{
  "best_metric": 1.4904648065567017,
  "best_model_checkpoint": "/robodata/smodak/Projects/nspl/scripts/terrainseg/training/models/safety-utcustom-terrain-b0-optim/checkpoint-80",
  "epoch": 7.2727272727272725,
  "global_step": 80,
  "is_hyper_param_search": false,
  "is_local_process_zero": true,
  "is_world_process_zero": true,
  "log_history": [
    {
      "epoch": 0.09,
      "learning_rate": 3.6363636363636366e-07,
      "loss": 2.757,
      "step": 1
    },
    {
      "epoch": 0.18,
      "learning_rate": 7.272727272727273e-07,
      "loss": 2.7552,
      "step": 2
    },
    {
      "epoch": 0.27,
      "learning_rate": 1.090909090909091e-06,
      "loss": 2.7635,
      "step": 3
    },
    {
      "epoch": 0.36,
      "learning_rate": 1.4545454545454546e-06,
      "loss": 2.7567,
      "step": 4
    },
    {
      "epoch": 0.45,
      "learning_rate": 1.818181818181818e-06,
      "loss": 2.7588,
      "step": 5
    },
    {
      "epoch": 0.55,
      "learning_rate": 2.181818181818182e-06,
      "loss": 2.7621,
      "step": 6
    },
    {
      "epoch": 0.64,
      "learning_rate": 2.5454545454545456e-06,
      "loss": 2.7553,
      "step": 7
    },
    {
      "epoch": 0.73,
      "learning_rate": 2.9090909090909093e-06,
      "loss": 2.7371,
      "step": 8
    },
    {
      "epoch": 0.82,
      "learning_rate": 3.2727272727272733e-06,
      "loss": 2.7444,
      "step": 9
    },
    {
      "epoch": 0.91,
      "learning_rate": 3.636363636363636e-06,
      "loss": 2.7363,
      "step": 10
    },
    {
      "epoch": 1.0,
      "learning_rate": 4.000000000000001e-06,
      "loss": 2.7364,
      "step": 11
    },
    {
      "epoch": 1.09,
      "learning_rate": 4.363636363636364e-06,
      "loss": 2.7248,
      "step": 12
    },
    {
      "epoch": 1.18,
      "learning_rate": 4.727272727272727e-06,
      "loss": 2.7344,
      "step": 13
    },
    {
      "epoch": 1.27,
      "learning_rate": 5.090909090909091e-06,
      "loss": 2.7259,
      "step": 14
    },
    {
      "epoch": 1.36,
      "learning_rate": 5.4545454545454545e-06,
      "loss": 2.7086,
      "step": 15
    },
    {
      "epoch": 1.45,
      "learning_rate": 5.8181818181818185e-06,
      "loss": 2.7087,
      "step": 16
    },
    {
      "epoch": 1.55,
      "learning_rate": 6.181818181818183e-06,
      "loss": 2.7055,
      "step": 17
    },
    {
      "epoch": 1.64,
      "learning_rate": 6.545454545454547e-06,
      "loss": 2.6959,
      "step": 18
    },
    {
      "epoch": 1.73,
      "learning_rate": 6.909090909090909e-06,
      "loss": 2.6983,
      "step": 19
    },
    {
      "epoch": 1.82,
      "learning_rate": 7.272727272727272e-06,
      "loss": 2.6746,
      "step": 20
    },
    {
      "epoch": 1.82,
      "eval_accuracy_NAT": 0.019056367662015652,
      "eval_accuracy_REST": 0.0,
      "eval_accuracy_concrete": 0.0010381346838920125,
      "eval_accuracy_concrete tiles": 0.09181801504311135,
      "eval_accuracy_dark bricks": 0.09326045956660636,
      "eval_accuracy_grass": 0.007958282800392846,
      "eval_accuracy_red bricks": 0.00870028409090909,
      "eval_accuracy_road": 0.05730198902763889,
      "eval_accuracy_rough concrete": 0.03398947127489128,
      "eval_accuracy_rough red sidewalk": 0.06001709260331376,
      "eval_accuracy_speedway bricks": 0.03133919121631325,
      "eval_accuracy_steel": 0.00842622518303542,
      "eval_accuracy_tiles": 0.0,
      "eval_accuracy_unlabeled": NaN,
      "eval_iou_NAT": 0.018937014149192417,
      "eval_iou_REST": 0.0,
      "eval_iou_concrete": 0.0009231352727125269,
      "eval_iou_concrete tiles": 0.002698064724802789,
      "eval_iou_dark bricks": 0.0018963436490879863,
      "eval_iou_grass": 0.006090841001497967,
      "eval_iou_red bricks": 1.3048864535742704e-05,
      "eval_iou_road": 0.0465812133841859,
      "eval_iou_rough concrete": 0.004291938525567382,
      "eval_iou_rough red sidewalk": 0.0013826848729701939,
      "eval_iou_speedway bricks": 0.030977499755458056,
      "eval_iou_steel": 0.0016645601782480097,
      "eval_iou_tiles": 0.0,
      "eval_iou_unlabeled": 0.0,
      "eval_loss": 2.647437810897827,
      "eval_mean_accuracy": 0.03176196255016307,
      "eval_mean_iou": 0.008246881741304212,
      "eval_overall_accuracy": 0.02327410380045573,
      "eval_runtime": 3.4336,
      "eval_samples_per_second": 10.485,
      "eval_steps_per_second": 0.582,
      "step": 20
    },
    {
      "epoch": 1.91,
      "learning_rate": 7.636363636363638e-06,
      "loss": 2.6783,
      "step": 21
    },
    {
      "epoch": 2.0,
      "learning_rate": 8.000000000000001e-06,
      "loss": 2.6636,
      "step": 22
    },
    {
      "epoch": 2.09,
      "learning_rate": 8.363636363636365e-06,
      "loss": 2.6626,
      "step": 23
    },
    {
      "epoch": 2.18,
      "learning_rate": 8.727272727272728e-06,
      "loss": 2.6414,
      "step": 24
    },
    {
      "epoch": 2.27,
      "learning_rate": 9.090909090909091e-06,
      "loss": 2.6365,
      "step": 25
    },
    {
      "epoch": 2.36,
      "learning_rate": 9.454545454545454e-06,
      "loss": 2.6263,
      "step": 26
    },
    {
      "epoch": 2.45,
      "learning_rate": 9.818181818181818e-06,
      "loss": 2.6182,
      "step": 27
    },
    {
      "epoch": 2.55,
      "learning_rate": 1.0181818181818182e-05,
      "loss": 2.6144,
      "step": 28
    },
    {
      "epoch": 2.64,
      "learning_rate": 1.0545454545454546e-05,
      "loss": 2.5878,
      "step": 29
    },
    {
      "epoch": 2.73,
      "learning_rate": 1.0909090909090909e-05,
      "loss": 2.5814,
      "step": 30
    },
    {
      "epoch": 2.82,
      "learning_rate": 1.1272727272727274e-05,
      "loss": 2.5739,
      "step": 31
    },
    {
      "epoch": 2.91,
      "learning_rate": 1.1636363636363637e-05,
      "loss": 2.5536,
      "step": 32
    },
    {
      "epoch": 3.0,
      "learning_rate": 1.2e-05,
      "loss": 2.539,
      "step": 33
    },
    {
      "epoch": 3.09,
      "learning_rate": 1.2363636363636365e-05,
      "loss": 2.5256,
      "step": 34
    },
    {
      "epoch": 3.18,
      "learning_rate": 1.2727272727272727e-05,
      "loss": 2.4979,
      "step": 35
    },
    {
      "epoch": 3.27,
      "learning_rate": 1.3090909090909093e-05,
      "loss": 2.4936,
      "step": 36
    },
    {
      "epoch": 3.36,
      "learning_rate": 1.3454545454545457e-05,
      "loss": 2.4862,
      "step": 37
    },
    {
      "epoch": 3.45,
      "learning_rate": 1.3818181818181818e-05,
      "loss": 2.4491,
      "step": 38
    },
    {
      "epoch": 3.55,
      "learning_rate": 1.4181818181818181e-05,
      "loss": 2.4468,
      "step": 39
    },
    {
      "epoch": 3.64,
      "learning_rate": 1.4545454545454545e-05,
      "loss": 2.4385,
      "step": 40
    },
    {
      "epoch": 3.64,
      "eval_accuracy_NAT": 0.447892573737157,
      "eval_accuracy_REST": 0.0,
      "eval_accuracy_concrete": 0.04360568050130907,
      "eval_accuracy_concrete tiles": 0.10279459426404941,
      "eval_accuracy_dark bricks": 0.07266848851083484,
      "eval_accuracy_grass": 0.017545269942016727,
      "eval_accuracy_red bricks": 0.0,
      "eval_accuracy_road": 0.37485716220448445,
      "eval_accuracy_rough concrete": 0.2949759670405127,
      "eval_accuracy_rough red sidewalk": 0.05480660546411932,
      "eval_accuracy_speedway bricks": 0.7969013802350152,
      "eval_accuracy_steel": 0.0050211067871512435,
      "eval_accuracy_tiles": 0.0,
      "eval_accuracy_unlabeled": NaN,
      "eval_iou_NAT": 0.4472536503231145,
      "eval_iou_REST": 0.0,
      "eval_iou_concrete": 0.039962583094048695,
      "eval_iou_concrete tiles": 0.0041023463419931645,
      "eval_iou_dark bricks": 0.007329448622040366,
      "eval_iou_grass": 0.010573184550513284,
      "eval_iou_red bricks": 0.0,
      "eval_iou_road": 0.2852347789122688,
      "eval_iou_rough concrete": 0.048997709321445884,
      "eval_iou_rough red sidewalk": 0.003679975417468036,
      "eval_iou_speedway bricks": 0.7166237181229831,
      "eval_iou_steel": 0.0015635711039736272,
      "eval_iou_tiles": 0.0,
      "eval_iou_unlabeled": 0.0,
      "eval_loss": 2.4373269081115723,
      "eval_mean_accuracy": 0.17008221759128078,
      "eval_mean_iou": 0.11180864041498925,
      "eval_overall_accuracy": 0.4471186531914605,
      "eval_runtime": 3.2402,
      "eval_samples_per_second": 11.111,
      "eval_steps_per_second": 0.617,
      "step": 40
    },
    {
      "epoch": 3.73,
      "learning_rate": 1.4909090909090908e-05,
      "loss": 2.4028,
      "step": 41
    },
    {
      "epoch": 3.82,
      "learning_rate": 1.5272727272727276e-05,
      "loss": 2.4083,
      "step": 42
    },
    {
      "epoch": 3.91,
      "learning_rate": 1.563636363636364e-05,
      "loss": 2.3613,
      "step": 43
    },
    {
      "epoch": 4.0,
      "learning_rate": 1.6000000000000003e-05,
      "loss": 2.3597,
      "step": 44
    },
    {
      "epoch": 4.09,
      "learning_rate": 1.6363636363636366e-05,
      "loss": 2.3331,
      "step": 45
    },
    {
      "epoch": 4.18,
      "learning_rate": 1.672727272727273e-05,
      "loss": 2.3068,
      "step": 46
    },
    {
      "epoch": 4.27,
      "learning_rate": 1.7090909090909092e-05,
      "loss": 2.2492,
      "step": 47
    },
    {
      "epoch": 4.36,
      "learning_rate": 1.7454545454545456e-05,
      "loss": 2.2469,
      "step": 48
    },
    {
      "epoch": 4.45,
      "learning_rate": 1.781818181818182e-05,
      "loss": 2.2194,
      "step": 49
    },
    {
      "epoch": 4.55,
      "learning_rate": 1.8181818181818182e-05,
      "loss": 2.2206,
      "step": 50
    },
    {
      "epoch": 4.64,
      "learning_rate": 1.8545454545454545e-05,
      "loss": 2.1524,
      "step": 51
    },
    {
      "epoch": 4.73,
      "learning_rate": 1.890909090909091e-05,
      "loss": 2.1454,
      "step": 52
    },
    {
      "epoch": 4.82,
      "learning_rate": 1.9272727272727272e-05,
      "loss": 2.1673,
      "step": 53
    },
    {
      "epoch": 4.91,
      "learning_rate": 1.9636363636363635e-05,
      "loss": 2.1274,
      "step": 54
    },
    {
      "epoch": 5.0,
      "learning_rate": 2e-05,
      "loss": 2.0958,
      "step": 55
    },
    {
      "epoch": 5.09,
      "learning_rate": 2.0363636363636365e-05,
      "loss": 2.0027,
      "step": 56
    },
    {
      "epoch": 5.18,
      "learning_rate": 2.0727272727272728e-05,
      "loss": 2.0081,
      "step": 57
    },
    {
      "epoch": 5.27,
      "learning_rate": 2.109090909090909e-05,
      "loss": 2.016,
      "step": 58
    },
    {
      "epoch": 5.36,
      "learning_rate": 2.1454545454545455e-05,
      "loss": 1.9957,
      "step": 59
    },
    {
      "epoch": 5.45,
      "learning_rate": 2.1818181818181818e-05,
      "loss": 1.9773,
      "step": 60
    },
    {
      "epoch": 5.45,
      "eval_accuracy_NAT": 0.898956856290447,
      "eval_accuracy_REST": 0.0,
      "eval_accuracy_concrete": 0.24511379243744366,
      "eval_accuracy_concrete tiles": 0.007154650522839846,
      "eval_accuracy_dark bricks": 0.009314499057003194,
      "eval_accuracy_grass": 0.07155464372966304,
      "eval_accuracy_red bricks": 0.0,
      "eval_accuracy_road": 0.7720496210944066,
      "eval_accuracy_rough concrete": 0.0036621652552071412,
      "eval_accuracy_rough red sidewalk": 0.010007443553055993,
      "eval_accuracy_speedway bricks": 0.9787968531076106,
      "eval_accuracy_steel": 0.0,
      "eval_accuracy_tiles": 0.0009587727708533077,
      "eval_accuracy_unlabeled": NaN,
      "eval_iou_NAT": 0.89400043378223,
      "eval_iou_REST": 0.0,
      "eval_iou_concrete": 0.19197997304386832,
      "eval_iou_concrete tiles": 0.0013976657786909726,
      "eval_iou_dark bricks": 0.005338039042682255,
      "eval_iou_grass": 0.07039652848458174,
      "eval_iou_red bricks": 0.0,
      "eval_iou_road": 0.5405843619796408,
      "eval_iou_rough concrete": 0.0013066024253807521,
      "eval_iou_rough red sidewalk": 0.003800927719548077,
      "eval_iou_speedway bricks": 0.6998719868699171,
      "eval_iou_steel": 0.0,
      "eval_iou_tiles": 0.00034965034965034965,
      "eval_iou_unlabeled": 0.0,
      "eval_loss": 1.916090488433838,
      "eval_mean_accuracy": 0.23058225367834848,
      "eval_mean_iou": 0.1720732978197279,
      "eval_overall_accuracy": 0.8010207282172309,
      "eval_runtime": 3.5175,
      "eval_samples_per_second": 10.235,
      "eval_steps_per_second": 0.569,
      "step": 60
    },
    {
      "epoch": 5.55,
      "learning_rate": 2.2181818181818184e-05,
      "loss": 1.9281,
      "step": 61
    },
    {
      "epoch": 5.64,
      "learning_rate": 2.2545454545454548e-05,
      "loss": 1.8834,
      "step": 62
    },
    {
      "epoch": 5.73,
      "learning_rate": 2.290909090909091e-05,
      "loss": 1.8846,
      "step": 63
    },
    {
      "epoch": 5.82,
      "learning_rate": 2.3272727272727274e-05,
      "loss": 1.8532,
      "step": 64
    },
    {
      "epoch": 5.91,
      "learning_rate": 2.3636363636363637e-05,
      "loss": 1.8357,
      "step": 65
    },
    {
      "epoch": 6.0,
      "learning_rate": 2.4e-05,
      "loss": 1.8409,
      "step": 66
    },
    {
      "epoch": 6.09,
      "learning_rate": 2.4363636363636364e-05,
      "loss": 1.7691,
      "step": 67
    },
    {
      "epoch": 6.18,
      "learning_rate": 2.472727272727273e-05,
      "loss": 1.7549,
      "step": 68
    },
    {
      "epoch": 6.27,
      "learning_rate": 2.5090909090909094e-05,
      "loss": 1.8554,
      "step": 69
    },
    {
      "epoch": 6.36,
      "learning_rate": 2.5454545454545454e-05,
      "loss": 1.7217,
      "step": 70
    },
    {
      "epoch": 6.45,
      "learning_rate": 2.581818181818182e-05,
      "loss": 1.7575,
      "step": 71
    },
    {
      "epoch": 6.55,
      "learning_rate": 2.6181818181818187e-05,
      "loss": 1.7587,
      "step": 72
    },
    {
      "epoch": 6.64,
      "learning_rate": 2.6545454545454547e-05,
      "loss": 1.6981,
      "step": 73
    },
    {
      "epoch": 6.73,
      "learning_rate": 2.6909090909090913e-05,
      "loss": 1.6573,
      "step": 74
    },
    {
      "epoch": 6.82,
      "learning_rate": 2.7272727272727273e-05,
      "loss": 1.6428,
      "step": 75
    },
    {
      "epoch": 6.91,
      "learning_rate": 2.7636363636363636e-05,
      "loss": 1.6877,
      "step": 76
    },
    {
      "epoch": 7.0,
      "learning_rate": 2.8000000000000003e-05,
      "loss": 1.7226,
      "step": 77
    },
    {
      "epoch": 7.09,
      "learning_rate": 2.8363636363636363e-05,
      "loss": 1.6332,
      "step": 78
    },
    {
      "epoch": 7.18,
      "learning_rate": 2.872727272727273e-05,
      "loss": 1.6322,
      "step": 79
    },
    {
      "epoch": 7.27,
      "learning_rate": 2.909090909090909e-05,
      "loss": 1.6038,
      "step": 80
    },
    {
      "epoch": 7.27,
      "eval_accuracy_NAT": 0.9470286690715778,
      "eval_accuracy_REST": 0.0,
      "eval_accuracy_concrete": 0.7309205867204601,
      "eval_accuracy_concrete tiles": 0.0014064697609001407,
      "eval_accuracy_dark bricks": 0.0,
      "eval_accuracy_grass": 0.029533372711163616,
      "eval_accuracy_red bricks": 0.015447443181818182,
      "eval_accuracy_road": 0.8218001008480181,
      "eval_accuracy_rough concrete": 0.0,
      "eval_accuracy_rough red sidewalk": 0.0020400849116422684,
      "eval_accuracy_speedway bricks": 0.9799789289994171,
      "eval_accuracy_steel": 0.0,
      "eval_accuracy_tiles": 0.0,
      "eval_accuracy_unlabeled": NaN,
      "eval_iou_NAT": 0.937594640128183,
      "eval_iou_REST": 0.0,
      "eval_iou_concrete": 0.4290493301504721,
      "eval_iou_concrete tiles": 0.0011021395883748233,
      "eval_iou_dark bricks": 0.0,
      "eval_iou_grass": 0.029093488223162548,
      "eval_iou_red bricks": 0.002611828279795857,
      "eval_iou_road": 0.7049759862244951,
      "eval_iou_rough concrete": 0.0,
      "eval_iou_rough red sidewalk": 0.0009831927190593237,
      "eval_iou_speedway bricks": 0.7986861621141007,
      "eval_iou_steel": 0.0,
      "eval_iou_tiles": 0.0,
      "eval_iou_unlabeled": 0.0,
      "eval_loss": 1.4904648065567017,
      "eval_mean_accuracy": 0.27139658893884594,
      "eval_mean_iou": 0.2074354833876888,
      "eval_overall_accuracy": 0.8714875115288628,
      "eval_runtime": 3.8608,
      "eval_samples_per_second": 9.325,
      "eval_steps_per_second": 0.518,
      "step": 80
    }
  ],
  "max_steps": 5500,
  "num_train_epochs": 500,
  "total_flos": 4.478602205410099e+16,
  "trial_name": null,
  "trial_params": null
}