3502, loss_size.task1: 0.1995, loss_rot.task1: 0.2540, loss_cls.task2: 0.0025, loss_center.task2: 0.3903, loss_size.task2: 0.1043, loss_rot.task2: 0.2529, loss_rcnn_cls: 0.0234, num_pos_rois: 37.5400, num_neg_rois: 3453.3800, loss_rcnn_bbox: 1.3983, loss_rcnn_corner: 0.5400, loss: 5.1556, grad_norm: 3.1290 2022-10-28 07:27:09,853 - mmdet - INFO - Epoch [2][5050/6587] lr: 2.980e-03, eta: 3 days, 19:04:48, time: 4.598, data_time: 1.451, memory: 61502, loss_sem_seg: 0.0011, loss_vote: 0.3692, recall_Car: 0.5178, recall_Ped: 0.0420, recall_Cyc: 0.1086, num_clusters: 5319.7400, num_fg_points: 152789.3400, loss_cls.task0: 0.0474, loss_center.task0: 0.7507, loss_size.task0: 0.1717, loss_rot.task0: 0.2543, loss_cls.task1: 0.0039, loss_center.task1: 0.3327, loss_size.task1: 0.1882, loss_rot.task1: 0.2554, loss_cls.task2: 0.0028, loss_center.task2: 0.3963, loss_size.task2: 0.0992, loss_rot.task2: 0.2495, loss_rcnn_cls: 0.0320, num_pos_rois: 64.1600, num_neg_rois: 4443.6200, loss_rcnn_bbox: 1.4501, loss_rcnn_corner: 0.5028, loss: 5.1074, grad_norm: 2.5392 2022-10-28 07:31:13,100 - mmdet - INFO - Epoch [2][5100/6587] lr: 2.979e-03, eta: 3 days, 19:00:45, time: 4.865, data_time: 1.576, memory: 61502, loss_sem_seg: 0.0011, loss_vote: 0.3668, recall_Car: 0.6359, recall_Ped: 0.0564, recall_Cyc: 0.1170, num_clusters: 5558.3600, num_fg_points: 205502.3800, loss_cls.task0: 0.0504, loss_center.task0: 0.7089, loss_size.task0: 0.1610, loss_rot.task0: 0.2543, loss_cls.task1: 0.0046, loss_center.task1: 0.3183, loss_size.task1: 0.2022, loss_rot.task1: 0.2538, loss_cls.task2: 0.0038, loss_center.task2: 0.3589, loss_size.task2: 0.0975, loss_rot.task2: 0.2536, loss_rcnn_cls: 0.0349, num_pos_rois: 83.8000, num_neg_rois: 5460.3600, loss_rcnn_bbox: 1.4712, loss_rcnn_corner: 0.4650, loss: 5.0064, grad_norm: 2.1705 2022-10-28 07:35:07,878 - mmdet - INFO - Epoch [2][5150/6587] lr: 2.979e-03, eta: 3 days, 18:55:53, time: 4.695, data_time: 1.487, memory: 61502, loss_sem_seg: 0.0011, loss_vote: 0.3556, recall_Car: 0.5729, recall_Ped: 0.0279, recall_Cyc: 0.0831, num_clusters: 4727.5400, num_fg_points: 183131.0400, loss_cls.task0: 0.0509, loss_center.task0: 0.7089, loss_size.task0: 0.1644, loss_rot.task0: 0.2545, loss_cls.task1: 0.0040, loss_center.task1: 0.3319, loss_size.task1: 0.2108, loss_rot.task1: 0.2535, loss_cls.task2: 0.0029, loss_center.task2: 0.3787, loss_size.task2: 0.1014, loss_rot.task2: 0.2574, loss_rcnn_cls: 0.0325, num_pos_rois: 69.8800, num_neg_rois: 4846.9800, loss_rcnn_bbox: 1.4470, loss_rcnn_corner: 0.4919, loss: 5.0474, grad_norm: 2.4475 2022-10-28 07:39:13,641 - mmdet - INFO - Epoch [2][5200/6587] lr: 2.978e-03, eta: 3 days, 18:52:05, time: 4.916, data_time: 1.503, memory: 61502, loss_sem_seg: 0.0011, loss_vote: 0.3588, recall_Car: 0.5843, recall_Ped: 0.0476, recall_Cyc: 0.1258, num_clusters: 5874.8200, num_fg_points: 227502.8200, loss_cls.task0: 0.0466, loss_center.task0: 0.7076, loss_size.task0: 0.1675, loss_rot.task0: 0.2544, loss_cls.task1: 0.0047, loss_center.task1: 0.3025, loss_size.task1: 0.2043, loss_rot.task1: 0.2545, loss_cls.task2: 0.0039, loss_center.task2: 0.3592, loss_size.task2: 0.1060, loss_rot.task2: 0.2512, loss_rcnn_cls: 0.0339, num_pos_rois: 84.5800, num_neg_rois: 5528.7600, loss_rcnn_bbox: 1.4945, loss_rcnn_corner: 0.4655, loss: 5.0161, grad_norm: 2.2078 2022-10-28 07:43:14,674 - mmdet - INFO - Epoch [2][5250/6587] lr: 2.977e-03, eta: 3 days, 18:47:50, time: 4.821, data_time: 1.441, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3600, recall_Car: 0.5857, recall_Ped: 0.0349, recall_Cyc: 0.1123, num_clusters: 5744.1600, num_fg_points: 236499.9800, loss_cls.task0: 0.0452, loss_center.task0: 0.7223, loss_size.task0: 0.1673, loss_rot.task0: 0.2527, loss_cls.task1: 0.0047, loss_center.task1: 0.3062, loss_size.task1: 0.2016, loss_rot.task1: 0.2546, loss_cls.task2: 0.0040, loss_center.task2: 0.3584, loss_size.task2: 0.1064, loss_rot.task2: 0.2529, loss_rcnn_cls: 0.0296, num_pos_rois: 68.8600, num_neg_rois: 5500.0000, loss_rcnn_bbox: 1.5161, loss_rcnn_corner: 0.4528, loss: 5.0359, grad_norm: 2.2447 2022-10-28 07:47:17,654 - mmdet - INFO - Epoch [2][5300/6587] lr: 2.977e-03, eta: 3 days, 18:43:45, time: 4.860, data_time: 1.688, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3613, recall_Car: 0.5585, recall_Ped: 0.0478, recall_Cyc: 0.1303, num_clusters: 5540.6600, num_fg_points: 196936.4200, loss_cls.task0: 0.0531, loss_center.task0: 0.6806, loss_size.task0: 0.1574, loss_rot.task0: 0.2541, loss_cls.task1: 0.0056, loss_center.task1: 0.3007, loss_size.task1: 0.2017, loss_rot.task1: 0.2535, loss_cls.task2: 0.0050, loss_center.task2: 0.3719, loss_size.task2: 0.1061, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0377, num_pos_rois: 90.7200, num_neg_rois: 5509.8000, loss_rcnn_bbox: 1.5003, loss_rcnn_corner: 0.4370, loss: 4.9819, grad_norm: 2.1906 2022-10-28 07:51:13,226 - mmdet - INFO - Epoch [2][5350/6587] lr: 2.976e-03, eta: 3 days, 18:38:59, time: 4.711, data_time: 0.977, memory: 66157, loss_sem_seg: 0.0012, loss_vote: 0.3571, recall_Car: 0.6216, recall_Ped: 0.0826, recall_Cyc: 0.1251, num_clusters: 9103.8600, num_fg_points: 300126.0200, loss_cls.task0: 0.0430, loss_center.task0: 0.7054, loss_size.task0: 0.1644, loss_rot.task0: 0.2526, loss_cls.task1: 0.0052, loss_center.task1: 0.3112, loss_size.task1: 0.1994, loss_rot.task1: 0.2546, loss_cls.task2: 0.0046, loss_center.task2: 0.3574, loss_size.task2: 0.1070, loss_rot.task2: 0.2534, loss_rcnn_cls: 0.0432, num_pos_rois: 115.2000, num_neg_rois: 5836.8000, loss_rcnn_bbox: 1.5324, loss_rcnn_corner: 0.4385, loss: 5.0305, grad_norm: 1.9617 2022-10-28 07:55:21,335 - mmdet - INFO - Epoch [2][5400/6587] lr: 2.976e-03, eta: 3 days, 18:35:24, time: 4.962, data_time: 1.247, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3677, recall_Car: 0.6174, recall_Ped: 0.0364, recall_Cyc: 0.0770, num_clusters: 7028.7000, num_fg_points: 293372.1000, loss_cls.task0: 0.0446, loss_center.task0: 0.7131, loss_size.task0: 0.1652, loss_rot.task0: 0.2535, loss_cls.task1: 0.0047, loss_center.task1: 0.3069, loss_size.task1: 0.2049, loss_rot.task1: 0.2540, loss_cls.task2: 0.0033, loss_center.task2: 0.3791, loss_size.task2: 0.1063, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0314, num_pos_rois: 79.3400, num_neg_rois: 5568.9000, loss_rcnn_bbox: 1.5036, loss_rcnn_corner: 0.4628, loss: 5.0565, grad_norm: 2.1280 2022-10-28 07:59:19,168 - mmdet - INFO - Epoch [2][5450/6587] lr: 2.975e-03, eta: 3 days, 18:30:51, time: 4.757, data_time: 1.298, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3479, recall_Car: 0.5519, recall_Ped: 0.0572, recall_Cyc: 0.1108, num_clusters: 7341.0000, num_fg_points: 241134.7000, loss_cls.task0: 0.0419, loss_center.task0: 0.7065, loss_size.task0: 0.1680, loss_rot.task0: 0.2546, loss_cls.task1: 0.0055, loss_center.task1: 0.3011, loss_size.task1: 0.1975, loss_rot.task1: 0.2541, loss_cls.task2: 0.0044, loss_center.task2: 0.3507, loss_size.task2: 0.1029, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0356, num_pos_rois: 92.0000, num_neg_rois: 5817.7400, loss_rcnn_bbox: 1.5354, loss_rcnn_corner: 0.4411, loss: 5.0022, grad_norm: 2.1745 2022-10-28 08:03:18,924 - mmdet - INFO - Epoch [2][5500/6587] lr: 2.974e-03, eta: 3 days, 18:26:29, time: 4.795, data_time: 1.439, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3559, recall_Car: 0.5094, recall_Ped: 0.0904, recall_Cyc: 0.1426, num_clusters: 7611.1000, num_fg_points: 200963.9800, loss_cls.task0: 0.0440, loss_center.task0: 0.7031, loss_size.task0: 0.1697, loss_rot.task0: 0.2534, loss_cls.task1: 0.0060, loss_center.task1: 0.2924, loss_size.task1: 0.1895, loss_rot.task1: 0.2545, loss_cls.task2: 0.0056, loss_center.task2: 0.3586, loss_size.task2: 0.1120, loss_rot.task2: 0.2548, loss_rcnn_cls: 0.0419, num_pos_rois: 114.3400, num_neg_rois: 5797.0200, loss_rcnn_bbox: 1.5656, loss_rcnn_corner: 0.4185, loss: 5.0266, grad_norm: 2.1926 2022-10-28 08:07:12,109 - mmdet - INFO - Epoch [2][5550/6587] lr: 2.974e-03, eta: 3 days, 18:21:31, time: 4.664, data_time: 0.961, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3400, recall_Car: 0.6068, recall_Ped: 0.1297, recall_Cyc: 0.1867, num_clusters: 10234.6200, num_fg_points: 283595.7000, loss_cls.task0: 0.0422, loss_center.task0: 0.7114, loss_size.task0: 0.1600, loss_rot.task0: 0.2552, loss_cls.task1: 0.0062, loss_center.task1: 0.2845, loss_size.task1: 0.1864, loss_rot.task1: 0.2540, loss_cls.task2: 0.0055, loss_center.task2: 0.3623, loss_size.task2: 0.1033, loss_rot.task2: 0.2535, loss_rcnn_cls: 0.0454, num_pos_rois: 123.7800, num_neg_rois: 5870.4600, loss_rcnn_bbox: 1.6746, loss_rcnn_corner: 0.4186, loss: 5.1042, grad_norm: 1.9534 2022-10-28 08:11:04,700 - mmdet - INFO - Epoch [2][5600/6587] lr: 2.973e-03, eta: 3 days, 18:16:30, time: 4.652, data_time: 0.968, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3487, recall_Car: 0.6030, recall_Ped: 0.1368, recall_Cyc: 0.1587, num_clusters: 8682.7400, num_fg_points: 299064.4200, loss_cls.task0: 0.0443, loss_center.task0: 0.6677, loss_size.task0: 0.1553, loss_rot.task0: 0.2533, loss_cls.task1: 0.0068, loss_center.task1: 0.2818, loss_size.task1: 0.1831, loss_rot.task1: 0.2546, loss_cls.task2: 0.0060, loss_center.task2: 0.3537, loss_size.task2: 0.1044, loss_rot.task2: 0.2552, loss_rcnn_cls: 0.0491, num_pos_rois: 136.9400, num_neg_rois: 5922.9600, loss_rcnn_bbox: 1.6387, loss_rcnn_corner: 0.4402, loss: 5.0441, grad_norm: 1.9882 2022-10-28 08:15:00,596 - mmdet - INFO - Epoch [2][5650/6587] lr: 2.973e-03, eta: 3 days, 18:11:48, time: 4.718, data_time: 1.208, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3465, recall_Car: 0.5829, recall_Ped: 0.1360, recall_Cyc: 0.2140, num_clusters: 8774.3800, num_fg_points: 273432.6000, loss_cls.task0: 0.0436, loss_center.task0: 0.6834, loss_size.task0: 0.1534, loss_rot.task0: 0.2547, loss_cls.task1: 0.0063, loss_center.task1: 0.2778, loss_size.task1: 0.1862, loss_rot.task1: 0.2537, loss_cls.task2: 0.0060, loss_center.task2: 0.3455, loss_size.task2: 0.1064, loss_rot.task2: 0.2541, loss_rcnn_cls: 0.0498, num_pos_rois: 143.3800, num_neg_rois: 5903.4000, loss_rcnn_bbox: 1.6099, loss_rcnn_corner: 0.4596, loss: 5.0382, grad_norm: 1.9755 2022-10-28 08:19:00,365 - mmdet - INFO - Epoch [2][5700/6587] lr: 2.972e-03, eta: 3 days, 18:07:28, time: 4.795, data_time: 1.305, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3544, recall_Car: 0.5980, recall_Ped: 0.1386, recall_Cyc: 0.1762, num_clusters: 8172.5600, num_fg_points: 258058.6200, loss_cls.task0: 0.0456, loss_center.task0: 0.6645, loss_size.task0: 0.1476, loss_rot.task0: 0.2549, loss_cls.task1: 0.0069, loss_center.task1: 0.2780, loss_size.task1: 0.1853, loss_rot.task1: 0.2534, loss_cls.task2: 0.0058, loss_center.task2: 0.3619, loss_size.task2: 0.1031, loss_rot.task2: 0.2556, loss_rcnn_cls: 0.0473, num_pos_rois: 137.4600, num_neg_rois: 5856.7000, loss_rcnn_bbox: 1.6239, loss_rcnn_corner: 0.4874, loss: 5.0766, grad_norm: 1.9526 2022-10-28 08:22:59,152 - mmdet - INFO - Epoch [2][5750/6587] lr: 2.971e-03, eta: 3 days, 18:03:02, time: 4.775, data_time: 1.020, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3469, recall_Car: 0.6431, recall_Ped: 0.1575, recall_Cyc: 0.2386, num_clusters: 10935.0600, num_fg_points: 326957.6200, loss_cls.task0: 0.0410, loss_center.task0: 0.6873, loss_size.task0: 0.1536, loss_rot.task0: 0.2551, loss_cls.task1: 0.0065, loss_center.task1: 0.2909, loss_size.task1: 0.1888, loss_rot.task1: 0.2530, loss_cls.task2: 0.0060, loss_center.task2: 0.3656, loss_size.task2: 0.1066, loss_rot.task2: 0.2537, loss_rcnn_cls: 0.0537, num_pos_rois: 159.9000, num_neg_rois: 5922.9200, loss_rcnn_bbox: 1.6000, loss_rcnn_corner: 0.4459, loss: 5.0557, grad_norm: 2.0238 2022-10-28 08:27:03,565 - mmdet - INFO - Epoch [2][5800/6587] lr: 2.971e-03, eta: 3 days, 17:59:06, time: 4.889, data_time: 1.142, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3485, recall_Car: 0.6308, recall_Ped: 0.1561, recall_Cyc: 0.1940, num_clusters: 9867.5200, num_fg_points: 304432.8400, loss_cls.task0: 0.0438, loss_center.task0: 0.6819, loss_size.task0: 0.1532, loss_rot.task0: 0.2543, loss_cls.task1: 0.0062, loss_center.task1: 0.2920, loss_size.task1: 0.1942, loss_rot.task1: 0.2541, loss_cls.task2: 0.0054, loss_center.task2: 0.3536, loss_size.task2: 0.1039, loss_rot.task2: 0.2541, loss_rcnn_cls: 0.0483, num_pos_rois: 141.2600, num_neg_rois: 5851.6800, loss_rcnn_bbox: 1.5233, loss_rcnn_corner: 0.4405, loss: 4.9583, grad_norm: 2.1286 2022-10-28 08:30:57,495 - mmdet - INFO - Epoch [2][5850/6587] lr: 2.970e-03, eta: 3 days, 17:54:15, time: 4.679, data_time: 1.075, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3545, recall_Car: 0.5987, recall_Ped: 0.1384, recall_Cyc: 0.2132, num_clusters: 9120.9000, num_fg_points: 287377.0400, loss_cls.task0: 0.0455, loss_center.task0: 0.6700, loss_size.task0: 0.1465, loss_rot.task0: 0.2550, loss_cls.task1: 0.0059, loss_center.task1: 0.2838, loss_size.task1: 0.1952, loss_rot.task1: 0.2549, loss_cls.task2: 0.0056, loss_center.task2: 0.3443, loss_size.task2: 0.1070, loss_rot.task2: 0.2557, loss_rcnn_cls: 0.0484, num_pos_rois: 145.1400, num_neg_rois: 5887.7200, loss_rcnn_bbox: 1.4977, loss_rcnn_corner: 0.4626, loss: 4.9336, grad_norm: 1.8491 2022-10-28 08:35:02,144 - mmdet - INFO - Epoch [2][5900/6587] lr: 2.969e-03, eta: 3 days, 17:50:21, time: 4.893, data_time: 1.282, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3582, recall_Car: 0.5958, recall_Ped: 0.1369, recall_Cyc: 0.2265, num_clusters: 8323.5200, num_fg_points: 283822.7200, loss_cls.task0: 0.0443, loss_center.task0: 0.6679, loss_size.task0: 0.1458, loss_rot.task0: 0.2544, loss_cls.task1: 0.0067, loss_center.task1: 0.2733, loss_size.task1: 0.1860, loss_rot.task1: 0.2543, loss_cls.task2: 0.0062, loss_center.task2: 0.3481, loss_size.task2: 0.1036, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0490, num_pos_rois: 146.9000, num_neg_rois: 5893.5800, loss_rcnn_bbox: 1.5922, loss_rcnn_corner: 0.4628, loss: 5.0089, grad_norm: 1.9537 2022-10-28 08:38:57,955 - mmdet - INFO - Epoch [2][5950/6587] lr: 2.969e-03, eta: 3 days, 17:45:40, time: 4.716, data_time: 1.151, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3472, recall_Car: 0.5892, recall_Ped: 0.1999, recall_Cyc: 0.2894, num_clusters: 9969.2400, num_fg_points: 277063.0400, loss_cls.task0: 0.0432, loss_center.task0: 0.6650, loss_size.task0: 0.1463, loss_rot.task0: 0.2533, loss_cls.task1: 0.0071, loss_center.task1: 0.2824, loss_size.task1: 0.1844, loss_rot.task1: 0.2536, loss_cls.task2: 0.0066, loss_center.task2: 0.3485, loss_size.task2: 0.1068, loss_rot.task2: 0.2528, loss_rcnn_cls: 0.0568, num_pos_rois: 171.8600, num_neg_rois: 5933.2200, loss_rcnn_bbox: 1.5389, loss_rcnn_corner: 0.4356, loss: 4.9295, grad_norm: 1.8516 2022-10-28 08:43:08,113 - mmdet - INFO - Epoch [2][6000/6587] lr: 2.968e-03, eta: 3 days, 17:42:15, time: 5.003, data_time: 1.598, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3419, recall_Car: 0.5728, recall_Ped: 0.1614, recall_Cyc: 0.2193, num_clusters: 8031.4800, num_fg_points: 235718.5200, loss_cls.task0: 0.0435, loss_center.task0: 0.6459, loss_size.task0: 0.1457, loss_rot.task0: 0.2542, loss_cls.task1: 0.0071, loss_center.task1: 0.2757, loss_size.task1: 0.1914, loss_rot.task1: 0.2550, loss_cls.task2: 0.0062, loss_center.task2: 0.3434, loss_size.task2: 0.1025, loss_rot.task2: 0.2553, loss_rcnn_cls: 0.0456, num_pos_rois: 133.4000, num_neg_rois: 5902.8400, loss_rcnn_bbox: 1.6005, loss_rcnn_corner: 0.4439, loss: 4.9589, grad_norm: 2.1177 2022-10-28 08:47:05,382 - mmdet - INFO - Epoch [2][6050/6587] lr: 2.967e-03, eta: 3 days, 17:37:42, time: 4.745, data_time: 1.246, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3288, recall_Car: 0.5863, recall_Ped: 0.1667, recall_Cyc: 0.2417, num_clusters: 8615.7600, num_fg_points: 277068.2000, loss_cls.task0: 0.0397, loss_center.task0: 0.6726, loss_size.task0: 0.1424, loss_rot.task0: 0.2546, loss_cls.task1: 0.0068, loss_center.task1: 0.2809, loss_size.task1: 0.1919, loss_rot.task1: 0.2555, loss_cls.task2: 0.0063, loss_center.task2: 0.3488, loss_size.task2: 0.1067, loss_rot.task2: 0.2541, loss_rcnn_cls: 0.0371, num_pos_rois: 98.1600, num_neg_rois: 5956.0000, loss_rcnn_bbox: 1.8118, loss_rcnn_corner: 0.5130, loss: 5.2518, grad_norm: 2.1965 2022-10-28 08:51:09,463 - mmdet - INFO - Epoch [2][6100/6587] lr: 2.967e-03, eta: 3 days, 17:33:45, time: 4.881, data_time: 1.289, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3338, recall_Car: 0.5892, recall_Ped: 0.2441, recall_Cyc: 0.3212, num_clusters: 10235.9000, num_fg_points: 279420.9200, loss_cls.task0: 0.0396, loss_center.task0: 0.6600, loss_size.task0: 0.1422, loss_rot.task0: 0.2554, loss_cls.task1: 0.0071, loss_center.task1: 0.2619, loss_size.task1: 0.1896, loss_rot.task1: 0.2541, loss_cls.task2: 0.0066, loss_center.task2: 0.3482, loss_size.task2: 0.1044, loss_rot.task2: 0.2554, loss_rcnn_cls: 0.0335, num_pos_rois: 92.8200, num_neg_rois: 6002.3200, loss_rcnn_bbox: 1.9893, loss_rcnn_corner: 0.5365, loss: 5.4187, grad_norm: 2.1057 2022-10-28 08:55:10,303 - mmdet - INFO - Epoch [2][6150/6587] lr: 2.966e-03, eta: 3 days, 17:29:31, time: 4.817, data_time: 1.118, memory: 66157, loss_sem_seg: 0.0012, loss_vote: 0.3474, recall_Car: 0.6444, recall_Ped: 0.2252, recall_Cyc: 0.3161, num_clusters: 9561.2000, num_fg_points: 331147.3200, loss_cls.task0: 0.0421, loss_center.task0: 0.6735, loss_size.task0: 0.1414, loss_rot.task0: 0.2528, loss_cls.task1: 0.0070, loss_center.task1: 0.2692, loss_size.task1: 0.1877, loss_rot.task1: 0.2540, loss_cls.task2: 0.0067, loss_center.task2: 0.3538, loss_size.task2: 0.1046, loss_rot.task2: 0.2537, loss_rcnn_cls: 0.0375, num_pos_rois: 106.4200, num_neg_rois: 6006.3400, loss_rcnn_bbox: 1.8145, loss_rcnn_corner: 0.4819, loss: 5.2289, grad_norm: 1.9640 2022-10-28 08:59:10,567 - mmdet - INFO - Epoch [2][6200/6587] lr: 2.965e-03, eta: 3 days, 17:25:15, time: 4.805, data_time: 1.180, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3601, recall_Car: 0.6422, recall_Ped: 0.2344, recall_Cyc: 0.2920, num_clusters: 8511.7400, num_fg_points: 324752.5600, loss_cls.task0: 0.0400, loss_center.task0: 0.6879, loss_size.task0: 0.1438, loss_rot.task0: 0.2540, loss_cls.task1: 0.0076, loss_center.task1: 0.2657, loss_size.task1: 0.1875, loss_rot.task1: 0.2542, loss_cls.task2: 0.0070, loss_center.task2: 0.3424, loss_size.task2: 0.1017, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0494, num_pos_rois: 145.4000, num_neg_rois: 5925.2400, loss_rcnn_bbox: 1.6560, loss_rcnn_corner: 0.4392, loss: 5.0525, grad_norm: 1.8453 2022-10-28 09:03:05,328 - mmdet - INFO - Epoch [2][6250/6587] lr: 2.965e-03, eta: 3 days, 17:20:30, time: 4.695, data_time: 1.211, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3577, recall_Car: 0.5987, recall_Ped: 0.2441, recall_Cyc: 0.3275, num_clusters: 9583.2000, num_fg_points: 267472.9800, loss_cls.task0: 0.0373, loss_center.task0: 0.6822, loss_size.task0: 0.1447, loss_rot.task0: 0.2544, loss_cls.task1: 0.0072, loss_center.task1: 0.2619, loss_size.task1: 0.1866, loss_rot.task1: 0.2553, loss_cls.task2: 0.0070, loss_center.task2: 0.3374, loss_size.task2: 0.1056, loss_rot.task2: 0.2550, loss_rcnn_cls: 0.0474, num_pos_rois: 135.4800, num_neg_rois: 5970.0200, loss_rcnn_bbox: 1.6684, loss_rcnn_corner: 0.4486, loss: 5.0577, grad_norm: 1.7507 2022-10-28 09:07:07,254 - mmdet - INFO - Epoch [2][6300/6587] lr: 2.964e-03, eta: 3 days, 17:16:22, time: 4.838, data_time: 1.223, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3497, recall_Car: 0.6340, recall_Ped: 0.2391, recall_Cyc: 0.3143, num_clusters: 10016.0200, num_fg_points: 284107.7800, loss_cls.task0: 0.0393, loss_center.task0: 0.6543, loss_size.task0: 0.1423, loss_rot.task0: 0.2549, loss_cls.task1: 0.0066, loss_center.task1: 0.2706, loss_size.task1: 0.1872, loss_rot.task1: 0.2542, loss_cls.task2: 0.0066, loss_center.task2: 0.3497, loss_size.task2: 0.1061, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0523, num_pos_rois: 150.4400, num_neg_rois: 5932.2000, loss_rcnn_bbox: 1.6441, loss_rcnn_corner: 0.4554, loss: 5.0294, grad_norm: 2.0672 2022-10-28 09:11:04,584 - mmdet - INFO - Epoch [2][6350/6587] lr: 2.963e-03, eta: 3 days, 17:11:50, time: 4.746, data_time: 1.446, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3551, recall_Car: 0.6230, recall_Ped: 0.2706, recall_Cyc: 0.3704, num_clusters: 10466.4400, num_fg_points: 290280.9200, loss_cls.task0: 0.0393, loss_center.task0: 0.6603, loss_size.task0: 0.1401, loss_rot.task0: 0.2564, loss_cls.task1: 0.0074, loss_center.task1: 0.2691, loss_size.task1: 0.1862, loss_rot.task1: 0.2538, loss_cls.task2: 0.0072, loss_center.task2: 0.3525, loss_size.task2: 0.1048, loss_rot.task2: 0.2554, loss_rcnn_cls: 0.0578, num_pos_rois: 175.3000, num_neg_rois: 5934.0800, loss_rcnn_bbox: 1.6647, loss_rcnn_corner: 0.4533, loss: 5.0645, grad_norm: 1.7631 2022-10-28 09:15:13,144 - mmdet - INFO - Epoch [2][6400/6587] lr: 2.962e-03, eta: 3 days, 17:08:16, time: 4.972, data_time: 1.441, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3462, recall_Car: 0.6442, recall_Ped: 0.2643, recall_Cyc: 0.3428, num_clusters: 10370.4200, num_fg_points: 297204.2000, loss_cls.task0: 0.0403, loss_center.task0: 0.6735, loss_size.task0: 0.1412, loss_rot.task0: 0.2548, loss_cls.task1: 0.0071, loss_center.task1: 0.2660, loss_size.task1: 0.1820, loss_rot.task1: 0.2547, loss_cls.task2: 0.0065, loss_center.task2: 0.3505, loss_size.task2: 0.1046, loss_rot.task2: 0.2544, loss_rcnn_cls: 0.0537, num_pos_rois: 159.0000, num_neg_rois: 5942.3000, loss_rcnn_bbox: 1.6871, loss_rcnn_corner: 0.4619, loss: 5.0857, grad_norm: 2.1544 2022-10-28 09:19:02,247 - mmdet - INFO - Epoch [2][6450/6587] lr: 2.962e-03, eta: 3 days, 17:03:04, time: 4.582, data_time: 0.990, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3817, recall_Car: 0.6340, recall_Ped: 0.2758, recall_Cyc: 0.3650, num_clusters: 11481.4600, num_fg_points: 313590.0800, loss_cls.task0: 0.0389, loss_center.task0: 0.6745, loss_size.task0: 0.1387, loss_rot.task0: 0.2562, loss_cls.task1: 0.0071, loss_center.task1: 0.2655, loss_size.task1: 0.1843, loss_rot.task1: 0.2543, loss_cls.task2: 0.0071, loss_center.task2: 0.3449, loss_size.task2: 0.1032, loss_rot.task2: 0.2554, loss_rcnn_cls: 0.0492, num_pos_rois: 136.7000, num_neg_rois: 5971.3200, loss_rcnn_bbox: 1.7372, loss_rcnn_corner: 0.4346, loss: 5.1340, grad_norm: 2.0559 2022-10-28 09:23:13,766 - mmdet - INFO - Epoch [2][6500/6587] lr: 2.961e-03, eta: 3 days, 16:59:44, time: 5.030, data_time: 1.270, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3452, recall_Car: 0.6261, recall_Ped: 0.2257, recall_Cyc: 0.2951, num_clusters: 13683.1400, num_fg_points: 307232.6800, loss_cls.task0: 0.0380, loss_center.task0: 0.7463, loss_size.task0: 0.1495, loss_rot.task0: 0.2550, loss_cls.task1: 0.0058, loss_center.task1: 0.2852, loss_size.task1: 0.1852, loss_rot.task1: 0.2542, loss_cls.task2: 0.0057, loss_center.task2: 0.3698, loss_size.task2: 0.1045, loss_rot.task2: 0.2548, loss_rcnn_cls: 0.0438, num_pos_rois: 85.3800, num_neg_rois: 6042.9800, loss_rcnn_bbox: 1.9035, loss_rcnn_corner: 0.5968, loss: 5.5443, grad_norm: 4.5077 2022-10-28 09:27:32,046 - mmdet - INFO - Epoch [2][6550/6587] lr: 2.960e-03, eta: 3 days, 16:56:59, time: 5.166, data_time: 1.513, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3796, recall_Car: 0.5908, recall_Ped: 0.1308, recall_Cyc: 0.2337, num_clusters: 10886.7000, num_fg_points: 278067.6600, loss_cls.task0: 0.0361, loss_center.task0: 0.7539, loss_size.task0: 0.1589, loss_rot.task0: 0.2541, loss_cls.task1: 0.0055, loss_center.task1: 0.2868, loss_size.task1: 0.1864, loss_rot.task1: 0.2550, loss_cls.task2: 0.0051, loss_center.task2: 0.3537, loss_size.task2: 0.1038, loss_rot.task2: 0.2528, loss_rcnn_cls: 0.0357, num_pos_rois: 63.6200, num_neg_rois: 6024.6800, loss_rcnn_bbox: 1.8461, loss_rcnn_corner: 0.5227, loss: 5.4372, grad_norm: 2.2861 2022-10-28 09:30:36,150 - mmdet - INFO - Saving checkpoint at 2 epochs 2022-10-28 09:35:01,658 - mmdet - INFO - Epoch [3][50/6587] lr: 2.959e-03, eta: 3 days, 16:35:53, time: 5.067, data_time: 1.465, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3533, recall_Car: 0.6042, recall_Ped: 0.1807, recall_Cyc: 0.2719, num_clusters: 10547.0800, num_fg_points: 264557.7400, loss_cls.task0: 0.0368, loss_center.task0: 0.7017, loss_size.task0: 0.1420, loss_rot.task0: 0.2547, loss_cls.task1: 0.0059, loss_center.task1: 0.2735, loss_size.task1: 0.1863, loss_rot.task1: 0.2554, loss_cls.task2: 0.0057, loss_center.task2: 0.3566, loss_size.task2: 0.1055, loss_rot.task2: 0.2550, loss_rcnn_cls: 0.0541, num_pos_rois: 116.0400, num_neg_rois: 5985.7400, loss_rcnn_bbox: 1.7457, loss_rcnn_corner: 0.4877, loss: 5.2209, grad_norm: 2.3351 2022-10-28 09:38:53,942 - mmdet - INFO - Epoch [3][100/6587] lr: 2.958e-03, eta: 3 days, 16:31:01, time: 4.646, data_time: 1.221, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3407, recall_Car: 0.6147, recall_Ped: 0.1619, recall_Cyc: 0.2717, num_clusters: 9071.4600, num_fg_points: 235358.1000, loss_cls.task0: 0.0395, loss_center.task0: 0.6598, loss_size.task0: 0.1423, loss_rot.task0: 0.2544, loss_cls.task1: 0.0059, loss_center.task1: 0.2743, loss_size.task1: 0.1920, loss_rot.task1: 0.2549, loss_cls.task2: 0.0061, loss_center.task2: 0.3463, loss_size.task2: 0.1012, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0491, num_pos_rois: 113.1400, num_neg_rois: 5948.2600, loss_rcnn_bbox: 1.6440, loss_rcnn_corner: 0.4467, loss: 5.0131, grad_norm: 2.1554 2022-10-28 09:42:46,458 - mmdet - INFO - Epoch [3][150/6587] lr: 2.957e-03, eta: 3 days, 16:26:11, time: 4.650, data_time: 0.989, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3440, recall_Car: 0.6565, recall_Ped: 0.2393, recall_Cyc: 0.3373, num_clusters: 12227.7600, num_fg_points: 286407.3400, loss_cls.task0: 0.0363, loss_center.task0: 0.6603, loss_size.task0: 0.1348, loss_rot.task0: 0.2553, loss_cls.task1: 0.0057, loss_center.task1: 0.2753, loss_size.task1: 0.1831, loss_rot.task1: 0.2540, loss_cls.task2: 0.0058, loss_center.task2: 0.3473, loss_size.task2: 0.1013, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0582, num_pos_rois: 145.0000, num_neg_rois: 5978.2600, loss_rcnn_bbox: 1.6956, loss_rcnn_corner: 0.4793, loss: 5.0916, grad_norm: 2.2095 2022-10-28 09:46:42,411 - mmdet - INFO - Epoch [3][200/6587] lr: 2.956e-03, eta: 3 days, 16:21:38, time: 4.719, data_time: 1.108, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3596, recall_Car: 0.6715, recall_Ped: 0.2307, recall_Cyc: 0.3380, num_clusters: 10340.2400, num_fg_points: 308707.2000, loss_cls.task0: 0.0394, loss_center.task0: 0.6878, loss_size.task0: 0.1410, loss_rot.task0: 0.2551, loss_cls.task1: 0.0067, loss_center.task1: 0.2688, loss_size.task1: 0.1853, loss_rot.task1: 0.2540, loss_cls.task2: 0.0063, loss_center.task2: 0.3482, loss_size.task2: 0.1045, loss_rot.task2: 0.2534, loss_rcnn_cls: 0.0528, num_pos_rois: 133.1400, num_neg_rois: 5965.5400, loss_rcnn_bbox: 1.7892, loss_rcnn_corner: 0.5193, loss: 5.2727, grad_norm: 2.2016 2022-10-28 09:50:44,866 - mmdet - INFO - Epoch [3][250/6587] lr: 2.956e-03, eta: 3 days, 16:17:37, time: 4.849, data_time: 1.448, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3453, recall_Car: 0.6576, recall_Ped: 0.2790, recall_Cyc: 0.3529, num_clusters: 9797.6000, num_fg_points: 275758.0000, loss_cls.task0: 0.0389, loss_center.task0: 0.6724, loss_size.task0: 0.1369, loss_rot.task0: 0.2560, loss_cls.task1: 0.0072, loss_center.task1: 0.2665, loss_size.task1: 0.1882, loss_rot.task1: 0.2533, loss_cls.task2: 0.0069, loss_center.task2: 0.3465, loss_size.task2: 0.1042, loss_rot.task2: 0.2545, loss_rcnn_cls: 0.0427, num_pos_rois: 111.3800, num_neg_rois: 5998.1600, loss_rcnn_bbox: 1.9152, loss_rcnn_corner: 0.5374, loss: 5.3731, grad_norm: 1.9951 2022-10-28 09:54:49,579 - mmdet - INFO - Epoch [3][300/6587] lr: 2.955e-03, eta: 3 days, 16:13:47, time: 4.894, data_time: 0.970, memory: 66157, loss_sem_seg: 0.0012, loss_vote: 0.3470, recall_Car: 0.7139, recall_Ped: 0.2498, recall_Cyc: 0.3509, num_clusters: 11666.3600, num_fg_points: 394766.7800, loss_cls.task0: 0.0362, loss_center.task0: 0.6808, loss_size.task0: 0.1397, loss_rot.task0: 0.2552, loss_cls.task1: 0.0061, loss_center.task1: 0.2636, loss_size.task1: 0.1759, loss_rot.task1: 0.2551, loss_cls.task2: 0.0058, loss_center.task2: 0.3374, loss_size.task2: 0.1018, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0652, num_pos_rois: 178.8800, num_neg_rois: 5935.4400, loss_rcnn_bbox: 1.6402, loss_rcnn_corner: 0.4682, loss: 5.0336, grad_norm: 1.9672 2022-10-28 09:58:55,278 - mmdet - INFO - Epoch [3][350/6587] lr: 2.954e-03, eta: 3 days, 16:10:02, time: 4.914, data_time: 1.668, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3379, recall_Car: 0.6480, recall_Ped: 0.3057, recall_Cyc: 0.3861, num_clusters: 9952.3600, num_fg_points: 275446.4800, loss_cls.task0: 0.0370, loss_center.task0: 0.6670, loss_size.task0: 0.1368, loss_rot.task0: 0.2539, loss_cls.task1: 0.0076, loss_center.task1: 0.2637, loss_size.task1: 0.1786, loss_rot.task1: 0.2538, loss_cls.task2: 0.0072, loss_center.task2: 0.3503, loss_size.task2: 0.1063, loss_rot.task2: 0.2535, loss_rcnn_cls: 0.0616, num_pos_rois: 175.0000, num_neg_rois: 5905.1200, loss_rcnn_bbox: 1.7356, loss_rcnn_corner: 0.4523, loss: 5.1040, grad_norm: 1.8876 2022-10-28 10:02:54,196 - mmdet - INFO - Epoch [3][400/6587] lr: 2.953e-03, eta: 3 days, 16:05:44, time: 4.778, data_time: 1.371, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3461, recall_Car: 0.6783, recall_Ped: 0.2979, recall_Cyc: 0.3450, num_clusters: 10711.6600, num_fg_points: 270669.0000, loss_cls.task0: 0.0391, loss_center.task0: 0.6719, loss_size.task0: 0.1359, loss_rot.task0: 0.2548, loss_cls.task1: 0.0065, loss_center.task1: 0.2607, loss_size.task1: 0.1791, loss_rot.task1: 0.2537, loss_cls.task2: 0.0063, loss_center.task2: 0.3466, loss_size.task2: 0.1057, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0638, num_pos_rois: 171.6000, num_neg_rois: 5921.8400, loss_rcnn_bbox: 1.6720, loss_rcnn_corner: 0.4414, loss: 5.0394, grad_norm: 2.1185 2022-10-28 10:07:03,703 - mmdet - INFO - Epoch [3][450/6587] lr: 2.952e-03, eta: 3 days, 16:02:16, time: 4.989, data_time: 1.539, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3400, recall_Car: 0.6836, recall_Ped: 0.2959, recall_Cyc: 0.3420, num_clusters: 10368.6400, num_fg_points: 271920.1800, loss_cls.task0: 0.0414, loss_center.task0: 0.6245, loss_size.task0: 0.1296, loss_rot.task0: 0.2536, loss_cls.task1: 0.0065, loss_center.task1: 0.2635, loss_size.task1: 0.1802, loss_rot.task1: 0.2530, loss_cls.task2: 0.0064, loss_center.task2: 0.3333, loss_size.task2: 0.1060, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0416, num_pos_rois: 113.0200, num_neg_rois: 5984.2400, loss_rcnn_bbox: 1.9287, loss_rcnn_corner: 0.5707, loss: 5.3338, grad_norm: 2.0811 2022-10-28 10:11:02,471 - mmdet - INFO - Epoch [3][500/6587] lr: 2.952e-03, eta: 3 days, 15:57:58, time: 4.776, data_time: 1.388, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3471, recall_Car: 0.6823, recall_Ped: 0.3020, recall_Cyc: 0.3750, num_clusters: 11781.9200, num_fg_points: 273782.7000, loss_cls.task0: 0.0382, loss_center.task0: 0.6521, loss_size.task0: 0.1350, loss_rot.task0: 0.2550, loss_cls.task1: 0.0066, loss_center.task1: 0.2731, loss_size.task1: 0.1874, loss_rot.task1: 0.2537, loss_cls.task2: 0.0063, loss_center.task2: 0.3447, loss_size.task2: 0.1049, loss_rot.task2: 0.2534, loss_rcnn_cls: 0.0468, num_pos_rois: 132.3000, num_neg_rois: 5972.2600, loss_rcnn_bbox: 1.9302, loss_rcnn_corner: 0.5268, loss: 5.3625, grad_norm: 1.9538 2022-10-28 10:15:12,281 - mmdet - INFO - Epoch [3][550/6587] lr: 2.951e-03, eta: 3 days, 15:54:32, time: 4.996, data_time: 1.498, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3316, recall_Car: 0.6988, recall_Ped: 0.2595, recall_Cyc: 0.3680, num_clusters: 11033.6200, num_fg_points: 315544.5200, loss_cls.task0: 0.0360, loss_center.task0: 0.6510, loss_size.task0: 0.1380, loss_rot.task0: 0.2555, loss_cls.task1: 0.0061, loss_center.task1: 0.2629, loss_size.task1: 0.1770, loss_rot.task1: 0.2549, loss_cls.task2: 0.0061, loss_center.task2: 0.3398, loss_size.task2: 0.1032, loss_rot.task2: 0.2555, loss_rcnn_cls: 0.0376, num_pos_rois: 108.6200, num_neg_rois: 5988.5400, loss_rcnn_bbox: 2.0188, loss_rcnn_corner: 0.5549, loss: 5.4298, grad_norm: 2.0317 2022-10-28 10:19:15,627 - mmdet - INFO - Epoch [3][600/6587] lr: 2.950e-03, eta: 3 days, 15:50:35, time: 4.867, data_time: 1.445, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3358, recall_Car: 0.6882, recall_Ped: 0.2690, recall_Cyc: 0.3296, num_clusters: 9289.1600, num_fg_points: 278353.7400, loss_cls.task0: 0.0365, loss_center.task0: 0.6700, loss_size.task0: 0.1353, loss_rot.task0: 0.2565, loss_cls.task1: 0.0069, loss_center.task1: 0.2568, loss_size.task1: 0.1724, loss_rot.task1: 0.2549, loss_cls.task2: 0.0066, loss_center.task2: 0.3358, loss_size.task2: 0.0997, loss_rot.task2: 0.2546, loss_rcnn_cls: 0.0522, num_pos_rois: 142.9800, num_neg_rois: 5919.7200, loss_rcnn_bbox: 1.7634, loss_rcnn_corner: 0.4660, loss: 5.1043, grad_norm: 2.2193 2022-10-28 10:23:18,337 - mmdet - INFO - Epoch [3][650/6587] lr: 2.949e-03, eta: 3 days, 15:46:35, time: 4.854, data_time: 1.447, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3678, recall_Car: 0.6974, recall_Ped: 0.2873, recall_Cyc: 0.3685, num_clusters: 10547.4400, num_fg_points: 310194.8800, loss_cls.task0: 0.0343, loss_center.task0: 0.6913, loss_size.task0: 0.1383, loss_rot.task0: 0.2559, loss_cls.task1: 0.0069, loss_center.task1: 0.2645, loss_size.task1: 0.1744, loss_rot.task1: 0.2543, loss_cls.task2: 0.0068, loss_center.task2: 0.3493, loss_size.task2: 0.1061, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0410, num_pos_rois: 118.8800, num_neg_rois: 5974.1800, loss_rcnn_bbox: 1.9749, loss_rcnn_corner: 0.5455, loss: 5.4667, grad_norm: 2.1962 2022-10-28 10:27:23,612 - mmdet - INFO - Epoch [3][700/6587] lr: 2.948e-03, eta: 3 days, 15:42:47, time: 4.905, data_time: 1.522, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3366, recall_Car: 0.7070, recall_Ped: 0.2655, recall_Cyc: 0.3721, num_clusters: 9983.2600, num_fg_points: 271382.3800, loss_cls.task0: 0.0353, loss_center.task0: 0.6679, loss_size.task0: 0.1342, loss_rot.task0: 0.2556, loss_cls.task1: 0.0070, loss_center.task1: 0.2555, loss_size.task1: 0.1815, loss_rot.task1: 0.2558, loss_cls.task2: 0.0066, loss_center.task2: 0.3422, loss_size.task2: 0.1032, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0627, num_pos_rois: 178.8000, num_neg_rois: 5884.4600, loss_rcnn_bbox: 1.6869, loss_rcnn_corner: 0.4890, loss: 5.0753, grad_norm: 1.9132 2022-10-28 10:31:28,422 - mmdet - INFO - Epoch [3][750/6587] lr: 2.947e-03, eta: 3 days, 15:38:56, time: 4.896, data_time: 1.536, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3433, recall_Car: 0.7338, recall_Ped: 0.2625, recall_Cyc: 0.3563, num_clusters: 8441.3600, num_fg_points: 296718.3800, loss_cls.task0: 0.0396, loss_center.task0: 0.6479, loss_size.task0: 0.1334, loss_rot.task0: 0.2557, loss_cls.task1: 0.0068, loss_center.task1: 0.2573, loss_size.task1: 0.1726, loss_rot.task1: 0.2546, loss_cls.task2: 0.0068, loss_center.task2: 0.3338, loss_size.task2: 0.1032, loss_rot.task2: 0.2556, loss_rcnn_cls: 0.0597, num_pos_rois: 167.7800, num_neg_rois: 5813.8800, loss_rcnn_bbox: 1.6689, loss_rcnn_corner: 0.4626, loss: 5.0029, grad_norm: 2.2109 2022-10-28 10:35:32,396 - mmdet - INFO - Epoch [3][800/6587] lr: 2.946e-03, eta: 3 days, 15:35:02, time: 4.879, data_time: 1.615, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3328, recall_Car: 0.7240, recall_Ped: 0.3214, recall_Cyc: 0.4246, num_clusters: 9770.3400, num_fg_points: 265585.6600, loss_cls.task0: 0.0378, loss_center.task0: 0.6492, loss_size.task0: 0.1295, loss_rot.task0: 0.2555, loss_cls.task1: 0.0067, loss_center.task1: 0.2502, loss_size.task1: 0.1749, loss_rot.task1: 0.2549, loss_cls.task2: 0.0072, loss_center.task2: 0.3354, loss_size.task2: 0.1031, loss_rot.task2: 0.2546, loss_rcnn_cls: 0.0544, num_pos_rois: 154.0200, num_neg_rois: 5903.9000, loss_rcnn_bbox: 1.7947, loss_rcnn_corner: 0.4709, loss: 5.1128, grad_norm: 2.1600 2022-10-28 10:39:42,080 - mmdet - INFO - Epoch [3][850/6587] lr: 2.946e-03, eta: 3 days, 15:31:34, time: 4.994, data_time: 1.648, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3381, recall_Car: 0.7502, recall_Ped: 0.3385, recall_Cyc: 0.4427, num_clusters: 9991.7200, num_fg_points: 299594.2200, loss_cls.task0: 0.0403, loss_center.task0: 0.6346, loss_size.task0: 0.1268, loss_rot.task0: 0.2550, loss_cls.task1: 0.0068, loss_center.task1: 0.2532, loss_size.task1: 0.1786, loss_rot.task1: 0.2544, loss_cls.task2: 0.0068, loss_center.task2: 0.3272, loss_size.task2: 0.1045, loss_rot.task2: 0.2545, loss_rcnn_cls: 0.0667, num_pos_rois: 193.8600, num_neg_rois: 5876.4200, loss_rcnn_bbox: 1.6986, loss_rcnn_corner: 0.4268, loss: 4.9739, grad_norm: 1.8519 2022-10-28 10:43:45,766 - mmdet - INFO - Epoch [3][900/6587] lr: 2.945e-03, eta: 3 days, 15:27:38, time: 4.874, data_time: 1.503, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3480, recall_Car: 0.6842, recall_Ped: 0.3323, recall_Cyc: 0.4228, num_clusters: 10194.6400, num_fg_points: 303991.7400, loss_cls.task0: 0.0383, loss_center.task0: 0.6291, loss_size.task0: 0.1307, loss_rot.task0: 0.2549, loss_cls.task1: 0.0071, loss_center.task1: 0.2496, loss_size.task1: 0.1760, loss_rot.task1: 0.2539, loss_cls.task2: 0.0069, loss_center.task2: 0.3398, loss_size.task2: 0.1043, loss_rot.task2: 0.2539, loss_rcnn_cls: 0.0722, num_pos_rois: 216.4600, num_neg_rois: 5863.0400, loss_rcnn_bbox: 1.6561, loss_rcnn_corner: 0.4557, loss: 4.9776, grad_norm: 1.9464 2022-10-28 10:47:52,459 - mmdet - INFO - Epoch [3][950/6587] lr: 2.944e-03, eta: 3 days, 15:23:56, time: 4.934, data_time: 1.664, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3335, recall_Car: 0.7201, recall_Ped: 0.2932, recall_Cyc: 0.4076, num_clusters: 9160.7400, num_fg_points: 282256.1600, loss_cls.task0: 0.0400, loss_center.task0: 0.6338, loss_size.task0: 0.1264, loss_rot.task0: 0.2546, loss_cls.task1: 0.0074, loss_center.task1: 0.2551, loss_size.task1: 0.1725, loss_rot.task1: 0.2548, loss_cls.task2: 0.0069, loss_center.task2: 0.3319, loss_size.task2: 0.1013, loss_rot.task2: 0.2545, loss_rcnn_cls: 0.0681, num_pos_rois: 203.0400, num_neg_rois: 5794.9400, loss_rcnn_bbox: 1.6627, loss_rcnn_corner: 0.4535, loss: 4.9580, grad_norm: 1.9413 2022-10-28 10:51:52,676 - mmdet - INFO - Epoch [3][1000/6587] lr: 2.943e-03, eta: 3 days, 15:19:44, time: 4.804, data_time: 1.442, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3389, recall_Car: 0.7287, recall_Ped: 0.3399, recall_Cyc: 0.4203, num_clusters: 10837.1600, num_fg_points: 285278.9800, loss_cls.task0: 0.0371, loss_center.task0: 0.6573, loss_size.task0: 0.1287, loss_rot.task0: 0.2556, loss_cls.task1: 0.0070, loss_center.task1: 0.2639, loss_size.task1: 0.1749, loss_rot.task1: 0.2558, loss_cls.task2: 0.0068, loss_center.task2: 0.3397, loss_size.task2: 0.1038, loss_rot.task2: 0.2559, loss_rcnn_cls: 0.0603, num_pos_rois: 174.0800, num_neg_rois: 5880.0200, loss_rcnn_bbox: 1.8001, loss_rcnn_corner: 0.4858, loss: 5.1726, grad_norm: 2.2358 2022-10-28 10:56:07,203 - mmdet - INFO - Epoch [3][1050/6587] lr: 2.942e-03, eta: 3 days, 15:16:37, time: 5.091, data_time: 1.765, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3497, recall_Car: 0.7254, recall_Ped: 0.3497, recall_Cyc: 0.4274, num_clusters: 9776.4400, num_fg_points: 264543.2600, loss_cls.task0: 0.0388, loss_center.task0: 0.6212, loss_size.task0: 0.1250, loss_rot.task0: 0.2554, loss_cls.task1: 0.0075, loss_center.task1: 0.2527, loss_size.task1: 0.1738, loss_rot.task1: 0.2536, loss_cls.task2: 0.0076, loss_center.task2: 0.3381, loss_size.task2: 0.1039, loss_rot.task2: 0.2542, loss_rcnn_cls: 0.0498, num_pos_rois: 147.4000, num_neg_rois: 5901.4400, loss_rcnn_bbox: 1.9424, loss_rcnn_corner: 0.5335, loss: 5.3081, grad_norm: 2.1876 2022-10-28 11:00:05,688 - mmdet - INFO - Epoch [3][1100/6587] lr: 2.941e-03, eta: 3 days, 15:12:17, time: 4.770, data_time: 1.263, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3472, recall_Car: 0.7573, recall_Ped: 0.3304, recall_Cyc: 0.3835, num_clusters: 10047.9400, num_fg_points: 321800.9200, loss_cls.task0: 0.0375, loss_center.task0: 0.6374, loss_size.task0: 0.1314, loss_rot.task0: 0.2547, loss_cls.task1: 0.0069, loss_center.task1: 0.2469, loss_size.task1: 0.1727, loss_rot.task1: 0.2545, loss_cls.task2: 0.0065, loss_center.task2: 0.3405, loss_size.task2: 0.1046, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0577, num_pos_rois: 169.4600, num_neg_rois: 5845.5000, loss_rcnn_bbox: 1.8491, loss_rcnn_corner: 0.4623, loss: 5.1653, grad_norm: 2.1864 2022-10-28 11:04:02,982 - mmdet - INFO - Epoch [3][1150/6587] lr: 2.940e-03, eta: 3 days, 15:07:52, time: 4.746, data_time: 1.414, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3580, recall_Car: 0.7049, recall_Ped: 0.3403, recall_Cyc: 0.4389, num_clusters: 10261.6000, num_fg_points: 301455.0200, loss_cls.task0: 0.0392, loss_center.task0: 0.6566, loss_size.task0: 0.1280, loss_rot.task0: 0.2551, loss_cls.task1: 0.0070, loss_center.task1: 0.2573, loss_size.task1: 0.1742, loss_rot.task1: 0.2540, loss_cls.task2: 0.0065, loss_center.task2: 0.3339, loss_size.task2: 0.1038, loss_rot.task2: 0.2552, loss_rcnn_cls: 0.0521, num_pos_rois: 156.1000, num_neg_rois: 5920.8600, loss_rcnn_bbox: 1.9498, loss_rcnn_corner: 0.4732, loss: 5.3049, grad_norm: 2.0575 2022-10-28 11:08:14,991 - mmdet - INFO - Epoch [3][1200/6587] lr: 2.939e-03, eta: 3 days, 15:04:33, time: 5.040, data_time: 1.820, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3341, recall_Car: 0.6869, recall_Ped: 0.3281, recall_Cyc: 0.4246, num_clusters: 8969.6200, num_fg_points: 239345.9400, loss_cls.task0: 0.0382, loss_center.task0: 0.6816, loss_size.task0: 0.1283, loss_rot.task0: 0.2558, loss_cls.task1: 0.0073, loss_center.task1: 0.2569, loss_size.task1: 0.1737, loss_rot.task1: 0.2530, loss_cls.task2: 0.0074, loss_center.task2: 0.3346, loss_size.task2: 0.1037, loss_rot.task2: 0.2557, loss_rcnn_cls: 0.0492, num_pos_rois: 141.2000, num_neg_rois: 5824.2800, loss_rcnn_bbox: 1.9107, loss_rcnn_corner: 0.5100, loss: 5.3012, grad_norm: 2.1113 2022-10-28 11:12:28,210 - mmdet - INFO - Epoch [3][1250/6587] lr: 2.938e-03, eta: 3 days, 15:01:19, time: 5.064, data_time: 1.634, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3381, recall_Car: 0.7186, recall_Ped: 0.3710, recall_Cyc: 0.4508, num_clusters: 11062.1600, num_fg_points: 267664.1600, loss_cls.task0: 0.0350, loss_center.task0: 0.6329, loss_size.task0: 0.1258, loss_rot.task0: 0.2545, loss_cls.task1: 0.0069, loss_center.task1: 0.2561, loss_size.task1: 0.1698, loss_rot.task1: 0.2551, loss_cls.task2: 0.0066, loss_center.task2: 0.3289, loss_size.task2: 0.1029, loss_rot.task2: 0.2547, loss_rcnn_cls: 0.0841, num_pos_rois: 251.2400, num_neg_rois: 5805.9800, loss_rcnn_bbox: 1.6701, loss_rcnn_corner: 0.4946, loss: 5.0172, grad_norm: 2.0449 2022-10-28 11:16:32,789 - mmdet - INFO - Epoch [3][1300/6587] lr: 2.937e-03, eta: 3 days, 14:57:27, time: 4.891, data_time: 1.495, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3292, recall_Car: 0.7608, recall_Ped: 0.3549, recall_Cyc: 0.4264, num_clusters: 10327.8000, num_fg_points: 258120.1200, loss_cls.task0: 0.0350, loss_center.task0: 0.6345, loss_size.task0: 0.1266, loss_rot.task0: 0.2547, loss_cls.task1: 0.0069, loss_center.task1: 0.2540, loss_size.task1: 0.1710, loss_rot.task1: 0.2536, loss_cls.task2: 0.0069, loss_center.task2: 0.3304, loss_size.task2: 0.1047, loss_rot.task2: 0.2537, loss_rcnn_cls: 0.0716, num_pos_rois: 216.4000, num_neg_rois: 5792.7800, loss_rcnn_bbox: 1.6670, loss_rcnn_corner: 0.4550, loss: 4.9558, grad_norm: 1.8700 2022-10-28 11:20:35,217 - mmdet - INFO - Epoch [3][1350/6587] lr: 2.936e-03, eta: 3 days, 14:53:24, time: 4.849, data_time: 1.427, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3395, recall_Car: 0.7581, recall_Ped: 0.3702, recall_Cyc: 0.4445, num_clusters: 10500.7000, num_fg_points: 290682.0200, loss_cls.task0: 0.0375, loss_center.task0: 0.6474, loss_size.task0: 0.1268, loss_rot.task0: 0.2549, loss_cls.task1: 0.0072, loss_center.task1: 0.2564, loss_size.task1: 0.1767, loss_rot.task1: 0.2549, loss_cls.task2: 0.0067, loss_center.task2: 0.3275, loss_size.task2: 0.1017, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0598, num_pos_rois: 178.7400, num_neg_rois: 5884.4400, loss_rcnn_bbox: 1.7856, loss_rcnn_corner: 0.4873, loss: 5.1258, grad_norm: 1.9590 2022-10-28 11:24:43,661 - mmdet - INFO - Epoch [3][1400/6587] lr: 2.935e-03, eta: 3 days, 14:49:49, time: 4.969, data_time: 1.684, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3056, recall_Car: 0.7625, recall_Ped: 0.3591, recall_Cyc: 0.4712, num_clusters: 10076.5800, num_fg_points: 283071.6800, loss_cls.task0: 0.0383, loss_center.task0: 0.6331, loss_size.task0: 0.1219, loss_rot.task0: 0.2560, loss_cls.task1: 0.0069, loss_center.task1: 0.2476, loss_size.task1: 0.1711, loss_rot.task1: 0.2546, loss_cls.task2: 0.0068, loss_center.task2: 0.3258, loss_size.task2: 0.1008, loss_rot.task2: 0.2544, loss_rcnn_cls: 0.0765, num_pos_rois: 229.6200, num_neg_rois: 5829.5200, loss_rcnn_bbox: 1.6619, loss_rcnn_corner: 0.4577, loss: 4.9199, grad_norm: 1.9934 2022-10-28 11:28:41,259 - mmdet - INFO - Epoch [3][1450/6587] lr: 2.934e-03, eta: 3 days, 14:45:25, time: 4.752, data_time: 1.539, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3341, recall_Car: 0.7352, recall_Ped: 0.3315, recall_Cyc: 0.4185, num_clusters: 10491.8600, num_fg_points: 273337.2600, loss_cls.task0: 0.0378, loss_center.task0: 0.6397, loss_size.task0: 0.1282, loss_rot.task0: 0.2542, loss_cls.task1: 0.0066, loss_center.task1: 0.2493, loss_size.task1: 0.1762, loss_rot.task1: 0.2549, loss_cls.task2: 0.0064, loss_center.task2: 0.3366, loss_size.task2: 0.1005, loss_rot.task2: 0.2532, loss_rcnn_cls: 0.0597, num_pos_rois: 174.7000, num_neg_rois: 5822.8200, loss_rcnn_bbox: 1.8079, loss_rcnn_corner: 0.5295, loss: 5.1758, grad_norm: 1.9635 2022-10-28 11:32:48,336 - mmdet - INFO - Epoch [3][1500/6587] lr: 2.933e-03, eta: 3 days, 14:41:43, time: 4.941, data_time: 1.721, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3232, recall_Car: 0.7264, recall_Ped: 0.3707, recall_Cyc: 0.4577, num_clusters: 9224.9800, num_fg_points: 258490.5800, loss_cls.task0: 0.0370, loss_center.task0: 0.6226, loss_size.task0: 0.1260, loss_rot.task0: 0.2556, loss_cls.task1: 0.0072, loss_center.task1: 0.2488, loss_size.task1: 0.1759, loss_rot.task1: 0.2551, loss_cls.task2: 0.0069, loss_center.task2: 0.3364, loss_size.task2: 0.1007, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0731, num_pos_rois: 219.3800, num_neg_rois: 5785.1000, loss_rcnn_bbox: 1.7190, loss_rcnn_corner: 0.4984, loss: 5.0411, grad_norm: 2.0787 2022-10-28 11:36:53,220 - mmdet - INFO - Epoch [3][1550/6587] lr: 2.933e-03, eta: 3 days, 14:37:51, time: 4.897, data_time: 1.580, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3585, recall_Car: 0.7465, recall_Ped: 0.3600, recall_Cyc: 0.4717, num_clusters: 9845.8200, num_fg_points: 320312.6800, loss_cls.task0: 0.0392, loss_center.task0: 0.6440, loss_size.task0: 0.1255, loss_rot.task0: 0.2549, loss_cls.task1: 0.0072, loss_center.task1: 0.2539, loss_size.task1: 0.1711, loss_rot.task1: 0.2536, loss_cls.task2: 0.0071, loss_center.task2: 0.3327, loss_size.task2: 0.1026, loss_rot.task2: 0.2555, loss_rcnn_cls: 0.0740, num_pos_rois: 231.0000, num_neg_rois: 5833.1800, loss_rcnn_bbox: 1.6950, loss_rcnn_corner: 0.4647, loss: 5.0405, grad_norm: 1.9078 2022-10-28 11:40:59,417 - mmdet - INFO - Epoch [3][1600/6587] lr: 2.932e-03, eta: 3 days, 14:34:05, time: 4.924, data_time: 1.404, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3512, recall_Car: 0.7630, recall_Ped: 0.4190, recall_Cyc: 0.4702, num_clusters: 11145.6800, num_fg_points: 303083.1000, loss_cls.task0: 0.0345, loss_center.task0: 0.6552, loss_size.task0: 0.1325, loss_rot.task0: 0.2555, loss_cls.task1: 0.0070, loss_center.task1: 0.2595, loss_size.task1: 0.1727, loss_rot.task1: 0.2562, loss_cls.task2: 0.0065, loss_center.task2: 0.3402, loss_size.task2: 0.1022, loss_rot.task2: 0.2541, loss_rcnn_cls: 0.0589, num_pos_rois: 176.8800, num_neg_rois: 5897.1000, loss_rcnn_bbox: 1.9733, loss_rcnn_corner: 0.5397, loss: 5.4002, grad_norm: 1.9019 2022-10-28 11:45:08,327 - mmdet - INFO - Epoch [3][1650/6587] lr: 2.931e-03, eta: 3 days, 14:30:31, time: 4.978, data_time: 1.685, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3565, recall_Car: 0.7238, recall_Ped: 0.4154, recall_Cyc: 0.4790, num_clusters: 10404.7000, num_fg_points: 248779.0600, loss_cls.task0: 0.0352, loss_center.task0: 0.6425, loss_size.task0: 0.1303, loss_rot.task0: 0.2554, loss_cls.task1: 0.0072, loss_center.task1: 0.2548, loss_size.task1: 0.1671, loss_rot.task1: 0.2545, loss_cls.task2: 0.0071, loss_center.task2: 0.3363, loss_size.task2: 0.1023, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0596, num_pos_rois: 159.4400, num_neg_rois: 5887.9600, loss_rcnn_bbox: 1.9772, loss_rcnn_corner: 0.4992, loss: 5.3401, grad_norm: 2.1385 2022-10-28 11:49:09,260 - mmdet - INFO - Epoch [3][1700/6587] lr: 2.930e-03, eta: 3 days, 14:26:22, time: 4.818, data_time: 1.294, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3564, recall_Car: 0.6798, recall_Ped: 0.3204, recall_Cyc: 0.3883, num_clusters: 10806.4400, num_fg_points: 283580.1000, loss_cls.task0: 0.0367, loss_center.task0: 0.7000, loss_size.task0: 0.1360, loss_rot.task0: 0.2545, loss_cls.task1: 0.0064, loss_center.task1: 0.2597, loss_size.task1: 0.1685, loss_rot.task1: 0.2533, loss_cls.task2: 0.0061, loss_center.task2: 0.3343, loss_size.task2: 0.1006, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0604, num_pos_rois: 141.0400, num_neg_rois: 5894.0800, loss_rcnn_bbox: 1.9470, loss_rcnn_corner: 0.5924, loss: 5.4670, grad_norm: 2.3117 2022-10-28 11:53:14,738 - mmdet - INFO - Epoch [3][1750/6587] lr: 2.929e-03, eta: 3 days, 14:22:32, time: 4.909, data_time: 1.649, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3494, recall_Car: 0.7011, recall_Ped: 0.3894, recall_Cyc: 0.4619, num_clusters: 9594.8200, num_fg_points: 256714.3200, loss_cls.task0: 0.0373, loss_center.task0: 0.6745, loss_size.task0: 0.1281, loss_rot.task0: 0.2564, loss_cls.task1: 0.0070, loss_center.task1: 0.2475, loss_size.task1: 0.1707, loss_rot.task1: 0.2544, loss_cls.task2: 0.0069, loss_center.task2: 0.3307, loss_size.task2: 0.1032, loss_rot.task2: 0.2554, loss_rcnn_cls: 0.0582, num_pos_rois: 148.9800, num_neg_rois: 5885.7600, loss_rcnn_bbox: 2.0055, loss_rcnn_corner: 0.5051, loss: 5.3911, grad_norm: 2.1470 2022-10-28 11:57:27,352 - mmdet - INFO - Epoch [3][1800/6587] lr: 2.928e-03, eta: 3 days, 14:19:13, time: 5.053, data_time: 1.651, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3510, recall_Car: 0.7494, recall_Ped: 0.3566, recall_Cyc: 0.4473, num_clusters: 9298.9800, num_fg_points: 297401.0800, loss_cls.task0: 0.0359, loss_center.task0: 0.6612, loss_size.task0: 0.1285, loss_rot.task0: 0.2557, loss_cls.task1: 0.0071, loss_center.task1: 0.2533, loss_size.task1: 0.1735, loss_rot.task1: 0.2544, loss_cls.task2: 0.0068, loss_center.task2: 0.3289, loss_size.task2: 0.1017, loss_rot.task2: 0.2547, loss_rcnn_cls: 0.0566, num_pos_rois: 154.4800, num_neg_rois: 5855.4200, loss_rcnn_bbox: 1.8980, loss_rcnn_corner: 0.5268, loss: 5.2952, grad_norm: 2.0472 2022-10-28 12:01:31,095 - mmdet - INFO - Epoch [3][1850/6587] lr: 2.926e-03, eta: 3 days, 14:15:16, time: 4.875, data_time: 1.490, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3364, recall_Car: 0.6816, recall_Ped: 0.3404, recall_Cyc: 0.4407, num_clusters: 9579.5200, num_fg_points: 238286.2000, loss_cls.task0: 0.0330, loss_center.task0: 0.6565, loss_size.task0: 0.1297, loss_rot.task0: 0.2552, loss_cls.task1: 0.0067, loss_center.task1: 0.2519, loss_size.task1: 0.1690, loss_rot.task1: 0.2530, loss_cls.task2: 0.0064, loss_center.task2: 0.3352, loss_size.task2: 0.1019, loss_rot.task2: 0.2528, loss_rcnn_cls: 0.0485, num_pos_rois: 130.9800, num_neg_rois: 5814.5600, loss_rcnn_bbox: 1.9452, loss_rcnn_corner: 0.5542, loss: 5.3364, grad_norm: 1.8870 2022-10-28 12:05:50,813 - mmdet - INFO - Epoch [3][1900/6587] lr: 2.925e-03, eta: 3 days, 14:12:26, time: 5.195, data_time: 1.823, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3177, recall_Car: 0.7631, recall_Ped: 0.3687, recall_Cyc: 0.4773, num_clusters: 9414.8600, num_fg_points: 277680.3800, loss_cls.task0: 0.0361, loss_center.task0: 0.6280, loss_size.task0: 0.1226, loss_rot.task0: 0.2544, loss_cls.task1: 0.0066, loss_center.task1: 0.2462, loss_size.task1: 0.1668, loss_rot.task1: 0.2544, loss_cls.task2: 0.0071, loss_center.task2: 0.3268, loss_size.task2: 0.1029, loss_rot.task2: 0.2550, loss_rcnn_cls: 0.0491, num_pos_rois: 135.4800, num_neg_rois: 5812.8200, loss_rcnn_bbox: 1.9763, loss_rcnn_corner: 0.5918, loss: 5.3427, grad_norm: 2.1281 2022-10-28 12:09:51,990 - mmdet - INFO - Epoch [3][1950/6587] lr: 2.924e-03, eta: 3 days, 14:08:18, time: 4.823, data_time: 1.763, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3419, recall_Car: 0.7623, recall_Ped: 0.3700, recall_Cyc: 0.4755, num_clusters: 8695.4200, num_fg_points: 243092.5000, loss_cls.task0: 0.0355, loss_center.task0: 0.6236, loss_size.task0: 0.1218, loss_rot.task0: 0.2540, loss_cls.task1: 0.0074, loss_center.task1: 0.2442, loss_size.task1: 0.1629, loss_rot.task1: 0.2538, loss_cls.task2: 0.0076, loss_center.task2: 0.3275, loss_size.task2: 0.1024, loss_rot.task2: 0.2537, loss_rcnn_cls: 0.0589, num_pos_rois: 163.9400, num_neg_rois: 5732.3600, loss_rcnn_bbox: 1.9106, loss_rcnn_corner: 0.5445, loss: 5.2513, grad_norm: 1.9262 2022-10-28 12:13:58,450 - mmdet - INFO - Epoch [3][2000/6587] lr: 2.923e-03, eta: 3 days, 14:04:32, time: 4.929, data_time: 1.635, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3242, recall_Car: 0.7781, recall_Ped: 0.3911, recall_Cyc: 0.4676, num_clusters: 8270.0800, num_fg_points: 294790.9800, loss_cls.task0: 0.0360, loss_center.task0: 0.6408, loss_size.task0: 0.1266, loss_rot.task0: 0.2551, loss_cls.task1: 0.0073, loss_center.task1: 0.2436, loss_size.task1: 0.1619, loss_rot.task1: 0.2548, loss_cls.task2: 0.0077, loss_center.task2: 0.3259, loss_size.task2: 0.1018, loss_rot.task2: 0.2548, loss_rcnn_cls: 0.0562, num_pos_rois: 155.7200, num_neg_rois: 5787.2400, loss_rcnn_bbox: 1.9264, loss_rcnn_corner: 0.4708, loss: 5.1949, grad_norm: 2.0498 2022-10-28 12:18:09,225 - mmdet - INFO - Epoch [3][2050/6587] lr: 2.922e-03, eta: 3 days, 14:01:03, time: 5.015, data_time: 1.860, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3416, recall_Car: 0.7760, recall_Ped: 0.4473, recall_Cyc: 0.5260, num_clusters: 9525.2000, num_fg_points: 263686.2800, loss_cls.task0: 0.0358, loss_center.task0: 0.6180, loss_size.task0: 0.1245, loss_rot.task0: 0.2541, loss_cls.task1: 0.0078, loss_center.task1: 0.2464, loss_size.task1: 0.1684, loss_rot.task1: 0.2529, loss_cls.task2: 0.0079, loss_center.task2: 0.3259, loss_size.task2: 0.0991, loss_rot.task2: 0.2551, loss_rcnn_cls: 0.0733, num_pos_rois: 204.7800, num_neg_rois: 5774.6600, loss_rcnn_bbox: 1.9191, loss_rcnn_corner: 0.5477, loss: 5.2783, grad_norm: 2.0026 2022-10-28 12:22:10,456 - mmdet - INFO - Epoch [3][2100/6587] lr: 2.921e-03, eta: 3 days, 13:56:55, time: 4.825, data_time: 1.539, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3157, recall_Car: 0.8019, recall_Ped: 0.3822, recall_Cyc: 0.4980, num_clusters: 9972.0200, num_fg_points: 287676.4600, loss_cls.task0: 0.0341, loss_center.task0: 0.6305, loss_size.task0: 0.1277, loss_rot.task0: 0.2554, loss_cls.task1: 0.0073, loss_center.task1: 0.2481, loss_size.task1: 0.1704, loss_rot.task1: 0.2541, loss_cls.task2: 0.0069, loss_center.task2: 0.3295, loss_size.task2: 0.1056, loss_rot.task2: 0.2534, loss_rcnn_cls: 0.0556, num_pos_rois: 153.1800, num_neg_rois: 5818.9200, loss_rcnn_bbox: 1.9846, loss_rcnn_corner: 0.5437, loss: 5.3235, grad_norm: 2.0160 2022-10-28 12:26:20,527 - mmdet - INFO - Epoch [3][2150/6587] lr: 2.920e-03, eta: 3 days, 13:53:23, time: 5.001, data_time: 1.756, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3382, recall_Car: 0.7754, recall_Ped: 0.4586, recall_Cyc: 0.5212, num_clusters: 9971.3200, num_fg_points: 280466.6400, loss_cls.task0: 0.0378, loss_center.task0: 0.6285, loss_size.task0: 0.1263, loss_rot.task0: 0.2546, loss_cls.task1: 0.0074, loss_center.task1: 0.2517, loss_size.task1: 0.1672, loss_rot.task1: 0.2539, loss_cls.task2: 0.0073, loss_center.task2: 0.3312, loss_size.task2: 0.1016, loss_rot.task2: 0.2553, loss_rcnn_cls: 0.0917, num_pos_rois: 264.4200, num_neg_rois: 5720.5800, loss_rcnn_bbox: 1.7714, loss_rcnn_corner: 0.4858, loss: 5.1109, grad_norm: 1.9338 2022-10-28 12:30:27,507 - mmdet - INFO - Epoch [3][2200/6587] lr: 2.919e-03, eta: 3 days, 13:49:39, time: 4.939, data_time: 1.829, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3312, recall_Car: 0.7723, recall_Ped: 0.4222, recall_Cyc: 0.4930, num_clusters: 9160.4200, num_fg_points: 261932.3400, loss_cls.task0: 0.0354, loss_center.task0: 0.6293, loss_size.task0: 0.1263, loss_rot.task0: 0.2536, loss_cls.task1: 0.0076, loss_center.task1: 0.2554, loss_size.task1: 0.1729, loss_rot.task1: 0.2539, loss_cls.task2: 0.0074, loss_center.task2: 0.3327, loss_size.task2: 0.1009, loss_rot.task2: 0.2537, loss_rcnn_cls: 0.0666, num_pos_rois: 186.2400, num_neg_rois: 5664.3000, loss_rcnn_bbox: 1.9164, loss_rcnn_corner: 0.5025, loss: 5.2466, grad_norm: 1.8771 2022-10-28 12:34:41,116 - mmdet - INFO - Epoch [3][2250/6587] lr: 2.918e-03, eta: 3 days, 13:46:21, time: 5.072, data_time: 1.956, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3349, recall_Car: 0.7774, recall_Ped: 0.4074, recall_Cyc: 0.4991, num_clusters: 8879.3200, num_fg_points: 273192.4400, loss_cls.task0: 0.0361, loss_center.task0: 0.6255, loss_size.task0: 0.1264, loss_rot.task0: 0.2543, loss_cls.task1: 0.0076, loss_center.task1: 0.2498, loss_size.task1: 0.1768, loss_rot.task1: 0.2546, loss_cls.task2: 0.0077, loss_center.task2: 0.3348, loss_size.task2: 0.1015, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0618, num_pos_rois: 174.7000, num_neg_rois: 5741.1000, loss_rcnn_bbox: 1.9677, loss_rcnn_corner: 0.5365, loss: 5.3307, grad_norm: 2.1232 2022-10-28 12:38:35,572 - mmdet - INFO - Epoch [3][2300/6587] lr: 2.917e-03, eta: 3 days, 13:41:45, time: 4.689, data_time: 1.534, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3255, recall_Car: 0.7772, recall_Ped: 0.3989, recall_Cyc: 0.5055, num_clusters: 9639.5800, num_fg_points: 270093.4200, loss_cls.task0: 0.0326, loss_center.task0: 0.6307, loss_size.task0: 0.1287, loss_rot.task0: 0.2544, loss_cls.task1: 0.0072, loss_center.task1: 0.2550, loss_size.task1: 0.1742, loss_rot.task1: 0.2540, loss_cls.task2: 0.0071, loss_center.task2: 0.3328, loss_size.task2: 0.1035, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0690, num_pos_rois: 179.9800, num_neg_rois: 5635.8200, loss_rcnn_bbox: 1.9221, loss_rcnn_corner: 0.4873, loss: 5.2398, grad_norm: 1.9984 2022-10-28 12:42:42,535 - mmdet - INFO - Epoch [3][2350/6587] lr: 2.916e-03, eta: 3 days, 13:38:00, time: 4.939, data_time: 1.888, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3212, recall_Car: 0.7631, recall_Ped: 0.4165, recall_Cyc: 0.5071, num_clusters: 8588.8200, num_fg_points: 236092.9800, loss_cls.task0: 0.0365, loss_center.task0: 0.6090, loss_size.task0: 0.1254, loss_rot.task0: 0.2552, loss_cls.task1: 0.0082, loss_center.task1: 0.2489, loss_size.task1: 0.1765, loss_rot.task1: 0.2551, loss_cls.task2: 0.0081, loss_center.task2: 0.3310, loss_size.task2: 0.1007, loss_rot.task2: 0.2541, loss_rcnn_cls: 0.0871, num_pos_rois: 256.5000, num_neg_rois: 5683.1200, loss_rcnn_bbox: 1.7309, loss_rcnn_corner: 0.4489, loss: 4.9975, grad_norm: 1.6251 2022-10-28 12:46:46,403 - mmdet - INFO - Epoch [3][2400/6587] lr: 2.915e-03, eta: 3 days, 13:34:02, time: 4.878, data_time: 1.620, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3520, recall_Car: 0.7977, recall_Ped: 0.4144, recall_Cyc: 0.4910, num_clusters: 8181.0200, num_fg_points: 271502.0200, loss_cls.task0: 0.0325, loss_center.task0: 0.6661, loss_size.task0: 0.1321, loss_rot.task0: 0.2551, loss_cls.task1: 0.0079, loss_center.task1: 0.2494, loss_size.task1: 0.1723, loss_rot.task1: 0.2530, loss_cls.task2: 0.0079, loss_center.task2: 0.3311, loss_size.task2: 0.0996, loss_rot.task2: 0.2540, loss_rcnn_cls: 0.0776, num_pos_rois: 223.0200, num_neg_rois: 5624.3200, loss_rcnn_bbox: 1.7940, loss_rcnn_corner: 0.5011, loss: 5.1868, grad_norm: 1.9949 2022-10-28 12:50:49,412 - mmdet - INFO - Epoch [3][2450/6587] lr: 2.914e-03, eta: 3 days, 13:30:01, time: 4.860, data_time: 1.680, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3367, recall_Car: 0.7779, recall_Ped: 0.4182, recall_Cyc: 0.5339, num_clusters: 8659.3800, num_fg_points: 257185.7600, loss_cls.task0: 0.0332, loss_center.task0: 0.6373, loss_size.task0: 0.1284, loss_rot.task0: 0.2559, loss_cls.task1: 0.0080, loss_center.task1: 0.2468, loss_size.task1: 0.1695, loss_rot.task1: 0.2552, loss_cls.task2: 0.0083, loss_center.task2: 0.3264, loss_size.task2: 0.1010, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0774, num_pos_rois: 224.0200, num_neg_rois: 5633.9000, loss_rcnn_bbox: 1.7209, loss_rcnn_corner: 0.4701, loss: 5.0304, grad_norm: 2.0349 2022-10-28 12:54:57,612 - mmdet - INFO - Epoch [3][2500/6587] lr: 2.913e-03, eta: 3 days, 13:26:21, time: 4.964, data_time: 1.869, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3152, recall_Car: 0.7698, recall_Ped: 0.4173, recall_Cyc: 0.4914, num_clusters: 9593.6000, num_fg_points: 242641.5600, loss_cls.task0: 0.0319, loss_center.task0: 0.6425, loss_size.task0: 0.1286, loss_rot.task0: 0.2542, loss_cls.task1: 0.0073, loss_center.task1: 0.2515, loss_size.task1: 0.1670, loss_rot.task1: 0.2548, loss_cls.task2: 0.0075, loss_center.task2: 0.3315, loss_size.task2: 0.1018, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0779, num_pos_rois: 228.2600, num_neg_rois: 5606.5400, loss_rcnn_bbox: 1.6968, loss_rcnn_corner: 0.4428, loss: 4.9663, grad_norm: 1.9317 2022-10-28 12:59:04,906 - mmdet - INFO - Epoch [3][2550/6587] lr: 2.911e-03, eta: 3 days, 13:22:37, time: 4.946, data_time: 1.713, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3243, recall_Car: 0.8117, recall_Ped: 0.4727, recall_Cyc: 0.5328, num_clusters: 10470.0200, num_fg_points: 272409.2400, loss_cls.task0: 0.0332, loss_center.task0: 0.6551, loss_size.task0: 0.1275, loss_rot.task0: 0.2552, loss_cls.task1: 0.0077, loss_center.task1: 0.2509, loss_size.task1: 0.1685, loss_rot.task1: 0.2539, loss_cls.task2: 0.0074, loss_center.task2: 0.3362, loss_size.task2: 0.1015, loss_rot.task2: 0.2547, loss_rcnn_cls: 0.0771, num_pos_rois: 231.2800, num_neg_rois: 5769.6600, loss_rcnn_bbox: 1.7854, loss_rcnn_corner: 0.4964, loss: 5.1358, grad_norm: 2.0052 2022-10-28 13:03:10,356 - mmdet - INFO - Epoch [3][2600/6587] lr: 2.910e-03, eta: 3 days, 13:18:45, time: 4.909, data_time: 1.819, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3167, recall_Car: 0.7870, recall_Ped: 0.4179, recall_Cyc: 0.5527, num_clusters: 8523.6400, num_fg_points: 256307.4200, loss_cls.task0: 0.0367, loss_center.task0: 0.6184, loss_size.task0: 0.1270, loss_rot.task0: 0.2555, loss_cls.task1: 0.0083, loss_center.task1: 0.2525, loss_size.task1: 0.1745, loss_rot.task1: 0.2550, loss_cls.task2: 0.0085, loss_center.task2: 0.3304, loss_size.task2: 0.1030, loss_rot.task2: 0.2561, loss_rcnn_cls: 0.0596, num_pos_rois: 174.3000, num_neg_rois: 5729.0800, loss_rcnn_bbox: 1.9687, loss_rcnn_corner: 0.5669, loss: 5.3386, grad_norm: 2.1171 2022-10-28 13:07:21,793 - mmdet - INFO - Epoch [3][2650/6587] lr: 2.909e-03, eta: 3 days, 13:15:17, time: 5.028, data_time: 1.952, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3208, recall_Car: 0.7841, recall_Ped: 0.4137, recall_Cyc: 0.5256, num_clusters: 8445.4000, num_fg_points: 225261.8000, loss_cls.task0: 0.0343, loss_center.task0: 0.6323, loss_size.task0: 0.1283, loss_rot.task0: 0.2543, loss_cls.task1: 0.0079, loss_center.task1: 0.2446, loss_size.task1: 0.1691, loss_rot.task1: 0.2552, loss_cls.task2: 0.0082, loss_center.task2: 0.3196, loss_size.task2: 0.0996, loss_rot.task2: 0.2545, loss_rcnn_cls: 0.0584, num_pos_rois: 173.2600, num_neg_rois: 5658.3200, loss_rcnn_bbox: 1.9127, loss_rcnn_corner: 0.5026, loss: 5.2033, grad_norm: 1.9677 2022-10-28 13:11:32,436 - mmdet - INFO - Epoch [3][2700/6587] lr: 2.908e-03, eta: 3 days, 13:11:46, time: 5.013, data_time: 1.784, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3374, recall_Car: 0.7608, recall_Ped: 0.3981, recall_Cyc: 0.5307, num_clusters: 8467.5800, num_fg_points: 270722.2600, loss_cls.task0: 0.0344, loss_center.task0: 0.6283, loss_size.task0: 0.1297, loss_rot.task0: 0.2556, loss_cls.task1: 0.0079, loss_center.task1: 0.2408, loss_size.task1: 0.1675, loss_rot.task1: 0.2562, loss_cls.task2: 0.0083, loss_center.task2: 0.3290, loss_size.task2: 0.1028, loss_rot.task2: 0.2552, loss_rcnn_cls: 0.0805, num_pos_rois: 237.6400, num_neg_rois: 5657.0200, loss_rcnn_bbox: 1.8141, loss_rcnn_corner: 0.4965, loss: 5.1453, grad_norm: 2.0338 2022-10-28 13:15:47,429 - mmdet - INFO - Epoch [3][2750/6587] lr: 2.907e-03, eta: 3 days, 13:08:31, time: 5.100, data_time: 1.714, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3327, recall_Car: 0.7574, recall_Ped: 0.4028, recall_Cyc: 0.5222, num_clusters: 10279.4800, num_fg_points: 297232.3800, loss_cls.task0: 0.0318, loss_center.task0: 0.6662, loss_size.task0: 0.1320, loss_rot.task0: 0.2555, loss_cls.task1: 0.0072, loss_center.task1: 0.2499, loss_size.task1: 0.1716, loss_rot.task1: 0.2549, loss_cls.task2: 0.0071, loss_center.task2: 0.3334, loss_size.task2: 0.1028, loss_rot.task2: 0.2553, loss_rcnn_cls: 0.0796, num_pos_rois: 236.3400, num_neg_rois: 5730.5400, loss_rcnn_bbox: 1.7855, loss_rcnn_corner: 0.4376, loss: 5.1039, grad_norm: 1.9976 2022-10-28 13:19:48,642 - mmdet - INFO - Epoch [3][2800/6587] lr: 2.906e-03, eta: 3 days, 13:04:22, time: 4.824, data_time: 1.671, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3280, recall_Car: 0.7862, recall_Ped: 0.4164, recall_Cyc: 0.5396, num_clusters: 8182.7800, num_fg_points: 252911.4400, loss_cls.task0: 0.0355, loss_center.task0: 0.6409, loss_size.task0: 0.1278, loss_rot.task0: 0.2538, loss_cls.task1: 0.0081, loss_center.task1: 0.2535, loss_size.task1: 0.1708, loss_rot.task1: 0.2539, loss_cls.task2: 0.0083, loss_center.task2: 0.3278, loss_size.task2: 0.1026, loss_rot.task2: 0.2545, loss_rcnn_cls: 0.0649, num_pos_rois: 190.2400, num_neg_rois: 5619.9200, loss_rcnn_bbox: 1.8888, loss_rcnn_corner: 0.5400, loss: 5.2602, grad_norm: 2.0151 2022-10-28 13:23:54,477 - mmdet - INFO - Epoch [3][2850/6587] lr: 2.905e-03, eta: 3 days, 13:00:31, time: 4.917, data_time: 1.697, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3100, recall_Car: 0.8203, recall_Ped: 0.4274, recall_Cyc: 0.5213, num_clusters: 9241.1600, num_fg_points: 263770.4000, loss_cls.task0: 0.0343, loss_center.task0: 0.6541, loss_size.task0: 0.1295, loss_rot.task0: 0.2554, loss_cls.task1: 0.0073, loss_center.task1: 0.2472, loss_size.task1: 0.1684, loss_rot.task1: 0.2549, loss_cls.task2: 0.0075, loss_center.task2: 0.3300, loss_size.task2: 0.0999, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0754, num_pos_rois: 218.8800, num_neg_rois: 5647.8000, loss_rcnn_bbox: 1.8135, loss_rcnn_corner: 0.5016, loss: 5.1437, grad_norm: 1.8319 2022-10-28 13:27:53,185 - mmdet - INFO - Epoch [3][2900/6587] lr: 2.903e-03, eta: 3 days, 12:56:13, time: 4.774, data_time: 1.807, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3116, recall_Car: 0.7909, recall_Ped: 0.4379, recall_Cyc: 0.5594, num_clusters: 8138.5600, num_fg_points: 211679.7400, loss_cls.task0: 0.0336, loss_center.task0: 0.6260, loss_size.task0: 0.1268, loss_rot.task0: 0.2556, loss_cls.task1: 0.0075, loss_center.task1: 0.2381, loss_size.task1: 0.1674, loss_rot.task1: 0.2537, loss_cls.task2: 0.0084, loss_center.task2: 0.3236, loss_size.task2: 0.1039, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0777, num_pos_rois: 227.8400, num_neg_rois: 5571.7000, loss_rcnn_bbox: 1.7228, loss_rcnn_corner: 0.5053, loss: 5.0170, grad_norm: 1.9365 2022-10-28 13:32:04,072 - mmdet - INFO - Epoch [3][2950/6587] lr: 2.902e-03, eta: 3 days, 12:52:41, time: 5.018, data_time: 1.930, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3218, recall_Car: 0.7974, recall_Ped: 0.4435, recall_Cyc: 0.5298, num_clusters: 8687.7800, num_fg_points: 242110.8800, loss_cls.task0: 0.0353, loss_center.task0: 0.6030, loss_size.task0: 0.1217, loss_rot.task0: 0.2555, loss_cls.task1: 0.0077, loss_center.task1: 0.2431, loss_size.task1: 0.1676, loss_rot.task1: 0.2541, loss_cls.task2: 0.0078, loss_center.task2: 0.3380, loss_size.task2: 0.1028, loss_rot.task2: 0.2539, loss_rcnn_cls: 0.0673, num_pos_rois: 194.2800, num_neg_rois: 5629.3200, loss_rcnn_bbox: 1.8534, loss_rcnn_corner: 0.5400, loss: 5.1738, grad_norm: 1.9618 2022-10-28 13:36:04,927 - mmdet - INFO - Epoch [3][3000/6587] lr: 2.901e-03, eta: 3 days, 12:48:31, time: 4.817, data_time: 1.614, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3259, recall_Car: 0.7647, recall_Ped: 0.4523, recall_Cyc: 0.5538, num_clusters: 8620.7600, num_fg_points: 228376.5000, loss_cls.task0: 0.0321, loss_center.task0: 0.6477, loss_size.task0: 0.1320, loss_rot.task0: 0.2546, loss_cls.task1: 0.0082, loss_center.task1: 0.2521, loss_size.task1: 0.1644, loss_rot.task1: 0.2542, loss_cls.task2: 0.0084, loss_center.task2: 0.3372, loss_size.task2: 0.1017, loss_rot.task2: 0.2548, loss_rcnn_cls: 0.0823, num_pos_rois: 243.7600, num_neg_rois: 5669.5200, loss_rcnn_bbox: 1.7209, loss_rcnn_corner: 0.4761, loss: 5.0534, grad_norm: 2.0275 2022-10-28 13:40:18,539 - mmdet - INFO - Epoch [3][3050/6587] lr: 2.900e-03, eta: 3 days, 12:45:10, time: 5.072, data_time: 1.899, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3461, recall_Car: 0.7710, recall_Ped: 0.4369, recall_Cyc: 0.5708, num_clusters: 8211.8000, num_fg_points: 258067.1000, loss_cls.task0: 0.0323, loss_center.task0: 0.6380, loss_size.task0: 0.1307, loss_rot.task0: 0.2557, loss_cls.task1: 0.0084, loss_center.task1: 0.2516, loss_size.task1: 0.1636, loss_rot.task1: 0.2547, loss_cls.task2: 0.0086, loss_center.task2: 0.3275, loss_size.task2: 0.0999, loss_rot.task2: 0.2550, loss_rcnn_cls: 0.0789, num_pos_rois: 228.5600, num_neg_rois: 5415.7800, loss_rcnn_bbox: 1.8556, loss_rcnn_corner: 0.5340, loss: 5.2413, grad_norm: 1.8772 2022-10-28 13:44:15,329 - mmdet - INFO - Epoch [3][3100/6587] lr: 2.899e-03, eta: 3 days, 12:40:44, time: 4.736, data_time: 1.695, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3131, recall_Car: 0.7890, recall_Ped: 0.4171, recall_Cyc: 0.5490, num_clusters: 8366.7600, num_fg_points: 240431.0000, loss_cls.task0: 0.0333, loss_center.task0: 0.6191, loss_size.task0: 0.1276, loss_rot.task0: 0.2544, loss_cls.task1: 0.0074, loss_center.task1: 0.2479, loss_size.task1: 0.1699, loss_rot.task1: 0.2551, loss_cls.task2: 0.0079, loss_center.task2: 0.3220, loss_size.task2: 0.0998, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0530, num_pos_rois: 151.8000, num_neg_rois: 5586.6200, loss_rcnn_bbox: 1.9766, loss_rcnn_corner: 0.5035, loss: 5.2459, grad_norm: 1.9269 2022-10-28 13:48:23,030 - mmdet - INFO - Epoch [3][3150/6587] lr: 2.898e-03, eta: 3 days, 12:37:00, time: 4.954, data_time: 1.864, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3174, recall_Car: 0.8156, recall_Ped: 0.4290, recall_Cyc: 0.5634, num_clusters: 8974.9600, num_fg_points: 254620.6800, loss_cls.task0: 0.0345, loss_center.task0: 0.6370, loss_size.task0: 0.1280, loss_rot.task0: 0.2559, loss_cls.task1: 0.0078, loss_center.task1: 0.2554, loss_size.task1: 0.1722, loss_rot.task1: 0.2545, loss_cls.task2: 0.0078, loss_center.task2: 0.3270, loss_size.task2: 0.1010, loss_rot.task2: 0.2540, loss_rcnn_cls: 0.0727, num_pos_rois: 210.3800, num_neg_rois: 5696.0600, loss_rcnn_bbox: 1.8735, loss_rcnn_corner: 0.5382, loss: 5.2380, grad_norm: 2.0303 2022-10-28 13:52:30,243 - mmdet - INFO - Epoch [3][3200/6587] lr: 2.896e-03, eta: 3 days, 12:33:14, time: 4.944, data_time: 1.882, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3146, recall_Car: 0.8129, recall_Ped: 0.4684, recall_Cyc: 0.5668, num_clusters: 9246.1600, num_fg_points: 222131.5400, loss_cls.task0: 0.0347, loss_center.task0: 0.6006, loss_size.task0: 0.1218, loss_rot.task0: 0.2548, loss_cls.task1: 0.0076, loss_center.task1: 0.2465, loss_size.task1: 0.1778, loss_rot.task1: 0.2550, loss_cls.task2: 0.0076, loss_center.task2: 0.3265, loss_size.task2: 0.1027, loss_rot.task2: 0.2551, loss_rcnn_cls: 0.0894, num_pos_rois: 269.5400, num_neg_rois: 5652.8600, loss_rcnn_bbox: 1.7255, loss_rcnn_corner: 0.4640, loss: 4.9848, grad_norm: 2.0429 2022-10-28 13:56:42,145 - mmdet - INFO - Epoch [3][3250/6587] lr: 2.895e-03, eta: 3 days, 12:29:45, time: 5.038, data_time: 1.947, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3161, recall_Car: 0.8065, recall_Ped: 0.4226, recall_Cyc: 0.5420, num_clusters: 8124.9600, num_fg_points: 233998.0400, loss_cls.task0: 0.0351, loss_center.task0: 0.6303, loss_size.task0: 0.1254, loss_rot.task0: 0.2549, loss_cls.task1: 0.0073, loss_center.task1: 0.2472, loss_size.task1: 0.1715, loss_rot.task1: 0.2530, loss_cls.task2: 0.0075, loss_center.task2: 0.3234, loss_size.task2: 0.1000, loss_rot.task2: 0.2546, loss_rcnn_cls: 0.0668, num_pos_rois: 188.6600, num_neg_rois: 5499.1400, loss_rcnn_bbox: 1.9017, loss_rcnn_corner: 0.5264, loss: 5.2222, grad_norm: 1.8395 2022-10-28 14:00:49,213 - mmdet - INFO - Epoch [3][3300/6587] lr: 2.894e-03, eta: 3 days, 12:25:58, time: 4.941, data_time: 1.948, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3079, recall_Car: 0.8052, recall_Ped: 0.4536, recall_Cyc: 0.5710, num_clusters: 8222.6400, num_fg_points: 238551.1800, loss_cls.task0: 0.0325, loss_center.task0: 0.6343, loss_size.task0: 0.1248, loss_rot.task0: 0.2557, loss_cls.task1: 0.0081, loss_center.task1: 0.2456, loss_size.task1: 0.1701, loss_rot.task1: 0.2554, loss_cls.task2: 0.0087, loss_center.task2: 0.3191, loss_size.task2: 0.1000, loss_rot.task2: 0.2559, loss_rcnn_cls: 0.0646, num_pos_rois: 179.8800, num_neg_rois: 5492.8200, loss_rcnn_bbox: 1.9556, loss_rcnn_corner: 0.5438, loss: 5.2829, grad_norm: 1.9772 2022-10-28 14:04:56,393 - mmdet - INFO - Epoch [3][3350/6587] lr: 2.893e-03, eta: 3 days, 12:22:12, time: 4.943, data_time: 1.865, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3224, recall_Car: 0.8107, recall_Ped: 0.4554, recall_Cyc: 0.5644, num_clusters: 8794.0600, num_fg_points: 278032.1000, loss_cls.task0: 0.0294, loss_center.task0: 0.6221, loss_size.task0: 0.1279, loss_rot.task0: 0.2543, loss_cls.task1: 0.0075, loss_center.task1: 0.2505, loss_size.task1: 0.1711, loss_rot.task1: 0.2549, loss_cls.task2: 0.0073, loss_center.task2: 0.3230, loss_size.task2: 0.0994, loss_rot.task2: 0.2542, loss_rcnn_cls: 0.0748, num_pos_rois: 211.5400, num_neg_rois: 5411.1000, loss_rcnn_bbox: 1.8463, loss_rcnn_corner: 0.4955, loss: 5.1414, grad_norm: 2.0213 2022-10-28 14:09:03,800 - mmdet - INFO - Epoch [3][3400/6587] lr: 2.891e-03, eta: 3 days, 12:18:26, time: 4.948, data_time: 1.819, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3367, recall_Car: 0.8036, recall_Ped: 0.4807, recall_Cyc: 0.5686, num_clusters: 8849.9600, num_fg_points: 245632.2000, loss_cls.task0: 0.0343, loss_center.task0: 0.6400, loss_size.task0: 0.1302, loss_rot.task0: 0.2544, loss_cls.task1: 0.0074, loss_center.task1: 0.2406, loss_size.task1: 0.1631, loss_rot.task1: 0.2534, loss_cls.task2: 0.0079, loss_center.task2: 0.3233, loss_size.task2: 0.1010, loss_rot.task2: 0.2533, loss_rcnn_cls: 0.0842, num_pos_rois: 258.3000, num_neg_rois: 5606.4800, loss_rcnn_bbox: 1.7321, loss_rcnn_corner: 0.4830, loss: 5.0458, grad_norm: 1.9957 2022-10-28 14:13:16,774 - mmdet - INFO - Epoch [3][3450/6587] lr: 2.890e-03, eta: 3 days, 12:15:00, time: 5.059, data_time: 1.929, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3141, recall_Car: 0.8100, recall_Ped: 0.4558, recall_Cyc: 0.5598, num_clusters: 8682.6000, num_fg_points: 248917.5800, loss_cls.task0: 0.0328, loss_center.task0: 0.6104, loss_size.task0: 0.1288, loss_rot.task0: 0.2546, loss_cls.task1: 0.0073, loss_center.task1: 0.2398, loss_size.task1: 0.1686, loss_rot.task1: 0.2558, loss_cls.task2: 0.0077, loss_center.task2: 0.3284, loss_size.task2: 0.1020, loss_rot.task2: 0.2539, loss_rcnn_cls: 0.0842, num_pos_rois: 257.9200, num_neg_rois: 5562.8400, loss_rcnn_bbox: 1.7094, loss_rcnn_corner: 0.4794, loss: 4.9781, grad_norm: 1.8383 2022-10-28 14:17:25,180 - mmdet - INFO - Epoch [3][3500/6587] lr: 2.889e-03, eta: 3 days, 12:11:18, time: 4.968, data_time: 1.779, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3417, recall_Car: 0.8077, recall_Ped: 0.4245, recall_Cyc: 0.5561, num_clusters: 8842.0200, num_fg_points: 268957.6400, loss_cls.task0: 0.0327, loss_center.task0: 0.6419, loss_size.task0: 0.1298, loss_rot.task0: 0.2553, loss_cls.task1: 0.0075, loss_center.task1: 0.2479, loss_size.task1: 0.1640, loss_rot.task1: 0.2534, loss_cls.task2: 0.0077, loss_center.task2: 0.3288, loss_size.task2: 0.1006, loss_rot.task2: 0.2545, loss_rcnn_cls: 0.0685, num_pos_rois: 201.7000, num_neg_rois: 5647.2800, loss_rcnn_bbox: 1.8693, loss_rcnn_corner: 0.4953, loss: 5.1997, grad_norm: 2.0572 2022-10-28 14:21:46,509 - mmdet - INFO - Epoch [3][3550/6587] lr: 2.888e-03, eta: 3 days, 12:08:23, time: 5.227, data_time: 2.176, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3163, recall_Car: 0.8163, recall_Ped: 0.4352, recall_Cyc: 0.5449, num_clusters: 6831.9000, num_fg_points: 222845.3400, loss_cls.task0: 0.0342, loss_center.task0: 0.6368, loss_size.task0: 0.1313, loss_rot.task0: 0.2544, loss_cls.task1: 0.0086, loss_center.task1: 0.2435, loss_size.task1: 0.1703, loss_rot.task1: 0.2538, loss_cls.task2: 0.0089, loss_center.task2: 0.3233, loss_size.task2: 0.1004, loss_rot.task2: 0.2547, loss_rcnn_cls: 0.0757, num_pos_rois: 187.5800, num_neg_rois: 5179.0200, loss_rcnn_bbox: 1.8808, loss_rcnn_corner: 0.5557, loss: 5.2495, grad_norm: 2.2701 2022-10-28 14:25:49,867 - mmdet - INFO - Epoch [3][3600/6587] lr: 2.886e-03, eta: 3 days, 12:04:22, time: 4.867, data_time: 1.738, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3178, recall_Car: 0.7980, recall_Ped: 0.4471, recall_Cyc: 0.5634, num_clusters: 8818.5000, num_fg_points: 257820.1000, loss_cls.task0: 0.0281, loss_center.task0: 0.6600, loss_size.task0: 0.1376, loss_rot.task0: 0.2554, loss_cls.task1: 0.0074, loss_center.task1: 0.2461, loss_size.task1: 0.1656, loss_rot.task1: 0.2548, loss_cls.task2: 0.0074, loss_center.task2: 0.3307, loss_size.task2: 0.0992, loss_rot.task2: 0.2547, loss_rcnn_cls: 0.0782, num_pos_rois: 217.3600, num_neg_rois: 5412.7600, loss_rcnn_bbox: 1.7784, loss_rcnn_corner: 0.4437, loss: 5.0658, grad_norm: 2.0698 2022-10-28 14:29:57,348 - mmdet - INFO - Epoch [3][3650/6587] lr: 2.885e-03, eta: 3 days, 12:00:35, time: 4.950, data_time: 1.908, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3262, recall_Car: 0.7805, recall_Ped: 0.4387, recall_Cyc: 0.5487, num_clusters: 7191.5600, num_fg_points: 227645.4000, loss_cls.task0: 0.0303, loss_center.task0: 0.6572, loss_size.task0: 0.1297, loss_rot.task0: 0.2551, loss_cls.task1: 0.0087, loss_center.task1: 0.2493, loss_size.task1: 0.1681, loss_rot.task1: 0.2534, loss_cls.task2: 0.0089, loss_center.task2: 0.3277, loss_size.task2: 0.1009, loss_rot.task2: 0.2528, loss_rcnn_cls: 0.0826, num_pos_rois: 221.4200, num_neg_rois: 5019.3000, loss_rcnn_bbox: 1.7675, loss_rcnn_corner: 0.4780, loss: 5.0971, grad_norm: 1.9797 2022-10-28 14:34:05,629 - mmdet - INFO - Epoch [3][3700/6587] lr: 2.884e-03, eta: 3 days, 11:56:51, time: 4.965, data_time: 1.896, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3256, recall_Car: 0.8077, recall_Ped: 0.4338, recall_Cyc: 0.5400, num_clusters: 7746.4600, num_fg_points: 238741.9000, loss_cls.task0: 0.0308, loss_center.task0: 0.6705, loss_size.task0: 0.1362, loss_rot.task0: 0.2536, loss_cls.task1: 0.0083, loss_center.task1: 0.2477, loss_size.task1: 0.1674, loss_rot.task1: 0.2539, loss_cls.task2: 0.0085, loss_center.task2: 0.3269, loss_size.task2: 0.1007, loss_rot.task2: 0.2541, loss_rcnn_cls: 0.0769, num_pos_rois: 225.4000, num_neg_rois: 5351.7000, loss_rcnn_bbox: 1.8052, loss_rcnn_corner: 0.4728, loss: 5.1400, grad_norm: 1.8971 2022-10-28 14:38:15,637 - mmdet - INFO - Epoch [3][3750/6587] lr: 2.883e-03, eta: 3 days, 11:53:14, time: 5.001, data_time: 1.903, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3166, recall_Car: 0.7953, recall_Ped: 0.4710, recall_Cyc: 0.5689, num_clusters: 8319.8800, num_fg_points: 225688.4800, loss_cls.task0: 0.0306, loss_center.task0: 0.6345, loss_size.task0: 0.1315, loss_rot.task0: 0.2550, loss_cls.task1: 0.0081, loss_center.task1: 0.2456, loss_size.task1: 0.1674, loss_rot.task1: 0.2545, loss_cls.task2: 0.0086, loss_center.task2: 0.3291, loss_size.task2: 0.1004, loss_rot.task2: 0.2550, loss_rcnn_cls: 0.0815, num_pos_rois: 254.0600, num_neg_rois: 5513.0400, loss_rcnn_bbox: 1.7556, loss_rcnn_corner: 0.5086, loss: 5.0833, grad_norm: 1.8767 2022-10-28 14:42:20,085 - mmdet - INFO - Epoch [3][3800/6587] lr: 2.881e-03, eta: 3 days, 11:49:16, time: 4.889, data_time: 1.876, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3224, recall_Car: 0.7949, recall_Ped: 0.4450, recall_Cyc: 0.5677, num_clusters: 7783.5200, num_fg_points: 219774.2600, loss_cls.task0: 0.0313, loss_center.task0: 0.6435, loss_size.task0: 0.1297, loss_rot.task0: 0.2557, loss_cls.task1: 0.0082, loss_center.task1: 0.2555, loss_size.task1: 0.1774, loss_rot.task1: 0.2550, loss_cls.task2: 0.0091, loss_center.task2: 0.3275, loss_size.task2: 0.1006, loss_rot.task2: 0.2560, loss_rcnn_cls: 0.0790, num_pos_rois: 233.8600, num_neg_rois: 5376.4800, loss_rcnn_bbox: 1.7252, loss_rcnn_corner: 0.4945, loss: 5.0714, grad_norm: 1.8663 2022-10-28 14:46:34,683 - mmdet - INFO - Epoch [3][3850/6587] lr: 2.880e-03, eta: 3 days, 11:45:55, time: 5.092, data_time: 1.939, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3264, recall_Car: 0.8091, recall_Ped: 0.4483, recall_Cyc: 0.5607, num_clusters: 8338.5200, num_fg_points: 231697.1600, loss_cls.task0: 0.0279, loss_center.task0: 0.6764, loss_size.task0: 0.1348, loss_rot.task0: 0.2552, loss_cls.task1: 0.0078, loss_center.task1: 0.2473, loss_size.task1: 0.1760, loss_rot.task1: 0.2542, loss_cls.task2: 0.0083, loss_center.task2: 0.3252, loss_size.task2: 0.0991, loss_rot.task2: 0.2540, loss_rcnn_cls: 0.0748, num_pos_rois: 215.7800, num_neg_rois: 5374.7200, loss_rcnn_bbox: 1.8057, loss_rcnn_corner: 0.4771, loss: 5.1510, grad_norm: 1.7956 2022-10-28 14:50:40,167 - mmdet - INFO - Epoch [3][3900/6587] lr: 2.879e-03, eta: 3 days, 11:42:00, time: 4.910, data_time: 1.447, memory: 66157, loss_sem_seg: 0.0011, loss_vote: 0.3585, recall_Car: 0.7515, recall_Ped: 0.4996, recall_Cyc: 0.5845, num_clusters: 8403.5800, num_fg_points: 308018.0600, loss_cls.task0: 0.0267, loss_center.task0: 0.6955, loss_size.task0: 0.1407, loss_rot.task0: 0.2540, loss_cls.task1: 0.0073, loss_center.task1: 0.2445, loss_size.task1: 0.1661, loss_rot.task1: 0.2539, loss_cls.task2: 0.0076, loss_center.task2: 0.3234, loss_size.task2: 0.0977, loss_rot.task2: 0.2534, loss_rcnn_cls: 0.0709, num_pos_rois: 214.2000, num_neg_rois: 5418.5000, loss_rcnn_bbox: 1.7990, loss_rcnn_corner: 0.4974, loss: 5.1976, grad_norm: 1.9495 2022-10-28 14:54:59,580 - mmdet - INFO - Epoch [3][3950/6587] lr: 2.877e-03, eta: 3 days, 11:38:56, time: 5.188, data_time: 2.089, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3346, recall_Car: 0.7723, recall_Ped: 0.4643, recall_Cyc: 0.5343, num_clusters: 7233.0000, num_fg_points: 255650.4200, loss_cls.task0: 0.0273, loss_center.task0: 0.6825, loss_size.task0: 0.1386, loss_rot.task0: 0.2538, loss_cls.task1: 0.0088, loss_center.task1: 0.2420, loss_size.task1: 0.1645, loss_rot.task1: 0.2547, loss_cls.task2: 0.0085, loss_center.task2: 0.3285, loss_size.task2: 0.0987, loss_rot.task2: 0.2546, loss_rcnn_cls: 0.0709, num_pos_rois: 195.8600, num_neg_rois: 5067.6600, loss_rcnn_bbox: 1.8545, loss_rcnn_corner: 0.4881, loss: 5.2113, grad_norm: 1.8483 2022-10-28 14:59:04,658 - mmdet - INFO - Epoch [3][4000/6587] lr: 2.876e-03, eta: 3 days, 11:35:00, time: 4.901, data_time: 1.930, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3196, recall_Car: 0.7848, recall_Ped: 0.4506, recall_Cyc: 0.5559, num_clusters: 7863.6400, num_fg_points: 217037.1600, loss_cls.task0: 0.0284, loss_center.task0: 0.6619, loss_size.task0: 0.1333, loss_rot.task0: 0.2559, loss_cls.task1: 0.0089, loss_center.task1: 0.2479, loss_size.task1: 0.1695, loss_rot.task1: 0.2542, loss_cls.task2: 0.0090, loss_center.task2: 0.3233, loss_size.task2: 0.1018, loss_rot.task2: 0.2547, loss_rcnn_cls: 0.0770, num_pos_rois: 214.9000, num_neg_rois: 5338.1400, loss_rcnn_bbox: 1.8914, loss_rcnn_corner: 0.4729, loss: 5.2106, grad_norm: 1.7582 2022-10-28 15:03:10,596 - mmdet - INFO - Epoch [3][4050/6587] lr: 2.875e-03, eta: 3 days, 11:31:06, time: 4.919, data_time: 1.725, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3202, recall_Car: 0.8350, recall_Ped: 0.4518, recall_Cyc: 0.5380, num_clusters: 8267.3800, num_fg_points: 300982.2600, loss_cls.task0: 0.0315, loss_center.task0: 0.6476, loss_size.task0: 0.1309, loss_rot.task0: 0.2543, loss_cls.task1: 0.0079, loss_center.task1: 0.2468, loss_size.task1: 0.1731, loss_rot.task1: 0.2559, loss_cls.task2: 0.0079, loss_center.task2: 0.3226, loss_size.task2: 0.1009, loss_rot.task2: 0.2544, loss_rcnn_cls: 0.0759, num_pos_rois: 201.4600, num_neg_rois: 5233.9800, loss_rcnn_bbox: 1.8969, loss_rcnn_corner: 0.4857, loss: 5.2136, grad_norm: 2.0802 2022-10-28 15:07:10,684 - mmdet - INFO - Epoch [3][4100/6587] lr: 2.873e-03, eta: 3 days, 11:26:52, time: 4.802, data_time: 1.730, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3416, recall_Car: 0.7665, recall_Ped: 0.4774, recall_Cyc: 0.5882, num_clusters: 7392.4400, num_fg_points: 259163.4000, loss_cls.task0: 0.0284, loss_center.task0: 0.6640, loss_size.task0: 0.1330, loss_rot.task0: 0.2550, loss_cls.task1: 0.0087, loss_center.task1: 0.2400, loss_size.task1: 0.1640, loss_rot.task1: 0.2551, loss_cls.task2: 0.0089, loss_center.task2: 0.3211, loss_size.task2: 0.0988, loss_rot.task2: 0.2560, loss_rcnn_cls: 0.0727, num_pos_rois: 195.6000, num_neg_rois: 5194.3600, loss_rcnn_bbox: 1.9411, loss_rcnn_corner: 0.4747, loss: 5.2641, grad_norm: 1.9136 2022-10-28 15:11:28,668 - mmdet - INFO - Epoch [3][4150/6587] lr: 2.872e-03, eta: 3 days, 11:23:42, time: 5.160, data_time: 2.199, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3173, recall_Car: 0.8254, recall_Ped: 0.5042, recall_Cyc: 0.5921, num_clusters: 7225.6400, num_fg_points: 225201.7400, loss_cls.task0: 0.0286, loss_center.task0: 0.6517, loss_size.task0: 0.1348, loss_rot.task0: 0.2537, loss_cls.task1: 0.0092, loss_center.task1: 0.2384, loss_size.task1: 0.1653, loss_rot.task1: 0.2552, loss_cls.task2: 0.0093, loss_center.task2: 0.3217, loss_size.task2: 0.0983, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0738, num_pos_rois: 183.2600, num_neg_rois: 5038.7800, loss_rcnn_bbox: 1.9856, loss_rcnn_corner: 0.5031, loss: 5.3007, grad_norm: 2.2002 2022-10-28 15:15:47,680 - mmdet - INFO - Epoch [3][4200/6587] lr: 2.871e-03, eta: 3 days, 11:20:35, time: 5.180, data_time: 2.110, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3117, recall_Car: 0.8293, recall_Ped: 0.4754, recall_Cyc: 0.5881, num_clusters: 7777.7200, num_fg_points: 240203.7400, loss_cls.task0: 0.0275, loss_center.task0: 0.6522, loss_size.task0: 0.1351, loss_rot.task0: 0.2556, loss_cls.task1: 0.0083, loss_center.task1: 0.2420, loss_size.task1: 0.1645, loss_rot.task1: 0.2559, loss_cls.task2: 0.0087, loss_center.task2: 0.3251, loss_size.task2: 0.0993, loss_rot.task2: 0.2550, loss_rcnn_cls: 0.0826, num_pos_rois: 224.1000, num_neg_rois: 5195.2000, loss_rcnn_bbox: 1.8589, loss_rcnn_corner: 0.4805, loss: 5.1636, grad_norm: 1.8735 2022-10-28 15:20:04,655 - mmdet - INFO - Epoch [3][4250/6587] lr: 2.869e-03, eta: 3 days, 11:17:20, time: 5.139, data_time: 2.134, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3138, recall_Car: 0.8147, recall_Ped: 0.5013, recall_Cyc: 0.5943, num_clusters: 7855.6400, num_fg_points: 219136.1800, loss_cls.task0: 0.0297, loss_center.task0: 0.6558, loss_size.task0: 0.1336, loss_rot.task0: 0.2553, loss_cls.task1: 0.0080, loss_center.task1: 0.2401, loss_size.task1: 0.1685, loss_rot.task1: 0.2545, loss_cls.task2: 0.0088, loss_center.task2: 0.3280, loss_size.task2: 0.0998, loss_rot.task2: 0.2552, loss_rcnn_cls: 0.0909, num_pos_rois: 232.1400, num_neg_rois: 5158.4200, loss_rcnn_bbox: 1.8295, loss_rcnn_corner: 0.4313, loss: 5.1035, grad_norm: 2.0330 2022-10-28 15:24:00,937 - mmdet - INFO - Epoch [3][4300/6587] lr: 2.868e-03, eta: 3 days, 11:12:52, time: 4.725, data_time: 1.708, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3194, recall_Car: 0.7721, recall_Ped: 0.4973, recall_Cyc: 0.5574, num_clusters: 8159.8800, num_fg_points: 207223.4000, loss_cls.task0: 0.0278, loss_center.task0: 0.7012, loss_size.task0: 0.1476, loss_rot.task0: 0.2549, loss_cls.task1: 0.0085, loss_center.task1: 0.2482, loss_size.task1: 0.1667, loss_rot.task1: 0.2549, loss_cls.task2: 0.0085, loss_center.task2: 0.3309, loss_size.task2: 0.1023, loss_rot.task2: 0.2550, loss_rcnn_cls: 0.0881, num_pos_rois: 213.9200, num_neg_rois: 5344.1800, loss_rcnn_bbox: 1.8201, loss_rcnn_corner: 0.3534, loss: 5.0883, grad_norm: 2.3205 2022-10-28 15:28:08,540 - mmdet - INFO - Epoch [3][4350/6587] lr: 2.867e-03, eta: 3 days, 11:09:04, time: 4.953, data_time: 1.790, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3109, recall_Car: 0.8015, recall_Ped: 0.4703, recall_Cyc: 0.5726, num_clusters: 7984.1400, num_fg_points: 241072.1200, loss_cls.task0: 0.0312, loss_center.task0: 0.6698, loss_size.task0: 0.1347, loss_rot.task0: 0.2557, loss_cls.task1: 0.0079, loss_center.task1: 0.2407, loss_size.task1: 0.1660, loss_rot.task1: 0.2553, loss_cls.task2: 0.0086, loss_center.task2: 0.3229, loss_size.task2: 0.1002, loss_rot.task2: 0.2550, loss_rcnn_cls: 0.0959, num_pos_rois: 238.8200, num_neg_rois: 5252.1000, loss_rcnn_bbox: 1.6688, loss_rcnn_corner: 0.2906, loss: 4.8150, grad_norm: 2.0896 2022-10-28 15:32:09,810 - mmdet - INFO - Epoch [3][4400/6587] lr: 2.865e-03, eta: 3 days, 11:04:53, time: 4.825, data_time: 1.782, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3039, recall_Car: 0.7902, recall_Ped: 0.4713, recall_Cyc: 0.5783, num_clusters: 6844.2400, num_fg_points: 225842.2800, loss_cls.task0: 0.0323, loss_center.task0: 0.6638, loss_size.task0: 0.1330, loss_rot.task0: 0.2556, loss_cls.task1: 0.0083, loss_center.task1: 0.2349, loss_size.task1: 0.1616, loss_rot.task1: 0.2530, loss_cls.task2: 0.0086, loss_center.task2: 0.3185, loss_size.task2: 0.1000, loss_rot.task2: 0.2535, loss_rcnn_cls: 0.0861, num_pos_rois: 217.5200, num_neg_rois: 5155.3800, loss_rcnn_bbox: 1.7118, loss_rcnn_corner: 0.2699, loss: 4.7955, grad_norm: 2.0171 2022-10-28 15:36:13,682 - mmdet - INFO - Epoch [3][4450/6587] lr: 2.864e-03, eta: 3 days, 11:00:52, time: 4.877, data_time: 1.682, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3340, recall_Car: 0.7775, recall_Ped: 0.4888, recall_Cyc: 0.5936, num_clusters: 7468.2400, num_fg_points: 254643.1600, loss_cls.task0: 0.0303, loss_center.task0: 0.6835, loss_size.task0: 0.1378, loss_rot.task0: 0.2546, loss_cls.task1: 0.0081, loss_center.task1: 0.2426, loss_size.task1: 0.1641, loss_rot.task1: 0.2532, loss_cls.task2: 0.0081, loss_center.task2: 0.3165, loss_size.task2: 0.0979, loss_rot.task2: 0.2540, loss_rcnn_cls: 0.0796, num_pos_rois: 204.7200, num_neg_rois: 5297.1000, loss_rcnn_bbox: 1.7516, loss_rcnn_corner: 0.2750, loss: 4.8919, grad_norm: 2.1796 2022-10-28 15:40:13,142 - mmdet - INFO - Epoch [3][4500/6587] lr: 2.863e-03, eta: 3 days, 10:56:36, time: 4.789, data_time: 1.554, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3385, recall_Car: 0.7938, recall_Ped: 0.4674, recall_Cyc: 0.5438, num_clusters: 8783.5200, num_fg_points: 256281.0200, loss_cls.task0: 0.0330, loss_center.task0: 0.6927, loss_size.task0: 0.1339, loss_rot.task0: 0.2534, loss_cls.task1: 0.0081, loss_center.task1: 0.2456, loss_size.task1: 0.1685, loss_rot.task1: 0.2538, loss_cls.task2: 0.0079, loss_center.task2: 0.3301, loss_size.task2: 0.1019, loss_rot.task2: 0.2551, loss_rcnn_cls: 0.0734, num_pos_rois: 195.0000, num_neg_rois: 5553.8600, loss_rcnn_bbox: 1.8313, loss_rcnn_corner: 0.3218, loss: 5.0499, grad_norm: 2.2417 2022-10-28 15:44:30,522 - mmdet - INFO - Epoch [3][4550/6587] lr: 2.861e-03, eta: 3 days, 10:53:21, time: 5.147, data_time: 1.808, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3477, recall_Car: 0.7793, recall_Ped: 0.4612, recall_Cyc: 0.5400, num_clusters: 10857.8000, num_fg_points: 263469.6600, loss_cls.task0: 0.0301, loss_center.task0: 0.7247, loss_size.task0: 0.1372, loss_rot.task0: 0.2548, loss_cls.task1: 0.0067, loss_center.task1: 0.2411, loss_size.task1: 0.1694, loss_rot.task1: 0.2553, loss_cls.task2: 0.0066, loss_center.task2: 0.3305, loss_size.task2: 0.0990, loss_rot.task2: 0.2555, loss_rcnn_cls: 0.0795, num_pos_rois: 218.9200, num_neg_rois: 5732.2400, loss_rcnn_bbox: 1.7889, loss_rcnn_corner: 0.4332, loss: 5.1612, grad_norm: 2.0441 2022-10-28 15:48:33,932 - mmdet - INFO - Epoch [3][4600/6587] lr: 2.860e-03, eta: 3 days, 10:49:18, time: 4.868, data_time: 1.760, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3369, recall_Car: 0.7949, recall_Ped: 0.4519, recall_Cyc: 0.5217, num_clusters: 7222.1800, num_fg_points: 214168.5800, loss_cls.task0: 0.0379, loss_center.task0: 0.7016, loss_size.task0: 0.1288, loss_rot.task0: 0.2552, loss_cls.task1: 0.0082, loss_center.task1: 0.2386, loss_size.task1: 0.1669, loss_rot.task1: 0.2542, loss_cls.task2: 0.0082, loss_center.task2: 0.3271, loss_size.task2: 0.0999, loss_rot.task2: 0.2536, loss_rcnn_cls: 0.0920, num_pos_rois: 247.5600, num_neg_rois: 5216.4400, loss_rcnn_bbox: 1.5835, loss_rcnn_corner: 0.2941, loss: 4.7875, grad_norm: 1.9933 2022-10-28 15:52:48,727 - mmdet - INFO - Epoch [3][4650/6587] lr: 2.858e-03, eta: 3 days, 10:45:54, time: 5.096, data_time: 1.982, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3353, recall_Car: 0.7877, recall_Ped: 0.4527, recall_Cyc: 0.5641, num_clusters: 8568.8600, num_fg_points: 233036.5600, loss_cls.task0: 0.0322, loss_center.task0: 0.6860, loss_size.task0: 0.1295, loss_rot.task0: 0.2542, loss_cls.task1: 0.0079, loss_center.task1: 0.2449, loss_size.task1: 0.1694, loss_rot.task1: 0.2545, loss_cls.task2: 0.0078, loss_center.task2: 0.3289, loss_size.task2: 0.0996, loss_rot.task2: 0.2535, loss_rcnn_cls: 0.0862, num_pos_rois: 240.5400, num_neg_rois: 5403.0400, loss_rcnn_bbox: 1.6484, loss_rcnn_corner: 0.2756, loss: 4.8148, grad_norm: 2.0962 2022-10-28 15:56:54,982 - mmdet - INFO - Epoch [3][4700/6587] lr: 2.857e-03, eta: 3 days, 10:42:01, time: 4.925, data_time: 1.629, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3540, recall_Car: 0.7627, recall_Ped: 0.4160, recall_Cyc: 0.5156, num_clusters: 10162.3400, num_fg_points: 248656.3400, loss_cls.task0: 0.0323, loss_center.task0: 0.7213, loss_size.task0: 0.1303, loss_rot.task0: 0.2544, loss_cls.task1: 0.0072, loss_center.task1: 0.2554, loss_size.task1: 0.1711, loss_rot.task1: 0.2548, loss_cls.task2: 0.0070, loss_center.task2: 0.3395, loss_size.task2: 0.0996, loss_rot.task2: 0.2552, loss_rcnn_cls: 0.0754, num_pos_rois: 194.1600, num_neg_rois: 5750.1600, loss_rcnn_bbox: 1.8248, loss_rcnn_corner: 0.4903, loss: 5.2735, grad_norm: 2.4088 2022-10-28 16:01:08,341 - mmdet - INFO - Epoch [3][4750/6587] lr: 2.856e-03, eta: 3 days, 10:38:32, time: 5.067, data_time: 1.944, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3141, recall_Car: 0.7965, recall_Ped: 0.4648, recall_Cyc: 0.5565, num_clusters: 8462.5200, num_fg_points: 233857.4000, loss_cls.task0: 0.0338, loss_center.task0: 0.6924, loss_size.task0: 0.1316, loss_rot.task0: 0.2551, loss_cls.task1: 0.0081, loss_center.task1: 0.2419, loss_size.task1: 0.1637, loss_rot.task1: 0.2554, loss_cls.task2: 0.0083, loss_center.task2: 0.3244, loss_size.task2: 0.0975, loss_rot.task2: 0.2540, loss_rcnn_cls: 0.0965, num_pos_rois: 256.2400, num_neg_rois: 5416.0200, loss_rcnn_bbox: 1.8379, loss_rcnn_corner: 0.5008, loss: 5.2163, grad_norm: 2.1030 2022-10-28 16:05:14,839 - mmdet - INFO - Epoch [3][4800/6587] lr: 2.854e-03, eta: 3 days, 10:34:39, time: 4.930, data_time: 1.960, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3024, recall_Car: 0.8259, recall_Ped: 0.4773, recall_Cyc: 0.5869, num_clusters: 7791.0400, num_fg_points: 218536.5000, loss_cls.task0: 0.0293, loss_center.task0: 0.6749, loss_size.task0: 0.1321, loss_rot.task0: 0.2558, loss_cls.task1: 0.0078, loss_center.task1: 0.2415, loss_size.task1: 0.1611, loss_rot.task1: 0.2544, loss_cls.task2: 0.0081, loss_center.task2: 0.3189, loss_size.task2: 0.0994, loss_rot.task2: 0.2547, loss_rcnn_cls: 0.0766, num_pos_rois: 193.3200, num_neg_rois: 5168.1400, loss_rcnn_bbox: 1.9437, loss_rcnn_corner: 0.5316, loss: 5.2931, grad_norm: 1.9835 2022-10-28 16:09:20,906 - mmdet - INFO - Epoch [3][4850/6587] lr: 2.853e-03, eta: 3 days, 10:30:44, time: 4.921, data_time: 1.961, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3171, recall_Car: 0.8189, recall_Ped: 0.4786, recall_Cyc: 0.5650, num_clusters: 7690.4400, num_fg_points: 206930.8600, loss_cls.task0: 0.0321, loss_center.task0: 0.6715, loss_size.task0: 0.1291, loss_rot.task0: 0.2542, loss_cls.task1: 0.0078, loss_center.task1: 0.2344, loss_size.task1: 0.1603, loss_rot.task1: 0.2543, loss_cls.task2: 0.0079, loss_center.task2: 0.3182, loss_size.task2: 0.0991, loss_rot.task2: 0.2537, loss_rcnn_cls: 0.0859, num_pos_rois: 223.8200, num_neg_rois: 5229.9400, loss_rcnn_bbox: 1.8377, loss_rcnn_corner: 0.4982, loss: 5.1622, grad_norm: 1.7751 2022-10-28 16:13:28,957 - mmdet - INFO - Epoch [3][4900/6587] lr: 2.851e-03, eta: 3 days, 10:26:57, time: 4.960, data_time: 2.110, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3072, recall_Car: 0.8161, recall_Ped: 0.4851, recall_Cyc: 0.5876, num_clusters: 7272.3600, num_fg_points: 205438.2600, loss_cls.task0: 0.0304, loss_center.task0: 0.6565, loss_size.task0: 0.1299, loss_rot.task0: 0.2539, loss_cls.task1: 0.0079, loss_center.task1: 0.2322, loss_size.task1: 0.1622, loss_rot.task1: 0.2547, loss_cls.task2: 0.0085, loss_center.task2: 0.3179, loss_size.task2: 0.0987, loss_rot.task2: 0.2537, loss_rcnn_cls: 0.0930, num_pos_rois: 236.9400, num_neg_rois: 4895.3800, loss_rcnn_bbox: 1.7568, loss_rcnn_corner: 0.4713, loss: 5.0357, grad_norm: 1.9430 2022-10-28 16:17:36,060 - mmdet - INFO - Epoch [3][4950/6587] lr: 2.850e-03, eta: 3 days, 10:23:06, time: 4.943, data_time: 1.959, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3149, recall_Car: 0.8186, recall_Ped: 0.4872, recall_Cyc: 0.6052, num_clusters: 7515.2200, num_fg_points: 203739.4600, loss_cls.task0: 0.0344, loss_center.task0: 0.6708, loss_size.task0: 0.1299, loss_rot.task0: 0.2576, loss_cls.task1: 0.0087, loss_center.task1: 0.2467, loss_size.task1: 0.1668, loss_rot.task1: 0.2562, loss_cls.task2: 0.0086, loss_center.task2: 0.3246, loss_size.task2: 0.0979, loss_rot.task2: 0.2553, loss_rcnn_cls: 0.0932, num_pos_rois: 246.1800, num_neg_rois: 5326.4200, loss_rcnn_bbox: 1.6270, loss_rcnn_corner: 0.3303, loss: 4.8238, grad_norm: 2.5172 2022-10-28 16:21:33,823 - mmdet - INFO - Epoch [3][5000/6587] lr: 2.848e-03, eta: 3 days, 10:18:43, time: 4.755, data_time: 1.689, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3320, recall_Car: 0.8121, recall_Ped: 0.4513, recall_Cyc: 0.5611, num_clusters: 8417.2200, num_fg_points: 235154.9200, loss_cls.task0: 0.0314, loss_center.task0: 0.6991, loss_size.task0: 0.1362, loss_rot.task0: 0.2562, loss_cls.task1: 0.0080, loss_center.task1: 0.2415, loss_size.task1: 0.1657, loss_rot.task1: 0.2555, loss_cls.task2: 0.0081, loss_center.task2: 0.3251, loss_size.task2: 0.0985, loss_rot.task2: 0.2544, loss_rcnn_cls: 0.0704, num_pos_rois: 191.9600, num_neg_rois: 5527.2000, loss_rcnn_bbox: 1.8341, loss_rcnn_corner: 0.3817, loss: 5.0989, grad_norm: 2.5972 2022-10-28 16:25:49,160 - mmdet - INFO - Epoch [3][5050/6587] lr: 2.847e-03, eta: 3 days, 10:15:20, time: 5.107, data_time: 1.684, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3593, recall_Car: 0.7832, recall_Ped: 0.5206, recall_Cyc: 0.5825, num_clusters: 12258.0800, num_fg_points: 246621.8600, loss_cls.task0: 0.0267, loss_center.task0: 0.7219, loss_size.task0: 0.1434, loss_rot.task0: 0.2556, loss_cls.task1: 0.0066, loss_center.task1: 0.2390, loss_size.task1: 0.1696, loss_rot.task1: 0.2547, loss_cls.task2: 0.0065, loss_center.task2: 0.3246, loss_size.task2: 0.0965, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0854, num_pos_rois: 228.8600, num_neg_rois: 5759.5200, loss_rcnn_bbox: 1.8396, loss_rcnn_corner: 0.5573, loss: 5.3421, grad_norm: 2.5534 2022-10-28 16:29:39,029 - mmdet - INFO - Epoch [3][5100/6587] lr: 2.845e-03, eta: 3 days, 10:10:31, time: 4.597, data_time: 1.432, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3325, recall_Car: 0.7771, recall_Ped: 0.4745, recall_Cyc: 0.5923, num_clusters: 9377.2000, num_fg_points: 237975.1600, loss_cls.task0: 0.0275, loss_center.task0: 0.7146, loss_size.task0: 0.1345, loss_rot.task0: 0.2560, loss_cls.task1: 0.0070, loss_center.task1: 0.2371, loss_size.task1: 0.1683, loss_rot.task1: 0.2553, loss_cls.task2: 0.0078, loss_center.task2: 0.3229, loss_size.task2: 0.0985, loss_rot.task2: 0.2559, loss_rcnn_cls: 0.0874, num_pos_rois: 237.9200, num_neg_rois: 5492.2600, loss_rcnn_bbox: 1.7742, loss_rcnn_corner: 0.4826, loss: 5.1631, grad_norm: 2.0335 2022-10-28 16:33:52,575 - mmdet - INFO - Epoch [3][5150/6587] lr: 2.844e-03, eta: 3 days, 10:07:01, time: 5.071, data_time: 2.005, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3366, recall_Car: 0.7862, recall_Ped: 0.4551, recall_Cyc: 0.5547, num_clusters: 7827.8400, num_fg_points: 203005.5000, loss_cls.task0: 0.0298, loss_center.task0: 0.6831, loss_size.task0: 0.1318, loss_rot.task0: 0.2528, loss_cls.task1: 0.0081, loss_center.task1: 0.2397, loss_size.task1: 0.1668, loss_rot.task1: 0.2544, loss_cls.task2: 0.0084, loss_center.task2: 0.3216, loss_size.task2: 0.0959, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0769, num_pos_rois: 194.5800, num_neg_rois: 5316.8000, loss_rcnn_bbox: 1.8727, loss_rcnn_corner: 0.4336, loss: 5.1673, grad_norm: 2.4240 2022-10-28 16:37:54,614 - mmdet - INFO - Epoch [3][5200/6587] lr: 2.843e-03, eta: 3 days, 10:02:53, time: 4.841, data_time: 1.897, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3083, recall_Car: 0.7957, recall_Ped: 0.4855, recall_Cyc: 0.5677, num_clusters: 7424.4600, num_fg_points: 195423.5800, loss_cls.task0: 0.0302, loss_center.task0: 0.6779, loss_size.task0: 0.1294, loss_rot.task0: 0.2548, loss_cls.task1: 0.0087, loss_center.task1: 0.2330, loss_size.task1: 0.1647, loss_rot.task1: 0.2555, loss_cls.task2: 0.0090, loss_center.task2: 0.3164, loss_size.task2: 0.0966, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0852, num_pos_rois: 201.2600, num_neg_rois: 5103.1400, loss_rcnn_bbox: 2.0007, loss_rcnn_corner: 0.4511, loss: 5.2772, grad_norm: 2.4376 2022-10-28 16:42:09,071 - mmdet - INFO - Epoch [3][5250/6587] lr: 2.841e-03, eta: 3 days, 9:59:26, time: 5.089, data_time: 1.965, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3441, recall_Car: 0.7645, recall_Ped: 0.4878, recall_Cyc: 0.6042, num_clusters: 8666.6000, num_fg_points: 211797.1000, loss_cls.task0: 0.0289, loss_center.task0: 0.7434, loss_size.task0: 0.1416, loss_rot.task0: 0.2538, loss_cls.task1: 0.0080, loss_center.task1: 0.2375, loss_size.task1: 0.1691, loss_rot.task1: 0.2539, loss_cls.task2: 0.0082, loss_center.task2: 0.3175, loss_size.task2: 0.0981, loss_rot.task2: 0.2531, loss_rcnn_cls: 0.0727, num_pos_rois: 185.4400, num_neg_rois: 5606.7400, loss_rcnn_bbox: 2.0310, loss_rcnn_corner: 0.5013, loss: 5.4631, grad_norm: 2.4135 2022-10-28 16:46:17,437 - mmdet - INFO - Epoch [3][5300/6587] lr: 2.840e-03, eta: 3 days, 9:55:39, time: 4.967, data_time: 1.998, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3297, recall_Car: 0.7868, recall_Ped: 0.5173, recall_Cyc: 0.5661, num_clusters: 7986.8600, num_fg_points: 216570.3600, loss_cls.task0: 0.0269, loss_center.task0: 0.7067, loss_size.task0: 0.1359, loss_rot.task0: 0.2541, loss_cls.task1: 0.0086, loss_center.task1: 0.2393, loss_size.task1: 0.1675, loss_rot.task1: 0.2535, loss_cls.task2: 0.0085, loss_center.task2: 0.3240, loss_size.task2: 0.0964, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0785, num_pos_rois: 193.8400, num_neg_rois: 5204.7600, loss_rcnn_bbox: 2.0366, loss_rcnn_corner: 0.5529, loss: 5.4737, grad_norm: 2.1787 2022-10-28 16:50:25,757 - mmdet - INFO - Epoch [3][5350/6587] lr: 2.838e-03, eta: 3 days, 9:51:51, time: 4.967, data_time: 1.991, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3281, recall_Car: 0.7757, recall_Ped: 0.4804, recall_Cyc: 0.6028, num_clusters: 7212.4800, num_fg_points: 199528.2800, loss_cls.task0: 0.0293, loss_center.task0: 0.7007, loss_size.task0: 0.1389, loss_rot.task0: 0.2554, loss_cls.task1: 0.0083, loss_center.task1: 0.2383, loss_size.task1: 0.1603, loss_rot.task1: 0.2540, loss_cls.task2: 0.0086, loss_center.task2: 0.3160, loss_size.task2: 0.0962, loss_rot.task2: 0.2551, loss_rcnn_cls: 0.0849, num_pos_rois: 201.5200, num_neg_rois: 4964.6000, loss_rcnn_bbox: 1.8578, loss_rcnn_corner: 0.4577, loss: 5.1905, grad_norm: 2.1196 2022-10-28 16:54:38,078 - mmdet - INFO - Epoch [3][5400/6587] lr: 2.837e-03, eta: 3 days, 9:48:16, time: 5.046, data_time: 1.863, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3375, recall_Car: 0.7977, recall_Ped: 0.4767, recall_Cyc: 0.5679, num_clusters: 8098.9600, num_fg_points: 268140.6400, loss_cls.task0: 0.0323, loss_center.task0: 0.7238, loss_size.task0: 0.1335, loss_rot.task0: 0.2540, loss_cls.task1: 0.0077, loss_center.task1: 0.2345, loss_size.task1: 0.1705, loss_rot.task1: 0.2541, loss_cls.task2: 0.0078, loss_center.task2: 0.3195, loss_size.task2: 0.0987, loss_rot.task2: 0.2533, loss_rcnn_cls: 0.0751, num_pos_rois: 191.4600, num_neg_rois: 5383.2800, loss_rcnn_bbox: 2.0097, loss_rcnn_corner: 0.5377, loss: 5.4507, grad_norm: 2.1551 2022-10-28 16:59:11,236 - mmdet - INFO - Epoch [3][5450/6587] lr: 2.835e-03, eta: 3 days, 9:45:49, time: 5.463, data_time: 2.364, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3128, recall_Car: 0.7911, recall_Ped: 0.5119, recall_Cyc: 0.5737, num_clusters: 7236.2600, num_fg_points: 236387.5400, loss_cls.task0: 0.0331, loss_center.task0: 0.6854, loss_size.task0: 0.1343, loss_rot.task0: 0.2543, loss_cls.task1: 0.0077, loss_center.task1: 0.2368, loss_size.task1: 0.1634, loss_rot.task1: 0.2551, loss_cls.task2: 0.0078, loss_center.task2: 0.3176, loss_size.task2: 0.0976, loss_rot.task2: 0.2555, loss_rcnn_cls: 0.0772, num_pos_rois: 196.6800, num_neg_rois: 5331.9800, loss_rcnn_bbox: 1.9724, loss_rcnn_corner: 0.5362, loss: 5.3481, grad_norm: 2.1983 2022-10-28 17:03:10,284 - mmdet - INFO - Epoch [3][5500/6587] lr: 2.834e-03, eta: 3 days, 9:41:31, time: 4.781, data_time: 1.771, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3150, recall_Car: 0.8170, recall_Ped: 0.5183, recall_Cyc: 0.6132, num_clusters: 7393.3600, num_fg_points: 236461.8000, loss_cls.task0: 0.0300, loss_center.task0: 0.6546, loss_size.task0: 0.1311, loss_rot.task0: 0.2548, loss_cls.task1: 0.0078, loss_center.task1: 0.2380, loss_size.task1: 0.1650, loss_rot.task1: 0.2536, loss_cls.task2: 0.0080, loss_center.task2: 0.3170, loss_size.task2: 0.0957, loss_rot.task2: 0.2546, loss_rcnn_cls: 0.0848, num_pos_rois: 213.7000, num_neg_rois: 5123.6400, loss_rcnn_bbox: 1.7993, loss_rcnn_corner: 0.5017, loss: 5.1118, grad_norm: 1.9699 2022-10-28 17:07:21,508 - mmdet - INFO - Epoch [3][5550/6587] lr: 2.832e-03, eta: 3 days, 9:37:52, time: 5.025, data_time: 2.068, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3079, recall_Car: 0.8292, recall_Ped: 0.5217, recall_Cyc: 0.5895, num_clusters: 8055.4800, num_fg_points: 221913.0600, loss_cls.task0: 0.0304, loss_center.task0: 0.6427, loss_size.task0: 0.1306, loss_rot.task0: 0.2558, loss_cls.task1: 0.0081, loss_center.task1: 0.2390, loss_size.task1: 0.1620, loss_rot.task1: 0.2538, loss_cls.task2: 0.0077, loss_center.task2: 0.3188, loss_size.task2: 0.0956, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0965, num_pos_rois: 258.0200, num_neg_rois: 5223.9800, loss_rcnn_bbox: 1.7378, loss_rcnn_corner: 0.3970, loss: 4.9384, grad_norm: 2.1428 2022-10-28 17:11:22,882 - mmdet - INFO - Epoch [3][5600/6587] lr: 2.831e-03, eta: 3 days, 9:33:41, time: 4.827, data_time: 1.748, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3330, recall_Car: 0.8155, recall_Ped: 0.4703, recall_Cyc: 0.5513, num_clusters: 7390.8800, num_fg_points: 228326.9800, loss_cls.task0: 0.0291, loss_center.task0: 0.7311, loss_size.task0: 0.1345, loss_rot.task0: 0.2556, loss_cls.task1: 0.0081, loss_center.task1: 0.2402, loss_size.task1: 0.1616, loss_rot.task1: 0.2555, loss_cls.task2: 0.0085, loss_center.task2: 0.3238, loss_size.task2: 0.0989, loss_rot.task2: 0.2545, loss_rcnn_cls: 0.0823, num_pos_rois: 210.3800, num_neg_rois: 5068.5600, loss_rcnn_bbox: 1.7262, loss_rcnn_corner: 0.3254, loss: 4.9691, grad_norm: 2.3047 2022-10-28 17:15:23,448 - mmdet - INFO - Epoch [3][5650/6587] lr: 2.829e-03, eta: 3 days, 9:29:28, time: 4.811, data_time: 1.689, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3270, recall_Car: 0.7991, recall_Ped: 0.4850, recall_Cyc: 0.5619, num_clusters: 9006.7200, num_fg_points: 240952.4800, loss_cls.task0: 0.0266, loss_center.task0: 0.7151, loss_size.task0: 0.1402, loss_rot.task0: 0.2543, loss_cls.task1: 0.0075, loss_center.task1: 0.2475, loss_size.task1: 0.1625, loss_rot.task1: 0.2542, loss_cls.task2: 0.0074, loss_center.task2: 0.3167, loss_size.task2: 0.0974, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0722, num_pos_rois: 192.6400, num_neg_rois: 5429.6600, loss_rcnn_bbox: 1.7604, loss_rcnn_corner: 0.3297, loss: 4.9734, grad_norm: 2.2206 2022-10-28 17:19:33,886 - mmdet - INFO - Epoch [3][5700/6587] lr: 2.827e-03, eta: 3 days, 9:25:46, time: 5.009, data_time: 1.789, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3534, recall_Car: 0.7547, recall_Ped: 0.4548, recall_Cyc: 0.5706, num_clusters: 8156.5000, num_fg_points: 225089.5200, loss_cls.task0: 0.0306, loss_center.task0: 0.7297, loss_size.task0: 0.1520, loss_rot.task0: 0.2546, loss_cls.task1: 0.0085, loss_center.task1: 0.2410, loss_size.task1: 0.1616, loss_rot.task1: 0.2543, loss_cls.task2: 0.0086, loss_center.task2: 0.3176, loss_size.task2: 0.0972, loss_rot.task2: 0.2540, loss_rcnn_cls: 0.0739, num_pos_rois: 193.0600, num_neg_rois: 5356.4000, loss_rcnn_bbox: 1.8668, loss_rcnn_corner: 0.4339, loss: 5.2386, grad_norm: 2.2697 2022-10-28 17:23:45,908 - mmdet - INFO - Epoch [3][5750/6587] lr: 2.826e-03, eta: 3 days, 9:22:09, time: 5.041, data_time: 1.931, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3353, recall_Car: 0.7729, recall_Ped: 0.4559, recall_Cyc: 0.5580, num_clusters: 9152.6200, num_fg_points: 226103.3000, loss_cls.task0: 0.0288, loss_center.task0: 0.7275, loss_size.task0: 0.1435, loss_rot.task0: 0.2548, loss_cls.task1: 0.0072, loss_center.task1: 0.2339, loss_size.task1: 0.1601, loss_rot.task1: 0.2550, loss_cls.task2: 0.0074, loss_center.task2: 0.3289, loss_size.task2: 0.0968, loss_rot.task2: 0.2551, loss_rcnn_cls: 0.0779, num_pos_rois: 216.3200, num_neg_rois: 5625.5400, loss_rcnn_bbox: 1.8837, loss_rcnn_corner: 0.4746, loss: 5.2714, grad_norm: 1.9935 2022-10-28 17:27:51,530 - mmdet - INFO - Epoch [3][5800/6587] lr: 2.824e-03, eta: 3 days, 9:18:12, time: 4.912, data_time: 1.788, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3257, recall_Car: 0.7856, recall_Ped: 0.4866, recall_Cyc: 0.5624, num_clusters: 8719.7400, num_fg_points: 239314.0400, loss_cls.task0: 0.0270, loss_center.task0: 0.6949, loss_size.task0: 0.1357, loss_rot.task0: 0.2543, loss_cls.task1: 0.0073, loss_center.task1: 0.2341, loss_size.task1: 0.1635, loss_rot.task1: 0.2541, loss_cls.task2: 0.0075, loss_center.task2: 0.3181, loss_size.task2: 0.0966, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0847, num_pos_rois: 222.7200, num_neg_rois: 5400.6600, loss_rcnn_bbox: 1.8264, loss_rcnn_corner: 0.3872, loss: 5.0717, grad_norm: 2.0011 2022-10-28 17:31:55,442 - mmdet - INFO - Epoch [3][5850/6587] lr: 2.823e-03, eta: 3 days, 9:14:09, time: 4.878, data_time: 1.661, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3207, recall_Car: 0.8030, recall_Ped: 0.4374, recall_Cyc: 0.5587, num_clusters: 8798.6800, num_fg_points: 251162.6400, loss_cls.task0: 0.0275, loss_center.task0: 0.7091, loss_size.task0: 0.1372, loss_rot.task0: 0.2549, loss_cls.task1: 0.0073, loss_center.task1: 0.2391, loss_size.task1: 0.1613, loss_rot.task1: 0.2538, loss_cls.task2: 0.0074, loss_center.task2: 0.3205, loss_size.task2: 0.0958, loss_rot.task2: 0.2554, loss_rcnn_cls: 0.0807, num_pos_rois: 216.7600, num_neg_rois: 5415.9000, loss_rcnn_bbox: 1.8023, loss_rcnn_corner: 0.3673, loss: 5.0412, grad_norm: 1.8199 2022-10-28 17:36:00,935 - mmdet - INFO - Epoch [3][5900/6587] lr: 2.821e-03, eta: 3 days, 9:10:12, time: 4.910, data_time: 2.057, memory: 66157, loss_sem_seg: 0.0007, loss_vote: 0.3012, recall_Car: 0.7563, recall_Ped: 0.4402, recall_Cyc: 0.5750, num_clusters: 7016.7600, num_fg_points: 184506.1200, loss_cls.task0: 0.0298, loss_center.task0: 0.6464, loss_size.task0: 0.1273, loss_rot.task0: 0.2535, loss_cls.task1: 0.0077, loss_center.task1: 0.2347, loss_size.task1: 0.1636, loss_rot.task1: 0.2532, loss_cls.task2: 0.0080, loss_center.task2: 0.3162, loss_size.task2: 0.0952, loss_rot.task2: 0.2545, loss_rcnn_cls: 0.0907, num_pos_rois: 220.3400, num_neg_rois: 4866.5400, loss_rcnn_bbox: 1.6268, loss_rcnn_corner: 0.2843, loss: 4.6938, grad_norm: 1.9480 2022-10-28 17:40:02,250 - mmdet - INFO - Epoch [3][5950/6587] lr: 2.820e-03, eta: 3 days, 9:06:01, time: 4.826, data_time: 1.766, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3065, recall_Car: 0.7761, recall_Ped: 0.4390, recall_Cyc: 0.5274, num_clusters: 8465.6800, num_fg_points: 192834.5800, loss_cls.task0: 0.0322, loss_center.task0: 0.6738, loss_size.task0: 0.1292, loss_rot.task0: 0.2527, loss_cls.task1: 0.0074, loss_center.task1: 0.2435, loss_size.task1: 0.1648, loss_rot.task1: 0.2554, loss_cls.task2: 0.0075, loss_center.task2: 0.3208, loss_size.task2: 0.0966, loss_rot.task2: 0.2537, loss_rcnn_cls: 0.0897, num_pos_rois: 243.6200, num_neg_rois: 5244.8200, loss_rcnn_bbox: 1.5994, loss_rcnn_corner: 0.2731, loss: 4.7073, grad_norm: 2.0412 2022-10-28 17:44:05,879 - mmdet - INFO - Epoch [3][6000/6587] lr: 2.818e-03, eta: 3 days, 9:01:57, time: 4.872, data_time: 1.793, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3111, recall_Car: 0.8005, recall_Ped: 0.4856, recall_Cyc: 0.5708, num_clusters: 8914.6000, num_fg_points: 234751.7000, loss_cls.task0: 0.0275, loss_center.task0: 0.6685, loss_size.task0: 0.1293, loss_rot.task0: 0.2551, loss_cls.task1: 0.0076, loss_center.task1: 0.2378, loss_size.task1: 0.1665, loss_rot.task1: 0.2552, loss_cls.task2: 0.0075, loss_center.task2: 0.3168, loss_size.task2: 0.0969, loss_rot.task2: 0.2557, loss_rcnn_cls: 0.0842, num_pos_rois: 240.2200, num_neg_rois: 5443.9600, loss_rcnn_bbox: 1.6912, loss_rcnn_corner: 0.2828, loss: 4.7944, grad_norm: 2.0599 2022-10-28 17:48:33,928 - mmdet - INFO - Epoch [3][6050/6587] lr: 2.816e-03, eta: 3 days, 8:59:10, time: 5.361, data_time: 2.288, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3062, recall_Car: 0.7953, recall_Ped: 0.4821, recall_Cyc: 0.5718, num_clusters: 8348.2600, num_fg_points: 226924.0000, loss_cls.task0: 0.0289, loss_center.task0: 0.6588, loss_size.task0: 0.1346, loss_rot.task0: 0.2540, loss_cls.task1: 0.0077, loss_center.task1: 0.2426, loss_size.task1: 0.1632, loss_rot.task1: 0.2526, loss_cls.task2: 0.0074, loss_center.task2: 0.3211, loss_size.task2: 0.0970, loss_rot.task2: 0.2539, loss_rcnn_cls: 0.0858, num_pos_rois: 242.3200, num_neg_rois: 5322.6200, loss_rcnn_bbox: 1.6024, loss_rcnn_corner: 0.2475, loss: 4.6646, grad_norm: 1.9411 2022-10-28 17:52:37,233 - mmdet - INFO - Epoch [3][6100/6587] lr: 2.815e-03, eta: 3 days, 8:55:05, time: 4.866, data_time: 1.845, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.2928, recall_Car: 0.8268, recall_Ped: 0.4689, recall_Cyc: 0.5865, num_clusters: 8552.3800, num_fg_points: 207320.5000, loss_cls.task0: 0.0274, loss_center.task0: 0.6776, loss_size.task0: 0.1366, loss_rot.task0: 0.2564, loss_cls.task1: 0.0073, loss_center.task1: 0.2286, loss_size.task1: 0.1611, loss_rot.task1: 0.2540, loss_cls.task2: 0.0077, loss_center.task2: 0.3253, loss_size.task2: 0.0998, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0843, num_pos_rois: 236.7600, num_neg_rois: 5269.5600, loss_rcnn_bbox: 1.6136, loss_rcnn_corner: 0.2486, loss: 4.6768, grad_norm: 2.0035 2022-10-28 17:56:44,010 - mmdet - INFO - Epoch [3][6150/6587] lr: 2.813e-03, eta: 3 days, 8:51:10, time: 4.935, data_time: 1.994, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3020, recall_Car: 0.7927, recall_Ped: 0.4787, recall_Cyc: 0.5551, num_clusters: 7726.1600, num_fg_points: 192190.6200, loss_cls.task0: 0.0283, loss_center.task0: 0.7048, loss_size.task0: 0.1361, loss_rot.task0: 0.2552, loss_cls.task1: 0.0073, loss_center.task1: 0.2359, loss_size.task1: 0.1637, loss_rot.task1: 0.2538, loss_cls.task2: 0.0082, loss_center.task2: 0.3156, loss_size.task2: 0.0953, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0820, num_pos_rois: 216.7400, num_neg_rois: 5131.1600, loss_rcnn_bbox: 1.5979, loss_rcnn_corner: 0.2949, loss: 4.7369, grad_norm: 2.1798 2022-10-28 18:00:58,608 - mmdet - INFO - Epoch [3][6200/6587] lr: 2.812e-03, eta: 3 days, 8:47:40, time: 5.092, data_time: 2.197, memory: 66157, loss_sem_seg: 0.0007, loss_vote: 0.3014, recall_Car: 0.7896, recall_Ped: 0.4975, recall_Cyc: 0.5983, num_clusters: 8099.7200, num_fg_points: 174467.2400, loss_cls.task0: 0.0245, loss_center.task0: 0.6919, loss_size.task0: 0.1385, loss_rot.task0: 0.2535, loss_cls.task1: 0.0075, loss_center.task1: 0.2281, loss_size.task1: 0.1639, loss_rot.task1: 0.2544, loss_cls.task2: 0.0078, loss_center.task2: 0.3148, loss_size.task2: 0.0957, loss_rot.task2: 0.2536, loss_rcnn_cls: 0.0817, num_pos_rois: 222.2000, num_neg_rois: 5069.0800, loss_rcnn_bbox: 1.6336, loss_rcnn_corner: 0.2737, loss: 4.7251, grad_norm: 2.1273 2022-10-28 18:05:09,648 - mmdet - INFO - Epoch [3][6250/6587] lr: 2.810e-03, eta: 3 days, 8:43:59, time: 5.021, data_time: 2.086, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3200, recall_Car: 0.8058, recall_Ped: 0.4892, recall_Cyc: 0.5751, num_clusters: 7682.6000, num_fg_points: 192354.3600, loss_cls.task0: 0.0268, loss_center.task0: 0.6858, loss_size.task0: 0.1318, loss_rot.task0: 0.2557, loss_cls.task1: 0.0076, loss_center.task1: 0.2298, loss_size.task1: 0.1587, loss_rot.task1: 0.2535, loss_cls.task2: 0.0084, loss_center.task2: 0.3134, loss_size.task2: 0.0979, loss_rot.task2: 0.2538, loss_rcnn_cls: 0.0837, num_pos_rois: 217.6800, num_neg_rois: 4905.3200, loss_rcnn_bbox: 1.5930, loss_rcnn_corner: 0.2588, loss: 4.6794, grad_norm: 2.1606 2022-10-28 18:09:13,628 - mmdet - INFO - Epoch [3][6300/6587] lr: 2.808e-03, eta: 3 days, 8:39:56, time: 4.879, data_time: 1.993, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3105, recall_Car: 0.8144, recall_Ped: 0.5009, recall_Cyc: 0.6091, num_clusters: 8225.0600, num_fg_points: 221722.9800, loss_cls.task0: 0.0261, loss_center.task0: 0.6406, loss_size.task0: 0.1284, loss_rot.task0: 0.2564, loss_cls.task1: 0.0075, loss_center.task1: 0.2341, loss_size.task1: 0.1670, loss_rot.task1: 0.2551, loss_cls.task2: 0.0078, loss_center.task2: 0.3070, loss_size.task2: 0.0974, loss_rot.task2: 0.2540, loss_rcnn_cls: 0.0890, num_pos_rois: 233.7800, num_neg_rois: 4982.7200, loss_rcnn_bbox: 1.6035, loss_rcnn_corner: 0.2343, loss: 4.6195, grad_norm: 1.9250 2022-10-28 18:13:35,228 - mmdet - INFO - Epoch [3][6350/6587] lr: 2.807e-03, eta: 3 days, 8:36:47, time: 5.232, data_time: 2.432, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3015, recall_Car: 0.8366, recall_Ped: 0.4520, recall_Cyc: 0.5693, num_clusters: 7193.1000, num_fg_points: 194069.6400, loss_cls.task0: 0.0276, loss_center.task0: 0.6559, loss_size.task0: 0.1274, loss_rot.task0: 0.2556, loss_cls.task1: 0.0081, loss_center.task1: 0.2326, loss_size.task1: 0.1632, loss_rot.task1: 0.2546, loss_cls.task2: 0.0086, loss_center.task2: 0.3183, loss_size.task2: 0.0951, loss_rot.task2: 0.2549, loss_rcnn_cls: 0.0866, num_pos_rois: 228.2800, num_neg_rois: 4816.4600, loss_rcnn_bbox: 1.5280, loss_rcnn_corner: 0.2401, loss: 4.5589, grad_norm: 2.0858 2022-10-28 18:17:40,317 - mmdet - INFO - Epoch [3][6400/6587] lr: 2.805e-03, eta: 3 days, 8:32:47, time: 4.902, data_time: 1.951, memory: 66157, loss_sem_seg: 0.0009, loss_vote: 0.3135, recall_Car: 0.8290, recall_Ped: 0.4693, recall_Cyc: 0.5850, num_clusters: 8200.0200, num_fg_points: 229131.9800, loss_cls.task0: 0.0244, loss_center.task0: 0.6664, loss_size.task0: 0.1300, loss_rot.task0: 0.2562, loss_cls.task1: 0.0076, loss_center.task1: 0.2341, loss_size.task1: 0.1600, loss_rot.task1: 0.2547, loss_cls.task2: 0.0080, loss_center.task2: 0.3157, loss_size.task2: 0.0942, loss_rot.task2: 0.2547, loss_rcnn_cls: 0.0853, num_pos_rois: 225.6200, num_neg_rois: 4884.1600, loss_rcnn_bbox: 1.6730, loss_rcnn_corner: 0.2648, loss: 4.7436, grad_norm: 2.0896 2022-10-28 18:21:56,908 - mmdet - INFO - Epoch [3][6450/6587] lr: 2.804e-03, eta: 3 days, 8:29:22, time: 5.132, data_time: 2.309, memory: 66157, loss_sem_seg: 0.0007, loss_vote: 0.3123, recall_Car: 0.8179, recall_Ped: 0.4549, recall_Cyc: 0.5818, num_clusters: 6251.7000, num_fg_points: 185209.8000, loss_cls.task0: 0.0290, loss_center.task0: 0.6653, loss_size.task0: 0.1298, loss_rot.task0: 0.2553, loss_cls.task1: 0.0092, loss_center.task1: 0.2338, loss_size.task1: 0.1597, loss_rot.task1: 0.2544, loss_cls.task2: 0.0094, loss_center.task2: 0.3116, loss_size.task2: 0.0959, loss_rot.task2: 0.2544, loss_rcnn_cls: 0.0860, num_pos_rois: 212.0600, num_neg_rois: 4724.9600, loss_rcnn_bbox: 1.6904, loss_rcnn_corner: 0.2421, loss: 4.7393, grad_norm: 2.0326 2022-10-28 18:26:04,890 - mmdet - INFO - Epoch [3][6500/6587] lr: 2.802e-03, eta: 3 days, 8:25:31, time: 4.959, data_time: 2.099, memory: 66157, loss_sem_seg: 0.0007, loss_vote: 0.3126, recall_Car: 0.7978, recall_Ped: 0.4736, recall_Cyc: 0.6034, num_clusters: 7730.4600, num_fg_points: 189134.0000, loss_cls.task0: 0.0269, loss_center.task0: 0.6646, loss_size.task0: 0.1346, loss_rot.task0: 0.2565, loss_cls.task1: 0.0081, loss_center.task1: 0.2334, loss_size.task1: 0.1621, loss_rot.task1: 0.2551, loss_cls.task2: 0.0084, loss_center.task2: 0.3131, loss_size.task2: 0.0956, loss_rot.task2: 0.2552, loss_rcnn_cls: 0.0851, num_pos_rois: 234.3800, num_neg_rois: 5043.9600, loss_rcnn_bbox: 1.6142, loss_rcnn_corner: 0.2429, loss: 4.6693, grad_norm: 1.9774 2022-10-28 18:30:30,894 - mmdet - INFO - Epoch [3][6550/6587] lr: 2.800e-03, eta: 3 days, 8:22:33, time: 5.321, data_time: 2.236, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3672, recall_Car: 0.7383, recall_Ped: 0.4799, recall_Cyc: 0.5863, num_clusters: 9066.1600, num_fg_points: 200842.3400, loss_cls.task0: 0.0277, loss_center.task0: 0.7507, loss_size.task0: 0.1416, loss_rot.task0: 0.2558, loss_cls.task1: 0.0072, loss_center.task1: 0.2318, loss_size.task1: 0.1634, loss_rot.task1: 0.2542, loss_cls.task2: 0.0075, loss_center.task2: 0.3153, loss_size.task2: 0.0957, loss_rot.task2: 0.2551, loss_rcnn_cls: 0.0760, num_pos_rois: 204.9400, num_neg_rois: 5497.8200, loss_rcnn_bbox: 1.9747, loss_rcnn_corner: 0.5176, loss: 5.4425, grad_norm: 2.0962 2022-10-28 18:33:28,070 - mmdet - INFO - Saving checkpoint at 3 epochs 2022-10-28 18:37:48,969 - mmdet - INFO - Epoch [4][50/6587] lr: 2.797e-03, eta: 3 days, 8:07:13, time: 5.167, data_time: 2.047, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3273, recall_Car: 0.7607, recall_Ped: 0.4556, recall_Cyc: 0.5947, num_clusters: 8314.0600, num_fg_points: 222658.7800, loss_cls.task0: 0.0267, loss_center.task0: 0.7034, loss_size.task0: 0.1367, loss_rot.task0: 0.2543, loss_cls.task1: 0.0075, loss_center.task1: 0.2353, loss_size.task1: 0.1663, loss_rot.task1: 0.2548, loss_cls.task2: 0.0078, loss_center.task2: 0.3108, loss_size.task2: 0.0962, loss_rot.task2: 0.2552, loss_rcnn_cls: 0.0815, num_pos_rois: 208.6400, num_neg_rois: 5228.3800, loss_rcnn_bbox: 1.7740, loss_rcnn_corner: 0.4217, loss: 5.0604, grad_norm: 2.1436 2022-10-28 18:41:35,471 - mmdet - INFO - Epoch [4][100/6587] lr: 2.796e-03, eta: 3 days, 8:02:19, time: 4.530, data_time: 1.214, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3386, recall_Car: 0.7655, recall_Ped: 0.4698, recall_Cyc: 0.5709, num_clusters: 8723.2600, num_fg_points: 268710.7800, loss_cls.task0: 0.0324, loss_center.task0: 0.6579, loss_size.task0: 0.1362, loss_rot.task0: 0.2536, loss_cls.task1: 0.0073, loss_center.task1: 0.2372, loss_size.task1: 0.1661, loss_rot.task1: 0.2541, loss_cls.task2: 0.0074, loss_center.task2: 0.3123, loss_size.task2: 0.0946, loss_rot.task2: 0.2545, loss_rcnn_cls: 0.0840, num_pos_rois: 235.0000, num_neg_rois: 5438.0600, loss_rcnn_bbox: 1.6760, loss_rcnn_corner: 0.4100, loss: 4.9230, grad_norm: 2.3637 2022-10-28 18:45:25,916 - mmdet - INFO - Epoch [4][150/6587] lr: 2.794e-03, eta: 3 days, 7:57:37, time: 4.609, data_time: 1.487, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3446, recall_Car: 0.7683, recall_Ped: 0.4642, recall_Cyc: 0.5603, num_clusters: 7620.4400, num_fg_points: 243105.5800, loss_cls.task0: 0.0314, loss_center.task0: 0.7086, loss_size.task0: 0.1384, loss_rot.task0: 0.2544, loss_cls.task1: 0.0078, loss_center.task1: 0.2339, loss_size.task1: 0.1665, loss_rot.task1: 0.2550, loss_cls.task2: 0.0079, loss_center.task2: 0.3216, loss_size.task2: 0.0924, loss_rot.task2: 0.2543, loss_rcnn_cls: 0.0799, num_pos_rois: 191.4400, num_neg_rois: 5059.7800, loss_rcnn_bbox: 1.9522, loss_rcnn_corner: 0.5378, loss: 5.3874, grad_norm: 2.1190 2022-10-28 18:49:04,891 - mmdet - INFO - Epoch [4][200/6587] lr: 2.792e-03, eta: 3 days, 7:52:21, time: 4.380, data_time: 1.475, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3179, recall_Car: 0.7946, recall_Ped: 0.5238, recall_Cyc: 0.5988, num_clusters: 7622.7800, num_fg_points: 211724.9600, loss_cls.task0: 0.0279, loss_center.task0: 0.6773, loss_size.task0: 0.1321, loss_rot.task0: 0.2545, loss_cls.task1: 0.0081, loss_center.task1: 0.2306, loss_size.task1: 0.1649, loss_rot.task1: 0.2536, loss_cls.task2: 0.0082, loss_center.task2: 0.3130, loss_size.task2: 0.0964, loss_rot.task2: 0.2536, loss_rcnn_cls: 0.0892, num_pos_rois: 224.7400, num_neg_rois: 5093.5200, loss_rcnn_bbox: 1.7746, loss_rcnn_corner: 0.4441, loss: 5.0468, grad_norm: 2.1345 2022-10-28 18:53:09,330 - mmdet - INFO - Epoch [4][250/6587] lr: 2.791e-03, eta: 3 days, 7:48:21, time: 4.888, data_time: 1.987, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3345, recall_Car: 0.7740, recall_Ped: 0.4809, recall_Cyc: 0.5839, num_clusters: 6997.4200, num_fg_points: 200862.2400, loss_cls.task0: 0.0277, loss_center.task0: 0.6716, loss_size.task0: 0.1359, loss_rot.task0: 0.2544, loss_cls.task1: 0.0083, loss_center.task1: 0.2378, loss_size.task1: 0.1683, loss_rot.task1: 0.2529, loss_cls.task2: 0.0090, loss_center.task2: 0.3100, loss_size.task2: 0.0954, loss_rot.task2: 0.2536, loss_rcnn_cls: 0.0836, num_pos_rois: 201.7600, num_neg_rois: 4846.7200, loss_rcnn_bbox: 1.7759, loss_rcnn_corner: 0.3170, loss: 4.9367, grad_norm: 2.2642 2022-10-28 18:57:23,731 - mmdet - INFO - Epoch [4][300/6587] lr: 2.789e-03, eta: 3 days, 7:44:50, time: 5.089, data_time: 2.056, memory: 66157, loss_sem_seg: 0.0008, loss_vote: 0.3212, recall_Car: 0.8161, recall_Ped: 0.5159, recall_Cyc: 0.6007, num_clusters: 7891.6600, num_fg_points: 222848.8600, loss_cls.task0: 0.0289, loss_center.task0: 0.6770, loss_size.task0: 0.1390, loss_rot.task0: 0.2545, loss_cls.task1: 0.0083, loss_center.task1: 0.2277, loss_size.task1: 0.1560, loss_rot.task1: 0.2542, loss_cls.task2: 0.0082, loss_center.task2: 0.3103, loss_size.task2: 0.0962, loss_rot.task2: 0.2544, loss_rcnn_cls: 0.0823, num_pos_rois: 209.8200, num_neg_rois: 5189.5200, loss_rcnn_bbox: 1.8080, loss_rcnn_corner: 0.3785, loss: 5.0057, grad_norm: 2.2294 2022-10-28 19:01:27,883 - mmdet - INFO - Epoch [4][350/6587] lr: 2.787e-03, eta: 3 days, 7:40:49, time: 4.883, data_time: 1.773, memory: 66157, loss_sem_seg: 0.0010, loss_vote: 0.3099, recall_Car: 0.8010, recall_Ped: 0.5107, recall_Cyc: 0.5682, num_clusters: 7660.3000, num_fg_points: 253274.5600, loss_cls.task0: 0.0304, loss_center.task0: 0.6528, loss_size.task0: 0.1344, loss_rot.task0: 0.2538, loss_cls.task1: 0.0084, loss_center.task1: 0.2319, loss_size.task1: 0.1574, loss_rot.task1: 0.2538, loss_cls.task2: 0.0082, loss_center.task2: 0.3153, loss_size.task2: 0.0967, loss_rot.task2: 0.2540, loss_rcnn_cls: 0.0686, num_pos_rois: 177.8600, num_neg_rois: 5305.7600, loss_rcnn_bbox: 2.0343, loss_rcnn_corner: 0.5770, loss: 5.3880, grad_norm: 2.1658