{
  "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
}