Training in progress, step 2800

{checkpoint-2480 → checkpoint-2800}/optimizer.pt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:28345e280d28376fc0170e31a5b74d8e1574420ac840285638a3ba976bdffe22
+oid sha256:cddf906a323a9afe19fc1637df55eaef110341961bba224361413e9f7c6b33fb
 size 677523903

{checkpoint-2480 → checkpoint-2800}/pytorch_model.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1855049c003aec05f35fe72a4151312ee22cdd828945fb43cf874c0f842b3f6e
+oid sha256:e4d302384d7f5919d0c4163a7544dc6c9bb32e5eec127ad55aa418aaacc9358c
 size 338830281

{checkpoint-2480 → checkpoint-2800}/rng_state.pth

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a2ad05d3ac157315454216ec95eaa6331bf2632d7943abb50f5d0597b1bf500b
+oid sha256:eabcf9e08cad61e3d7eccf5108d15d20abb4d3c3a735ddc596a8aa99fff9d5c3
 size 14575

{checkpoint-2480 → checkpoint-2800}/scheduler.pt

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bb4e1f53e6f9380aed82831222fa146a8ec580d93bcb1ff354062a2637281540
+oid sha256:e4f6bdf001eb039337b7b37629f317eb5596e9195f86f90b9f69955dd3b520ff
 size 627

{checkpoint-2480 → checkpoint-2800}/trainer_state.json

@@ -1,8 +1,8 @@
 {
   "best_metric": 0.07582816481590271,
   "best_model_checkpoint": "/robodata/smodak/Projects/lifelong_concept_learner/scripts/terrainseg/training/models/safety-utcustom-terrain-final/checkpoint-1360",
-  "epoch": 145.88235294117646,
-  "global_step": 2480,
+  "epoch": 164.7058823529412,
+  "global_step": 2800,
   "is_hyper_param_search": false,
   "is_local_process_zero": true,
   "is_world_process_zero": true,
@@ -19722,11 +19722,2555 @@
       "eval_samples_per_second": 21.81,
       "eval_steps_per_second": 1.479,
       "step": 2480
+    },
+    {
+      "epoch": 145.94,
+      "learning_rate": 1.4226006191950463e-05,
+      "loss": 0.0216,
+      "step": 2481
+    },
+    {
+      "epoch": 146.0,
+      "learning_rate": 1.4210526315789475e-05,
+      "loss": 0.0244,
+      "step": 2482
+    },
+    {
+      "epoch": 146.06,
+      "learning_rate": 1.4195046439628485e-05,
+      "loss": 0.0249,
+      "step": 2483
+    },
+    {
+      "epoch": 146.12,
+      "learning_rate": 1.4179566563467492e-05,
+      "loss": 0.0197,
+      "step": 2484
+    },
+    {
+      "epoch": 146.18,
+      "learning_rate": 1.4164086687306502e-05,
+      "loss": 0.026,
+      "step": 2485
+    },
+    {
+      "epoch": 146.24,
+      "learning_rate": 1.4148606811145512e-05,
+      "loss": 0.024,
+      "step": 2486
+    },
+    {
+      "epoch": 146.29,
+      "learning_rate": 1.413312693498452e-05,
+      "loss": 0.0224,
+      "step": 2487
+    },
+    {
+      "epoch": 146.35,
+      "learning_rate": 1.411764705882353e-05,
+      "loss": 0.0216,
+      "step": 2488
+    },
+    {
+      "epoch": 146.41,
+      "learning_rate": 1.410216718266254e-05,
+      "loss": 0.0205,
+      "step": 2489
+    },
+    {
+      "epoch": 146.47,
+      "learning_rate": 1.4086687306501548e-05,
+      "loss": 0.0255,
+      "step": 2490
+    },
+    {
+      "epoch": 146.53,
+      "learning_rate": 1.4071207430340558e-05,
+      "loss": 0.0232,
+      "step": 2491
+    },
+    {
+      "epoch": 146.59,
+      "learning_rate": 1.4055727554179568e-05,
+      "loss": 0.0259,
+      "step": 2492
+    },
+    {
+      "epoch": 146.65,
+      "learning_rate": 1.4040247678018575e-05,
+      "loss": 0.0225,
+      "step": 2493
+    },
+    {
+      "epoch": 146.71,
+      "learning_rate": 1.4024767801857586e-05,
+      "loss": 0.0209,
+      "step": 2494
+    },
+    {
+      "epoch": 146.76,
+      "learning_rate": 1.4009287925696596e-05,
+      "loss": 0.0219,
+      "step": 2495
+    },
+    {
+      "epoch": 146.82,
+      "learning_rate": 1.3993808049535603e-05,
+      "loss": 0.0232,
+      "step": 2496
+    },
+    {
+      "epoch": 146.88,
+      "learning_rate": 1.3978328173374613e-05,
+      "loss": 0.0199,
+      "step": 2497
+    },
+    {
+      "epoch": 146.94,
+      "learning_rate": 1.3962848297213623e-05,
+      "loss": 0.0211,
+      "step": 2498
+    },
+    {
+      "epoch": 147.0,
+      "learning_rate": 1.3947368421052631e-05,
+      "loss": 0.0237,
+      "step": 2499
+    },
+    {
+      "epoch": 147.06,
+      "learning_rate": 1.3931888544891641e-05,
+      "loss": 0.0216,
+      "step": 2500
+    },
+    {
+      "epoch": 147.06,
+      "eval_accuracy_NAT": 0.9935082155320963,
+      "eval_accuracy_REST": 0.2926829268292683,
+      "eval_accuracy_concrete": 0.9526069049653804,
+      "eval_accuracy_concrete tiles": 0.9280933301909027,
+      "eval_accuracy_dark bricks": 0.8560955534712784,
+      "eval_accuracy_grass": 0.899503987403816,
+      "eval_accuracy_red bricks": 0.9277240773286467,
+      "eval_accuracy_road": 0.9810020409352068,
+      "eval_accuracy_rough concrete": 0.6234931682348244,
+      "eval_accuracy_rough red sidewalk": 0.7848457275208868,
+      "eval_accuracy_speedway bricks": 0.9912883095375677,
+      "eval_accuracy_steel": 0.907507734135651,
+      "eval_accuracy_tiles": 0.23226998697324971,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9834419588562487,
+      "eval_iou_REST": 0.2903225806451613,
+      "eval_iou_concrete": 0.8914125672242745,
+      "eval_iou_concrete tiles": 0.8713710391219684,
+      "eval_iou_dark bricks": 0.8392953484553494,
+      "eval_iou_grass": 0.837533093984714,
+      "eval_iou_red bricks": 0.9033155080213904,
+      "eval_iou_road": 0.9600976598151724,
+      "eval_iou_rough concrete": 0.6180389840519788,
+      "eval_iou_rough red sidewalk": 0.6270231300690898,
+      "eval_iou_speedway bricks": 0.9788321066603133,
+      "eval_iou_steel": 0.862846797358911,
+      "eval_iou_tiles": 0.23051020714951445,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08095356822013855,
+      "eval_mean_accuracy": 0.7977401510045211,
+      "eval_mean_iou": 0.7610800754933913,
+      "eval_overall_accuracy": 0.9797616085763705,
+      "eval_runtime": 5.4495,
+      "eval_samples_per_second": 21.653,
+      "eval_steps_per_second": 1.468,
+      "step": 2500
+    },
+    {
+      "epoch": 147.12,
+      "learning_rate": 1.3916408668730651e-05,
+      "loss": 0.0234,
+      "step": 2501
+    },
+    {
+      "epoch": 147.18,
+      "learning_rate": 1.390092879256966e-05,
+      "loss": 0.0208,
+      "step": 2502
+    },
+    {
+      "epoch": 147.24,
+      "learning_rate": 1.388544891640867e-05,
+      "loss": 0.0221,
+      "step": 2503
+    },
+    {
+      "epoch": 147.29,
+      "learning_rate": 1.386996904024768e-05,
+      "loss": 0.0223,
+      "step": 2504
+    },
+    {
+      "epoch": 147.35,
+      "learning_rate": 1.3854489164086686e-05,
+      "loss": 0.0221,
+      "step": 2505
+    },
+    {
+      "epoch": 147.41,
+      "learning_rate": 1.3839009287925696e-05,
+      "loss": 0.0225,
+      "step": 2506
+    },
+    {
+      "epoch": 147.47,
+      "learning_rate": 1.3823529411764708e-05,
+      "loss": 0.0209,
+      "step": 2507
+    },
+    {
+      "epoch": 147.53,
+      "learning_rate": 1.3808049535603715e-05,
+      "loss": 0.0211,
+      "step": 2508
+    },
+    {
+      "epoch": 147.59,
+      "learning_rate": 1.3792569659442725e-05,
+      "loss": 0.0223,
+      "step": 2509
+    },
+    {
+      "epoch": 147.65,
+      "learning_rate": 1.3777089783281735e-05,
+      "loss": 0.0238,
+      "step": 2510
+    },
+    {
+      "epoch": 147.71,
+      "learning_rate": 1.3761609907120743e-05,
+      "loss": 0.0222,
+      "step": 2511
+    },
+    {
+      "epoch": 147.76,
+      "learning_rate": 1.3746130030959753e-05,
+      "loss": 0.0258,
+      "step": 2512
+    },
+    {
+      "epoch": 147.82,
+      "learning_rate": 1.3730650154798763e-05,
+      "loss": 0.0216,
+      "step": 2513
+    },
+    {
+      "epoch": 147.88,
+      "learning_rate": 1.3715170278637771e-05,
+      "loss": 0.0217,
+      "step": 2514
+    },
+    {
+      "epoch": 147.94,
+      "learning_rate": 1.3699690402476781e-05,
+      "loss": 0.0239,
+      "step": 2515
+    },
+    {
+      "epoch": 148.0,
+      "learning_rate": 1.3684210526315791e-05,
+      "loss": 0.0259,
+      "step": 2516
+    },
+    {
+      "epoch": 148.06,
+      "learning_rate": 1.3668730650154798e-05,
+      "loss": 0.022,
+      "step": 2517
+    },
+    {
+      "epoch": 148.12,
+      "learning_rate": 1.3653250773993808e-05,
+      "loss": 0.0226,
+      "step": 2518
+    },
+    {
+      "epoch": 148.18,
+      "learning_rate": 1.363777089783282e-05,
+      "loss": 0.022,
+      "step": 2519
+    },
+    {
+      "epoch": 148.24,
+      "learning_rate": 1.3622291021671826e-05,
+      "loss": 0.0229,
+      "step": 2520
+    },
+    {
+      "epoch": 148.24,
+      "eval_accuracy_NAT": 0.9935867110532961,
+      "eval_accuracy_REST": 0.3642276422764228,
+      "eval_accuracy_concrete": 0.9541918854502843,
+      "eval_accuracy_concrete tiles": 0.9384162149422578,
+      "eval_accuracy_dark bricks": 0.8601487280592616,
+      "eval_accuracy_grass": 0.8935153118577479,
+      "eval_accuracy_red bricks": 0.9304152021089631,
+      "eval_accuracy_road": 0.9833165972014765,
+      "eval_accuracy_rough concrete": 0.6247802692186224,
+      "eval_accuracy_rough red sidewalk": 0.7976898608050895,
+      "eval_accuracy_speedway bricks": 0.9898164542081456,
+      "eval_accuracy_steel": 0.9154767676060913,
+      "eval_accuracy_tiles": 0.24593292738344089,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9834584641418803,
+      "eval_iou_REST": 0.35443037974683544,
+      "eval_iou_concrete": 0.892060157146073,
+      "eval_iou_concrete tiles": 0.8637468002950236,
+      "eval_iou_dark bricks": 0.8429170340079909,
+      "eval_iou_grass": 0.8380164321123731,
+      "eval_iou_red bricks": 0.8966338520165131,
+      "eval_iou_road": 0.9592652585843303,
+      "eval_iou_rough concrete": 0.6181500893178241,
+      "eval_iou_rough red sidewalk": 0.6256879110508154,
+      "eval_iou_speedway bricks": 0.9792214498584502,
+      "eval_iou_steel": 0.8649571358078324,
+      "eval_iou_tiles": 0.2430029634507738,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08096043765544891,
+      "eval_mean_accuracy": 0.8070395824746999,
+      "eval_mean_iou": 0.7662729175028242,
+      "eval_overall_accuracy": 0.9798249066886255,
+      "eval_runtime": 5.3386,
+      "eval_samples_per_second": 22.103,
+      "eval_steps_per_second": 1.499,
+      "step": 2520
+    },
+    {
+      "epoch": 148.29,
+      "learning_rate": 1.3606811145510836e-05,
+      "loss": 0.0229,
+      "step": 2521
+    },
+    {
+      "epoch": 148.35,
+      "learning_rate": 1.3591331269349846e-05,
+      "loss": 0.021,
+      "step": 2522
+    },
+    {
+      "epoch": 148.41,
+      "learning_rate": 1.3575851393188855e-05,
+      "loss": 0.0229,
+      "step": 2523
+    },
+    {
+      "epoch": 148.47,
+      "learning_rate": 1.3560371517027865e-05,
+      "loss": 0.0188,
+      "step": 2524
+    },
+    {
+      "epoch": 148.53,
+      "learning_rate": 1.3544891640866875e-05,
+      "loss": 0.0203,
+      "step": 2525
+    },
+    {
+      "epoch": 148.59,
+      "learning_rate": 1.3529411764705883e-05,
+      "loss": 0.0202,
+      "step": 2526
+    },
+    {
+      "epoch": 148.65,
+      "learning_rate": 1.3513931888544893e-05,
+      "loss": 0.0243,
+      "step": 2527
+    },
+    {
+      "epoch": 148.71,
+      "learning_rate": 1.3498452012383903e-05,
+      "loss": 0.0206,
+      "step": 2528
+    },
+    {
+      "epoch": 148.76,
+      "learning_rate": 1.348297213622291e-05,
+      "loss": 0.0215,
+      "step": 2529
+    },
+    {
+      "epoch": 148.82,
+      "learning_rate": 1.346749226006192e-05,
+      "loss": 0.0278,
+      "step": 2530
+    },
+    {
+      "epoch": 148.88,
+      "learning_rate": 1.3452012383900931e-05,
+      "loss": 0.0271,
+      "step": 2531
+    },
+    {
+      "epoch": 148.94,
+      "learning_rate": 1.3436532507739938e-05,
+      "loss": 0.0238,
+      "step": 2532
+    },
+    {
+      "epoch": 149.0,
+      "learning_rate": 1.3421052631578948e-05,
+      "loss": 0.0257,
+      "step": 2533
+    },
+    {
+      "epoch": 149.06,
+      "learning_rate": 1.3405572755417958e-05,
+      "loss": 0.026,
+      "step": 2534
+    },
+    {
+      "epoch": 149.12,
+      "learning_rate": 1.3390092879256966e-05,
+      "loss": 0.0223,
+      "step": 2535
+    },
+    {
+      "epoch": 149.18,
+      "learning_rate": 1.3374613003095976e-05,
+      "loss": 0.0232,
+      "step": 2536
+    },
+    {
+      "epoch": 149.24,
+      "learning_rate": 1.3359133126934986e-05,
+      "loss": 0.0226,
+      "step": 2537
+    },
+    {
+      "epoch": 149.29,
+      "learning_rate": 1.3343653250773994e-05,
+      "loss": 0.0227,
+      "step": 2538
+    },
+    {
+      "epoch": 149.35,
+      "learning_rate": 1.3328173374613004e-05,
+      "loss": 0.0228,
+      "step": 2539
+    },
+    {
+      "epoch": 149.41,
+      "learning_rate": 1.3312693498452014e-05,
+      "loss": 0.022,
+      "step": 2540
+    },
+    {
+      "epoch": 149.41,
+      "eval_accuracy_NAT": 0.9934164577181664,
+      "eval_accuracy_REST": 0.31382113821138213,
+      "eval_accuracy_concrete": 0.9571764797610184,
+      "eval_accuracy_concrete tiles": 0.9459816167805798,
+      "eval_accuracy_dark bricks": 0.8610818674272152,
+      "eval_accuracy_grass": 0.8923665913469363,
+      "eval_accuracy_red bricks": 0.9240992970123023,
+      "eval_accuracy_road": 0.9814819466214479,
+      "eval_accuracy_rough concrete": 0.6235110446373772,
+      "eval_accuracy_rough red sidewalk": 0.7865452439858925,
+      "eval_accuracy_speedway bricks": 0.9896913576438799,
+      "eval_accuracy_steel": 0.9175633599384267,
+      "eval_accuracy_tiles": 0.23966191038807597,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9835405568836345,
+      "eval_iou_REST": 0.3029827315541601,
+      "eval_iou_concrete": 0.8908520857944437,
+      "eval_iou_concrete tiles": 0.8671174577113353,
+      "eval_iou_dark bricks": 0.8420269441883753,
+      "eval_iou_grass": 0.837845449400719,
+      "eval_iou_red bricks": 0.8953333688075347,
+      "eval_iou_road": 0.9596578454399858,
+      "eval_iou_rough concrete": 0.6181516358093978,
+      "eval_iou_rough red sidewalk": 0.6212225601064335,
+      "eval_iou_speedway bricks": 0.9791889938439299,
+      "eval_iou_steel": 0.8651942996635218,
+      "eval_iou_tiles": 0.23766748783272246,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.081676185131073,
+      "eval_mean_accuracy": 0.802030639344054,
+      "eval_mean_iou": 0.7615985705412457,
+      "eval_overall_accuracy": 0.9797789040258376,
+      "eval_runtime": 5.5724,
+      "eval_samples_per_second": 21.176,
+      "eval_steps_per_second": 1.436,
+      "step": 2540
+    },
+    {
+      "epoch": 149.47,
+      "learning_rate": 1.3297213622291021e-05,
+      "loss": 0.0248,
+      "step": 2541
+    },
+    {
+      "epoch": 149.53,
+      "learning_rate": 1.3281733746130031e-05,
+      "loss": 0.0217,
+      "step": 2542
+    },
+    {
+      "epoch": 149.59,
+      "learning_rate": 1.3266253869969043e-05,
+      "loss": 0.0236,
+      "step": 2543
+    },
+    {
+      "epoch": 149.65,
+      "learning_rate": 1.325077399380805e-05,
+      "loss": 0.0236,
+      "step": 2544
+    },
+    {
+      "epoch": 149.71,
+      "learning_rate": 1.323529411764706e-05,
+      "loss": 0.02,
+      "step": 2545
+    },
+    {
+      "epoch": 149.76,
+      "learning_rate": 1.321981424148607e-05,
+      "loss": 0.0251,
+      "step": 2546
+    },
+    {
+      "epoch": 149.82,
+      "learning_rate": 1.3204334365325078e-05,
+      "loss": 0.0231,
+      "step": 2547
+    },
+    {
+      "epoch": 149.88,
+      "learning_rate": 1.3188854489164088e-05,
+      "loss": 0.0191,
+      "step": 2548
+    },
+    {
+      "epoch": 149.94,
+      "learning_rate": 1.3173374613003098e-05,
+      "loss": 0.0224,
+      "step": 2549
+    },
+    {
+      "epoch": 150.0,
+      "learning_rate": 1.3157894736842106e-05,
+      "loss": 0.0185,
+      "step": 2550
+    },
+    {
+      "epoch": 150.06,
+      "learning_rate": 1.3142414860681116e-05,
+      "loss": 0.0262,
+      "step": 2551
+    },
+    {
+      "epoch": 150.12,
+      "learning_rate": 1.3126934984520126e-05,
+      "loss": 0.026,
+      "step": 2552
+    },
+    {
+      "epoch": 150.18,
+      "learning_rate": 1.3111455108359133e-05,
+      "loss": 0.0269,
+      "step": 2553
+    },
+    {
+      "epoch": 150.24,
+      "learning_rate": 1.3095975232198143e-05,
+      "loss": 0.02,
+      "step": 2554
+    },
+    {
+      "epoch": 150.29,
+      "learning_rate": 1.3080495356037154e-05,
+      "loss": 0.022,
+      "step": 2555
+    },
+    {
+      "epoch": 150.35,
+      "learning_rate": 1.3065015479876161e-05,
+      "loss": 0.0197,
+      "step": 2556
+    },
+    {
+      "epoch": 150.41,
+      "learning_rate": 1.3049535603715171e-05,
+      "loss": 0.0205,
+      "step": 2557
+    },
+    {
+      "epoch": 150.47,
+      "learning_rate": 1.3034055727554181e-05,
+      "loss": 0.0189,
+      "step": 2558
+    },
+    {
+      "epoch": 150.53,
+      "learning_rate": 1.301857585139319e-05,
+      "loss": 0.0218,
+      "step": 2559
+    },
+    {
+      "epoch": 150.59,
+      "learning_rate": 1.30030959752322e-05,
+      "loss": 0.0235,
+      "step": 2560
+    },
+    {
+      "epoch": 150.59,
+      "eval_accuracy_NAT": 0.9937834350621271,
+      "eval_accuracy_REST": 0.26666666666666666,
+      "eval_accuracy_concrete": 0.9538612830583282,
+      "eval_accuracy_concrete tiles": 0.9397360358237097,
+      "eval_accuracy_dark bricks": 0.8590098194973489,
+      "eval_accuracy_grass": 0.8940414144969664,
+      "eval_accuracy_red bricks": 0.9200351493848857,
+      "eval_accuracy_road": 0.9817635839228389,
+      "eval_accuracy_rough concrete": 0.6240056251080033,
+      "eval_accuracy_rough red sidewalk": 0.7736334308424638,
+      "eval_accuracy_speedway bricks": 0.9896928999302886,
+      "eval_accuracy_steel": 0.922898539135476,
+      "eval_accuracy_tiles": 0.24278227150171167,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9833997743893802,
+      "eval_iou_REST": 0.2640901771336554,
+      "eval_iou_concrete": 0.8915905192031649,
+      "eval_iou_concrete tiles": 0.8687685201324734,
+      "eval_iou_dark bricks": 0.8424686143376745,
+      "eval_iou_grass": 0.8377931195922617,
+      "eval_iou_red bricks": 0.899194847020934,
+      "eval_iou_road": 0.9601298864878227,
+      "eval_iou_rough concrete": 0.617613059991979,
+      "eval_iou_rough red sidewalk": 0.6176721342971733,
+      "eval_iou_speedway bricks": 0.9790263550017206,
+      "eval_iou_steel": 0.8659644910477298,
+      "eval_iou_tiles": 0.24024942290973408,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08168569207191467,
+      "eval_mean_accuracy": 0.7970700118792935,
+      "eval_mean_iou": 0.7590739170419772,
+      "eval_overall_accuracy": 0.9797867273880263,
+      "eval_runtime": 5.5353,
+      "eval_samples_per_second": 21.318,
+      "eval_steps_per_second": 1.445,
+      "step": 2560
+    },
+    {
+      "epoch": 150.65,
+      "learning_rate": 1.298761609907121e-05,
+      "loss": 0.0233,
+      "step": 2561
+    },
+    {
+      "epoch": 150.71,
+      "learning_rate": 1.2972136222910216e-05,
+      "loss": 0.0216,
+      "step": 2562
+    },
+    {
+      "epoch": 150.76,
+      "learning_rate": 1.2956656346749228e-05,
+      "loss": 0.0191,
+      "step": 2563
+    },
+    {
+      "epoch": 150.82,
+      "learning_rate": 1.2941176470588238e-05,
+      "loss": 0.0228,
+      "step": 2564
+    },
+    {
+      "epoch": 150.88,
+      "learning_rate": 1.2925696594427244e-05,
+      "loss": 0.0192,
+      "step": 2565
+    },
+    {
+      "epoch": 150.94,
+      "learning_rate": 1.2910216718266254e-05,
+      "loss": 0.0234,
+      "step": 2566
+    },
+    {
+      "epoch": 151.0,
+      "learning_rate": 1.2894736842105264e-05,
+      "loss": 0.0218,
+      "step": 2567
+    },
+    {
+      "epoch": 151.06,
+      "learning_rate": 1.2879256965944272e-05,
+      "loss": 0.025,
+      "step": 2568
+    },
+    {
+      "epoch": 151.12,
+      "learning_rate": 1.2863777089783282e-05,
+      "loss": 0.0207,
+      "step": 2569
+    },
+    {
+      "epoch": 151.18,
+      "learning_rate": 1.2848297213622292e-05,
+      "loss": 0.0222,
+      "step": 2570
+    },
+    {
+      "epoch": 151.24,
+      "learning_rate": 1.28328173374613e-05,
+      "loss": 0.0197,
+      "step": 2571
+    },
+    {
+      "epoch": 151.29,
+      "learning_rate": 1.281733746130031e-05,
+      "loss": 0.02,
+      "step": 2572
+    },
+    {
+      "epoch": 151.35,
+      "learning_rate": 1.280185758513932e-05,
+      "loss": 0.0218,
+      "step": 2573
+    },
+    {
+      "epoch": 151.41,
+      "learning_rate": 1.2786377708978327e-05,
+      "loss": 0.0225,
+      "step": 2574
+    },
+    {
+      "epoch": 151.47,
+      "learning_rate": 1.2770897832817339e-05,
+      "loss": 0.0277,
+      "step": 2575
+    },
+    {
+      "epoch": 151.53,
+      "learning_rate": 1.2755417956656349e-05,
+      "loss": 0.021,
+      "step": 2576
+    },
+    {
+      "epoch": 151.59,
+      "learning_rate": 1.2739938080495356e-05,
+      "loss": 0.0206,
+      "step": 2577
+    },
+    {
+      "epoch": 151.65,
+      "learning_rate": 1.2724458204334366e-05,
+      "loss": 0.0231,
+      "step": 2578
+    },
+    {
+      "epoch": 151.71,
+      "learning_rate": 1.2708978328173376e-05,
+      "loss": 0.0261,
+      "step": 2579
+    },
+    {
+      "epoch": 151.76,
+      "learning_rate": 1.2693498452012384e-05,
+      "loss": 0.0224,
+      "step": 2580
+    },
+    {
+      "epoch": 151.76,
+      "eval_accuracy_NAT": 0.9938005250897509,
+      "eval_accuracy_REST": 0.35609756097560974,
+      "eval_accuracy_concrete": 0.9555158238152969,
+      "eval_accuracy_concrete tiles": 0.9403252415743578,
+      "eval_accuracy_dark bricks": 0.8660586107229676,
+      "eval_accuracy_grass": 0.8891806424508056,
+      "eval_accuracy_red bricks": 0.9244288224956063,
+      "eval_accuracy_road": 0.9814386589147825,
+      "eval_accuracy_rough concrete": 0.6237732318748175,
+      "eval_accuracy_rough red sidewalk": 0.7723851134389641,
+      "eval_accuracy_speedway bricks": 0.9899161887292451,
+      "eval_accuracy_steel": 0.9213692043960877,
+      "eval_accuracy_tiles": 0.24532703202156989,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9834206731119332,
+      "eval_iou_REST": 0.347068145800317,
+      "eval_iou_concrete": 0.8912362431304774,
+      "eval_iou_concrete tiles": 0.868839964286492,
+      "eval_iou_dark bricks": 0.847012463085772,
+      "eval_iou_grass": 0.8374223697964706,
+      "eval_iou_red bricks": 0.8983774551665243,
+      "eval_iou_road": 0.960038412639996,
+      "eval_iou_rough concrete": 0.6176015953178836,
+      "eval_iou_rough red sidewalk": 0.6209254243845819,
+      "eval_iou_speedway bricks": 0.9792905652649543,
+      "eval_iou_steel": 0.8657576447770376,
+      "eval_iou_tiles": 0.23977023746076864,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08196701109409332,
+      "eval_mean_accuracy": 0.8045858966538355,
+      "eval_mean_iou": 0.7659047072479391,
+      "eval_overall_accuracy": 0.97982241743702,
+      "eval_runtime": 5.4549,
+      "eval_samples_per_second": 21.632,
+      "eval_steps_per_second": 1.467,
+      "step": 2580
+    },
+    {
+      "epoch": 151.82,
+      "learning_rate": 1.2678018575851394e-05,
+      "loss": 0.0194,
+      "step": 2581
+    },
+    {
+      "epoch": 151.88,
+      "learning_rate": 1.2662538699690404e-05,
+      "loss": 0.0214,
+      "step": 2582
+    },
+    {
+      "epoch": 151.94,
+      "learning_rate": 1.2647058823529412e-05,
+      "loss": 0.0275,
+      "step": 2583
+    },
+    {
+      "epoch": 152.0,
+      "learning_rate": 1.2631578947368422e-05,
+      "loss": 0.0244,
+      "step": 2584
+    },
+    {
+      "epoch": 152.06,
+      "learning_rate": 1.2616099071207432e-05,
+      "loss": 0.0196,
+      "step": 2585
+    },
+    {
+      "epoch": 152.12,
+      "learning_rate": 1.2600619195046439e-05,
+      "loss": 0.0212,
+      "step": 2586
+    },
+    {
+      "epoch": 152.18,
+      "learning_rate": 1.258513931888545e-05,
+      "loss": 0.0233,
+      "step": 2587
+    },
+    {
+      "epoch": 152.24,
+      "learning_rate": 1.256965944272446e-05,
+      "loss": 0.0213,
+      "step": 2588
+    },
+    {
+      "epoch": 152.29,
+      "learning_rate": 1.2554179566563467e-05,
+      "loss": 0.0273,
+      "step": 2589
+    },
+    {
+      "epoch": 152.35,
+      "learning_rate": 1.2538699690402477e-05,
+      "loss": 0.024,
+      "step": 2590
+    },
+    {
+      "epoch": 152.41,
+      "learning_rate": 1.2523219814241487e-05,
+      "loss": 0.0212,
+      "step": 2591
+    },
+    {
+      "epoch": 152.47,
+      "learning_rate": 1.2507739938080496e-05,
+      "loss": 0.0238,
+      "step": 2592
+    },
+    {
+      "epoch": 152.53,
+      "learning_rate": 1.2492260061919506e-05,
+      "loss": 0.0253,
+      "step": 2593
+    },
+    {
+      "epoch": 152.59,
+      "learning_rate": 1.2476780185758514e-05,
+      "loss": 0.0206,
+      "step": 2594
+    },
+    {
+      "epoch": 152.65,
+      "learning_rate": 1.2461300309597524e-05,
+      "loss": 0.0221,
+      "step": 2595
+    },
+    {
+      "epoch": 152.71,
+      "learning_rate": 1.2445820433436534e-05,
+      "loss": 0.0198,
+      "step": 2596
+    },
+    {
+      "epoch": 152.76,
+      "learning_rate": 1.2430340557275542e-05,
+      "loss": 0.022,
+      "step": 2597
+    },
+    {
+      "epoch": 152.82,
+      "learning_rate": 1.241486068111455e-05,
+      "loss": 0.0251,
+      "step": 2598
+    },
+    {
+      "epoch": 152.88,
+      "learning_rate": 1.2399380804953562e-05,
+      "loss": 0.0216,
+      "step": 2599
+    },
+    {
+      "epoch": 152.94,
+      "learning_rate": 1.238390092879257e-05,
+      "loss": 0.0205,
+      "step": 2600
+    },
+    {
+      "epoch": 152.94,
+      "eval_accuracy_NAT": 0.9938552455252027,
+      "eval_accuracy_REST": 0.2943089430894309,
+      "eval_accuracy_concrete": 0.9546100114812669,
+      "eval_accuracy_concrete tiles": 0.9375441904312987,
+      "eval_accuracy_dark bricks": 0.8546838810941179,
+      "eval_accuracy_grass": 0.8965782511439894,
+      "eval_accuracy_red bricks": 0.9192662565905096,
+      "eval_accuracy_road": 0.9801304082244505,
+      "eval_accuracy_rough concrete": 0.6246372579982005,
+      "eval_accuracy_rough red sidewalk": 0.7737988704983494,
+      "eval_accuracy_speedway bricks": 0.9904212018455342,
+      "eval_accuracy_steel": 0.9152018871790771,
+      "eval_accuracy_tiles": 0.23784422430246296,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9834703623329354,
+      "eval_iou_REST": 0.2896,
+      "eval_iou_concrete": 0.8917698035709695,
+      "eval_iou_concrete tiles": 0.8715083798882681,
+      "eval_iou_dark bricks": 0.8391593606404871,
+      "eval_iou_grass": 0.8382882986497557,
+      "eval_iou_red bricks": 0.898443370907139,
+      "eval_iou_road": 0.9610566891190135,
+      "eval_iou_rough concrete": 0.6184643704201919,
+      "eval_iou_rough red sidewalk": 0.6205576026583522,
+      "eval_iou_speedway bricks": 0.9793189934945279,
+      "eval_iou_steel": 0.865692809530563,
+      "eval_iou_tiles": 0.23589327564449253,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.081034816801548,
+      "eval_mean_accuracy": 0.7979138945695301,
+      "eval_mean_iou": 0.7610171782197459,
+      "eval_overall_accuracy": 0.9798855539095603,
+      "eval_runtime": 5.6698,
+      "eval_samples_per_second": 20.812,
+      "eval_steps_per_second": 1.411,
+      "step": 2600
+    },
+    {
+      "epoch": 153.0,
+      "learning_rate": 1.2368421052631579e-05,
+      "loss": 0.0213,
+      "step": 2601
+    },
+    {
+      "epoch": 153.06,
+      "learning_rate": 1.2352941176470589e-05,
+      "loss": 0.023,
+      "step": 2602
+    },
+    {
+      "epoch": 153.12,
+      "learning_rate": 1.2337461300309599e-05,
+      "loss": 0.0251,
+      "step": 2603
+    },
+    {
+      "epoch": 153.18,
+      "learning_rate": 1.2321981424148607e-05,
+      "loss": 0.0208,
+      "step": 2604
+    },
+    {
+      "epoch": 153.24,
+      "learning_rate": 1.2306501547987617e-05,
+      "loss": 0.022,
+      "step": 2605
+    },
+    {
+      "epoch": 153.29,
+      "learning_rate": 1.2291021671826625e-05,
+      "loss": 0.0218,
+      "step": 2606
+    },
+    {
+      "epoch": 153.35,
+      "learning_rate": 1.2275541795665635e-05,
+      "loss": 0.0231,
+      "step": 2607
+    },
+    {
+      "epoch": 153.41,
+      "learning_rate": 1.2260061919504645e-05,
+      "loss": 0.0233,
+      "step": 2608
+    },
+    {
+      "epoch": 153.47,
+      "learning_rate": 1.2244582043343654e-05,
+      "loss": 0.0244,
+      "step": 2609
+    },
+    {
+      "epoch": 153.53,
+      "learning_rate": 1.2229102167182662e-05,
+      "loss": 0.0224,
+      "step": 2610
+    },
+    {
+      "epoch": 153.59,
+      "learning_rate": 1.2213622291021674e-05,
+      "loss": 0.0216,
+      "step": 2611
+    },
+    {
+      "epoch": 153.65,
+      "learning_rate": 1.2198142414860682e-05,
+      "loss": 0.0253,
+      "step": 2612
+    },
+    {
+      "epoch": 153.71,
+      "learning_rate": 1.218266253869969e-05,
+      "loss": 0.0206,
+      "step": 2613
+    },
+    {
+      "epoch": 153.76,
+      "learning_rate": 1.21671826625387e-05,
+      "loss": 0.0224,
+      "step": 2614
+    },
+    {
+      "epoch": 153.82,
+      "learning_rate": 1.215170278637771e-05,
+      "loss": 0.0172,
+      "step": 2615
+    },
+    {
+      "epoch": 153.88,
+      "learning_rate": 1.2136222910216719e-05,
+      "loss": 0.0211,
+      "step": 2616
+    },
+    {
+      "epoch": 153.94,
+      "learning_rate": 1.2120743034055729e-05,
+      "loss": 0.0219,
+      "step": 2617
+    },
+    {
+      "epoch": 154.0,
+      "learning_rate": 1.2105263157894737e-05,
+      "loss": 0.0204,
+      "step": 2618
+    },
+    {
+      "epoch": 154.06,
+      "learning_rate": 1.2089783281733747e-05,
+      "loss": 0.0221,
+      "step": 2619
+    },
+    {
+      "epoch": 154.12,
+      "learning_rate": 1.2074303405572757e-05,
+      "loss": 0.0197,
+      "step": 2620
+    },
+    {
+      "epoch": 154.12,
+      "eval_accuracy_NAT": 0.9929238120638235,
+      "eval_accuracy_REST": 0.3382113821138211,
+      "eval_accuracy_concrete": 0.9570392702133742,
+      "eval_accuracy_concrete tiles": 0.9462172990808391,
+      "eval_accuracy_dark bricks": 0.8656422870049576,
+      "eval_accuracy_grass": 0.9035689818967704,
+      "eval_accuracy_red bricks": 0.9324472759226714,
+      "eval_accuracy_road": 0.9827522537664313,
+      "eval_accuracy_rough concrete": 0.6258171005666819,
+      "eval_accuracy_rough red sidewalk": 0.7920874724580573,
+      "eval_accuracy_speedway bricks": 0.9891049460782398,
+      "eval_accuracy_steel": 0.9219064706852519,
+      "eval_accuracy_tiles": 0.23890454118573723,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.983616620546666,
+      "eval_iou_REST": 0.33226837060702874,
+      "eval_iou_concrete": 0.8919103271139055,
+      "eval_iou_concrete tiles": 0.8673897074709416,
+      "eval_iou_dark bricks": 0.8474580241361217,
+      "eval_iou_grass": 0.8405042055268616,
+      "eval_iou_red bricks": 0.9058315104305608,
+      "eval_iou_road": 0.9603900414200968,
+      "eval_iou_rough concrete": 0.6170514033242658,
+      "eval_iou_rough red sidewalk": 0.6254698550500882,
+      "eval_iou_speedway bricks": 0.9794341223167187,
+      "eval_iou_steel": 0.8655552088441136,
+      "eval_iou_tiles": 0.23581125530769692,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08082769811153412,
+      "eval_mean_accuracy": 0.8066633148489737,
+      "eval_mean_iou": 0.7655915886226973,
+      "eval_overall_accuracy": 0.979949078317416,
+      "eval_runtime": 5.6194,
+      "eval_samples_per_second": 20.999,
+      "eval_steps_per_second": 1.424,
+      "step": 2620
+    },
+    {
+      "epoch": 154.18,
+      "learning_rate": 1.2058823529411765e-05,
+      "loss": 0.0246,
+      "step": 2621
+    },
+    {
+      "epoch": 154.24,
+      "learning_rate": 1.2043343653250774e-05,
+      "loss": 0.0219,
+      "step": 2622
+    },
+    {
+      "epoch": 154.29,
+      "learning_rate": 1.2027863777089785e-05,
+      "loss": 0.0179,
+      "step": 2623
+    },
+    {
+      "epoch": 154.35,
+      "learning_rate": 1.2012383900928794e-05,
+      "loss": 0.0212,
+      "step": 2624
+    },
+    {
+      "epoch": 154.41,
+      "learning_rate": 1.1996904024767802e-05,
+      "loss": 0.0216,
+      "step": 2625
+    },
+    {
+      "epoch": 154.47,
+      "learning_rate": 1.1981424148606812e-05,
+      "loss": 0.023,
+      "step": 2626
+    },
+    {
+      "epoch": 154.53,
+      "learning_rate": 1.1965944272445822e-05,
+      "loss": 0.0258,
+      "step": 2627
+    },
+    {
+      "epoch": 154.59,
+      "learning_rate": 1.195046439628483e-05,
+      "loss": 0.022,
+      "step": 2628
+    },
+    {
+      "epoch": 154.65,
+      "learning_rate": 1.193498452012384e-05,
+      "loss": 0.0234,
+      "step": 2629
+    },
+    {
+      "epoch": 154.71,
+      "learning_rate": 1.1919504643962849e-05,
+      "loss": 0.0188,
+      "step": 2630
+    },
+    {
+      "epoch": 154.76,
+      "learning_rate": 1.1904024767801859e-05,
+      "loss": 0.0227,
+      "step": 2631
+    },
+    {
+      "epoch": 154.82,
+      "learning_rate": 1.1888544891640867e-05,
+      "loss": 0.0241,
+      "step": 2632
+    },
+    {
+      "epoch": 154.88,
+      "learning_rate": 1.1873065015479877e-05,
+      "loss": 0.0251,
+      "step": 2633
+    },
+    {
+      "epoch": 154.94,
+      "learning_rate": 1.1857585139318885e-05,
+      "loss": 0.0268,
+      "step": 2634
+    },
+    {
+      "epoch": 155.0,
+      "learning_rate": 1.1842105263157895e-05,
+      "loss": 0.0189,
+      "step": 2635
+    },
+    {
+      "epoch": 155.06,
+      "learning_rate": 1.1826625386996905e-05,
+      "loss": 0.0216,
+      "step": 2636
+    },
+    {
+      "epoch": 155.12,
+      "learning_rate": 1.1811145510835914e-05,
+      "loss": 0.0197,
+      "step": 2637
+    },
+    {
+      "epoch": 155.18,
+      "learning_rate": 1.1795665634674922e-05,
+      "loss": 0.02,
+      "step": 2638
+    },
+    {
+      "epoch": 155.24,
+      "learning_rate": 1.1780185758513934e-05,
+      "loss": 0.0233,
+      "step": 2639
+    },
+    {
+      "epoch": 155.29,
+      "learning_rate": 1.1764705882352942e-05,
+      "loss": 0.0209,
+      "step": 2640
+    },
+    {
+      "epoch": 155.29,
+      "eval_accuracy_NAT": 0.994252305630722,
+      "eval_accuracy_REST": 0.24227642276422764,
+      "eval_accuracy_concrete": 0.9555272897942086,
+      "eval_accuracy_concrete tiles": 0.9340325241574358,
+      "eval_accuracy_dark bricks": 0.8575455084891755,
+      "eval_accuracy_grass": 0.8938559538543642,
+      "eval_accuracy_red bricks": 0.9253624780316344,
+      "eval_accuracy_road": 0.9817170897193834,
+      "eval_accuracy_rough concrete": 0.6239698723028978,
+      "eval_accuracy_rough red sidewalk": 0.7637596913798419,
+      "eval_accuracy_speedway bricks": 0.9885651458351755,
+      "eval_accuracy_steel": 0.9252000379834772,
+      "eval_accuracy_tiles": 0.24426671513829562,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9834581839192446,
+      "eval_iou_REST": 0.23993558776167473,
+      "eval_iou_concrete": 0.8926015223034703,
+      "eval_iou_concrete tiles": 0.8722570705403323,
+      "eval_iou_dark bricks": 0.842123318248676,
+      "eval_iou_grass": 0.8397929347840581,
+      "eval_iou_red bricks": 0.9026572377584914,
+      "eval_iou_road": 0.9609784142252782,
+      "eval_iou_rough concrete": 0.6175339686733345,
+      "eval_iou_rough red sidewalk": 0.6173427831605053,
+      "eval_iou_speedway bricks": 0.9793358306937662,
+      "eval_iou_steel": 0.8656578575119418,
+      "eval_iou_tiles": 0.2418996759870395,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08118943125009537,
+      "eval_mean_accuracy": 0.7946408488523722,
+      "eval_mean_iou": 0.7581211065821395,
+      "eval_overall_accuracy": 0.9799605547371557,
+      "eval_runtime": 5.4414,
+      "eval_samples_per_second": 21.686,
+      "eval_steps_per_second": 1.47,
+      "step": 2640
+    },
+    {
+      "epoch": 155.35,
+      "learning_rate": 1.174922600619195e-05,
+      "loss": 0.0206,
+      "step": 2641
+    },
+    {
+      "epoch": 155.41,
+      "learning_rate": 1.173374613003096e-05,
+      "loss": 0.0219,
+      "step": 2642
+    },
+    {
+      "epoch": 155.47,
+      "learning_rate": 1.171826625386997e-05,
+      "loss": 0.0212,
+      "step": 2643
+    },
+    {
+      "epoch": 155.53,
+      "learning_rate": 1.1702786377708978e-05,
+      "loss": 0.0237,
+      "step": 2644
+    },
+    {
+      "epoch": 155.59,
+      "learning_rate": 1.1687306501547988e-05,
+      "loss": 0.0248,
+      "step": 2645
+    },
+    {
+      "epoch": 155.65,
+      "learning_rate": 1.1671826625386997e-05,
+      "loss": 0.0241,
+      "step": 2646
+    },
+    {
+      "epoch": 155.71,
+      "learning_rate": 1.1656346749226007e-05,
+      "loss": 0.0239,
+      "step": 2647
+    },
+    {
+      "epoch": 155.76,
+      "learning_rate": 1.1640866873065017e-05,
+      "loss": 0.0246,
+      "step": 2648
+    },
+    {
+      "epoch": 155.82,
+      "learning_rate": 1.1625386996904025e-05,
+      "loss": 0.0204,
+      "step": 2649
+    },
+    {
+      "epoch": 155.88,
+      "learning_rate": 1.1609907120743033e-05,
+      "loss": 0.0191,
+      "step": 2650
+    },
+    {
+      "epoch": 155.94,
+      "learning_rate": 1.1594427244582045e-05,
+      "loss": 0.0248,
+      "step": 2651
+    },
+    {
+      "epoch": 156.0,
+      "learning_rate": 1.1578947368421053e-05,
+      "loss": 0.0219,
+      "step": 2652
+    },
+    {
+      "epoch": 156.06,
+      "learning_rate": 1.1563467492260062e-05,
+      "loss": 0.0237,
+      "step": 2653
+    },
+    {
+      "epoch": 156.12,
+      "learning_rate": 1.1547987616099072e-05,
+      "loss": 0.0216,
+      "step": 2654
+    },
+    {
+      "epoch": 156.18,
+      "learning_rate": 1.1532507739938082e-05,
+      "loss": 0.0244,
+      "step": 2655
+    },
+    {
+      "epoch": 156.24,
+      "learning_rate": 1.151702786377709e-05,
+      "loss": 0.0252,
+      "step": 2656
+    },
+    {
+      "epoch": 156.29,
+      "learning_rate": 1.15015479876161e-05,
+      "loss": 0.0222,
+      "step": 2657
+    },
+    {
+      "epoch": 156.35,
+      "learning_rate": 1.1486068111455108e-05,
+      "loss": 0.0187,
+      "step": 2658
+    },
+    {
+      "epoch": 156.41,
+      "learning_rate": 1.1470588235294118e-05,
+      "loss": 0.0231,
+      "step": 2659
+    },
+    {
+      "epoch": 156.47,
+      "learning_rate": 1.1455108359133128e-05,
+      "loss": 0.0203,
+      "step": 2660
+    },
+    {
+      "epoch": 156.47,
+      "eval_accuracy_NAT": 0.9940302430951301,
+      "eval_accuracy_REST": 0.34959349593495936,
+      "eval_accuracy_concrete": 0.9558009444909029,
+      "eval_accuracy_concrete tiles": 0.9386518972425171,
+      "eval_accuracy_dark bricks": 0.8629002928622016,
+      "eval_accuracy_grass": 0.8938739321819634,
+      "eval_accuracy_red bricks": 0.9250878734622144,
+      "eval_accuracy_road": 0.9807946874761183,
+      "eval_accuracy_rough concrete": 0.6244823291760766,
+      "eval_accuracy_rough red sidewalk": 0.77346047120222,
+      "eval_accuracy_speedway bricks": 0.9892427236640886,
+      "eval_accuracy_steel": 0.9230934543473589,
+      "eval_accuracy_tiles": 0.24987124723560242,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9834143702762304,
+      "eval_iou_REST": 0.34290271132376393,
+      "eval_iou_concrete": 0.8925630217609332,
+      "eval_iou_concrete tiles": 0.8694712483080819,
+      "eval_iou_dark bricks": 0.8462802004918433,
+      "eval_iou_grass": 0.8399726135802853,
+      "eval_iou_red bricks": 0.9049588996937624,
+      "eval_iou_road": 0.9607700969688531,
+      "eval_iou_rough concrete": 0.617746052142954,
+      "eval_iou_rough red sidewalk": 0.6219779156537619,
+      "eval_iou_speedway bricks": 0.9795577537998109,
+      "eval_iou_steel": 0.8663931907787495,
+      "eval_iou_tiles": 0.24600334049152947,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08094289898872375,
+      "eval_mean_accuracy": 0.8046833532593349,
+      "eval_mean_iou": 0.7670778011746585,
+      "eval_overall_accuracy": 0.9799908783476231,
+      "eval_runtime": 5.3629,
+      "eval_samples_per_second": 22.003,
+      "eval_steps_per_second": 1.492,
+      "step": 2660
+    },
+    {
+      "epoch": 156.53,
+      "learning_rate": 1.1439628482972137e-05,
+      "loss": 0.021,
+      "step": 2661
+    },
+    {
+      "epoch": 156.59,
+      "learning_rate": 1.1424148606811145e-05,
+      "loss": 0.0237,
+      "step": 2662
+    },
+    {
+      "epoch": 156.65,
+      "learning_rate": 1.1408668730650155e-05,
+      "loss": 0.0207,
+      "step": 2663
+    },
+    {
+      "epoch": 156.71,
+      "learning_rate": 1.1393188854489165e-05,
+      "loss": 0.0208,
+      "step": 2664
+    },
+    {
+      "epoch": 156.76,
+      "learning_rate": 1.1377708978328173e-05,
+      "loss": 0.0235,
+      "step": 2665
+    },
+    {
+      "epoch": 156.82,
+      "learning_rate": 1.1362229102167183e-05,
+      "loss": 0.0214,
+      "step": 2666
+    },
+    {
+      "epoch": 156.88,
+      "learning_rate": 1.1346749226006193e-05,
+      "loss": 0.0224,
+      "step": 2667
+    },
+    {
+      "epoch": 156.94,
+      "learning_rate": 1.1331269349845202e-05,
+      "loss": 0.0215,
+      "step": 2668
+    },
+    {
+      "epoch": 157.0,
+      "learning_rate": 1.1315789473684212e-05,
+      "loss": 0.0237,
+      "step": 2669
+    },
+    {
+      "epoch": 157.06,
+      "learning_rate": 1.130030959752322e-05,
+      "loss": 0.0198,
+      "step": 2670
+    },
+    {
+      "epoch": 157.12,
+      "learning_rate": 1.128482972136223e-05,
+      "loss": 0.0216,
+      "step": 2671
+    },
+    {
+      "epoch": 157.18,
+      "learning_rate": 1.126934984520124e-05,
+      "loss": 0.0188,
+      "step": 2672
+    },
+    {
+      "epoch": 157.24,
+      "learning_rate": 1.1253869969040248e-05,
+      "loss": 0.0204,
+      "step": 2673
+    },
+    {
+      "epoch": 157.29,
+      "learning_rate": 1.1238390092879257e-05,
+      "loss": 0.022,
+      "step": 2674
+    },
+    {
+      "epoch": 157.35,
+      "learning_rate": 1.1222910216718267e-05,
+      "loss": 0.0253,
+      "step": 2675
+    },
+    {
+      "epoch": 157.41,
+      "learning_rate": 1.1207430340557277e-05,
+      "loss": 0.0212,
+      "step": 2676
+    },
+    {
+      "epoch": 157.47,
+      "learning_rate": 1.1191950464396285e-05,
+      "loss": 0.0283,
+      "step": 2677
+    },
+    {
+      "epoch": 157.53,
+      "learning_rate": 1.1176470588235295e-05,
+      "loss": 0.0193,
+      "step": 2678
+    },
+    {
+      "epoch": 157.59,
+      "learning_rate": 1.1160990712074305e-05,
+      "loss": 0.0237,
+      "step": 2679
+    },
+    {
+      "epoch": 157.65,
+      "learning_rate": 1.1145510835913313e-05,
+      "loss": 0.0225,
+      "step": 2680
+    },
+    {
+      "epoch": 157.65,
+      "eval_accuracy_NAT": 0.9938389102622057,
+      "eval_accuracy_REST": 0.3203252032520325,
+      "eval_accuracy_concrete": 0.9571459038172537,
+      "eval_accuracy_concrete tiles": 0.9291774687720952,
+      "eval_accuracy_dark bricks": 0.8643215358995463,
+      "eval_accuracy_grass": 0.8980392268183659,
+      "eval_accuracy_red bricks": 0.9264608963093146,
+      "eval_accuracy_road": 0.98097425129636,
+      "eval_accuracy_rough concrete": 0.6219736740178406,
+      "eval_accuracy_rough red sidewalk": 0.7661660863745403,
+      "eval_accuracy_speedway bricks": 0.9885450961118617,
+      "eval_accuracy_steel": 0.9237181825905731,
+      "eval_accuracy_tiles": 0.242691387197431,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9835807089243077,
+      "eval_iou_REST": 0.3152,
+      "eval_iou_concrete": 0.8912357634404546,
+      "eval_iou_concrete tiles": 0.865285428966486,
+      "eval_iou_dark bricks": 0.8466687604591968,
+      "eval_iou_grass": 0.8418850387512319,
+      "eval_iou_red bricks": 0.9053292545483819,
+      "eval_iou_road": 0.9601985261193249,
+      "eval_iou_rough concrete": 0.6168570601202049,
+      "eval_iou_rough red sidewalk": 0.622196166083457,
+      "eval_iou_speedway bricks": 0.9794348540885546,
+      "eval_iou_steel": 0.8654449930815534,
+      "eval_iou_tiles": 0.23876371006199332,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08075359463691711,
+      "eval_mean_accuracy": 0.8010290632861093,
+      "eval_mean_iou": 0.7640061742034729,
+      "eval_overall_accuracy": 0.9799637552035056,
+      "eval_runtime": 5.3885,
+      "eval_samples_per_second": 21.899,
+      "eval_steps_per_second": 1.485,
+      "step": 2680
+    },
+    {
+      "epoch": 157.71,
+      "learning_rate": 1.1130030959752323e-05,
+      "loss": 0.0209,
+      "step": 2681
+    },
+    {
+      "epoch": 157.76,
+      "learning_rate": 1.1114551083591331e-05,
+      "loss": 0.0219,
+      "step": 2682
+    },
+    {
+      "epoch": 157.82,
+      "learning_rate": 1.1099071207430341e-05,
+      "loss": 0.0226,
+      "step": 2683
+    },
+    {
+      "epoch": 157.88,
+      "learning_rate": 1.1083591331269351e-05,
+      "loss": 0.019,
+      "step": 2684
+    },
+    {
+      "epoch": 157.94,
+      "learning_rate": 1.106811145510836e-05,
+      "loss": 0.0239,
+      "step": 2685
+    },
+    {
+      "epoch": 158.0,
+      "learning_rate": 1.1052631578947368e-05,
+      "loss": 0.0245,
+      "step": 2686
+    },
+    {
+      "epoch": 158.06,
+      "learning_rate": 1.1037151702786378e-05,
+      "loss": 0.0236,
+      "step": 2687
+    },
+    {
+      "epoch": 158.12,
+      "learning_rate": 1.1021671826625388e-05,
+      "loss": 0.0214,
+      "step": 2688
+    },
+    {
+      "epoch": 158.18,
+      "learning_rate": 1.1006191950464396e-05,
+      "loss": 0.0217,
+      "step": 2689
+    },
+    {
+      "epoch": 158.24,
+      "learning_rate": 1.0990712074303406e-05,
+      "loss": 0.0202,
+      "step": 2690
+    },
+    {
+      "epoch": 158.29,
+      "learning_rate": 1.0975232198142415e-05,
+      "loss": 0.0218,
+      "step": 2691
+    },
+    {
+      "epoch": 158.35,
+      "learning_rate": 1.0959752321981425e-05,
+      "loss": 0.0237,
+      "step": 2692
+    },
+    {
+      "epoch": 158.41,
+      "learning_rate": 1.0944272445820435e-05,
+      "loss": 0.0223,
+      "step": 2693
+    },
+    {
+      "epoch": 158.47,
+      "learning_rate": 1.0928792569659443e-05,
+      "loss": 0.0202,
+      "step": 2694
+    },
+    {
+      "epoch": 158.53,
+      "learning_rate": 1.0913312693498453e-05,
+      "loss": 0.0201,
+      "step": 2695
+    },
+    {
+      "epoch": 158.59,
+      "learning_rate": 1.0897832817337463e-05,
+      "loss": 0.0232,
+      "step": 2696
+    },
+    {
+      "epoch": 158.65,
+      "learning_rate": 1.0882352941176471e-05,
+      "loss": 0.0235,
+      "step": 2697
+    },
+    {
+      "epoch": 158.71,
+      "learning_rate": 1.086687306501548e-05,
+      "loss": 0.0201,
+      "step": 2698
+    },
+    {
+      "epoch": 158.76,
+      "learning_rate": 1.085139318885449e-05,
+      "loss": 0.0239,
+      "step": 2699
+    },
+    {
+      "epoch": 158.82,
+      "learning_rate": 1.08359133126935e-05,
+      "loss": 0.0269,
+      "step": 2700
+    },
+    {
+      "epoch": 158.82,
+      "eval_accuracy_NAT": 0.9942922003324307,
+      "eval_accuracy_REST": 0.2552845528455285,
+      "eval_accuracy_concrete": 0.9557722795436234,
+      "eval_accuracy_concrete tiles": 0.9247466415272213,
+      "eval_accuracy_dark bricks": 0.8602875026319315,
+      "eval_accuracy_grass": 0.8893642106378711,
+      "eval_accuracy_red bricks": 0.9212434094903339,
+      "eval_accuracy_road": 0.980666427604517,
+      "eval_accuracy_rough concrete": 0.6250424564560628,
+      "eval_accuracy_rough red sidewalk": 0.7760774257589544,
+      "eval_accuracy_speedway bricks": 0.9899199587626887,
+      "eval_accuracy_steel": 0.9176583186313954,
+      "eval_accuracy_tiles": 0.24444848374685693,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9834257991120192,
+      "eval_iou_REST": 0.2516025641025641,
+      "eval_iou_concrete": 0.8928482296861182,
+      "eval_iou_concrete tiles": 0.8697107392219883,
+      "eval_iou_dark bricks": 0.843891997446393,
+      "eval_iou_grass": 0.83900462570363,
+      "eval_iou_red bricks": 0.9014402407566638,
+      "eval_iou_road": 0.9608989917238093,
+      "eval_iou_rough concrete": 0.6184423088261305,
+      "eval_iou_rough red sidewalk": 0.6271657156053065,
+      "eval_iou_speedway bricks": 0.9795101626805487,
+      "eval_iou_steel": 0.8653123836543491,
+      "eval_iou_tiles": 0.24177503445796128,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.0806136280298233,
+      "eval_mean_accuracy": 0.7949849129207244,
+      "eval_mean_iou": 0.7596175994598062,
+      "eval_overall_accuracy": 0.9800087880280058,
+      "eval_runtime": 5.1938,
+      "eval_samples_per_second": 22.719,
+      "eval_steps_per_second": 1.54,
+      "step": 2700
+    },
+    {
+      "epoch": 158.88,
+      "learning_rate": 1.0820433436532508e-05,
+      "loss": 0.0219,
+      "step": 2701
+    },
+    {
+      "epoch": 158.94,
+      "learning_rate": 1.0804953560371518e-05,
+      "loss": 0.0205,
+      "step": 2702
+    },
+    {
+      "epoch": 159.0,
+      "learning_rate": 1.0789473684210526e-05,
+      "loss": 0.019,
+      "step": 2703
+    },
+    {
+      "epoch": 159.06,
+      "learning_rate": 1.0773993808049536e-05,
+      "loss": 0.0212,
+      "step": 2704
+    },
+    {
+      "epoch": 159.12,
+      "learning_rate": 1.0758513931888545e-05,
+      "loss": 0.0181,
+      "step": 2705
+    },
+    {
+      "epoch": 159.18,
+      "learning_rate": 1.0743034055727555e-05,
+      "loss": 0.024,
+      "step": 2706
+    },
+    {
+      "epoch": 159.24,
+      "learning_rate": 1.0727554179566565e-05,
+      "loss": 0.0213,
+      "step": 2707
+    },
+    {
+      "epoch": 159.29,
+      "learning_rate": 1.0712074303405573e-05,
+      "loss": 0.0236,
+      "step": 2708
+    },
+    {
+      "epoch": 159.35,
+      "learning_rate": 1.0696594427244583e-05,
+      "loss": 0.0215,
+      "step": 2709
+    },
+    {
+      "epoch": 159.41,
+      "learning_rate": 1.0681114551083591e-05,
+      "loss": 0.0214,
+      "step": 2710
+    },
+    {
+      "epoch": 159.47,
+      "learning_rate": 1.0665634674922601e-05,
+      "loss": 0.0248,
+      "step": 2711
+    },
+    {
+      "epoch": 159.53,
+      "learning_rate": 1.0650154798761611e-05,
+      "loss": 0.0214,
+      "step": 2712
+    },
+    {
+      "epoch": 159.59,
+      "learning_rate": 1.063467492260062e-05,
+      "loss": 0.0223,
+      "step": 2713
+    },
+    {
+      "epoch": 159.65,
+      "learning_rate": 1.0619195046439628e-05,
+      "loss": 0.0233,
+      "step": 2714
+    },
+    {
+      "epoch": 159.71,
+      "learning_rate": 1.0603715170278638e-05,
+      "loss": 0.0216,
+      "step": 2715
+    },
+    {
+      "epoch": 159.76,
+      "learning_rate": 1.0588235294117648e-05,
+      "loss": 0.0201,
+      "step": 2716
+    },
+    {
+      "epoch": 159.82,
+      "learning_rate": 1.0572755417956656e-05,
+      "loss": 0.0237,
+      "step": 2717
+    },
+    {
+      "epoch": 159.88,
+      "learning_rate": 1.0557275541795666e-05,
+      "loss": 0.0226,
+      "step": 2718
+    },
+    {
+      "epoch": 159.94,
+      "learning_rate": 1.0541795665634676e-05,
+      "loss": 0.0192,
+      "step": 2719
+    },
+    {
+      "epoch": 160.0,
+      "learning_rate": 1.0526315789473684e-05,
+      "loss": 0.0204,
+      "step": 2720
+    },
+    {
+      "epoch": 160.0,
+      "eval_accuracy_NAT": 0.9939970334515457,
+      "eval_accuracy_REST": 0.34796747967479674,
+      "eval_accuracy_concrete": 0.954261827921646,
+      "eval_accuracy_concrete tiles": 0.9310157907141173,
+      "eval_accuracy_dark bricks": 0.866838619527975,
+      "eval_accuracy_grass": 0.89485043923893,
+      "eval_accuracy_red bricks": 0.9281085237258347,
+      "eval_accuracy_road": 0.9815920363445723,
+      "eval_accuracy_rough concrete": 0.6257038833505145,
+      "eval_accuracy_rough red sidewalk": 0.7981485798509539,
+      "eval_accuracy_speedway bricks": 0.9892302140076621,
+      "eval_accuracy_steel": 0.9247552314743087,
+      "eval_accuracy_tiles": 0.2526886606683026,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.983518218056789,
+      "eval_iou_REST": 0.33914421553090335,
+      "eval_iou_concrete": 0.8931911820102879,
+      "eval_iou_concrete tiles": 0.8665028844677444,
+      "eval_iou_dark bricks": 0.8496761150694441,
+      "eval_iou_grass": 0.8404022756638686,
+      "eval_iou_red bricks": 0.9049480561208096,
+      "eval_iou_road": 0.9605439586989672,
+      "eval_iou_rough concrete": 0.6186517568873282,
+      "eval_iou_rough red sidewalk": 0.6307841342667982,
+      "eval_iou_speedway bricks": 0.9796196710495166,
+      "eval_iou_steel": 0.8656120472684063,
+      "eval_iou_tiles": 0.2475074183976261,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08046878129243851,
+      "eval_mean_accuracy": 0.8068583323039353,
+      "eval_mean_iou": 0.7677001487298837,
+      "eval_overall_accuracy": 0.9800751572948391,
+      "eval_runtime": 5.2952,
+      "eval_samples_per_second": 22.284,
+      "eval_steps_per_second": 1.511,
+      "step": 2720
+    },
+    {
+      "epoch": 160.06,
+      "learning_rate": 1.0510835913312694e-05,
+      "loss": 0.0212,
+      "step": 2721
+    },
+    {
+      "epoch": 160.12,
+      "learning_rate": 1.0495356037151703e-05,
+      "loss": 0.0231,
+      "step": 2722
+    },
+    {
+      "epoch": 160.18,
+      "learning_rate": 1.0479876160990713e-05,
+      "loss": 0.0237,
+      "step": 2723
+    },
+    {
+      "epoch": 160.24,
+      "learning_rate": 1.0464396284829723e-05,
+      "loss": 0.0232,
+      "step": 2724
+    },
+    {
+      "epoch": 160.29,
+      "learning_rate": 1.0448916408668731e-05,
+      "loss": 0.0216,
+      "step": 2725
+    },
+    {
+      "epoch": 160.35,
+      "learning_rate": 1.043343653250774e-05,
+      "loss": 0.0204,
+      "step": 2726
+    },
+    {
+      "epoch": 160.41,
+      "learning_rate": 1.041795665634675e-05,
+      "loss": 0.0224,
+      "step": 2727
+    },
+    {
+      "epoch": 160.47,
+      "learning_rate": 1.040247678018576e-05,
+      "loss": 0.0204,
+      "step": 2728
+    },
+    {
+      "epoch": 160.53,
+      "learning_rate": 1.0386996904024768e-05,
+      "loss": 0.0199,
+      "step": 2729
+    },
+    {
+      "epoch": 160.59,
+      "learning_rate": 1.0371517027863778e-05,
+      "loss": 0.0202,
+      "step": 2730
+    },
+    {
+      "epoch": 160.65,
+      "learning_rate": 1.0356037151702786e-05,
+      "loss": 0.0224,
+      "step": 2731
+    },
+    {
+      "epoch": 160.71,
+      "learning_rate": 1.0340557275541796e-05,
+      "loss": 0.0267,
+      "step": 2732
+    },
+    {
+      "epoch": 160.76,
+      "learning_rate": 1.0325077399380806e-05,
+      "loss": 0.0227,
+      "step": 2733
+    },
+    {
+      "epoch": 160.82,
+      "learning_rate": 1.0309597523219814e-05,
+      "loss": 0.0203,
+      "step": 2734
+    },
+    {
+      "epoch": 160.88,
+      "learning_rate": 1.0294117647058824e-05,
+      "loss": 0.0226,
+      "step": 2735
+    },
+    {
+      "epoch": 160.94,
+      "learning_rate": 1.0278637770897834e-05,
+      "loss": 0.0194,
+      "step": 2736
+    },
+    {
+      "epoch": 161.0,
+      "learning_rate": 1.0263157894736843e-05,
+      "loss": 0.0234,
+      "step": 2737
+    },
+    {
+      "epoch": 161.06,
+      "learning_rate": 1.0247678018575851e-05,
+      "loss": 0.023,
+      "step": 2738
+    },
+    {
+      "epoch": 161.12,
+      "learning_rate": 1.0232198142414861e-05,
+      "loss": 0.0218,
+      "step": 2739
+    },
+    {
+      "epoch": 161.18,
+      "learning_rate": 1.0216718266253871e-05,
+      "loss": 0.0188,
+      "step": 2740
+    },
+    {
+      "epoch": 161.18,
+      "eval_accuracy_NAT": 0.9934050284252445,
+      "eval_accuracy_REST": 0.36585365853658536,
+      "eval_accuracy_concrete": 0.9578820196633895,
+      "eval_accuracy_concrete tiles": 0.9386283290124912,
+      "eval_accuracy_dark bricks": 0.867656910973719,
+      "eval_accuracy_grass": 0.8992210653010707,
+      "eval_accuracy_red bricks": 0.9273945518453427,
+      "eval_accuracy_road": 0.9822787610737703,
+      "eval_accuracy_rough concrete": 0.6254774489181797,
+      "eval_accuracy_rough red sidewalk": 0.7694147196173832,
+      "eval_accuracy_speedway bricks": 0.9895726015904057,
+      "eval_accuracy_steel": 0.9167612088741397,
+      "eval_accuracy_tiles": 0.2531430821897058,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9837008827549625,
+      "eval_iou_REST": 0.35714285714285715,
+      "eval_iou_concrete": 0.892026902069264,
+      "eval_iou_concrete tiles": 0.8708753362052,
+      "eval_iou_dark bricks": 0.849418389479947,
+      "eval_iou_grass": 0.8420361509835194,
+      "eval_iou_red bricks": 0.9019335541074671,
+      "eval_iou_road": 0.9608230274555067,
+      "eval_iou_rough concrete": 0.6191464889255905,
+      "eval_iou_rough red sidewalk": 0.6212641933329285,
+      "eval_iou_speedway bricks": 0.9793934745804969,
+      "eval_iou_steel": 0.8653554933883089,
+      "eval_iou_tiles": 0.248439079502884,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08005556464195251,
+      "eval_mean_accuracy": 0.8066684143093406,
+      "eval_mean_iou": 0.768581217686841,
+      "eval_overall_accuracy": 0.9800700494798563,
+      "eval_runtime": 5.4771,
+      "eval_samples_per_second": 21.544,
+      "eval_steps_per_second": 1.461,
+      "step": 2740
+    },
+    {
+      "epoch": 161.24,
+      "learning_rate": 1.020123839009288e-05,
+      "loss": 0.0216,
+      "step": 2741
+    },
+    {
+      "epoch": 161.29,
+      "learning_rate": 1.018575851393189e-05,
+      "loss": 0.024,
+      "step": 2742
+    },
+    {
+      "epoch": 161.35,
+      "learning_rate": 1.0170278637770898e-05,
+      "loss": 0.0208,
+      "step": 2743
+    },
+    {
+      "epoch": 161.41,
+      "learning_rate": 1.0154798761609908e-05,
+      "loss": 0.0194,
+      "step": 2744
+    },
+    {
+      "epoch": 161.47,
+      "learning_rate": 1.0139318885448918e-05,
+      "loss": 0.0217,
+      "step": 2745
+    },
+    {
+      "epoch": 161.53,
+      "learning_rate": 1.0123839009287926e-05,
+      "loss": 0.0198,
+      "step": 2746
+    },
+    {
+      "epoch": 161.59,
+      "learning_rate": 1.0108359133126936e-05,
+      "loss": 0.0206,
+      "step": 2747
+    },
+    {
+      "epoch": 161.65,
+      "learning_rate": 1.0092879256965946e-05,
+      "loss": 0.026,
+      "step": 2748
+    },
+    {
+      "epoch": 161.71,
+      "learning_rate": 1.0077399380804954e-05,
+      "loss": 0.0222,
+      "step": 2749
+    },
+    {
+      "epoch": 161.76,
+      "learning_rate": 1.0061919504643963e-05,
+      "loss": 0.0183,
+      "step": 2750
+    },
+    {
+      "epoch": 161.82,
+      "learning_rate": 1.0046439628482973e-05,
+      "loss": 0.0225,
+      "step": 2751
+    },
+    {
+      "epoch": 161.88,
+      "learning_rate": 1.0030959752321983e-05,
+      "loss": 0.0251,
+      "step": 2752
+    },
+    {
+      "epoch": 161.94,
+      "learning_rate": 1.001547987616099e-05,
+      "loss": 0.0222,
+      "step": 2753
+    },
+    {
+      "epoch": 162.0,
+      "learning_rate": 1e-05,
+      "loss": 0.0237,
+      "step": 2754
+    },
+    {
+      "epoch": 162.06,
+      "learning_rate": 9.984520123839009e-06,
+      "loss": 0.0187,
+      "step": 2755
+    },
+    {
+      "epoch": 162.12,
+      "learning_rate": 9.969040247678019e-06,
+      "loss": 0.0206,
+      "step": 2756
+    },
+    {
+      "epoch": 162.18,
+      "learning_rate": 9.953560371517029e-06,
+      "loss": 0.0226,
+      "step": 2757
+    },
+    {
+      "epoch": 162.24,
+      "learning_rate": 9.938080495356037e-06,
+      "loss": 0.0226,
+      "step": 2758
+    },
+    {
+      "epoch": 162.29,
+      "learning_rate": 9.922600619195046e-06,
+      "loss": 0.0271,
+      "step": 2759
+    },
+    {
+      "epoch": 162.35,
+      "learning_rate": 9.907120743034057e-06,
+      "loss": 0.0218,
+      "step": 2760
+    },
+    {
+      "epoch": 162.35,
+      "eval_accuracy_NAT": 0.9935705375255764,
+      "eval_accuracy_REST": 0.35772357723577236,
+      "eval_accuracy_concrete": 0.9578369201463365,
+      "eval_accuracy_concrete tiles": 0.932076361065284,
+      "eval_accuracy_dark bricks": 0.8665467143923588,
+      "eval_accuracy_grass": 0.8999950796156044,
+      "eval_accuracy_red bricks": 0.9289872583479789,
+      "eval_accuracy_road": 0.9800422295627247,
+      "eval_accuracy_rough concrete": 0.6247147224092624,
+      "eval_accuracy_rough red sidewalk": 0.7756487866505237,
+      "eval_accuracy_speedway bricks": 0.9893912972547987,
+      "eval_accuracy_steel": 0.9216165967804005,
+      "eval_accuracy_tiles": 0.2514768699445606,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9837143175727022,
+      "eval_iou_REST": 0.3514376996805112,
+      "eval_iou_concrete": 0.8918607866436488,
+      "eval_iou_concrete tiles": 0.8731977655604867,
+      "eval_iou_dark bricks": 0.8478191658707418,
+      "eval_iou_grass": 0.8421416112552349,
+      "eval_iou_red bricks": 0.9040619989310529,
+      "eval_iou_road": 0.9609052710893089,
+      "eval_iou_rough concrete": 0.618263843840302,
+      "eval_iou_rough red sidewalk": 0.6240282172437367,
+      "eval_iou_speedway bricks": 0.9795047563853914,
+      "eval_iou_steel": 0.8673546420701349,
+      "eval_iou_tiles": 0.24692863729660589,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08054724335670471,
+      "eval_mean_accuracy": 0.8061251500716294,
+      "eval_mean_iou": 0.7685552856492198,
+      "eval_overall_accuracy": 0.9800904160839016,
+      "eval_runtime": 5.5636,
+      "eval_samples_per_second": 21.209,
+      "eval_steps_per_second": 1.438,
+      "step": 2760
+    },
+    {
+      "epoch": 162.41,
+      "learning_rate": 9.891640866873066e-06,
+      "loss": 0.02,
+      "step": 2761
+    },
+    {
+      "epoch": 162.47,
+      "learning_rate": 9.876160990712074e-06,
+      "loss": 0.0239,
+      "step": 2762
+    },
+    {
+      "epoch": 162.53,
+      "learning_rate": 9.860681114551084e-06,
+      "loss": 0.0216,
+      "step": 2763
+    },
+    {
+      "epoch": 162.59,
+      "learning_rate": 9.845201238390094e-06,
+      "loss": 0.025,
+      "step": 2764
+    },
+    {
+      "epoch": 162.65,
+      "learning_rate": 9.829721362229102e-06,
+      "loss": 0.0201,
+      "step": 2765
+    },
+    {
+      "epoch": 162.71,
+      "learning_rate": 9.814241486068112e-06,
+      "loss": 0.0207,
+      "step": 2766
+    },
+    {
+      "epoch": 162.76,
+      "learning_rate": 9.79876160990712e-06,
+      "loss": 0.0209,
+      "step": 2767
+    },
+    {
+      "epoch": 162.82,
+      "learning_rate": 9.78328173374613e-06,
+      "loss": 0.0259,
+      "step": 2768
+    },
+    {
+      "epoch": 162.88,
+      "learning_rate": 9.76780185758514e-06,
+      "loss": 0.0178,
+      "step": 2769
+    },
+    {
+      "epoch": 162.94,
+      "learning_rate": 9.752321981424149e-06,
+      "loss": 0.0223,
+      "step": 2770
+    },
+    {
+      "epoch": 163.0,
+      "learning_rate": 9.736842105263157e-06,
+      "loss": 0.0252,
+      "step": 2771
+    },
+    {
+      "epoch": 163.06,
+      "learning_rate": 9.721362229102169e-06,
+      "loss": 0.0217,
+      "step": 2772
+    },
+    {
+      "epoch": 163.12,
+      "learning_rate": 9.705882352941177e-06,
+      "loss": 0.0182,
+      "step": 2773
+    },
+    {
+      "epoch": 163.18,
+      "learning_rate": 9.690402476780186e-06,
+      "loss": 0.0217,
+      "step": 2774
+    },
+    {
+      "epoch": 163.24,
+      "learning_rate": 9.674922600619196e-06,
+      "loss": 0.0222,
+      "step": 2775
+    },
+    {
+      "epoch": 163.29,
+      "learning_rate": 9.659442724458206e-06,
+      "loss": 0.0223,
+      "step": 2776
+    },
+    {
+      "epoch": 163.35,
+      "learning_rate": 9.643962848297214e-06,
+      "loss": 0.023,
+      "step": 2777
+    },
+    {
+      "epoch": 163.41,
+      "learning_rate": 9.628482972136222e-06,
+      "loss": 0.0213,
+      "step": 2778
+    },
+    {
+      "epoch": 163.47,
+      "learning_rate": 9.613003095975232e-06,
+      "loss": 0.0225,
+      "step": 2779
+    },
+    {
+      "epoch": 163.53,
+      "learning_rate": 9.597523219814242e-06,
+      "loss": 0.0203,
+      "step": 2780
+    },
+    {
+      "epoch": 163.53,
+      "eval_accuracy_NAT": 0.9931384886884234,
+      "eval_accuracy_REST": 0.32682926829268294,
+      "eval_accuracy_concrete": 0.9579603705192865,
+      "eval_accuracy_concrete tiles": 0.9177468772095215,
+      "eval_accuracy_dark bricks": 0.8569138449170224,
+      "eval_accuracy_grass": 0.9023313159757311,
+      "eval_accuracy_red bricks": 0.9230008787346221,
+      "eval_accuracy_road": 0.9821793596732794,
+      "eval_accuracy_rough concrete": 0.6227483181284599,
+      "eval_accuracy_rough red sidewalk": 0.7698132787883801,
+      "eval_accuracy_speedway bricks": 0.9898034304562494,
+      "eval_accuracy_steel": 0.9155167502136571,
+      "eval_accuracy_tiles": 0.24114635402465995,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9835999365252531,
+      "eval_iou_REST": 0.3216,
+      "eval_iou_concrete": 0.8909636457803461,
+      "eval_iou_concrete tiles": 0.871316372423978,
+      "eval_iou_dark bricks": 0.8405195073410687,
+      "eval_iou_grass": 0.8406492755462934,
+      "eval_iou_red bricks": 0.9017545742340506,
+      "eval_iou_road": 0.959926438136008,
+      "eval_iou_rough concrete": 0.6166923353809296,
+      "eval_iou_rough red sidewalk": 0.6241555495939322,
+      "eval_iou_speedway bricks": 0.9795240786802043,
+      "eval_iou_steel": 0.8663756408558618,
+      "eval_iou_tiles": 0.2384161499985024,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08148735761642456,
+      "eval_mean_accuracy": 0.7999329642786136,
+      "eval_mean_iou": 0.7642687311151098,
+      "eval_overall_accuracy": 0.9799140671552238,
+      "eval_runtime": 5.3192,
+      "eval_samples_per_second": 22.184,
+      "eval_steps_per_second": 1.504,
+      "step": 2780
+    },
+    {
+      "epoch": 163.59,
+      "learning_rate": 9.58204334365325e-06,
+      "loss": 0.0227,
+      "step": 2781
+    },
+    {
+      "epoch": 163.65,
+      "learning_rate": 9.56656346749226e-06,
+      "loss": 0.0205,
+      "step": 2782
+    },
+    {
+      "epoch": 163.71,
+      "learning_rate": 9.551083591331269e-06,
+      "loss": 0.0232,
+      "step": 2783
+    },
+    {
+      "epoch": 163.76,
+      "learning_rate": 9.535603715170279e-06,
+      "loss": 0.0217,
+      "step": 2784
+    },
+    {
+      "epoch": 163.82,
+      "learning_rate": 9.520123839009289e-06,
+      "loss": 0.0247,
+      "step": 2785
+    },
+    {
+      "epoch": 163.88,
+      "learning_rate": 9.504643962848297e-06,
+      "loss": 0.021,
+      "step": 2786
+    },
+    {
+      "epoch": 163.94,
+      "learning_rate": 9.489164086687305e-06,
+      "loss": 0.0231,
+      "step": 2787
+    },
+    {
+      "epoch": 164.0,
+      "learning_rate": 9.473684210526317e-06,
+      "loss": 0.0213,
+      "step": 2788
+    },
+    {
+      "epoch": 164.06,
+      "learning_rate": 9.458204334365325e-06,
+      "loss": 0.0208,
+      "step": 2789
+    },
+    {
+      "epoch": 164.12,
+      "learning_rate": 9.442724458204334e-06,
+      "loss": 0.019,
+      "step": 2790
+    },
+    {
+      "epoch": 164.18,
+      "learning_rate": 9.427244582043344e-06,
+      "loss": 0.0186,
+      "step": 2791
+    },
+    {
+      "epoch": 164.24,
+      "learning_rate": 9.411764705882354e-06,
+      "loss": 0.0214,
+      "step": 2792
+    },
+    {
+      "epoch": 164.29,
+      "learning_rate": 9.396284829721362e-06,
+      "loss": 0.0215,
+      "step": 2793
+    },
+    {
+      "epoch": 164.35,
+      "learning_rate": 9.380804953560372e-06,
+      "loss": 0.0224,
+      "step": 2794
+    },
+    {
+      "epoch": 164.41,
+      "learning_rate": 9.36532507739938e-06,
+      "loss": 0.0219,
+      "step": 2795
+    },
+    {
+      "epoch": 164.47,
+      "learning_rate": 9.34984520123839e-06,
+      "loss": 0.022,
+      "step": 2796
+    },
+    {
+      "epoch": 164.53,
+      "learning_rate": 9.3343653250774e-06,
+      "loss": 0.0231,
+      "step": 2797
+    },
+    {
+      "epoch": 164.59,
+      "learning_rate": 9.318885448916409e-06,
+      "loss": 0.0229,
+      "step": 2798
+    },
+    {
+      "epoch": 164.65,
+      "learning_rate": 9.303405572755417e-06,
+      "loss": 0.0228,
+      "step": 2799
+    },
+    {
+      "epoch": 164.71,
+      "learning_rate": 9.287925696594429e-06,
+      "loss": 0.0229,
+      "step": 2800
+    },
+    {
+      "epoch": 164.71,
+      "eval_accuracy_NAT": 0.9933407656084381,
+      "eval_accuracy_REST": 0.3300813008130081,
+      "eval_accuracy_concrete": 0.9548225142904317,
+      "eval_accuracy_concrete tiles": 0.9398538769738393,
+      "eval_accuracy_dark bricks": 0.8573923779262294,
+      "eval_accuracy_grass": 0.9024126915638117,
+      "eval_accuracy_red bricks": 0.930305360281195,
+      "eval_accuracy_road": 0.9801042218339986,
+      "eval_accuracy_rough concrete": 0.6250603328586155,
+      "eval_accuracy_rough red sidewalk": 0.789056918761609,
+      "eval_accuracy_speedway bricks": 0.9911529310639103,
+      "eval_accuracy_steel": 0.9162364371498398,
+      "eval_accuracy_tiles": 0.25123451179981215,
+      "eval_accuracy_unlabeled": NaN,
+      "eval_iou_NAT": 0.9836287408897749,
+      "eval_iou_REST": 0.3248,
+      "eval_iou_concrete": 0.8924182216449549,
+      "eval_iou_concrete tiles": 0.8792997001234786,
+      "eval_iou_dark bricks": 0.8400977146768945,
+      "eval_iou_grass": 0.8409675101076236,
+      "eval_iou_red bricks": 0.9061196105702365,
+      "eval_iou_road": 0.9611498756355792,
+      "eval_iou_rough concrete": 0.6189855192191944,
+      "eval_iou_rough red sidewalk": 0.6315599400509206,
+      "eval_iou_speedway bricks": 0.9792372809616524,
+      "eval_iou_steel": 0.866876300359372,
+      "eval_iou_tiles": 0.24814482345900657,
+      "eval_iou_unlabeled": NaN,
+      "eval_loss": 0.08053811639547348,
+      "eval_mean_accuracy": 0.8046964800711337,
+      "eval_mean_iou": 0.7671757875152837,
+      "eval_overall_accuracy": 0.9800550493143373,
+      "eval_runtime": 5.3606,
+      "eval_samples_per_second": 22.012,
+      "eval_steps_per_second": 1.492,
+      "step": 2800
     }
   ],
   "max_steps": 3400,
   "num_train_epochs": 200,
-  "total_flos": 1.5667085795681894e+19,
+  "total_flos": 1.768829755217412e+19,
   "trial_name": null,
   "trial_params": null
 }

pytorch_model.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d21a7e9b371df8d06c618f58c7c29d00475ea0fe9e5194d7d006ffb241d643b9
+oid sha256:e4d302384d7f5919d0c4163a7544dc6c9bb32e5eec127ad55aa418aaacc9358c
 size 338830281

runs/Dec09_04-08-30_robolidar/events.out.tfevents.1702116518.robolidar.2934636.0

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:a044e9ebd0431bb725c75012984a56da1393cfa9009554851cf941f31b389f0d
-size 717857
+oid sha256:1ee69ce45818d1b9fd58268f01c1eeedc50acb7b61179b236e1560747936e83e
+size 738833