{ "best_metric": 0.30685028433799744, "best_model_checkpoint": "/robodata/smodak/Projects/nspl/scripts/terrainseg/training/models/dropoff-utcustom-train-SF-RGBD-b0_6/checkpoint-120", "epoch": 60.0, "global_step": 120, "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 }, { "epoch": 40.5, "learning_rate": 4.88157894736842e-05, "loss": 0.388, "step": 81 }, { "epoch": 41.0, "learning_rate": 4.850877192982456e-05, "loss": 0.3773, "step": 82 }, { "epoch": 41.5, "learning_rate": 4.820175438596491e-05, "loss": 0.3627, "step": 83 }, { "epoch": 42.0, "learning_rate": 4.789473684210526e-05, "loss": 0.3741, "step": 84 }, { "epoch": 42.5, "learning_rate": 4.758771929824561e-05, "loss": 0.3713, "step": 85 }, { "epoch": 43.0, "learning_rate": 4.728070175438596e-05, "loss": 0.3504, "step": 86 }, { "epoch": 43.5, "learning_rate": 4.697368421052631e-05, "loss": 0.3656, "step": 87 }, { "epoch": 44.0, "learning_rate": 4.666666666666666e-05, "loss": 0.3492, "step": 88 }, { "epoch": 44.5, "learning_rate": 4.635964912280701e-05, "loss": 0.3917, "step": 89 }, { "epoch": 45.0, "learning_rate": 4.605263157894737e-05, "loss": 0.3567, "step": 90 }, { "epoch": 45.0, "eval_accuracy_dropoff": 0.44580380283951465, "eval_accuracy_undropoff": 0.9821179987203688, "eval_accuracy_unlabeled": NaN, "eval_iou_dropoff": 0.3156829624817281, "eval_iou_undropoff": 0.9590595792950887, "eval_iou_unlabeled": NaN, "eval_loss": 0.3371790051460266, "eval_mean_accuracy": 0.7139609007799417, "eval_mean_iou": 0.6373712708884084, "eval_overall_accuracy": 0.9598184585571289, "eval_runtime": 3.0037, "eval_samples_per_second": 6.658, "eval_steps_per_second": 0.666, "step": 90 }, { "epoch": 45.5, "learning_rate": 4.574561403508772e-05, "loss": 0.3213, "step": 91 }, { "epoch": 46.0, "learning_rate": 4.543859649122807e-05, "loss": 0.3371, "step": 92 }, { "epoch": 46.5, "learning_rate": 4.513157894736842e-05, "loss": 0.3338, "step": 93 }, { "epoch": 47.0, "learning_rate": 4.482456140350877e-05, "loss": 0.3045, "step": 94 }, { "epoch": 47.5, "learning_rate": 4.4517543859649116e-05, "loss": 0.3385, "step": 95 }, { "epoch": 48.0, "learning_rate": 4.4210526315789466e-05, "loss": 0.3173, "step": 96 }, { "epoch": 48.5, "learning_rate": 4.3903508771929815e-05, "loss": 0.3285, "step": 97 }, { "epoch": 49.0, "learning_rate": 4.359649122807018e-05, "loss": 0.3121, "step": 98 }, { "epoch": 49.5, "learning_rate": 4.328947368421053e-05, "loss": 0.3049, "step": 99 }, { "epoch": 50.0, "learning_rate": 4.2982456140350876e-05, "loss": 0.3234, "step": 100 }, { "epoch": 50.0, "eval_accuracy_dropoff": 0.3863024381293149, "eval_accuracy_undropoff": 0.9902968923666909, "eval_accuracy_unlabeled": NaN, "eval_iou_dropoff": 0.31569397792706333, "eval_iou_undropoff": 0.9646148967136478, "eval_iou_unlabeled": NaN, "eval_loss": 0.3073747456073761, "eval_mean_accuracy": 0.6882996652480029, "eval_mean_iou": 0.6401544373203556, "eval_overall_accuracy": 0.9651832580566406, "eval_runtime": 3.0588, "eval_samples_per_second": 6.539, "eval_steps_per_second": 0.654, "step": 100 }, { "epoch": 50.5, "learning_rate": 4.2675438596491225e-05, "loss": 0.3488, "step": 101 }, { "epoch": 51.0, "learning_rate": 4.2368421052631575e-05, "loss": 0.3084, "step": 102 }, { "epoch": 51.5, "learning_rate": 4.2061403508771924e-05, "loss": 0.29, "step": 103 }, { "epoch": 52.0, "learning_rate": 4.175438596491227e-05, "loss": 0.3101, "step": 104 }, { "epoch": 52.5, "learning_rate": 4.144736842105262e-05, "loss": 0.3028, "step": 105 }, { "epoch": 53.0, "learning_rate": 4.1140350877192985e-05, "loss": 0.314, "step": 106 }, { "epoch": 53.5, "learning_rate": 4.0833333333333334e-05, "loss": 0.2912, "step": 107 }, { "epoch": 54.0, "learning_rate": 4.0526315789473684e-05, "loss": 0.3274, "step": 108 }, { "epoch": 54.5, "learning_rate": 4.021929824561403e-05, "loss": 0.2956, "step": 109 }, { "epoch": 55.0, "learning_rate": 3.991228070175438e-05, "loss": 0.3181, "step": 110 }, { "epoch": 55.0, "eval_accuracy_dropoff": 0.4446202894561802, "eval_accuracy_undropoff": 0.9829880683836546, "eval_accuracy_unlabeled": NaN, "eval_iou_dropoff": 0.3193806470320748, "eval_iou_undropoff": 0.9598610947822125, "eval_iou_unlabeled": NaN, "eval_loss": 0.3043469786643982, "eval_mean_accuracy": 0.7138041789199174, "eval_mean_iou": 0.6396208709071436, "eval_overall_accuracy": 0.960603141784668, "eval_runtime": 2.8365, "eval_samples_per_second": 7.051, "eval_steps_per_second": 0.705, "step": 110 }, { "epoch": 55.5, "learning_rate": 3.960526315789473e-05, "loss": 0.2801, "step": 111 }, { "epoch": 56.0, "learning_rate": 3.929824561403508e-05, "loss": 0.2676, "step": 112 }, { "epoch": 56.5, "learning_rate": 3.899122807017543e-05, "loss": 0.309, "step": 113 }, { "epoch": 57.0, "learning_rate": 3.868421052631579e-05, "loss": 0.2612, "step": 114 }, { "epoch": 57.5, "learning_rate": 3.837719298245614e-05, "loss": 0.2854, "step": 115 }, { "epoch": 58.0, "learning_rate": 3.807017543859649e-05, "loss": 0.2848, "step": 116 }, { "epoch": 58.5, "learning_rate": 3.776315789473684e-05, "loss": 0.2815, "step": 117 }, { "epoch": 59.0, "learning_rate": 3.745614035087719e-05, "loss": 0.2925, "step": 118 }, { "epoch": 59.5, "learning_rate": 3.714912280701754e-05, "loss": 0.2696, "step": 119 }, { "epoch": 60.0, "learning_rate": 3.684210526315789e-05, "loss": 0.2584, "step": 120 }, { "epoch": 60.0, "eval_accuracy_dropoff": 0.4576160003669809, "eval_accuracy_undropoff": 0.9831222008065856, "eval_accuracy_unlabeled": NaN, "eval_iou_dropoff": 0.329447431341726, "eval_iou_undropoff": 0.9605208665087082, "eval_iou_unlabeled": NaN, "eval_loss": 0.30685028433799744, "eval_mean_accuracy": 0.7203691005867833, "eval_mean_iou": 0.644984148925217, "eval_overall_accuracy": 0.9612720489501954, "eval_runtime": 2.8737, "eval_samples_per_second": 6.96, "eval_steps_per_second": 0.696, "step": 120 } ], "max_steps": 240, "num_train_epochs": 120, "total_flos": 6.107874830843904e+16, "trial_name": null, "trial_params": null }