{ "best_metric": 0.14111237227916718, "best_model_checkpoint": "/robodata/smodak/Projects/nspl/scripts/terrainseg/training/models/safety-userstudy-terrain/checkpoint-240", "epoch": 240.0, "global_step": 240, "is_hyper_param_search": false, "is_local_process_zero": true, "is_world_process_zero": true, "log_history": [ { "epoch": 1.0, "learning_rate": 1.6666666666666667e-06, "loss": 2.8187, "step": 1 }, { "epoch": 2.0, "learning_rate": 3.3333333333333333e-06, "loss": 2.8228, "step": 2 }, { "epoch": 3.0, "learning_rate": 5e-06, "loss": 2.821, "step": 3 }, { "epoch": 4.0, "learning_rate": 6.666666666666667e-06, "loss": 2.7963, "step": 4 }, { "epoch": 5.0, "learning_rate": 8.333333333333334e-06, "loss": 2.7811, "step": 5 }, { "epoch": 6.0, "learning_rate": 1e-05, "loss": 2.7249, "step": 6 }, { "epoch": 7.0, "learning_rate": 1.1666666666666668e-05, "loss": 2.6948, "step": 7 }, { "epoch": 8.0, "learning_rate": 1.3333333333333333e-05, "loss": 2.6495, "step": 8 }, { "epoch": 9.0, "learning_rate": 1.5e-05, "loss": 2.594, "step": 9 }, { "epoch": 10.0, "learning_rate": 1.6666666666666667e-05, "loss": 2.538, "step": 10 }, { "epoch": 11.0, "learning_rate": 1.8333333333333333e-05, "loss": 2.4672, "step": 11 }, { "epoch": 12.0, "learning_rate": 2e-05, "loss": 2.4293, "step": 12 }, { "epoch": 13.0, "learning_rate": 2.1666666666666667e-05, "loss": 2.3298, "step": 13 }, { "epoch": 14.0, "learning_rate": 2.3333333333333336e-05, "loss": 2.258, "step": 14 }, { "epoch": 15.0, "learning_rate": 2.5e-05, "loss": 2.1281, "step": 15 }, { "epoch": 16.0, "learning_rate": 2.6666666666666667e-05, "loss": 2.0277, "step": 16 }, { "epoch": 17.0, "learning_rate": 2.8333333333333335e-05, "loss": 1.9414, "step": 17 }, { "epoch": 18.0, "learning_rate": 3e-05, "loss": 1.8256, "step": 18 }, { "epoch": 19.0, "learning_rate": 3.1666666666666666e-05, "loss": 1.678, "step": 19 }, { "epoch": 20.0, "learning_rate": 3.3333333333333335e-05, "loss": 1.5957, "step": 20 }, { "epoch": 20.0, "eval_accuracy_NAT": 0.8321817496578309, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.0071490677229253214, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.0, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.0, "eval_accuracy_speedway-bricks": 0.9400317341795781, "eval_accuracy_steel": 0.0, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.8227595719506057, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.006510645785676579, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.0, "eval_iou_red-bricks": 0.0, "eval_iou_road": 0.0, "eval_iou_rough-red-sidewalk": 0.0, "eval_iou_speedway-bricks": 0.6827730558356707, "eval_iou_steel": 0.0, "eval_iou_steel-sidewalk": 0.0, "eval_iou_tiles-marble": 0.0, "eval_iou_unlabeled": 0.0, "eval_loss": 1.5208492279052734, "eval_mean_accuracy": 0.2965604252600557, "eval_mean_iou": 0.13745847941563208, "eval_overall_accuracy": 0.7877578735351562, "eval_runtime": 0.7158, "eval_samples_per_second": 1.397, "eval_steps_per_second": 1.397, "step": 20 }, { "epoch": 21.0, "learning_rate": 3.5e-05, "loss": 1.4548, "step": 21 }, { "epoch": 22.0, "learning_rate": 3.6666666666666666e-05, "loss": 1.3462, "step": 22 }, { "epoch": 23.0, "learning_rate": 3.8333333333333334e-05, "loss": 1.2189, "step": 23 }, { "epoch": 24.0, "learning_rate": 4e-05, "loss": 1.1207, "step": 24 }, { "epoch": 25.0, "learning_rate": 4.166666666666667e-05, "loss": 0.9904, "step": 25 }, { "epoch": 26.0, "learning_rate": 4.3333333333333334e-05, "loss": 0.9286, "step": 26 }, { "epoch": 27.0, "learning_rate": 4.5e-05, "loss": 0.8425, "step": 27 }, { "epoch": 28.0, "learning_rate": 4.666666666666667e-05, "loss": 0.7906, "step": 28 }, { "epoch": 29.0, "learning_rate": 4.8333333333333334e-05, "loss": 0.7611, "step": 29 }, { "epoch": 30.0, "learning_rate": 5e-05, "loss": 0.6952, "step": 30 }, { "epoch": 31.0, "learning_rate": 4.991228070175439e-05, "loss": 0.6077, "step": 31 }, { "epoch": 32.0, "learning_rate": 4.9824561403508773e-05, "loss": 0.5674, "step": 32 }, { "epoch": 33.0, "learning_rate": 4.973684210526316e-05, "loss": 0.5183, "step": 33 }, { "epoch": 34.0, "learning_rate": 4.9649122807017544e-05, "loss": 0.4915, "step": 34 }, { "epoch": 35.0, "learning_rate": 4.956140350877193e-05, "loss": 0.4782, "step": 35 }, { "epoch": 36.0, "learning_rate": 4.9473684210526315e-05, "loss": 0.4367, "step": 36 }, { "epoch": 37.0, "learning_rate": 4.93859649122807e-05, "loss": 0.4252, "step": 37 }, { "epoch": 38.0, "learning_rate": 4.9298245614035086e-05, "loss": 0.3915, "step": 38 }, { "epoch": 39.0, "learning_rate": 4.921052631578947e-05, "loss": 0.3803, "step": 39 }, { "epoch": 40.0, "learning_rate": 4.912280701754386e-05, "loss": 0.3589, "step": 40 }, { "epoch": 40.0, "eval_accuracy_NAT": 0.962933331570143, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.44266254468167326, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.14368837885889768, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.0, "eval_accuracy_speedway-bricks": 1.0, "eval_accuracy_steel": 0.0, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.9404239931293225, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.34041604754829125, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.11037993543580829, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.0, "eval_iou_speedway-bricks": 0.836688077155854, "eval_iou_steel": 0.0, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.37735000252723694, "eval_mean_accuracy": 0.424880709185119, "eval_mean_iou": 0.37131800887821265, "eval_overall_accuracy": 0.9033889770507812, "eval_runtime": 0.5957, "eval_samples_per_second": 1.679, "eval_steps_per_second": 1.679, "step": 40 }, { "epoch": 41.0, "learning_rate": 4.903508771929825e-05, "loss": 0.3388, "step": 41 }, { "epoch": 42.0, "learning_rate": 4.8947368421052635e-05, "loss": 0.3296, "step": 42 }, { "epoch": 43.0, "learning_rate": 4.885964912280702e-05, "loss": 0.3273, "step": 43 }, { "epoch": 44.0, "learning_rate": 4.8771929824561406e-05, "loss": 0.2959, "step": 44 }, { "epoch": 45.0, "learning_rate": 4.868421052631579e-05, "loss": 0.2805, "step": 45 }, { "epoch": 46.0, "learning_rate": 4.859649122807018e-05, "loss": 0.2713, "step": 46 }, { "epoch": 47.0, "learning_rate": 4.850877192982456e-05, "loss": 0.2579, "step": 47 }, { "epoch": 48.0, "learning_rate": 4.842105263157895e-05, "loss": 0.2477, "step": 48 }, { "epoch": 49.0, "learning_rate": 4.8333333333333334e-05, "loss": 0.2412, "step": 49 }, { "epoch": 50.0, "learning_rate": 4.824561403508772e-05, "loss": 0.2234, "step": 50 }, { "epoch": 51.0, "learning_rate": 4.8157894736842105e-05, "loss": 0.2311, "step": 51 }, { "epoch": 52.0, "learning_rate": 4.807017543859649e-05, "loss": 0.2132, "step": 52 }, { "epoch": 53.0, "learning_rate": 4.7982456140350876e-05, "loss": 0.214, "step": 53 }, { "epoch": 54.0, "learning_rate": 4.789473684210526e-05, "loss": 0.2097, "step": 54 }, { "epoch": 55.0, "learning_rate": 4.780701754385965e-05, "loss": 0.2033, "step": 55 }, { "epoch": 56.0, "learning_rate": 4.771929824561404e-05, "loss": 0.192, "step": 56 }, { "epoch": 57.0, "learning_rate": 4.7631578947368424e-05, "loss": 0.1857, "step": 57 }, { "epoch": 58.0, "learning_rate": 4.754385964912281e-05, "loss": 0.1799, "step": 58 }, { "epoch": 59.0, "learning_rate": 4.7456140350877195e-05, "loss": 0.1864, "step": 59 }, { "epoch": 60.0, "learning_rate": 4.736842105263158e-05, "loss": 0.173, "step": 60 }, { "epoch": 60.0, "eval_accuracy_NAT": 0.9537294781177061, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.6674717418606898, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.5639243575238403, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.5100017702248185, "eval_accuracy_speedway-bricks": 1.0, "eval_accuracy_steel": 0.0, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.940778617689453, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.635193527627103, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.29731572219855135, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.4458372021046116, "eval_iou_speedway-bricks": 0.8960722611941079, "eval_iou_steel": 0.0, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.25648337602615356, "eval_mean_accuracy": 0.6158545579545092, "eval_mean_iou": 0.5358662218023046, "eval_overall_accuracy": 0.9278640747070312, "eval_runtime": 0.5992, "eval_samples_per_second": 1.669, "eval_steps_per_second": 1.669, "step": 60 }, { "epoch": 61.0, "learning_rate": 4.728070175438597e-05, "loss": 0.1641, "step": 61 }, { "epoch": 62.0, "learning_rate": 4.719298245614036e-05, "loss": 0.1643, "step": 62 }, { "epoch": 63.0, "learning_rate": 4.7105263157894744e-05, "loss": 0.1636, "step": 63 }, { "epoch": 64.0, "learning_rate": 4.701754385964913e-05, "loss": 0.16, "step": 64 }, { "epoch": 65.0, "learning_rate": 4.6929824561403515e-05, "loss": 0.1544, "step": 65 }, { "epoch": 66.0, "learning_rate": 4.68421052631579e-05, "loss": 0.1483, "step": 66 }, { "epoch": 67.0, "learning_rate": 4.6754385964912286e-05, "loss": 0.1445, "step": 67 }, { "epoch": 68.0, "learning_rate": 4.666666666666667e-05, "loss": 0.1532, "step": 68 }, { "epoch": 69.0, "learning_rate": 4.657894736842106e-05, "loss": 0.1446, "step": 69 }, { "epoch": 70.0, "learning_rate": 4.649122807017544e-05, "loss": 0.1374, "step": 70 }, { "epoch": 71.0, "learning_rate": 4.640350877192983e-05, "loss": 0.1345, "step": 71 }, { "epoch": 72.0, "learning_rate": 4.6315789473684214e-05, "loss": 0.1318, "step": 72 }, { "epoch": 73.0, "learning_rate": 4.62280701754386e-05, "loss": 0.1328, "step": 73 }, { "epoch": 74.0, "learning_rate": 4.6140350877192985e-05, "loss": 0.124, "step": 74 }, { "epoch": 75.0, "learning_rate": 4.605263157894737e-05, "loss": 0.1365, "step": 75 }, { "epoch": 76.0, "learning_rate": 4.5964912280701756e-05, "loss": 0.1256, "step": 76 }, { "epoch": 77.0, "learning_rate": 4.587719298245614e-05, "loss": 0.1216, "step": 77 }, { "epoch": 78.0, "learning_rate": 4.5789473684210527e-05, "loss": 0.124, "step": 78 }, { "epoch": 79.0, "learning_rate": 4.570175438596491e-05, "loss": 0.1213, "step": 79 }, { "epoch": 80.0, "learning_rate": 4.56140350877193e-05, "loss": 0.1134, "step": 80 }, { "epoch": 80.0, "eval_accuracy_NAT": 0.9792516579498945, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.8183750362283837, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.49070631970260226, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.9412285360240751, "eval_accuracy_speedway-bricks": 0.9946098562628337, "eval_accuracy_steel": 0.5342876165113183, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.9568551695621555, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.7767284063818082, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.365739067582219, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.7858409695536506, "eval_iou_speedway-bricks": 0.9649559685780907, "eval_iou_steel": 0.47122724603640637, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.16272249817848206, "eval_mean_accuracy": 0.7930765037798513, "eval_mean_iou": 0.7202244712823885, "eval_overall_accuracy": 0.9604721069335938, "eval_runtime": 0.6081, "eval_samples_per_second": 1.644, "eval_steps_per_second": 1.644, "step": 80 }, { "epoch": 81.0, "learning_rate": 4.552631578947369e-05, "loss": 0.1129, "step": 81 }, { "epoch": 82.0, "learning_rate": 4.5438596491228075e-05, "loss": 0.1262, "step": 82 }, { "epoch": 83.0, "learning_rate": 4.535087719298246e-05, "loss": 0.1174, "step": 83 }, { "epoch": 84.0, "learning_rate": 4.5263157894736846e-05, "loss": 0.1124, "step": 84 }, { "epoch": 85.0, "learning_rate": 4.517543859649123e-05, "loss": 0.111, "step": 85 }, { "epoch": 86.0, "learning_rate": 4.508771929824562e-05, "loss": 0.1085, "step": 86 }, { "epoch": 87.0, "learning_rate": 4.5e-05, "loss": 0.105, "step": 87 }, { "epoch": 88.0, "learning_rate": 4.491228070175439e-05, "loss": 0.1071, "step": 88 }, { "epoch": 89.0, "learning_rate": 4.4824561403508774e-05, "loss": 0.1021, "step": 89 }, { "epoch": 90.0, "learning_rate": 4.473684210526316e-05, "loss": 0.099, "step": 90 }, { "epoch": 91.0, "learning_rate": 4.4649122807017545e-05, "loss": 0.1008, "step": 91 }, { "epoch": 92.0, "learning_rate": 4.456140350877193e-05, "loss": 0.0986, "step": 92 }, { "epoch": 93.0, "learning_rate": 4.4473684210526316e-05, "loss": 0.1006, "step": 93 }, { "epoch": 94.0, "learning_rate": 4.43859649122807e-05, "loss": 0.0982, "step": 94 }, { "epoch": 95.0, "learning_rate": 4.429824561403509e-05, "loss": 0.0949, "step": 95 }, { "epoch": 96.0, "learning_rate": 4.421052631578947e-05, "loss": 0.0995, "step": 96 }, { "epoch": 97.0, "learning_rate": 4.412280701754386e-05, "loss": 0.0963, "step": 97 }, { "epoch": 98.0, "learning_rate": 4.403508771929824e-05, "loss": 0.0944, "step": 98 }, { "epoch": 99.0, "learning_rate": 4.394736842105263e-05, "loss": 0.0924, "step": 99 }, { "epoch": 100.0, "learning_rate": 4.3859649122807014e-05, "loss": 0.0925, "step": 100 }, { "epoch": 100.0, "eval_accuracy_NAT": 0.9773738602627594, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.7627282388175055, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.5282042993373202, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.8376703841387856, "eval_accuracy_speedway-bricks": 0.9968965839089042, "eval_accuracy_steel": 0.5838881491344874, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.9558231113927488, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.7395784543325526, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.37933836331979104, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.7238794554076794, "eval_iou_speedway-bricks": 0.9531277886846332, "eval_iou_steel": 0.5400246305418719, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.16368532180786133, "eval_mean_accuracy": 0.7811269192666271, "eval_mean_iou": 0.7152953006132129, "eval_overall_accuracy": 0.9571609497070312, "eval_runtime": 0.6356, "eval_samples_per_second": 1.573, "eval_steps_per_second": 1.573, "step": 100 }, { "epoch": 101.0, "learning_rate": 4.37719298245614e-05, "loss": 0.1101, "step": 101 }, { "epoch": 102.0, "learning_rate": 4.368421052631579e-05, "loss": 0.0919, "step": 102 }, { "epoch": 103.0, "learning_rate": 4.359649122807018e-05, "loss": 0.0923, "step": 103 }, { "epoch": 104.0, "learning_rate": 4.350877192982456e-05, "loss": 0.0908, "step": 104 }, { "epoch": 105.0, "learning_rate": 4.342105263157895e-05, "loss": 0.0903, "step": 105 }, { "epoch": 106.0, "learning_rate": 4.3333333333333334e-05, "loss": 0.088, "step": 106 }, { "epoch": 107.0, "learning_rate": 4.324561403508772e-05, "loss": 0.086, "step": 107 }, { "epoch": 108.0, "learning_rate": 4.3157894736842105e-05, "loss": 0.0894, "step": 108 }, { "epoch": 109.0, "learning_rate": 4.30701754385965e-05, "loss": 0.0861, "step": 109 }, { "epoch": 110.0, "learning_rate": 4.298245614035088e-05, "loss": 0.085, "step": 110 }, { "epoch": 111.0, "learning_rate": 4.289473684210527e-05, "loss": 0.0877, "step": 111 }, { "epoch": 112.0, "learning_rate": 4.2807017543859654e-05, "loss": 0.0873, "step": 112 }, { "epoch": 113.0, "learning_rate": 4.271929824561404e-05, "loss": 0.0799, "step": 113 }, { "epoch": 114.0, "learning_rate": 4.2631578947368425e-05, "loss": 0.0818, "step": 114 }, { "epoch": 115.0, "learning_rate": 4.254385964912281e-05, "loss": 0.079, "step": 115 }, { "epoch": 116.0, "learning_rate": 4.2456140350877196e-05, "loss": 0.0845, "step": 116 }, { "epoch": 117.0, "learning_rate": 4.236842105263158e-05, "loss": 0.0779, "step": 117 }, { "epoch": 118.0, "learning_rate": 4.228070175438597e-05, "loss": 0.0784, "step": 118 }, { "epoch": 119.0, "learning_rate": 4.219298245614035e-05, "loss": 0.0745, "step": 119 }, { "epoch": 120.0, "learning_rate": 4.210526315789474e-05, "loss": 0.076, "step": 120 }, { "epoch": 120.0, "eval_accuracy_NAT": 0.9815856811314392, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.8138344121340934, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.5185065459835139, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.9499026376349796, "eval_accuracy_speedway-bricks": 0.9870496546574575, "eval_accuracy_steel": 0.7936085219707057, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.9593775445580386, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.7564655172413793, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.39468503937007876, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.8212427303336394, "eval_iou_speedway-bricks": 0.9676762593219563, "eval_iou_steel": 0.6144329896907217, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.14839401841163635, "eval_mean_accuracy": 0.8407479089186981, "eval_mean_iou": 0.7523133467526356, "eval_overall_accuracy": 0.962982177734375, "eval_runtime": 0.6102, "eval_samples_per_second": 1.639, "eval_steps_per_second": 1.639, "step": 120 }, { "epoch": 121.0, "learning_rate": 4.201754385964912e-05, "loss": 0.0739, "step": 121 }, { "epoch": 122.0, "learning_rate": 4.1929824561403516e-05, "loss": 0.0753, "step": 122 }, { "epoch": 123.0, "learning_rate": 4.18421052631579e-05, "loss": 0.0706, "step": 123 }, { "epoch": 124.0, "learning_rate": 4.1754385964912287e-05, "loss": 0.0751, "step": 124 }, { "epoch": 125.0, "learning_rate": 4.166666666666667e-05, "loss": 0.0737, "step": 125 }, { "epoch": 126.0, "learning_rate": 4.157894736842106e-05, "loss": 0.0704, "step": 126 }, { "epoch": 127.0, "learning_rate": 4.149122807017544e-05, "loss": 0.071, "step": 127 }, { "epoch": 128.0, "learning_rate": 4.140350877192983e-05, "loss": 0.07, "step": 128 }, { "epoch": 129.0, "learning_rate": 4.1315789473684214e-05, "loss": 0.0735, "step": 129 }, { "epoch": 130.0, "learning_rate": 4.12280701754386e-05, "loss": 0.0708, "step": 130 }, { "epoch": 131.0, "learning_rate": 4.1140350877192985e-05, "loss": 0.0688, "step": 131 }, { "epoch": 132.0, "learning_rate": 4.105263157894737e-05, "loss": 0.0671, "step": 132 }, { "epoch": 133.0, "learning_rate": 4.0964912280701756e-05, "loss": 0.0676, "step": 133 }, { "epoch": 134.0, "learning_rate": 4.087719298245614e-05, "loss": 0.0695, "step": 134 }, { "epoch": 135.0, "learning_rate": 4.078947368421053e-05, "loss": 0.0646, "step": 135 }, { "epoch": 136.0, "learning_rate": 4.070175438596491e-05, "loss": 0.0668, "step": 136 }, { "epoch": 137.0, "learning_rate": 4.06140350877193e-05, "loss": 0.0645, "step": 137 }, { "epoch": 138.0, "learning_rate": 4.0526315789473684e-05, "loss": 0.0634, "step": 138 }, { "epoch": 139.0, "learning_rate": 4.043859649122807e-05, "loss": 0.0658, "step": 139 }, { "epoch": 140.0, "learning_rate": 4.0350877192982455e-05, "loss": 0.0648, "step": 140 }, { "epoch": 140.0, "eval_accuracy_NAT": 0.9782201916147076, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.8271664573471162, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.5430741878131566, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.8104089219330854, "eval_accuracy_speedway-bricks": 0.9863496359902931, "eval_accuracy_steel": 0.8022636484687083, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.9579143654457516, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.7443922796035473, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.3991921112035167, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.682468694096601, "eval_iou_speedway-bricks": 0.9595922907538988, "eval_iou_steel": 0.64907083221115, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.15345287322998047, "eval_mean_accuracy": 0.8245805071945113, "eval_mean_iou": 0.732105095552411, "eval_overall_accuracy": 0.9590110778808594, "eval_runtime": 0.6185, "eval_samples_per_second": 1.617, "eval_steps_per_second": 1.617, "step": 140 }, { "epoch": 141.0, "learning_rate": 4.026315789473684e-05, "loss": 0.0662, "step": 141 }, { "epoch": 142.0, "learning_rate": 4.017543859649123e-05, "loss": 0.0637, "step": 142 }, { "epoch": 143.0, "learning_rate": 4.008771929824562e-05, "loss": 0.0635, "step": 143 }, { "epoch": 144.0, "learning_rate": 4e-05, "loss": 0.0642, "step": 144 }, { "epoch": 145.0, "learning_rate": 3.991228070175439e-05, "loss": 0.066, "step": 145 }, { "epoch": 146.0, "learning_rate": 3.9824561403508774e-05, "loss": 0.0606, "step": 146 }, { "epoch": 147.0, "learning_rate": 3.973684210526316e-05, "loss": 0.0631, "step": 147 }, { "epoch": 148.0, "learning_rate": 3.9649122807017545e-05, "loss": 0.0606, "step": 148 }, { "epoch": 149.0, "learning_rate": 3.956140350877193e-05, "loss": 0.0654, "step": 149 }, { "epoch": 150.0, "learning_rate": 3.9473684210526316e-05, "loss": 0.0629, "step": 150 }, { "epoch": 151.0, "learning_rate": 3.93859649122807e-05, "loss": 0.0631, "step": 151 }, { "epoch": 152.0, "learning_rate": 3.929824561403509e-05, "loss": 0.0602, "step": 152 }, { "epoch": 153.0, "learning_rate": 3.921052631578947e-05, "loss": 0.0584, "step": 153 }, { "epoch": 154.0, "learning_rate": 3.912280701754386e-05, "loss": 0.0581, "step": 154 }, { "epoch": 155.0, "learning_rate": 3.9035087719298244e-05, "loss": 0.0593, "step": 155 }, { "epoch": 156.0, "learning_rate": 3.894736842105263e-05, "loss": 0.0618, "step": 156 }, { "epoch": 157.0, "learning_rate": 3.8859649122807015e-05, "loss": 0.0569, "step": 157 }, { "epoch": 158.0, "learning_rate": 3.877192982456141e-05, "loss": 0.0634, "step": 158 }, { "epoch": 159.0, "learning_rate": 3.868421052631579e-05, "loss": 0.0595, "step": 159 }, { "epoch": 160.0, "learning_rate": 3.859649122807018e-05, "loss": 0.0647, "step": 160 }, { "epoch": 160.0, "eval_accuracy_NAT": 0.9807062899610556, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.7850449231958265, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.5291740746727008, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.8890069038767924, "eval_accuracy_speedway-bricks": 0.9944115176404704, "eval_accuracy_steel": 0.7689747003994674, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.9588402611674963, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.7218619525628498, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.3935569178987859, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.7595281306715064, "eval_iou_speedway-bricks": 0.9702105862265225, "eval_iou_steel": 0.7059902200488998, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.14740905165672302, "eval_mean_accuracy": 0.8245530682910521, "eval_mean_iou": 0.75166467809601, "eval_overall_accuracy": 0.96240234375, "eval_runtime": 0.6115, "eval_samples_per_second": 1.635, "eval_steps_per_second": 1.635, "step": 160 }, { "epoch": 161.0, "learning_rate": 3.8508771929824563e-05, "loss": 0.0573, "step": 161 }, { "epoch": 162.0, "learning_rate": 3.842105263157895e-05, "loss": 0.0591, "step": 162 }, { "epoch": 163.0, "learning_rate": 3.8333333333333334e-05, "loss": 0.0588, "step": 163 }, { "epoch": 164.0, "learning_rate": 3.824561403508773e-05, "loss": 0.0568, "step": 164 }, { "epoch": 165.0, "learning_rate": 3.815789473684211e-05, "loss": 0.059, "step": 165 }, { "epoch": 166.0, "learning_rate": 3.80701754385965e-05, "loss": 0.0551, "step": 166 }, { "epoch": 167.0, "learning_rate": 3.798245614035088e-05, "loss": 0.0563, "step": 167 }, { "epoch": 168.0, "learning_rate": 3.789473684210527e-05, "loss": 0.0543, "step": 168 }, { "epoch": 169.0, "learning_rate": 3.7807017543859654e-05, "loss": 0.0549, "step": 169 }, { "epoch": 170.0, "learning_rate": 3.771929824561404e-05, "loss": 0.0566, "step": 170 }, { "epoch": 171.0, "learning_rate": 3.7631578947368425e-05, "loss": 0.0541, "step": 171 }, { "epoch": 172.0, "learning_rate": 3.754385964912281e-05, "loss": 0.0531, "step": 172 }, { "epoch": 173.0, "learning_rate": 3.7456140350877196e-05, "loss": 0.0549, "step": 173 }, { "epoch": 174.0, "learning_rate": 3.736842105263158e-05, "loss": 0.0535, "step": 174 }, { "epoch": 175.0, "learning_rate": 3.728070175438597e-05, "loss": 0.0538, "step": 175 }, { "epoch": 176.0, "learning_rate": 3.719298245614035e-05, "loss": 0.0539, "step": 176 }, { "epoch": 177.0, "learning_rate": 3.710526315789474e-05, "loss": 0.0557, "step": 177 }, { "epoch": 178.0, "learning_rate": 3.7017543859649124e-05, "loss": 0.053, "step": 178 }, { "epoch": 179.0, "learning_rate": 3.692982456140351e-05, "loss": 0.0528, "step": 179 }, { "epoch": 180.0, "learning_rate": 3.6842105263157895e-05, "loss": 0.0536, "step": 180 }, { "epoch": 180.0, "eval_accuracy_NAT": 0.9788946119107914, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.8163462467394454, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.5758849199935349, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.9368029739776952, "eval_accuracy_speedway-bricks": 0.9898263953705432, "eval_accuracy_steel": 0.8608521970705726, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.9596310532354142, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.7403189066059226, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.4216069104248018, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.7822616407982261, "eval_iou_speedway-bricks": 0.9738739152394509, "eval_iou_steel": 0.7420373027259685, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.14183500409126282, "eval_mean_accuracy": 0.8597678908437638, "eval_mean_iou": 0.7699549548382972, "eval_overall_accuracy": 0.9642791748046875, "eval_runtime": 0.6075, "eval_samples_per_second": 1.646, "eval_steps_per_second": 1.646, "step": 180 }, { "epoch": 181.0, "learning_rate": 3.675438596491228e-05, "loss": 0.0539, "step": 181 }, { "epoch": 182.0, "learning_rate": 3.6666666666666666e-05, "loss": 0.0511, "step": 182 }, { "epoch": 183.0, "learning_rate": 3.657894736842106e-05, "loss": 0.0507, "step": 183 }, { "epoch": 184.0, "learning_rate": 3.6491228070175443e-05, "loss": 0.0494, "step": 184 }, { "epoch": 185.0, "learning_rate": 3.640350877192983e-05, "loss": 0.0525, "step": 185 }, { "epoch": 186.0, "learning_rate": 3.6315789473684214e-05, "loss": 0.0494, "step": 186 }, { "epoch": 187.0, "learning_rate": 3.62280701754386e-05, "loss": 0.0547, "step": 187 }, { "epoch": 188.0, "learning_rate": 3.6140350877192985e-05, "loss": 0.0499, "step": 188 }, { "epoch": 189.0, "learning_rate": 3.605263157894737e-05, "loss": 0.0527, "step": 189 }, { "epoch": 190.0, "learning_rate": 3.5964912280701756e-05, "loss": 0.0531, "step": 190 }, { "epoch": 191.0, "learning_rate": 3.587719298245614e-05, "loss": 0.049, "step": 191 }, { "epoch": 192.0, "learning_rate": 3.578947368421053e-05, "loss": 0.049, "step": 192 }, { "epoch": 193.0, "learning_rate": 3.570175438596491e-05, "loss": 0.0519, "step": 193 }, { "epoch": 194.0, "learning_rate": 3.56140350877193e-05, "loss": 0.0507, "step": 194 }, { "epoch": 195.0, "learning_rate": 3.5526315789473684e-05, "loss": 0.0503, "step": 195 }, { "epoch": 196.0, "learning_rate": 3.543859649122807e-05, "loss": 0.0495, "step": 196 }, { "epoch": 197.0, "learning_rate": 3.5350877192982455e-05, "loss": 0.0486, "step": 197 }, { "epoch": 198.0, "learning_rate": 3.526315789473684e-05, "loss": 0.0506, "step": 198 }, { "epoch": 199.0, "learning_rate": 3.5175438596491226e-05, "loss": 0.0477, "step": 199 }, { "epoch": 200.0, "learning_rate": 3.508771929824561e-05, "loss": 0.0508, "step": 200 }, { "epoch": 200.0, "eval_accuracy_NAT": 0.9823460569554552, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.8078446526905613, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.5829966057863262, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.9417596034696406, "eval_accuracy_speedway-bricks": 0.9883096882583535, "eval_accuracy_steel": 0.9037949400798935, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.9617055156744581, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.7411806417301897, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.42646015606526366, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.8077740662010325, "eval_iou_speedway-bricks": 0.9782094067923831, "eval_iou_steel": 0.7556359588087949, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.13466748595237732, "eval_mean_accuracy": 0.8678419245400385, "eval_mean_iou": 0.778494290878687, "eval_overall_accuracy": 0.9662055969238281, "eval_runtime": 0.8563, "eval_samples_per_second": 1.168, "eval_steps_per_second": 1.168, "step": 200 }, { "epoch": 201.0, "learning_rate": 3.5e-05, "loss": 0.0484, "step": 201 }, { "epoch": 202.0, "learning_rate": 3.491228070175438e-05, "loss": 0.0475, "step": 202 }, { "epoch": 203.0, "learning_rate": 3.482456140350877e-05, "loss": 0.0486, "step": 203 }, { "epoch": 204.0, "learning_rate": 3.473684210526316e-05, "loss": 0.0474, "step": 204 }, { "epoch": 205.0, "learning_rate": 3.4649122807017546e-05, "loss": 0.0498, "step": 205 }, { "epoch": 206.0, "learning_rate": 3.456140350877193e-05, "loss": 0.0498, "step": 206 }, { "epoch": 207.0, "learning_rate": 3.447368421052632e-05, "loss": 0.0476, "step": 207 }, { "epoch": 208.0, "learning_rate": 3.43859649122807e-05, "loss": 0.0461, "step": 208 }, { "epoch": 209.0, "learning_rate": 3.429824561403509e-05, "loss": 0.0478, "step": 209 }, { "epoch": 210.0, "learning_rate": 3.421052631578947e-05, "loss": 0.0484, "step": 210 }, { "epoch": 211.0, "learning_rate": 3.412280701754386e-05, "loss": 0.0487, "step": 211 }, { "epoch": 212.0, "learning_rate": 3.403508771929825e-05, "loss": 0.0471, "step": 212 }, { "epoch": 213.0, "learning_rate": 3.3947368421052636e-05, "loss": 0.0449, "step": 213 }, { "epoch": 214.0, "learning_rate": 3.385964912280702e-05, "loss": 0.0452, "step": 214 }, { "epoch": 215.0, "learning_rate": 3.377192982456141e-05, "loss": 0.0441, "step": 215 }, { "epoch": 216.0, "learning_rate": 3.368421052631579e-05, "loss": 0.0469, "step": 216 }, { "epoch": 217.0, "learning_rate": 3.359649122807018e-05, "loss": 0.0465, "step": 217 }, { "epoch": 218.0, "learning_rate": 3.3508771929824564e-05, "loss": 0.0472, "step": 218 }, { "epoch": 219.0, "learning_rate": 3.342105263157895e-05, "loss": 0.0463, "step": 219 }, { "epoch": 220.0, "learning_rate": 3.3333333333333335e-05, "loss": 0.0452, "step": 220 }, { "epoch": 220.0, "eval_accuracy_NAT": 0.9795690322068751, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.7840788329629987, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.5747535154355907, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.7316339175075235, "eval_accuracy_speedway-bricks": 0.9934431584842263, "eval_accuracy_steel": 0.8824900133155792, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.9598131567695039, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.7316325610745515, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.42730112953616917, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.6137511137511138, "eval_iou_speedway-bricks": 0.9608548956769993, "eval_iou_steel": 0.7776474039307715, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.14316219091415405, "eval_mean_accuracy": 0.824328078318799, "eval_mean_iou": 0.7451667101231849, "eval_overall_accuracy": 0.9603767395019531, "eval_runtime": 0.5943, "eval_samples_per_second": 1.683, "eval_steps_per_second": 1.683, "step": 220 }, { "epoch": 221.0, "learning_rate": 3.324561403508772e-05, "loss": 0.0462, "step": 221 }, { "epoch": 222.0, "learning_rate": 3.3157894736842106e-05, "loss": 0.0429, "step": 222 }, { "epoch": 223.0, "learning_rate": 3.307017543859649e-05, "loss": 0.0508, "step": 223 }, { "epoch": 224.0, "learning_rate": 3.2982456140350884e-05, "loss": 0.0438, "step": 224 }, { "epoch": 225.0, "learning_rate": 3.289473684210527e-05, "loss": 0.0434, "step": 225 }, { "epoch": 226.0, "learning_rate": 3.2807017543859655e-05, "loss": 0.0477, "step": 226 }, { "epoch": 227.0, "learning_rate": 3.271929824561404e-05, "loss": 0.0455, "step": 227 }, { "epoch": 228.0, "learning_rate": 3.2631578947368426e-05, "loss": 0.043, "step": 228 }, { "epoch": 229.0, "learning_rate": 3.254385964912281e-05, "loss": 0.045, "step": 229 }, { "epoch": 230.0, "learning_rate": 3.24561403508772e-05, "loss": 0.0473, "step": 230 }, { "epoch": 231.0, "learning_rate": 3.236842105263158e-05, "loss": 0.0418, "step": 231 }, { "epoch": 232.0, "learning_rate": 3.228070175438597e-05, "loss": 0.0452, "step": 232 }, { "epoch": 233.0, "learning_rate": 3.219298245614035e-05, "loss": 0.0453, "step": 233 }, { "epoch": 234.0, "learning_rate": 3.210526315789474e-05, "loss": 0.0428, "step": 234 }, { "epoch": 235.0, "learning_rate": 3.2017543859649124e-05, "loss": 0.0432, "step": 235 }, { "epoch": 236.0, "learning_rate": 3.192982456140351e-05, "loss": 0.0415, "step": 236 }, { "epoch": 237.0, "learning_rate": 3.1842105263157895e-05, "loss": 0.048, "step": 237 }, { "epoch": 238.0, "learning_rate": 3.175438596491228e-05, "loss": 0.0424, "step": 238 }, { "epoch": 239.0, "learning_rate": 3.1666666666666666e-05, "loss": 0.0445, "step": 239 }, { "epoch": 240.0, "learning_rate": 3.157894736842105e-05, "loss": 0.0417, "step": 240 }, { "epoch": 240.0, "eval_accuracy_NAT": 0.9801508850113395, "eval_accuracy_REST": NaN, "eval_accuracy_concrete-road-adj": NaN, "eval_accuracy_concrete-speedway-side": 0.7948024345473867, "eval_accuracy_dark-bricks": NaN, "eval_accuracy_grass": 0.542104412477776, "eval_accuracy_red-bricks": NaN, "eval_accuracy_road": NaN, "eval_accuracy_rough-red-sidewalk": 0.9183926358647548, "eval_accuracy_speedway-bricks": 0.9923697965279075, "eval_accuracy_steel": 0.8778295605858855, "eval_accuracy_steel-sidewalk": NaN, "eval_accuracy_tiles-marble": NaN, "eval_accuracy_unlabeled": NaN, "eval_iou_NAT": 0.9585141120558662, "eval_iou_REST": NaN, "eval_iou_concrete-road-adj": NaN, "eval_iou_concrete-speedway-side": 0.7367902561346946, "eval_iou_dark-bricks": NaN, "eval_iou_grass": 0.4059549745824256, "eval_iou_red-bricks": NaN, "eval_iou_road": NaN, "eval_iou_rough-red-sidewalk": 0.760815368822408, "eval_iou_speedway-bricks": 0.9740952817224003, "eval_iou_steel": 0.784121320249777, "eval_iou_steel-sidewalk": NaN, "eval_iou_tiles-marble": NaN, "eval_iou_unlabeled": NaN, "eval_loss": 0.14111237227916718, "eval_mean_accuracy": 0.8509416208358416, "eval_mean_iou": 0.770048552261262, "eval_overall_accuracy": 0.9639854431152344, "eval_runtime": 0.6048, "eval_samples_per_second": 1.654, "eval_steps_per_second": 1.654, "step": 240 } ], "max_steps": 600, "num_train_epochs": 600, "total_flos": 1.2455423030329344e+18, "trial_name": null, "trial_params": null }