|
{ |
|
"best_metric": 0.3343408703804016, |
|
"best_model_checkpoint": "/robodata/smodak/Projects/nspl/scripts/terrainseg/training/models/dropoff-utcustom-train-SF-RGBD-b0_6/checkpoint-80", |
|
"epoch": 40.0, |
|
"global_step": 80, |
|
"is_hyper_param_search": false, |
|
"is_local_process_zero": true, |
|
"is_world_process_zero": true, |
|
"log_history": [ |
|
{ |
|
"epoch": 0.5, |
|
"learning_rate": 5.833333333333332e-06, |
|
"loss": 1.079, |
|
"step": 1 |
|
}, |
|
{ |
|
"epoch": 1.0, |
|
"learning_rate": 1.1666666666666665e-05, |
|
"loss": 1.0795, |
|
"step": 2 |
|
}, |
|
{ |
|
"epoch": 1.5, |
|
"learning_rate": 1.75e-05, |
|
"loss": 1.0738, |
|
"step": 3 |
|
}, |
|
{ |
|
"epoch": 2.0, |
|
"learning_rate": 2.333333333333333e-05, |
|
"loss": 1.0662, |
|
"step": 4 |
|
}, |
|
{ |
|
"epoch": 2.5, |
|
"learning_rate": 2.9166666666666666e-05, |
|
"loss": 1.0593, |
|
"step": 5 |
|
}, |
|
{ |
|
"epoch": 3.0, |
|
"learning_rate": 3.5e-05, |
|
"loss": 1.0514, |
|
"step": 6 |
|
}, |
|
{ |
|
"epoch": 3.5, |
|
"learning_rate": 4.0833333333333334e-05, |
|
"loss": 1.0365, |
|
"step": 7 |
|
}, |
|
{ |
|
"epoch": 4.0, |
|
"learning_rate": 4.666666666666666e-05, |
|
"loss": 1.0287, |
|
"step": 8 |
|
}, |
|
{ |
|
"epoch": 4.5, |
|
"learning_rate": 5.2499999999999995e-05, |
|
"loss": 1.0123, |
|
"step": 9 |
|
}, |
|
{ |
|
"epoch": 5.0, |
|
"learning_rate": 5.833333333333333e-05, |
|
"loss": 0.9975, |
|
"step": 10 |
|
}, |
|
{ |
|
"epoch": 5.0, |
|
"eval_accuracy_dropoff": 0.6267483199155944, |
|
"eval_accuracy_undropoff": 0.7225725563868626, |
|
"eval_accuracy_unlabeled": NaN, |
|
"eval_iou_dropoff": 0.128993031460863, |
|
"eval_iou_undropoff": 0.7166682161261027, |
|
"eval_iou_unlabeled": 0.0, |
|
"eval_loss": 1.047046422958374, |
|
"eval_mean_accuracy": 0.6746604381512284, |
|
"eval_mean_iou": 0.28188708252898853, |
|
"eval_overall_accuracy": 0.7185882568359375, |
|
"eval_runtime": 2.9658, |
|
"eval_samples_per_second": 6.744, |
|
"eval_steps_per_second": 0.674, |
|
"step": 10 |
|
}, |
|
{ |
|
"epoch": 5.5, |
|
"learning_rate": 6.416666666666666e-05, |
|
"loss": 0.9837, |
|
"step": 11 |
|
}, |
|
{ |
|
"epoch": 6.0, |
|
"learning_rate": 7e-05, |
|
"loss": 0.9765, |
|
"step": 12 |
|
}, |
|
{ |
|
"epoch": 6.5, |
|
"learning_rate": 6.969298245614035e-05, |
|
"loss": 0.9655, |
|
"step": 13 |
|
}, |
|
{ |
|
"epoch": 7.0, |
|
"learning_rate": 6.938596491228069e-05, |
|
"loss": 0.9246, |
|
"step": 14 |
|
}, |
|
{ |
|
"epoch": 7.5, |
|
"learning_rate": 6.907894736842105e-05, |
|
"loss": 0.8986, |
|
"step": 15 |
|
}, |
|
{ |
|
"epoch": 8.0, |
|
"learning_rate": 6.877192982456139e-05, |
|
"loss": 0.8794, |
|
"step": 16 |
|
}, |
|
{ |
|
"epoch": 8.5, |
|
"learning_rate": 6.846491228070175e-05, |
|
"loss": 0.8586, |
|
"step": 17 |
|
}, |
|
{ |
|
"epoch": 9.0, |
|
"learning_rate": 6.81578947368421e-05, |
|
"loss": 0.8485, |
|
"step": 18 |
|
}, |
|
{ |
|
"epoch": 9.5, |
|
"learning_rate": 6.785087719298245e-05, |
|
"loss": 0.8307, |
|
"step": 19 |
|
}, |
|
{ |
|
"epoch": 10.0, |
|
"learning_rate": 6.75438596491228e-05, |
|
"loss": 0.8329, |
|
"step": 20 |
|
}, |
|
{ |
|
"epoch": 10.0, |
|
"eval_accuracy_dropoff": 0.01171586504277621, |
|
"eval_accuracy_undropoff": 0.9934380587814448, |
|
"eval_accuracy_unlabeled": NaN, |
|
"eval_iou_dropoff": 0.010567823996491185, |
|
"eval_iou_undropoff": 0.9526087857573317, |
|
"eval_iou_unlabeled": 0.0, |
|
"eval_loss": 0.8435441255569458, |
|
"eval_mean_accuracy": 0.5025769619121104, |
|
"eval_mean_iou": 0.3210588699179409, |
|
"eval_overall_accuracy": 0.9526187896728515, |
|
"eval_runtime": 2.8522, |
|
"eval_samples_per_second": 7.012, |
|
"eval_steps_per_second": 0.701, |
|
"step": 20 |
|
}, |
|
{ |
|
"epoch": 10.5, |
|
"learning_rate": 6.723684210526316e-05, |
|
"loss": 0.8067, |
|
"step": 21 |
|
}, |
|
{ |
|
"epoch": 11.0, |
|
"learning_rate": 6.69298245614035e-05, |
|
"loss": 0.7975, |
|
"step": 22 |
|
}, |
|
{ |
|
"epoch": 11.5, |
|
"learning_rate": 6.662280701754386e-05, |
|
"loss": 0.7694, |
|
"step": 23 |
|
}, |
|
{ |
|
"epoch": 12.0, |
|
"learning_rate": 6.63157894736842e-05, |
|
"loss": 0.7727, |
|
"step": 24 |
|
}, |
|
{ |
|
"epoch": 12.5, |
|
"learning_rate": 6.600877192982455e-05, |
|
"loss": 0.757, |
|
"step": 25 |
|
}, |
|
{ |
|
"epoch": 13.0, |
|
"learning_rate": 6.570175438596491e-05, |
|
"loss": 0.7564, |
|
"step": 26 |
|
}, |
|
{ |
|
"epoch": 13.5, |
|
"learning_rate": 6.539473684210525e-05, |
|
"loss": 0.7134, |
|
"step": 27 |
|
}, |
|
{ |
|
"epoch": 14.0, |
|
"learning_rate": 6.508771929824561e-05, |
|
"loss": 0.7425, |
|
"step": 28 |
|
}, |
|
{ |
|
"epoch": 14.5, |
|
"learning_rate": 6.478070175438596e-05, |
|
"loss": 0.7061, |
|
"step": 29 |
|
}, |
|
{ |
|
"epoch": 15.0, |
|
"learning_rate": 6.447368421052631e-05, |
|
"loss": 0.6857, |
|
"step": 30 |
|
}, |
|
{ |
|
"epoch": 15.0, |
|
"eval_accuracy_dropoff": 0.0006468038257758205, |
|
"eval_accuracy_undropoff": 0.998134683679328, |
|
"eval_accuracy_unlabeled": NaN, |
|
"eval_iou_dropoff": 0.0006266750223336311, |
|
"eval_iou_undropoff": 0.9566587236175594, |
|
"eval_iou_unlabeled": 0.0, |
|
"eval_loss": 0.6183835864067078, |
|
"eval_mean_accuracy": 0.49939074375255194, |
|
"eval_mean_iou": 0.3190951328799643, |
|
"eval_overall_accuracy": 0.9566598892211914, |
|
"eval_runtime": 3.0847, |
|
"eval_samples_per_second": 6.484, |
|
"eval_steps_per_second": 0.648, |
|
"step": 30 |
|
}, |
|
{ |
|
"epoch": 15.5, |
|
"learning_rate": 6.416666666666666e-05, |
|
"loss": 0.6817, |
|
"step": 31 |
|
}, |
|
{ |
|
"epoch": 16.0, |
|
"learning_rate": 6.3859649122807e-05, |
|
"loss": 0.7188, |
|
"step": 32 |
|
}, |
|
{ |
|
"epoch": 16.5, |
|
"learning_rate": 6.355263157894736e-05, |
|
"loss": 0.6683, |
|
"step": 33 |
|
}, |
|
{ |
|
"epoch": 17.0, |
|
"learning_rate": 6.324561403508772e-05, |
|
"loss": 0.6371, |
|
"step": 34 |
|
}, |
|
{ |
|
"epoch": 17.5, |
|
"learning_rate": 6.293859649122806e-05, |
|
"loss": 0.651, |
|
"step": 35 |
|
}, |
|
{ |
|
"epoch": 18.0, |
|
"learning_rate": 6.263157894736842e-05, |
|
"loss": 0.6381, |
|
"step": 36 |
|
}, |
|
{ |
|
"epoch": 18.5, |
|
"learning_rate": 6.232456140350877e-05, |
|
"loss": 0.6075, |
|
"step": 37 |
|
}, |
|
{ |
|
"epoch": 19.0, |
|
"learning_rate": 6.201754385964911e-05, |
|
"loss": 0.6391, |
|
"step": 38 |
|
}, |
|
{ |
|
"epoch": 19.5, |
|
"learning_rate": 6.171052631578947e-05, |
|
"loss": 0.6282, |
|
"step": 39 |
|
}, |
|
{ |
|
"epoch": 20.0, |
|
"learning_rate": 6.140350877192981e-05, |
|
"loss": 0.5913, |
|
"step": 40 |
|
}, |
|
{ |
|
"epoch": 20.0, |
|
"eval_accuracy_dropoff": 0.0005458840799100897, |
|
"eval_accuracy_undropoff": 0.9988294259470615, |
|
"eval_accuracy_unlabeled": NaN, |
|
"eval_iou_dropoff": 0.0005386297079178567, |
|
"eval_iou_undropoff": 0.957320579747961, |
|
"eval_iou_unlabeled": 0.0, |
|
"eval_loss": 0.47930747270584106, |
|
"eval_mean_accuracy": 0.4996876550134858, |
|
"eval_mean_iou": 0.3192864031519596, |
|
"eval_overall_accuracy": 0.9573215484619141, |
|
"eval_runtime": 2.984, |
|
"eval_samples_per_second": 6.702, |
|
"eval_steps_per_second": 0.67, |
|
"step": 40 |
|
}, |
|
{ |
|
"epoch": 20.5, |
|
"learning_rate": 6.109649122807017e-05, |
|
"loss": 0.6276, |
|
"step": 41 |
|
}, |
|
{ |
|
"epoch": 21.0, |
|
"learning_rate": 6.0789473684210525e-05, |
|
"loss": 0.5505, |
|
"step": 42 |
|
}, |
|
{ |
|
"epoch": 21.5, |
|
"learning_rate": 6.0482456140350875e-05, |
|
"loss": 0.6116, |
|
"step": 43 |
|
}, |
|
{ |
|
"epoch": 22.0, |
|
"learning_rate": 6.0175438596491224e-05, |
|
"loss": 0.6011, |
|
"step": 44 |
|
}, |
|
{ |
|
"epoch": 22.5, |
|
"learning_rate": 5.986842105263157e-05, |
|
"loss": 0.5694, |
|
"step": 45 |
|
}, |
|
{ |
|
"epoch": 23.0, |
|
"learning_rate": 5.956140350877192e-05, |
|
"loss": 0.5327, |
|
"step": 46 |
|
}, |
|
{ |
|
"epoch": 23.5, |
|
"learning_rate": 5.925438596491227e-05, |
|
"loss": 0.5521, |
|
"step": 47 |
|
}, |
|
{ |
|
"epoch": 24.0, |
|
"learning_rate": 5.894736842105262e-05, |
|
"loss": 0.5535, |
|
"step": 48 |
|
}, |
|
{ |
|
"epoch": 24.5, |
|
"learning_rate": 5.8640350877192984e-05, |
|
"loss": 0.5362, |
|
"step": 49 |
|
}, |
|
{ |
|
"epoch": 25.0, |
|
"learning_rate": 5.833333333333333e-05, |
|
"loss": 0.5299, |
|
"step": 50 |
|
}, |
|
{ |
|
"epoch": 25.0, |
|
"eval_accuracy_dropoff": 0.09108924516617353, |
|
"eval_accuracy_undropoff": 0.9973127743221984, |
|
"eval_accuracy_unlabeled": NaN, |
|
"eval_iou_dropoff": 0.08687453788975855, |
|
"eval_iou_undropoff": 0.9594810504970981, |
|
"eval_iou_unlabeled": 0.0, |
|
"eval_loss": 0.4528784155845642, |
|
"eval_mean_accuracy": 0.544201009744186, |
|
"eval_mean_iou": 0.34878519612895226, |
|
"eval_overall_accuracy": 0.959632682800293, |
|
"eval_runtime": 2.8843, |
|
"eval_samples_per_second": 6.934, |
|
"eval_steps_per_second": 0.693, |
|
"step": 50 |
|
}, |
|
{ |
|
"epoch": 25.5, |
|
"learning_rate": 5.802631578947368e-05, |
|
"loss": 0.5134, |
|
"step": 51 |
|
}, |
|
{ |
|
"epoch": 26.0, |
|
"learning_rate": 5.771929824561403e-05, |
|
"loss": 0.5267, |
|
"step": 52 |
|
}, |
|
{ |
|
"epoch": 26.5, |
|
"learning_rate": 5.741228070175438e-05, |
|
"loss": 0.5084, |
|
"step": 53 |
|
}, |
|
{ |
|
"epoch": 27.0, |
|
"learning_rate": 5.710526315789473e-05, |
|
"loss": 0.5228, |
|
"step": 54 |
|
}, |
|
{ |
|
"epoch": 27.5, |
|
"learning_rate": 5.679824561403508e-05, |
|
"loss": 0.4761, |
|
"step": 55 |
|
}, |
|
{ |
|
"epoch": 28.0, |
|
"learning_rate": 5.649122807017543e-05, |
|
"loss": 0.4738, |
|
"step": 56 |
|
}, |
|
{ |
|
"epoch": 28.5, |
|
"learning_rate": 5.618421052631579e-05, |
|
"loss": 0.5078, |
|
"step": 57 |
|
}, |
|
{ |
|
"epoch": 29.0, |
|
"learning_rate": 5.587719298245614e-05, |
|
"loss": 0.4839, |
|
"step": 58 |
|
}, |
|
{ |
|
"epoch": 29.5, |
|
"learning_rate": 5.557017543859649e-05, |
|
"loss": 0.5064, |
|
"step": 59 |
|
}, |
|
{ |
|
"epoch": 30.0, |
|
"learning_rate": 5.526315789473684e-05, |
|
"loss": 0.4922, |
|
"step": 60 |
|
}, |
|
{ |
|
"epoch": 30.0, |
|
"eval_accuracy_dropoff": 0.4050918599050437, |
|
"eval_accuracy_undropoff": 0.9915056762493072, |
|
"eval_accuracy_unlabeled": NaN, |
|
"eval_iou_dropoff": 0.33902157179657477, |
|
"eval_iou_undropoff": 0.9665597842071078, |
|
"eval_iou_unlabeled": 0.0, |
|
"eval_loss": 0.4037347435951233, |
|
"eval_mean_accuracy": 0.6982987680771755, |
|
"eval_mean_iou": 0.4351937853345609, |
|
"eval_overall_accuracy": 0.9671230316162109, |
|
"eval_runtime": 2.9628, |
|
"eval_samples_per_second": 6.75, |
|
"eval_steps_per_second": 0.675, |
|
"step": 60 |
|
}, |
|
{ |
|
"epoch": 30.5, |
|
"learning_rate": 5.495614035087719e-05, |
|
"loss": 0.4806, |
|
"step": 61 |
|
}, |
|
{ |
|
"epoch": 31.0, |
|
"learning_rate": 5.464912280701754e-05, |
|
"loss": 0.4603, |
|
"step": 62 |
|
}, |
|
{ |
|
"epoch": 31.5, |
|
"learning_rate": 5.4342105263157886e-05, |
|
"loss": 0.4779, |
|
"step": 63 |
|
}, |
|
{ |
|
"epoch": 32.0, |
|
"learning_rate": 5.4035087719298236e-05, |
|
"loss": 0.4506, |
|
"step": 64 |
|
}, |
|
{ |
|
"epoch": 32.5, |
|
"learning_rate": 5.37280701754386e-05, |
|
"loss": 0.413, |
|
"step": 65 |
|
}, |
|
{ |
|
"epoch": 33.0, |
|
"learning_rate": 5.342105263157895e-05, |
|
"loss": 0.4503, |
|
"step": 66 |
|
}, |
|
{ |
|
"epoch": 33.5, |
|
"learning_rate": 5.31140350877193e-05, |
|
"loss": 0.4412, |
|
"step": 67 |
|
}, |
|
{ |
|
"epoch": 34.0, |
|
"learning_rate": 5.2807017543859646e-05, |
|
"loss": 0.4465, |
|
"step": 68 |
|
}, |
|
{ |
|
"epoch": 34.5, |
|
"learning_rate": 5.2499999999999995e-05, |
|
"loss": 0.4392, |
|
"step": 69 |
|
}, |
|
{ |
|
"epoch": 35.0, |
|
"learning_rate": 5.2192982456140345e-05, |
|
"loss": 0.4769, |
|
"step": 70 |
|
}, |
|
{ |
|
"epoch": 35.0, |
|
"eval_accuracy_dropoff": 0.5524438633913622, |
|
"eval_accuracy_undropoff": 0.9595162874374239, |
|
"eval_accuracy_unlabeled": NaN, |
|
"eval_iou_dropoff": 0.28580378904201265, |
|
"eval_iou_undropoff": 0.9412408125018302, |
|
"eval_iou_unlabeled": 0.0, |
|
"eval_loss": 0.4160759449005127, |
|
"eval_mean_accuracy": 0.755980075414393, |
|
"eval_mean_iou": 0.409014867181281, |
|
"eval_overall_accuracy": 0.9425905227661133, |
|
"eval_runtime": 2.7982, |
|
"eval_samples_per_second": 7.148, |
|
"eval_steps_per_second": 0.715, |
|
"step": 70 |
|
}, |
|
{ |
|
"epoch": 35.5, |
|
"learning_rate": 5.1885964912280694e-05, |
|
"loss": 0.4447, |
|
"step": 71 |
|
}, |
|
{ |
|
"epoch": 36.0, |
|
"learning_rate": 5.157894736842104e-05, |
|
"loss": 0.4664, |
|
"step": 72 |
|
}, |
|
{ |
|
"epoch": 36.5, |
|
"learning_rate": 5.127192982456139e-05, |
|
"loss": 0.4283, |
|
"step": 73 |
|
}, |
|
{ |
|
"epoch": 37.0, |
|
"learning_rate": 5.0964912280701755e-05, |
|
"loss": 0.4043, |
|
"step": 74 |
|
}, |
|
{ |
|
"epoch": 37.5, |
|
"learning_rate": 5.0657894736842104e-05, |
|
"loss": 0.4003, |
|
"step": 75 |
|
}, |
|
{ |
|
"epoch": 38.0, |
|
"learning_rate": 5.0350877192982454e-05, |
|
"loss": 0.3996, |
|
"step": 76 |
|
}, |
|
{ |
|
"epoch": 38.5, |
|
"learning_rate": 5.00438596491228e-05, |
|
"loss": 0.403, |
|
"step": 77 |
|
}, |
|
{ |
|
"epoch": 39.0, |
|
"learning_rate": 4.973684210526315e-05, |
|
"loss": 0.4097, |
|
"step": 78 |
|
}, |
|
{ |
|
"epoch": 39.5, |
|
"learning_rate": 4.94298245614035e-05, |
|
"loss": 0.3745, |
|
"step": 79 |
|
}, |
|
{ |
|
"epoch": 40.0, |
|
"learning_rate": 4.912280701754385e-05, |
|
"loss": 0.3916, |
|
"step": 80 |
|
}, |
|
{ |
|
"epoch": 40.0, |
|
"eval_accuracy_dropoff": 0.4036193490676392, |
|
"eval_accuracy_undropoff": 0.9856426564986064, |
|
"eval_accuracy_unlabeled": NaN, |
|
"eval_iou_dropoff": 0.3032580935344783, |
|
"eval_iou_undropoff": 0.9607844430524553, |
|
"eval_iou_unlabeled": NaN, |
|
"eval_loss": 0.3343408703804016, |
|
"eval_mean_accuracy": 0.6946310027831228, |
|
"eval_mean_iou": 0.6320212682934667, |
|
"eval_overall_accuracy": 0.9614425659179687, |
|
"eval_runtime": 2.924, |
|
"eval_samples_per_second": 6.84, |
|
"eval_steps_per_second": 0.684, |
|
"step": 80 |
|
} |
|
], |
|
"max_steps": 240, |
|
"num_train_epochs": 120, |
|
"total_flos": 4.071916553895936e+16, |
|
"trial_name": null, |
|
"trial_params": null |
|
} |
|
|