diff --git a/README.md b/README.md index 7da79263d0e701a53a0d662d245c4fc3db39b287..024edb681b22395d5e5dccdef7608c89dffc9311 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,21 @@ --- license: cc-by-4.0 --- + +# RoArtNet + +This is the official model checkpoints for [RPMArt](https://r-pmart.github.io/). It contains 6 checkpoints for different articulated objects. + +## Usage +Please refer to [RPMArt Github](https://github.com/R-PMArt/rpmart) for how to train and load these models. + +## License +These checkpoints are released under the [Creative Commons Attribution 4.0 International (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/) license. If you find them helpful, please consider citing our work: +``` +@article{wang2024rpmart, + title={RPMArt: Towards Robust Perception and Manipulation for Articulated Objects}, + author={Wang, Junbo and Liu, Wenhai and Yu, Qiaojun and You, Yang and Liu, Liu and Wang, Weiming and Lu, Cewu}, + journal={arXiv preprint arXiv:2403.16023}, + year={2024} +} +``` diff --git a/formal_drawer_2024_01_18_11_18_23/.hydra/config.yaml b/formal_drawer_2024_01_18_11_18_23/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b9ae99d3718de6a9aa4dee12c7347a024fadb4c2 --- /dev/null +++ b/formal_drawer_2024_01_18_11_18_23/.hydra/config.yaml @@ -0,0 +1,69 @@ +dataset: + train_path: /data2/junbo/sapien4/train + test_path: /data2/junbo/sapien4/test + train_categories: + - Drawer + test_categories: + - Drawer + joint_num: 3 + resolution: 0.01 + receptive_field: 10 + normalize: none + sample_points_num: 1024 + rgb: false + denoise: false +algorithm: + sampling: + sample_tuples_num: 100000 + tuple_more_num: 3 + shot_encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + feature_dim: 64 + bn: false + ln: false + dropout: 0 + encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + bn: false + ln: false + dropout: 0 + voting: + rot_bin_num: 36 + voting_num: 120 + angle_tol: 1.5 + translation2pc: false + rotation_cluster: false + multi_candidate: false + candidate_threshold: 0.5 + rotation_multi_neighbor: false + neighbor_threshold: 10 + bmm_size: 100000 +training: + seed: 42 + device: 2 + batch_size: 16 + num_workers: 8 + epoch_num: 100 + lr: 0.001 + weight_decay: 0 + lambda_rot: 0.1 + lambda_afford: 1.0 + lambda_conf: 0.5 + val_training: true + val_training_num: 64 + val_testing: true + val_testing_num: 64 + test_train: true + test_test: true +abbr: formal_drawer +debug: false diff --git a/formal_drawer_2024_01_18_11_18_23/.hydra/hydra.yaml b/formal_drawer_2024_01_18_11_18_23/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9a089602534c24c8e7ca5aebfec3f9154bba1154 --- /dev/null +++ b/formal_drawer_2024_01_18_11_18_23/.hydra/hydra.yaml @@ -0,0 +1,157 @@ +hydra: + run: + dir: ./outputs/train/${abbr}_${now:%Y_%m_%d_%H_%M_%S} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: train + chdir: null + override_dirname: '' + id: ??? + num: ??? + config_name: train_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.2' + cwd: /home/junbo/Codes/rpmart + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/junbo/Codes/rpmart/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/junbo/Codes/rpmart/outputs/train/formal_drawer_2024_01_18_11_18_23 + choices: + training: formal + algorithm: formal + dataset: formal_drawer + hydra/env: default + hydra/callbacks: null + hydra/job_logging: 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+[2024-01-18 11:18:24,281][train][INFO] - Preparing model... +[2024-01-18 11:18:28,123][train][INFO] - Prepared model. +[2024-01-18 11:18:28,124][train][INFO] - Optimizing... +[2024-01-18 11:18:28,143][train][INFO] - epoch: 0 lr: 0.0002 +[2024-01-18 11:25:34,697][train][INFO] - training loss: 0.00907284800029759 + 0.29356310899768556 + 0.014693669509142637 + 0.22191774036203113 = 0.5392473646572657, data num: 2227 +[2024-01-18 11:25:34,712][train][INFO] - Validating training... +[2024-01-18 11:28:43,346][train][INFO] - mean_translation_distance_error = [144.73315 138.97362 133.18228] +[2024-01-18 11:28:43,346][train][INFO] - mean_translation_along_error = [94.83676 94.817474 94.817474] +[2024-01-18 11:28:43,346][train][INFO] - mean_translation_perp_error = [96.01498 86.35165 75.56152] +[2024-01-18 11:28:43,347][train][INFO] - mean_translation_plane_error = [584.7381 580.89575 577.1425 ] +[2024-01-18 11:28:43,347][train][INFO] - mean_translation_line_error = [68.194305 55.20858 39.523624] +[2024-01-18 11:28:43,347][train][INFO] - mean_rotation_error = [100.091835 100.091835 100.091835] +[2024-01-18 11:28:43,347][train][INFO] - mean_affordance_error = [142.11075 136.03877 128.63586] +[2024-01-18 11:28:43,348][train][INFO] - median_translation_distance_error = [142.6731 137.40007 130.2231 ] +[2024-01-18 11:28:43,348][train][INFO] - median_translation_along_error = [105.140945 104.93196 104.93196 ] +[2024-01-18 11:28:43,349][train][INFO] - median_translation_perp_error = [88.4988 76.14371 63.801785] +[2024-01-18 11:28:43,349][train][INFO] - median_translation_plane_error = [214.8086 209.53279 205.64423] +[2024-01-18 11:28:43,349][train][INFO] - median_translation_line_error = [68.9445 55.040573 40.265213] +[2024-01-18 11:28:43,349][train][INFO] - median_rotation_error = [105.502884 105.502884 105.502884] +[2024-01-18 11:28:43,349][train][INFO] - median_affordance_error = [138.2095 135.34949 127.68373] +[2024-01-18 11:28:43,350][train][INFO] - max_translation_distance_error = [191.16142 184.89803 181.3153 ] +[2024-01-18 11:28:43,350][train][INFO] - max_translation_along_error = [161.25874 161.25874 161.25876] +[2024-01-18 11:28:43,350][train][INFO] - max_translation_perp_error = [176.84393 174.93282 173.2529 ] +[2024-01-18 11:28:43,350][train][INFO] - max_translation_plane_error = [11478.073 11478.019 11477.957] +[2024-01-18 11:28:43,350][train][INFO] - max_translation_line_error = [109.380066 93.95211 74.680534] +[2024-01-18 11:28:43,351][train][INFO] - max_rotation_error = [142.479 142.479 142.479] +[2024-01-18 11:28:43,351][train][INFO] - max_affordance_error = [182.71695 179.4647 184.10434] +[2024-01-18 11:28:43,351][train][INFO] - min_translation_distance_error = [107.70253 104.527214 100.91827 ] +[2024-01-18 11:28:43,351][train][INFO] - min_translation_along_error = [2.6587799 2.658783 2.6587844] +[2024-01-18 11:28:43,351][train][INFO] - min_translation_perp_error = [28.118576 20.95983 14.281079] +[2024-01-18 11:28:43,352][train][INFO] - min_translation_plane_error = [119.76682 114.94188 111.04897] +[2024-01-18 11:28:43,352][train][INFO] - min_translation_line_error = [19.253693 4.399832 0.86753404] +[2024-01-18 11:28:43,352][train][INFO] - min_rotation_error = [35.23199 35.23199 35.23199] +[2024-01-18 11:28:43,352][train][INFO] - min_affordance_error = [106.167114 98.02037 95.699776] +[2024-01-18 11:28:43,353][train][INFO] - std_translation_distance_error = [19.347261 19.00737 19.016197] +[2024-01-18 11:28:43,353][train][INFO] - std_translation_along_error = [41.75042 41.748043 41.748043] +[2024-01-18 11:28:43,353][train][INFO] - std_translation_perp_error = [36.95964 38.536804 40.698185] +[2024-01-18 11:28:43,353][train][INFO] - std_translation_plane_error = [1500.4078 1501.3467 1502.269 ] +[2024-01-18 11:28:43,354][train][INFO] - std_translation_line_error = [20.732723 19.726076 17.29697 ] +[2024-01-18 11:28:43,354][train][INFO] - std_rotation_error = [31.140608 31.140608 31.140608] +[2024-01-18 11:28:43,354][train][INFO] - std_affordance_error = [18.767235 19.688309 19.268791] +[2024-01-18 11:28:43,354][train][INFO] - translation_outliers_num = 192 +[2024-01-18 11:28:43,354][train][INFO] - rotation_outliers_num = 192 +[2024-01-18 11:28:43,354][train][INFO] - affordance_outliers_num = 192 +[2024-01-18 11:28:43,354][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-18 11:28:43,354][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-18 11:28:43,354][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-18 11:28:43,354][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 11:28:43,757][train][INFO] - Validated training. +[2024-01-18 11:28:43,757][train][INFO] - Validating training time: 189.04452919960022 +[2024-01-18 11:28:43,757][train][INFO] - Validating testing... +[2024-01-18 11:32:04,021][train][INFO] - mean_translation_distance_error = [152.02475 146.0083 140.1989 ] +[2024-01-18 11:32:04,021][train][INFO] - mean_translation_along_error = [77.32983 77.25626 77.25626] +[2024-01-18 11:32:04,021][train][INFO] - mean_translation_perp_error = [116.17834 107.61075 98.65092] +[2024-01-18 11:32:04,021][train][INFO] - mean_translation_plane_error = [491.72913 486.887 482.79532] +[2024-01-18 11:32:04,022][train][INFO] - mean_translation_line_error = [69.39371 56.421688 40.955997] +[2024-01-18 11:32:04,022][train][INFO] - mean_rotation_error = [83.40824 83.40824 83.40824] +[2024-01-18 11:32:04,022][train][INFO] - mean_affordance_error = [151.3063 145.33504 136.34677] +[2024-01-18 11:32:04,023][train][INFO] - median_translation_distance_error = [155.17294 147.48999 141.62656] +[2024-01-18 11:32:04,023][train][INFO] - median_translation_along_error = [75.99663 75.996635 75.99663 ] +[2024-01-18 11:32:04,023][train][INFO] - median_translation_perp_error = [119.30064 111.5863 107.29335] +[2024-01-18 11:32:04,023][train][INFO] - median_translation_plane_error = [202.70464 197.81021 192.90686] +[2024-01-18 11:32:04,023][train][INFO] - median_translation_line_error = [72.04767 59.3148 42.14185] +[2024-01-18 11:32:04,023][train][INFO] - median_rotation_error = [75.64075 75.64075 75.64075] +[2024-01-18 11:32:04,024][train][INFO] - median_affordance_error = [152.46852 146.26952 134.5092 ] +[2024-01-18 11:32:04,024][train][INFO] - max_translation_distance_error = [210.78229 201.18387 190.95964] +[2024-01-18 11:32:04,024][train][INFO] - max_translation_along_error = [169.69337 169.69337 169.69337] +[2024-01-18 11:32:04,024][train][INFO] - max_translation_perp_error = [209.47519 199.814 189.51588] +[2024-01-18 11:32:04,024][train][INFO] - max_translation_plane_error = [4694.759 4676.8936 4676.7334] +[2024-01-18 11:32:04,024][train][INFO] - max_translation_line_error = [118.15165 100.027916 78.24725 ] +[2024-01-18 11:32:04,025][train][INFO] - max_rotation_error = [146.01698 146.01698 146.01698] +[2024-01-18 11:32:04,025][train][INFO] - max_affordance_error = [218.67111 208.6062 196.40408] +[2024-01-18 11:32:04,025][train][INFO] - min_translation_distance_error = [107.05781 101.425385 93.111916] +[2024-01-18 11:32:04,025][train][INFO] - min_translation_along_error = [2.633871 2.3272977 2.3272977] +[2024-01-18 11:32:04,025][train][INFO] - min_translation_perp_error = [25.177767 28.271355 15.868047] +[2024-01-18 11:32:04,025][train][INFO] - min_translation_plane_error = [113.21721 105.964066 98.27443 ] +[2024-01-18 11:32:04,026][train][INFO] - min_translation_line_error = [0.78485084 1.6893897 3.2726028 ] +[2024-01-18 11:32:04,026][train][INFO] - min_rotation_error = [32.10272 32.10272 32.10272] +[2024-01-18 11:32:04,026][train][INFO] - min_affordance_error = [103.376945 98.84473 94.50026 ] +[2024-01-18 11:32:04,027][train][INFO] - std_translation_distance_error = [20.87797 20.717522 21.01654 ] +[2024-01-18 11:32:04,027][train][INFO] - std_translation_along_error = [48.751896 48.72678 48.72678 ] +[2024-01-18 11:32:04,027][train][INFO] - std_translation_perp_error = [41.15052 42.716854 44.973297] +[2024-01-18 11:32:04,027][train][INFO] - std_translation_plane_error = [828.8122 827.97107 829.3695 ] +[2024-01-18 11:32:04,027][train][INFO] - std_translation_line_error = [25.867628 22.699196 19.263 ] +[2024-01-18 11:32:04,028][train][INFO] - std_rotation_error = [33.742107 33.742107 33.742107] +[2024-01-18 11:32:04,028][train][INFO] - std_affordance_error = [21.45191 21.611187 21.996181] +[2024-01-18 11:32:04,028][train][INFO] - translation_outliers_num = 192 +[2024-01-18 11:32:04,028][train][INFO] - rotation_outliers_num = 192 +[2024-01-18 11:32:04,028][train][INFO] - affordance_outliers_num = 192 +[2024-01-18 11:32:04,028][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-18 11:32:04,028][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-18 11:32:04,028][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-18 11:32:04,028][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 11:32:04,117][train][INFO] - Validated testing. +[2024-01-18 11:32:04,117][train][INFO] - Validating testing time: 200.35925793647766 +[2024-01-18 11:32:04,118][train][INFO] - epoch: 1 lr: 0.0004 +[2024-01-18 11:39:55,386][train][INFO] - training loss: 0.005478821262451155 + 0.2245200731924602 + 0.007429244252853096 + 0.182572012926851 = 0.4200001529284886, data num: 2227 +[2024-01-18 11:39:55,388][train][INFO] - epoch: 2 lr: 0.0006 +[2024-01-18 11:47:23,184][train][INFO] - training loss: 0.004683497065811285 + 0.19831944863711085 + 0.006129900994710624 + 0.1535007357597351 = 0.3626335812466485, data num: 2227 +[2024-01-18 11:47:23,186][train][INFO] - epoch: 3 lr: 0.0008 +[2024-01-18 11:54:53,048][train][INFO] - training loss: 0.004047645861282945 + 0.1846384951046535 + 0.005651377597158508 + 0.13429000015769685 = 0.3286275184580258, data num: 2227 +[2024-01-18 11:54:53,051][train][INFO] - epoch: 4 lr: 0.001 +[2024-01-18 12:02:14,473][train][INFO] - training loss: 0.0036138120706060103 + 0.17313977118049348 + 0.004709715499276562 + 0.12007129586168698 = 0.3015345945954323, data num: 2227 +[2024-01-18 12:02:14,474][train][INFO] - epoch: 5 lr: 0.001 +[2024-01-18 12:09:09,337][train][INFO] - training loss: 0.003348056715913117 + 0.16401759684085845 + 0.004120126128795424 + 0.10817818088190896 = 0.2796639593584197, data num: 2227 +[2024-01-18 12:09:09,338][train][INFO] - epoch: 6 lr: 0.0009997557473810372 +[2024-01-18 12:16:06,354][train][INFO] - training loss: 0.002890713213543807 + 0.15661880054644176 + 0.003852718070681606 + 0.09818039525832449 = 0.26154262678963797, data num: 2227 +[2024-01-18 12:16:06,355][train][INFO] - epoch: 7 lr: 0.0009990232305719946 +[2024-01-18 12:23:06,474][train][INFO] - training loss: 0.0025029659229663334 + 0.1516053197639329 + 0.0034086460480466487 + 0.09438959211111068 = 0.2519065236406667, data num: 2227 +[2024-01-18 12:23:06,476][train][INFO] - epoch: 8 lr: 0.0009978031724785247 +[2024-01-18 12:30:00,038][train][INFO] - training loss: 0.0024501628990817284 + 0.14735734654324395 + 0.0032041842400628543 + 0.08753771169909409 = 0.2405494055577687, data num: 2227 +[2024-01-18 12:30:00,039][train][INFO] - epoch: 9 lr: 0.0009960967771506667 +[2024-01-18 12:37:13,539][train][INFO] - training loss: 0.0022365856541520252 + 0.14168798811733724 + 0.002940896148460784 + 0.08237010841923101 = 0.2292355772640024, data num: 2227 +[2024-01-18 12:37:13,541][train][INFO] - epoch: 10 lr: 0.0009939057285945933 +[2024-01-18 12:44:05,585][train][INFO] - training loss: 0.002133097603551245 + 0.13745730466076306 + 0.002838067485884364 + 0.0792315770472799 = 0.22166004808885711, data num: 2227 +[2024-01-18 12:44:05,605][train][INFO] - Validating training... +[2024-01-18 12:45:58,334][train][INFO] - mean_translation_distance_error = [4.341749 4.4598293 4.2396235] +[2024-01-18 12:45:58,335][train][INFO] - mean_translation_along_error = [3.4375622 2.9952865 2.834646 ] +[2024-01-18 12:45:58,335][train][INFO] - mean_translation_perp_error = [2.1585011 2.922319 2.6438804] +[2024-01-18 12:45:58,335][train][INFO] - mean_translation_plane_error = [2.2339861 2.966977 2.6714702] +[2024-01-18 12:45:58,335][train][INFO] - mean_translation_line_error = [1.232337 1.916777 1.9776257] +[2024-01-18 12:45:58,335][train][INFO] - mean_rotation_error = [6.7491536 6.1442437 6.039286 ] +[2024-01-18 12:45:58,335][train][INFO] - mean_affordance_error = [4.8181863 4.200251 3.9683323] +[2024-01-18 12:45:58,336][train][INFO] - median_translation_distance_error = [3.678854 4.2477865 3.8744466] +[2024-01-18 12:45:58,337][train][INFO] - median_translation_along_error = [3.1468053 2.5249448 2.4989305] +[2024-01-18 12:45:58,337][train][INFO] - median_translation_perp_error = [1.9947217 2.5593295 2.3511806] +[2024-01-18 12:45:58,337][train][INFO] - median_translation_plane_error = [1.9974287 2.7885365 2.3539724] +[2024-01-18 12:45:58,338][train][INFO] - median_translation_line_error = [0.83134985 1.4909674 1.330323 ] +[2024-01-18 12:45:58,338][train][INFO] - median_rotation_error = [6.7164335 5.4975905 5.6281185] +[2024-01-18 12:45:58,338][train][INFO] - median_affordance_error = [4.235503 3.0491776 3.7119684] +[2024-01-18 12:45:58,339][train][INFO] - max_translation_distance_error = [10.7610235 10.549308 12.336661 ] +[2024-01-18 12:45:58,339][train][INFO] - max_translation_along_error = [10.222155 8.125313 10.144467] +[2024-01-18 12:45:58,339][train][INFO] - max_translation_perp_error = [7.674921 8.129743 7.0201845] +[2024-01-18 12:45:58,340][train][INFO] - max_translation_plane_error = [8.571847 8.319278 6.9012427] +[2024-01-18 12:45:58,340][train][INFO] - max_translation_line_error = [4.862663 7.267782 6.877646] +[2024-01-18 12:45:58,340][train][INFO] - max_rotation_error = [20.076624 13.139166 15.235078] +[2024-01-18 12:45:58,340][train][INFO] - max_affordance_error = [12.32416 18.653028 9.508758] +[2024-01-18 12:45:58,341][train][INFO] - min_translation_distance_error = [0.75558156 0.7409304 0.7738519 ] +[2024-01-18 12:45:58,341][train][INFO] - min_translation_along_error = [0.04828707 0.06878327 0.00738628] +[2024-01-18 12:45:58,341][train][INFO] - min_translation_perp_error = [0.1362156 0.10804595 0.16842377] +[2024-01-18 12:45:58,341][train][INFO] - min_translation_plane_error = [0.33383057 0.33732173 0.03926977] +[2024-01-18 12:45:58,341][train][INFO] - min_translation_line_error = [0.01736067 0.04965774 0.01922739] +[2024-01-18 12:45:58,342][train][INFO] - min_rotation_error = [0.940036 1.5837499 0.5542609] +[2024-01-18 12:45:58,342][train][INFO] - min_affordance_error = [1.4528894 0.93964785 1.0001261 ] +[2024-01-18 12:45:58,342][train][INFO] - std_translation_distance_error = [2.4466782 2.2196991 2.2148793] +[2024-01-18 12:45:58,342][train][INFO] - std_translation_along_error = [2.466217 2.0676584 2.2132711] +[2024-01-18 12:45:58,342][train][INFO] - std_translation_perp_error = [1.5095807 1.7407587 1.7193638] +[2024-01-18 12:45:58,343][train][INFO] - std_translation_plane_error = [1.5661914 1.7189047 1.6938548] +[2024-01-18 12:45:58,343][train][INFO] - std_translation_line_error = [1.0991572 1.5699174 1.7537788] +[2024-01-18 12:45:58,343][train][INFO] - std_rotation_error = [3.5388546 3.13175 3.5707753] +[2024-01-18 12:45:58,343][train][INFO] - std_affordance_error = [2.0846207 3.2522304 1.6991336] +[2024-01-18 12:45:58,343][train][INFO] - translation_outliers_num = 39 +[2024-01-18 12:45:58,343][train][INFO] - rotation_outliers_num = 115 +[2024-01-18 12:45:58,343][train][INFO] - affordance_outliers_num = 55 +[2024-01-18 12:45:58,343][train][INFO] - translation_outliers_ratio = 0.203125 +[2024-01-18 12:45:58,343][train][INFO] - rotation_outliers_ratio = 0.5989583333333334 +[2024-01-18 12:45:58,343][train][INFO] - affordance_outliers_ratio = 0.2864583333333333 +[2024-01-18 12:45:58,343][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 12:45:58,346][train][INFO] - Validated training. +[2024-01-18 12:45:58,367][train][INFO] - Validating training time: 112.74110269546509 +[2024-01-18 12:45:58,368][train][INFO] - Validating testing... +[2024-01-18 12:48:06,002][train][INFO] - mean_translation_distance_error = [4.8507767 4.5931273 4.630081 ] +[2024-01-18 12:48:06,003][train][INFO] - mean_translation_along_error = [3.6461642 2.9607284 3.275725 ] +[2024-01-18 12:48:06,003][train][INFO] - mean_translation_perp_error = [2.5258327 2.8874652 2.8717368] +[2024-01-18 12:48:06,003][train][INFO] - mean_translation_plane_error = [2.664065 2.918125 2.922306] +[2024-01-18 12:48:06,003][train][INFO] - mean_translation_line_error = [1.8037248 1.9891396 2.059556 ] +[2024-01-18 12:48:06,004][train][INFO] - mean_rotation_error = [6.997671 6.7076955 6.920571 ] +[2024-01-18 12:48:06,004][train][INFO] - mean_affordance_error = [5.289445 3.9921463 3.988261 ] +[2024-01-18 12:48:06,005][train][INFO] - median_translation_distance_error = [4.2010036 4.4543576 4.352232 ] +[2024-01-18 12:48:06,005][train][INFO] - median_translation_along_error = [3.1767652 2.541923 2.8173428] +[2024-01-18 12:48:06,006][train][INFO] - median_translation_perp_error = [2.234897 2.748877 2.6280088] +[2024-01-18 12:48:06,006][train][INFO] - median_translation_plane_error = [2.4883232 2.809013 2.5904455] +[2024-01-18 12:48:06,006][train][INFO] - median_translation_line_error = [1.5201364 1.8504062 1.5331575] +[2024-01-18 12:48:06,006][train][INFO] - median_rotation_error = [6.6734486 5.784484 6.1024065] +[2024-01-18 12:48:06,007][train][INFO] - median_affordance_error = [4.7160373 3.7651167 3.4436169] +[2024-01-18 12:48:06,007][train][INFO] - max_translation_distance_error = [12.2029 11.982679 12.759121] +[2024-01-18 12:48:06,007][train][INFO] - max_translation_along_error = [11.830797 10.44718 11.336896] +[2024-01-18 12:48:06,007][train][INFO] - max_translation_perp_error = [6.9243975 9.133003 7.6318088] +[2024-01-18 12:48:06,008][train][INFO] - max_translation_plane_error = [6.8281946 9.254542 7.187769 ] +[2024-01-18 12:48:06,008][train][INFO] - max_translation_line_error = [6.7803884 5.5629187 6.46313 ] +[2024-01-18 12:48:06,008][train][INFO] - max_rotation_error = [18.738932 18.738932 13.37432 ] +[2024-01-18 12:48:06,008][train][INFO] - max_affordance_error = [11.4583645 9.239731 15.14137 ] +[2024-01-18 12:48:06,009][train][INFO] - min_translation_distance_error = [1.2103788 1.2223903 0.80888224] +[2024-01-18 12:48:06,009][train][INFO] - min_translation_along_error = [0.02584666 0.03678231 0.2044431 ] +[2024-01-18 12:48:06,009][train][INFO] - min_translation_perp_error = [0.07463758 0.23858923 0.09689892] +[2024-01-18 12:48:06,010][train][INFO] - min_translation_plane_error = [0.01206143 0.27110526 0.2968532 ] +[2024-01-18 12:48:06,010][train][INFO] - min_translation_line_error = [0.00676008 0.07093585 0.04702107] +[2024-01-18 12:48:06,010][train][INFO] - min_rotation_error = [0.4334104 0.55953133 0.5767518 ] +[2024-01-18 12:48:06,010][train][INFO] - min_affordance_error = [0.8584899 0.819438 0.9440938] +[2024-01-18 12:48:06,011][train][INFO] - std_translation_distance_error = [2.666624 1.9121394 2.4797268] +[2024-01-18 12:48:06,011][train][INFO] - std_translation_along_error = [2.93784 2.1731255 2.2587612] +[2024-01-18 12:48:06,012][train][INFO] - std_translation_perp_error = [1.528289 1.7109221 1.8728174] +[2024-01-18 12:48:06,012][train][INFO] - std_translation_plane_error = [1.5317312 1.6912134 1.8455282] +[2024-01-18 12:48:06,012][train][INFO] - std_translation_line_error = [1.3395278 1.3883158 1.6850255] +[2024-01-18 12:48:06,012][train][INFO] - std_rotation_error = [3.7584121 3.5189228 3.0353117] +[2024-01-18 12:48:06,013][train][INFO] - std_affordance_error = [2.4193192 1.8364425 2.2351153] +[2024-01-18 12:48:06,013][train][INFO] - translation_outliers_num = 42 +[2024-01-18 12:48:06,013][train][INFO] - rotation_outliers_num = 134 +[2024-01-18 12:48:06,013][train][INFO] - affordance_outliers_num = 60 +[2024-01-18 12:48:06,013][train][INFO] - translation_outliers_ratio = 0.21875 +[2024-01-18 12:48:06,013][train][INFO] - rotation_outliers_ratio = 0.6979166666666666 +[2024-01-18 12:48:06,013][train][INFO] - affordance_outliers_ratio = 0.3125 +[2024-01-18 12:48:06,013][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 12:48:06,017][train][INFO] - Validated testing. +[2024-01-18 12:48:06,022][train][INFO] - Validating testing time: 127.64619135856628 +[2024-01-18 12:48:06,023][train][INFO] - epoch: 11 lr: 0.0009912321891107012 +[2024-01-18 12:54:59,145][train][INFO] - training loss: 0.002125509622939197 + 0.13535597925739629 + 0.0027581792183419955 + 0.0768931676766702 = 0.21713283487728663, data num: 2227 +[2024-01-18 12:54:59,147][train][INFO] - epoch: 12 lr: 0.0009880787971596802 +[2024-01-18 13:01:46,267][train][INFO] - training loss: 0.0020365670040648964 + 0.1322301244629281 + 0.002563340009822111 + 0.07302273905703 = 0.20985277167388372, data num: 2227 +[2024-01-18 13:01:46,268][train][INFO] - epoch: 13 lr: 0.0009844486647586726 +[2024-01-18 13:08:27,644][train][INFO] - training loss: 0.0020210046978068673 + 0.1291089151586805 + 0.002616507238209514 + 0.07164762688002416 = 0.20539405303342, data num: 2227 +[2024-01-18 13:08:27,645][train][INFO] - epoch: 14 lr: 0.000980345374410087 +[2024-01-18 13:15:16,135][train][INFO] - training loss: 0.001877116468468947 + 0.12667944867696082 + 0.002406674817237737 + 0.06875852889248303 = 0.19972176892416818, data num: 2227 +[2024-01-18 13:15:16,136][train][INFO] - epoch: 15 lr: 0.0009757729755661012 +[2024-01-18 13:21:54,952][train][INFO] - training loss: 0.0018271785229444504 + 0.12434329810951437 + 0.0023243425655112204 + 0.06613018331783159 = 0.19462500214576722, data num: 2227 +[2024-01-18 13:21:54,954][train][INFO] - epoch: 16 lr: 0.0009707359806323418 +[2024-01-18 13:28:39,693][train][INFO] - training loss: 0.0017811804710488235 + 0.1241197614797524 + 0.0022922767426020335 + 0.06554767100938728 = 0.19374088911073548, data num: 2227 +[2024-01-18 13:28:39,694][train][INFO] - epoch: 17 lr: 0.0009652393605146846 +[2024-01-18 13:35:17,961][train][INFO] - training loss: 0.0017075403285811523 + 0.12064237035810947 + 0.0021358672986804906 + 0.06328806384865726 = 0.18777384236454964, data num: 2227 +[2024-01-18 13:35:17,962][train][INFO] - epoch: 18 lr: 0.0009592885397135708 +[2024-01-18 13:42:12,350][train][INFO] - training loss: 0.0016880556649994105 + 0.11956238746643066 + 0.0020899704191833734 + 0.06152016988822392 = 0.18486058435269764, data num: 2227 +[2024-01-18 13:42:12,351][train][INFO] - epoch: 19 lr: 0.0009528893909706799 +[2024-01-18 13:49:01,386][train][INFO] - training loss: 0.0016509504298613008 + 0.11898226743297917 + 0.0020775820544388676 + 0.060323118711156504 = 0.1830339184829167, data num: 2227 +[2024-01-18 13:49:01,387][train][INFO] - epoch: 20 lr: 0.0009460482294732424 +[2024-01-18 13:56:08,068][train][INFO] - training loss: 0.0016211913690702723 + 0.11736743035061019 + 0.0021616386124930745 + 0.05924969600247485 = 0.1803999557026795, data num: 2227 +[2024-01-18 13:56:08,081][train][INFO] - Validating training... +[2024-01-18 13:58:00,610][train][INFO] - mean_translation_distance_error = [3.8710315 3.740965 3.8315551] +[2024-01-18 13:58:00,611][train][INFO] - mean_translation_along_error = [2.8646023 1.9669259 2.7586026] +[2024-01-18 13:58:00,611][train][INFO] - mean_translation_perp_error = [2.284919 2.8394856 2.1138997] +[2024-01-18 13:58:00,611][train][INFO] - mean_translation_plane_error = [2.2803984 2.8558266 2.1845038] +[2024-01-18 13:58:00,611][train][INFO] - mean_translation_line_error = [1.6062142 1.9702115 1.3533202] +[2024-01-18 13:58:00,611][train][INFO] - mean_rotation_error = [5.588217 5.5093355 5.4391623] +[2024-01-18 13:58:00,612][train][INFO] - mean_affordance_error = [4.382444 3.8135908 4.124236 ] +[2024-01-18 13:58:00,613][train][INFO] - median_translation_distance_error = [3.6054845 3.440539 3.410849 ] +[2024-01-18 13:58:00,613][train][INFO] - median_translation_along_error = [2.105804 1.3958814 1.9940815] +[2024-01-18 13:58:00,613][train][INFO] - median_translation_perp_error = [2.148069 2.8252459 1.898042 ] +[2024-01-18 13:58:00,613][train][INFO] - median_translation_plane_error = [2.1279964 2.8211627 1.986655 ] +[2024-01-18 13:58:00,613][train][INFO] - median_translation_line_error = [1.3566318 1.5483662 1.0764809] +[2024-01-18 13:58:00,614][train][INFO] - median_rotation_error = [5.5404186 5.2664657 5.078121 ] +[2024-01-18 13:58:00,614][train][INFO] - median_affordance_error = [3.638853 3.7617314 3.3511581] +[2024-01-18 13:58:00,614][train][INFO] - max_translation_distance_error = [ 9.179629 11.532332 10.038052] +[2024-01-18 13:58:00,614][train][INFO] - max_translation_along_error = [8.800828 6.5297933 9.573286 ] +[2024-01-18 13:58:00,614][train][INFO] - max_translation_perp_error = [ 6.437329 11.163602 6.9383945] +[2024-01-18 13:58:00,615][train][INFO] - max_translation_plane_error = [ 6.603755 11.243203 7.5776587] +[2024-01-18 13:58:00,615][train][INFO] - max_translation_line_error = [3.9682045 6.7412453 3.9646611] +[2024-01-18 13:58:00,615][train][INFO] - max_rotation_error = [10.820163 12.806015 12.806015] +[2024-01-18 13:58:00,615][train][INFO] - max_affordance_error = [14.92707 11.043432 18.475395] +[2024-01-18 13:58:00,616][train][INFO] - min_translation_distance_error = [0.7582971 0.48305225 0.97625583] +[2024-01-18 13:58:00,616][train][INFO] - min_translation_along_error = [0.18407694 0.02297256 0.00329677] +[2024-01-18 13:58:00,616][train][INFO] - min_translation_perp_error = [0.07565051 0.10271098 0.23422605] +[2024-01-18 13:58:00,616][train][INFO] - min_translation_plane_error = [0.03214289 0.17657715 0.09017884] +[2024-01-18 13:58:00,616][train][INFO] - min_translation_line_error = [0.03183557 0.07446355 0.06197409] +[2024-01-18 13:58:00,617][train][INFO] - min_rotation_error = [1.147736 0.6746367 1.147736 ] +[2024-01-18 13:58:00,617][train][INFO] - min_affordance_error = [0.4847591 0.53278255 0.79493487] +[2024-01-18 13:58:00,617][train][INFO] - std_translation_distance_error = [2.0723577 1.9343051 2.172925 ] +[2024-01-18 13:58:00,618][train][INFO] - std_translation_along_error = [2.0772624 1.5714316 2.3915825] +[2024-01-18 13:58:00,618][train][INFO] - std_translation_perp_error = [1.2400527 1.8263319 1.2666065] +[2024-01-18 13:58:00,618][train][INFO] - std_translation_plane_error = [1.2544234 1.8334819 1.3375823] +[2024-01-18 13:58:00,618][train][INFO] - std_translation_line_error = [1.084007 1.5222429 1.0523319] +[2024-01-18 13:58:00,618][train][INFO] - std_rotation_error = [2.4406672 2.9654112 2.7435858] +[2024-01-18 13:58:00,618][train][INFO] - std_affordance_error = [2.8253627 1.7475489 2.9559877] +[2024-01-18 13:58:00,619][train][INFO] - translation_outliers_num = 27 +[2024-01-18 13:58:00,619][train][INFO] - rotation_outliers_num = 105 +[2024-01-18 13:58:00,619][train][INFO] - affordance_outliers_num = 50 +[2024-01-18 13:58:00,619][train][INFO] - translation_outliers_ratio = 0.140625 +[2024-01-18 13:58:00,619][train][INFO] - rotation_outliers_ratio = 0.546875 +[2024-01-18 13:58:00,619][train][INFO] - affordance_outliers_ratio = 0.2604166666666667 +[2024-01-18 13:58:00,619][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 13:58:00,622][train][INFO] - Validated training. +[2024-01-18 13:58:00,628][train][INFO] - Validating training time: 112.54083061218262 +[2024-01-18 13:58:00,628][train][INFO] - Validating testing... +[2024-01-18 13:59:57,458][train][INFO] - mean_translation_distance_error = [4.12404 3.6281998 4.439002 ] +[2024-01-18 13:59:57,459][train][INFO] - mean_translation_along_error = [3.115568 2.2244165 3.3662055] +[2024-01-18 13:59:57,459][train][INFO] - mean_translation_perp_error = [2.2088776 2.5236506 2.269771 ] +[2024-01-18 13:59:57,460][train][INFO] - mean_translation_plane_error = [2.2348604 2.5838978 2.3688476] +[2024-01-18 13:59:57,460][train][INFO] - mean_translation_line_error = [1.4717231 1.6303629 1.4821525] +[2024-01-18 13:59:57,461][train][INFO] - mean_rotation_error = [5.4311666 6.108829 5.780318 ] +[2024-01-18 13:59:57,461][train][INFO] - mean_affordance_error = [4.9606133 4.0799356 4.2140064] +[2024-01-18 13:59:57,463][train][INFO] - median_translation_distance_error = [3.7684846 3.2503376 3.7895207] +[2024-01-18 13:59:57,463][train][INFO] - median_translation_along_error = [2.593505 1.8319236 2.531703 ] +[2024-01-18 13:59:57,464][train][INFO] - median_translation_perp_error = [2.1010475 2.1863527 2.2350616] +[2024-01-18 13:59:57,464][train][INFO] - median_translation_plane_error = [2.1946044 2.199678 2.3299887] +[2024-01-18 13:59:57,464][train][INFO] - median_translation_line_error = [1.3684831 1.328575 1.2387621] +[2024-01-18 13:59:57,465][train][INFO] - median_rotation_error = [5.097081 5.601405 5.482729] +[2024-01-18 13:59:57,465][train][INFO] - median_affordance_error = [4.221436 3.7424963 3.7830563] +[2024-01-18 13:59:57,465][train][INFO] - max_translation_distance_error = [ 9.964613 11.042046 11.138558] +[2024-01-18 13:59:57,466][train][INFO] - max_translation_along_error = [ 9.671348 9.173322 11.021568] +[2024-01-18 13:59:57,466][train][INFO] - max_translation_perp_error = [5.3521023 6.9359503 4.7274556] +[2024-01-18 13:59:57,466][train][INFO] - max_translation_plane_error = [5.3872952 6.734533 4.649585 ] +[2024-01-18 13:59:57,467][train][INFO] - max_translation_line_error = [5.310615 6.683766 3.930096] +[2024-01-18 13:59:57,467][train][INFO] - max_rotation_error = [15.709278 15.709278 13.37432 ] +[2024-01-18 13:59:57,467][train][INFO] - max_affordance_error = [11.844843 8.865127 10.415091] +[2024-01-18 13:59:57,468][train][INFO] - min_translation_distance_error = [1.2615923 0.9002333 0.42142496] +[2024-01-18 13:59:57,468][train][INFO] - min_translation_along_error = [0.16685802 0.04572547 0.04011261] +[2024-01-18 13:59:57,468][train][INFO] - min_translation_perp_error = [0.6176231 0.09881273 0.28123897] +[2024-01-18 13:59:57,469][train][INFO] - min_translation_plane_error = [0.4139657 0.04396228 0.08596177] +[2024-01-18 13:59:57,469][train][INFO] - min_translation_line_error = [0.04483588 0.00863026 0.07735037] +[2024-01-18 13:59:57,470][train][INFO] - min_rotation_error = [0.8758101 0.8758101 0.8758101] +[2024-01-18 13:59:57,470][train][INFO] - min_affordance_error = [0.31209573 0.99161744 1.8544761 ] +[2024-01-18 13:59:57,471][train][INFO] - std_translation_distance_error = [2.0912273 1.9712877 2.5677617] +[2024-01-18 13:59:57,471][train][INFO] - std_translation_along_error = [2.3411639 1.7347631 2.9254873] +[2024-01-18 13:59:57,471][train][INFO] - std_translation_perp_error = [1.1462936 1.6503233 1.1209224] +[2024-01-18 13:59:57,472][train][INFO] - std_translation_plane_error = [1.0822318 1.6711814 1.16432 ] +[2024-01-18 13:59:57,472][train][INFO] - std_translation_line_error = [1.1175783 1.4149019 0.9758446] +[2024-01-18 13:59:57,472][train][INFO] - std_rotation_error = [3.0527184 3.4265277 2.837295 ] +[2024-01-18 13:59:57,473][train][INFO] - std_affordance_error = [2.5880368 1.7312839 1.5275466] +[2024-01-18 13:59:57,473][train][INFO] - translation_outliers_num = 34 +[2024-01-18 13:59:57,473][train][INFO] - rotation_outliers_num = 107 +[2024-01-18 13:59:57,473][train][INFO] - affordance_outliers_num = 61 +[2024-01-18 13:59:57,473][train][INFO] - translation_outliers_ratio = 0.17708333333333334 +[2024-01-18 13:59:57,473][train][INFO] - rotation_outliers_ratio = 0.5572916666666666 +[2024-01-18 13:59:57,473][train][INFO] - affordance_outliers_ratio = 0.3177083333333333 +[2024-01-18 13:59:57,473][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 13:59:57,484][train][INFO] - Validated testing. +[2024-01-18 13:59:57,485][train][INFO] - Validating testing time: 116.84510087966919 +[2024-01-18 13:59:57,485][train][INFO] - epoch: 21 lr: 0.0009387718066217127 +[2024-01-18 14:06:50,277][train][INFO] - training loss: 0.0015581988347029047 + 0.11453555534992899 + 0.001943141337583906 + 0.05824222711047956 = 0.176279122701713, data num: 2227 +[2024-01-18 14:06:50,278][train][INFO] - epoch: 22 lr: 0.0009310673033669524 +[2024-01-18 14:13:44,414][train][INFO] - training loss: 0.001556044036988169 + 0.11382020201001848 + 0.001920884001135294 + 0.05633442654673542 = 0.17363155665142196, data num: 2227 +[2024-01-18 14:13:44,416][train][INFO] - epoch: 23 lr: 0.0009229423231234977 +[2024-01-18 14:20:49,106][train][INFO] - training loss: 0.0014814825362658927 + 0.11312241650053433 + 0.00186292455515026 + 0.05571776729609285 = 0.17218459088887486, data num: 2227 +[2024-01-18 14:20:49,108][train][INFO] - epoch: 24 lr: 0.0009144048842659084 +[2024-01-18 14:27:50,373][train][INFO] - training loss: 0.0015144227164065732 + 0.11128452457487584 + 0.0018624170026409308 + 0.05522674864956311 = 0.16988811226827757, data num: 2227 +[2024-01-18 14:27:50,374][train][INFO] - epoch: 25 lr: 0.0009054634122155993 +[2024-01-18 14:34:40,033][train][INFO] - training loss: 0.0014370936808908092 + 0.11074616126716137 + 0.001833530079706439 + 0.053595502993890216 = 0.16761228846652168, data num: 2227 +[2024-01-18 14:34:40,033][train][INFO] - epoch: 26 lr: 0.000896126731125967 +[2024-01-18 14:41:32,716][train][INFO] - training loss: 0.0014433344510117812 + 0.10936753733881882 + 0.0017739431691422526 + 0.053064941242337224 = 0.1656497560441494, data num: 2227 +[2024-01-18 14:41:32,717][train][INFO] - epoch: 27 lr: 0.000886404055174016 +[2024-01-18 14:48:10,146][train][INFO] - training loss: 0.0014124227920547128 + 0.10777249575725624 + 0.0017382266382420701 + 0.05165838154831103 = 0.1625815269138132, data num: 2227 +[2024-01-18 14:48:10,147][train][INFO] - epoch: 28 lr: 0.0008763049794670778 +[2024-01-18 14:54:49,829][train][INFO] - training loss: 0.0014125344775883215 + 0.10686442282583032 + 0.0017468666042467313 + 0.051407711101429804 = 0.16143153426902634, data num: 2227 +[2024-01-18 14:54:49,831][train][INFO] - epoch: 29 lr: 0.000865839470573599 +[2024-01-18 15:01:41,023][train][INFO] - training loss: 0.001389304454538173 + 0.10552447826734611 + 0.001720492889372898 + 0.050141162505107265 = 0.15877543804900987, data num: 2227 +[2024-01-18 15:01:41,024][train][INFO] - epoch: 30 lr: 0.0008550178566873413 +[2024-01-18 15:08:21,104][train][INFO] - training loss: 0.0013595967690759737 + 0.10527847787099225 + 0.0016866178650941168 + 0.04969044545931475 = 0.15801513780440604, data num: 2227 +[2024-01-18 15:08:21,116][train][INFO] - Validating training... +[2024-01-18 15:10:14,118][train][INFO] - mean_translation_distance_error = [3.317611 3.2127547 4.054182 ] +[2024-01-18 15:10:14,118][train][INFO] - mean_translation_along_error = [2.2530415 2.030414 2.4601276] +[2024-01-18 15:10:14,119][train][INFO] - mean_translation_perp_error = [2.170458 2.1730597 2.9073098] +[2024-01-18 15:10:14,119][train][INFO] - mean_translation_plane_error = [2.1796837 2.1526358 2.864338 ] +[2024-01-18 15:10:14,119][train][INFO] - mean_translation_line_error = [1.228857 1.2805226 1.7948954] +[2024-01-18 15:10:14,119][train][INFO] - mean_rotation_error = [4.8958583 4.7774315 4.8659534] +[2024-01-18 15:10:14,119][train][INFO] - mean_affordance_error = [3.2083814 2.9731927 2.7936525] +[2024-01-18 15:10:14,120][train][INFO] - median_translation_distance_error = [3.156117 3.0559835 3.811638 ] +[2024-01-18 15:10:14,121][train][INFO] - median_translation_along_error = [2.0159106 1.7757908 1.9404559] +[2024-01-18 15:10:14,121][train][INFO] - median_translation_perp_error = [2.1264257 1.9156983 2.7611423] +[2024-01-18 15:10:14,121][train][INFO] - median_translation_plane_error = [2.069276 1.8429205 2.6523838] +[2024-01-18 15:10:14,122][train][INFO] - median_translation_line_error = [1.0159836 1.1000533 1.5442 ] +[2024-01-18 15:10:14,122][train][INFO] - median_rotation_error = [4.5001493 4.681115 4.727106 ] +[2024-01-18 15:10:14,122][train][INFO] - median_affordance_error = [3.0394375 3.0996628 2.2888813] +[2024-01-18 15:10:14,122][train][INFO] - max_translation_distance_error = [9.541024 7.447272 9.622661] +[2024-01-18 15:10:14,123][train][INFO] - max_translation_along_error = [8.053863 5.052458 8.548442] +[2024-01-18 15:10:14,123][train][INFO] - max_translation_perp_error = [5.1153145 6.52374 7.795749 ] +[2024-01-18 15:10:14,123][train][INFO] - max_translation_plane_error = [4.70623 6.43667 8.415927] +[2024-01-18 15:10:14,123][train][INFO] - max_translation_line_error = [4.0593643 5.835166 5.0433354] +[2024-01-18 15:10:14,124][train][INFO] - max_rotation_error = [12.430543 10.280152 10.280152] +[2024-01-18 15:10:14,124][train][INFO] - max_affordance_error = [10.72927 7.1220307 11.622719 ] +[2024-01-18 15:10:14,124][train][INFO] - min_translation_distance_error = [0.56561697 0.62448114 0.78378767] +[2024-01-18 15:10:14,124][train][INFO] - min_translation_along_error = [0.07587798 0.00628244 0.07026722] +[2024-01-18 15:10:14,125][train][INFO] - min_translation_perp_error = [0.30853426 0.2914446 0.47988874] +[2024-01-18 15:10:14,125][train][INFO] - min_translation_plane_error = [0.2969578 0.3639036 0.4903418] +[2024-01-18 15:10:14,125][train][INFO] - min_translation_line_error = [0.01471026 0.02603895 0.01196808] +[2024-01-18 15:10:14,126][train][INFO] - min_rotation_error = [0.4325065 0.4325065 0.4325065] +[2024-01-18 15:10:14,126][train][INFO] - min_affordance_error = [0.882336 0.7868068 0.05789097] +[2024-01-18 15:10:14,126][train][INFO] - std_translation_distance_error = [1.646744 1.5199709 1.8914416] +[2024-01-18 15:10:14,127][train][INFO] - std_translation_along_error = [1.574415 1.4616771 1.8195707] +[2024-01-18 15:10:14,127][train][INFO] - std_translation_perp_error = [1.2051728 1.2848481 1.4827057] +[2024-01-18 15:10:14,127][train][INFO] - std_translation_plane_error = [1.1955928 1.264346 1.5566273] +[2024-01-18 15:10:14,127][train][INFO] - std_translation_line_error = [0.971231 1.0580344 1.3711624] +[2024-01-18 15:10:14,128][train][INFO] - std_rotation_error = [2.489448 2.254871 2.3598437] +[2024-01-18 15:10:14,128][train][INFO] - std_affordance_error = [1.5916181 1.2274301 1.8446572] +[2024-01-18 15:10:14,128][train][INFO] - translation_outliers_num = 19 +[2024-01-18 15:10:14,128][train][INFO] - rotation_outliers_num = 86 +[2024-01-18 15:10:14,128][train][INFO] - affordance_outliers_num = 13 +[2024-01-18 15:10:14,128][train][INFO] - translation_outliers_ratio = 0.09895833333333333 +[2024-01-18 15:10:14,128][train][INFO] - rotation_outliers_ratio = 0.4479166666666667 +[2024-01-18 15:10:14,128][train][INFO] - affordance_outliers_ratio = 0.06770833333333333 +[2024-01-18 15:10:14,128][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 15:10:14,133][train][INFO] - Validated training. +[2024-01-18 15:10:14,150][train][INFO] - Validating training time: 113.01662111282349 +[2024-01-18 15:10:14,156][train][INFO] - Validating testing... +[2024-01-18 15:12:12,387][train][INFO] - mean_translation_distance_error = [3.2020907 3.463444 3.896241 ] +[2024-01-18 15:12:12,387][train][INFO] - mean_translation_along_error = [2.0272148 2.5037117 2.3701358] +[2024-01-18 15:12:12,387][train][INFO] - mean_translation_perp_error = [2.1363454 1.9778471 2.7150743] +[2024-01-18 15:12:12,388][train][INFO] - mean_translation_plane_error = [2.1240191 2.0306373 2.6695638] +[2024-01-18 15:12:12,388][train][INFO] - mean_translation_line_error = [1.3010375 1.2230507 1.6222932] +[2024-01-18 15:12:12,388][train][INFO] - mean_rotation_error = [4.8261046 4.990279 4.5996423] +[2024-01-18 15:12:12,388][train][INFO] - mean_affordance_error = [3.0873518 2.9425793 3.0411444] +[2024-01-18 15:12:12,389][train][INFO] - median_translation_distance_error = [3.268236 3.12748 3.5666945] +[2024-01-18 15:12:12,389][train][INFO] - median_translation_along_error = [1.6965405 1.926507 1.7396897] +[2024-01-18 15:12:12,389][train][INFO] - median_translation_perp_error = [2.0358727 1.9205722 2.4061613] +[2024-01-18 15:12:12,390][train][INFO] - median_translation_plane_error = [2.0697746 2.0039606 2.5324762] +[2024-01-18 15:12:12,390][train][INFO] - median_translation_line_error = [1.0692403 0.96530145 1.4187801 ] +[2024-01-18 15:12:12,390][train][INFO] - median_rotation_error = [4.503125 4.6534023 4.1847076] +[2024-01-18 15:12:12,390][train][INFO] - median_affordance_error = [2.965434 2.5494819 2.7590888] +[2024-01-18 15:12:12,390][train][INFO] - max_translation_distance_error = [7.074948 8.256028 9.540252] +[2024-01-18 15:12:12,390][train][INFO] - max_translation_along_error = [6.353312 8.139669 7.5982347] +[2024-01-18 15:12:12,390][train][INFO] - max_translation_perp_error = [5.106101 5.212645 6.6114306] +[2024-01-18 15:12:12,391][train][INFO] - max_translation_plane_error = [5.386911 6.434949 6.3205533] +[2024-01-18 15:12:12,391][train][INFO] - max_translation_line_error = [3.6511362 4.0045514 5.141127 ] +[2024-01-18 15:12:12,391][train][INFO] - max_rotation_error = [13.683487 13.683487 14.290335] +[2024-01-18 15:12:12,391][train][INFO] - max_affordance_error = [ 6.5034986 8.929907 12.808869 ] +[2024-01-18 15:12:12,391][train][INFO] - min_translation_distance_error = [0.38624552 0.53801966 0.87261677] +[2024-01-18 15:12:12,391][train][INFO] - min_translation_along_error = [0.04265269 0.21537593 0.03182124] +[2024-01-18 15:12:12,392][train][INFO] - min_translation_perp_error = [0.203307 0.22300331 0.33253154] +[2024-01-18 15:12:12,392][train][INFO] - min_translation_plane_error = [0.0801229 0.1793146 0.39489725] +[2024-01-18 15:12:12,392][train][INFO] - min_translation_line_error = [0.00775183 0.03175897 0.01555628] +[2024-01-18 15:12:12,392][train][INFO] - min_rotation_error = [0.5723243 0.5723243 0.5723243] +[2024-01-18 15:12:12,392][train][INFO] - min_affordance_error = [0.41042084 0.93011194 0.6416765 ] +[2024-01-18 15:12:12,393][train][INFO] - std_translation_distance_error = [1.4831122 1.8696145 1.8537577] +[2024-01-18 15:12:12,393][train][INFO] - std_translation_along_error = [1.54911 2.0212688 1.9226315] +[2024-01-18 15:12:12,393][train][INFO] - std_translation_perp_error = [1.1746045 1.1067624 1.3897585] +[2024-01-18 15:12:12,393][train][INFO] - std_translation_plane_error = [1.1753373 1.1769184 1.3418663] +[2024-01-18 15:12:12,394][train][INFO] - std_translation_line_error = [0.9896081 0.97104967 1.1390517 ] +[2024-01-18 15:12:12,394][train][INFO] - std_rotation_error = [2.4295707 2.772796 2.7232409] +[2024-01-18 15:12:12,394][train][INFO] - std_affordance_error = [1.3278406 1.3870823 1.9759097] +[2024-01-18 15:12:12,394][train][INFO] - translation_outliers_num = 16 +[2024-01-18 15:12:12,394][train][INFO] - rotation_outliers_num = 76 +[2024-01-18 15:12:12,394][train][INFO] - affordance_outliers_num = 15 +[2024-01-18 15:12:12,394][train][INFO] - translation_outliers_ratio = 0.08333333333333333 +[2024-01-18 15:12:12,394][train][INFO] - rotation_outliers_ratio = 0.3958333333333333 +[2024-01-18 15:12:12,394][train][INFO] - affordance_outliers_ratio = 0.078125 +[2024-01-18 15:12:12,394][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 15:12:12,396][train][INFO] - Validated testing. +[2024-01-18 15:12:12,414][train][INFO] - Validating testing time: 118.23751330375671 +[2024-01-18 15:12:12,418][train][INFO] - epoch: 31 lr: 0.0008438508174347012 +[2024-01-18 15:18:54,155][train][INFO] - training loss: 0.0013373970270289907 + 0.10409027742488043 + 0.0016689967655111105 + 0.048776574565895965 = 0.15587324574589728, data num: 2227 +[2024-01-18 15:18:54,157][train][INFO] - epoch: 32 lr: 0.000832349373335208 +[2024-01-18 15:25:36,241][train][INFO] - training loss: 0.0013380072561890951 + 0.10287009275385312 + 0.0016850705133817558 + 0.0480017508380115 = 0.15389492086001805, data num: 2227 +[2024-01-18 15:25:36,242][train][INFO] - epoch: 33 lr: 0.0008205248749256018 +[2024-01-18 15:32:10,862][train][INFO] - training loss: 0.0013226400021397109 + 0.10229074571813856 + 0.0016063609251952065 + 0.0472648183416043 = 0.1524845649089132, data num: 2227 +[2024-01-18 15:32:10,863][train][INFO] - epoch: 34 lr: 0.0008083889915582238 +[2024-01-18 15:38:48,798][train][INFO] - training loss: 0.0012900004537576544 + 0.10158719686525208 + 0.0015790550811548851 + 0.04719082690509302 = 0.1516470796827759, data num: 2227 +[2024-01-18 15:38:48,800][train][INFO] - epoch: 35 lr: 0.0007959536998847747 +[2024-01-18 15:45:36,087][train][INFO] - training loss: 0.001283965036522464 + 0.10083613826760224 + 0.001587409049638414 + 0.04657482017896005 = 0.1502823327268873, data num: 2227 +[2024-01-18 15:45:36,088][train][INFO] - epoch: 36 lr: 0.0007832312720368051 +[2024-01-18 15:52:17,013][train][INFO] - training loss: 0.001268473403095933 + 0.09964131952396461 + 0.0015629060150656317 + 0.04581541517483337 = 0.1482881149010999, data num: 2227 +[2024-01-18 15:52:17,014][train][INFO] - epoch: 37 lr: 0.0007702342635146037 +[2024-01-18 15:58:45,853][train][INFO] - training loss: 0.0012819904696828287 + 0.09940562008747032 + 0.001537692392178412 + 0.04506497220801456 = 0.14729027513946805, data num: 2227 +[2024-01-18 15:58:45,854][train][INFO] - epoch: 38 lr: 0.0007569755007964342 +[2024-01-18 16:05:26,200][train][INFO] - training loss: 0.0012557235554725465 + 0.09887696488627366 + 0.0015266327594872565 + 0.04486614115802305 = 0.14652546277003628, data num: 2227 +[2024-01-18 16:05:26,201][train][INFO] - epoch: 39 lr: 0.0007434680686803494 +[2024-01-18 16:12:04,106][train][INFO] - training loss: 0.0012299936713783869 + 0.09782313044582094 + 0.001519873643493546 + 0.04403923819107669 = 0.14461223685315677, data num: 2227 +[2024-01-18 16:12:04,107][train][INFO] - epoch: 40 lr: 0.0007297252973710761 +[2024-01-18 16:18:40,320][train][INFO] - training loss: 0.0012410900617916404 + 0.09770007144127574 + 0.0015209362850457963 + 0.04378902366650956 = 0.14425112179347446, data num: 2227 +[2024-01-18 16:18:40,334][train][INFO] - Validating training... +[2024-01-18 16:20:30,475][train][INFO] - mean_translation_distance_error = [2.787076 2.6904736 2.7798963] +[2024-01-18 16:20:30,476][train][INFO] - mean_translation_along_error = [2.0161283 1.5897955 1.879386 ] +[2024-01-18 16:20:30,476][train][INFO] - mean_translation_perp_error = [1.6319172 1.9152452 1.6930836] +[2024-01-18 16:20:30,477][train][INFO] - mean_translation_plane_error = [1.6515279 1.9056467 1.7099352] +[2024-01-18 16:20:30,477][train][INFO] - mean_translation_line_error = [1.1012791 1.2147559 1.2074311] +[2024-01-18 16:20:30,477][train][INFO] - mean_rotation_error = [4.78233 4.5505247 4.3999615] +[2024-01-18 16:20:30,477][train][INFO] - mean_affordance_error = [6.6040454 2.881001 2.7999997] +[2024-01-18 16:20:30,478][train][INFO] - median_translation_distance_error = [2.7241364 2.4023185 2.553379 ] +[2024-01-18 16:20:30,478][train][INFO] - median_translation_along_error = [1.8307375 1.2622586 1.5400728] +[2024-01-18 16:20:30,479][train][INFO] - median_translation_perp_error = [1.3940384 1.7619681 1.4315203] +[2024-01-18 16:20:30,479][train][INFO] - median_translation_plane_error = [1.4963622 1.7510016 1.451908 ] +[2024-01-18 16:20:30,479][train][INFO] - median_translation_line_error = [0.9174301 0.8045937 0.9943006] +[2024-01-18 16:20:30,479][train][INFO] - median_rotation_error = [4.1569633 4.006156 4.006156 ] +[2024-01-18 16:20:30,479][train][INFO] - median_affordance_error = [5.9275074 2.8323119 2.4813032] +[2024-01-18 16:20:30,480][train][INFO] - max_translation_distance_error = [5.953299 6.5041237 7.9322157] +[2024-01-18 16:20:30,480][train][INFO] - max_translation_along_error = [5.8740535 6.1931243 7.8442903] +[2024-01-18 16:20:30,480][train][INFO] - max_translation_perp_error = [5.3096027 5.70818 3.9238408] +[2024-01-18 16:20:30,480][train][INFO] - max_translation_plane_error = [5.328551 5.7320356 3.6817598] +[2024-01-18 16:20:30,480][train][INFO] - max_translation_line_error = [5.0299535 5.6036563 3.5903697] +[2024-01-18 16:20:30,481][train][INFO] - max_rotation_error = [10.98073 10.84288 10.475647] +[2024-01-18 16:20:30,481][train][INFO] - max_affordance_error = [15.159141 9.031871 6.7361875] +[2024-01-18 16:20:30,481][train][INFO] - min_translation_distance_error = [0.50253665 0.48203617 0.21766764] +[2024-01-18 16:20:30,481][train][INFO] - min_translation_along_error = [0.14008524 0.01856284 0.00108748] +[2024-01-18 16:20:30,481][train][INFO] - min_translation_perp_error = [0.18534632 0.2741698 0.07281809] +[2024-01-18 16:20:30,482][train][INFO] - min_translation_plane_error = [0.13808554 0.2056361 0.09793618] +[2024-01-18 16:20:30,482][train][INFO] - min_translation_line_error = [0.00368813 0.02542941 0.00853288] +[2024-01-18 16:20:30,482][train][INFO] - min_rotation_error = [0.68784946 0.68784946 0.68784946] +[2024-01-18 16:20:30,482][train][INFO] - min_affordance_error = [1.5209758 0.22484487 0.62385625] +[2024-01-18 16:20:30,483][train][INFO] - std_translation_distance_error = [1.4181811 1.3282071 1.428508 ] +[2024-01-18 16:20:30,483][train][INFO] - std_translation_along_error = [1.4100417 1.3259825 1.4972368] +[2024-01-18 16:20:30,483][train][INFO] - std_translation_perp_error = [1.0309646 1.0241761 1.0621282] +[2024-01-18 16:20:30,483][train][INFO] - std_translation_plane_error = [1.0112958 1.0196236 1.0548079] +[2024-01-18 16:20:30,484][train][INFO] - std_translation_line_error = [0.9787871 1.0374683 0.9278077] +[2024-01-18 16:20:30,484][train][INFO] - std_rotation_error = [2.402443 2.429037 2.186402] +[2024-01-18 16:20:30,484][train][INFO] - std_affordance_error = [3.0906262 1.43529 1.5016271] +[2024-01-18 16:20:30,484][train][INFO] - translation_outliers_num = 2 +[2024-01-18 16:20:30,484][train][INFO] - rotation_outliers_num = 63 +[2024-01-18 16:20:30,484][train][INFO] - affordance_outliers_num = 54 +[2024-01-18 16:20:30,484][train][INFO] - translation_outliers_ratio = 0.010416666666666666 +[2024-01-18 16:20:30,484][train][INFO] - rotation_outliers_ratio = 0.328125 +[2024-01-18 16:20:30,484][train][INFO] - affordance_outliers_ratio = 0.28125 +[2024-01-18 16:20:30,484][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 16:20:30,488][train][INFO] - Validated training. +[2024-01-18 16:20:30,501][train][INFO] - Validating training time: 110.15435552597046 +[2024-01-18 16:20:30,514][train][INFO] - Validating testing... +[2024-01-18 16:22:26,126][train][INFO] - mean_translation_distance_error = [3.371642 2.826722 3.3193505] +[2024-01-18 16:22:26,127][train][INFO] - mean_translation_along_error = [2.5455282 2.003748 2.0281634] +[2024-01-18 16:22:26,127][train][INFO] - mean_translation_perp_error = [1.7758757 1.6484554 2.2854893] +[2024-01-18 16:22:26,127][train][INFO] - mean_translation_plane_error = [1.8335596 1.6669011 2.3337524] +[2024-01-18 16:22:26,127][train][INFO] - mean_translation_line_error = [1.1629413 1.1196189 1.4511874] +[2024-01-18 16:22:26,127][train][INFO] - mean_rotation_error = [4.7495666 4.9708376 4.9671087] +[2024-01-18 16:22:26,127][train][INFO] - mean_affordance_error = [5.993202 3.0325673 3.3244948] +[2024-01-18 16:22:26,128][train][INFO] - median_translation_distance_error = [3.0219574 2.3198113 3.0297334] +[2024-01-18 16:22:26,128][train][INFO] - median_translation_along_error = [2.0316403 1.5418482 1.5623469] +[2024-01-18 16:22:26,128][train][INFO] - median_translation_perp_error = [1.6119168 1.6347039 2.1137228] +[2024-01-18 16:22:26,128][train][INFO] - median_translation_plane_error = [1.6469424 1.6539135 2.14329 ] +[2024-01-18 16:22:26,129][train][INFO] - median_translation_line_error = [0.9668621 0.9331379 1.3555105] +[2024-01-18 16:22:26,129][train][INFO] - median_rotation_error = [4.189391 4.3974266 4.358201 ] +[2024-01-18 16:22:26,129][train][INFO] - median_affordance_error = [5.399781 3.035509 2.9477305] +[2024-01-18 16:22:26,129][train][INFO] - max_translation_distance_error = [11.485503 8.33442 10.8541565] +[2024-01-18 16:22:26,129][train][INFO] - max_translation_along_error = [ 9.856236 8.089898 10.750155] +[2024-01-18 16:22:26,129][train][INFO] - max_translation_perp_error = [5.8967266 4.887225 4.9610457] +[2024-01-18 16:22:26,129][train][INFO] - max_translation_plane_error = [6.609877 5.027379 5.1612773] +[2024-01-18 16:22:26,130][train][INFO] - max_translation_line_error = [5.06934 3.8063474 4.437738 ] +[2024-01-18 16:22:26,130][train][INFO] - max_rotation_error = [14.965405 9.971095 16.027893] +[2024-01-18 16:22:26,130][train][INFO] - max_affordance_error = [13.852361 6.549941 12.03516 ] +[2024-01-18 16:22:26,130][train][INFO] - min_translation_distance_error = [0.22007832 0.4749338 0.6916468 ] +[2024-01-18 16:22:26,130][train][INFO] - min_translation_along_error = [0.01451396 0.02691346 0.00921597] +[2024-01-18 16:22:26,130][train][INFO] - min_translation_perp_error = [0.06100292 0.3514722 0.5294392 ] +[2024-01-18 16:22:26,130][train][INFO] - min_translation_plane_error = [0.07466611 0.302043 0.6437756 ] +[2024-01-18 16:22:26,131][train][INFO] - min_translation_line_error = [0.01437902 0.05386771 0.05523232] +[2024-01-18 16:22:26,131][train][INFO] - min_rotation_error = [0.47888112 0.47888112 0.47888112] +[2024-01-18 16:22:26,131][train][INFO] - min_affordance_error = [2.4006414 0.79342556 0.9917766 ] +[2024-01-18 16:22:26,131][train][INFO] - std_translation_distance_error = [2.1543667 1.8270916 1.8379956] +[2024-01-18 16:22:26,131][train][INFO] - std_translation_along_error = [2.2451253 1.9382799 1.9680954] +[2024-01-18 16:22:26,131][train][INFO] - std_translation_perp_error = [1.1555246 0.9161235 1.0890399] +[2024-01-18 16:22:26,132][train][INFO] - std_translation_plane_error = [1.2064712 0.9145793 1.1095371] +[2024-01-18 16:22:26,132][train][INFO] - std_translation_line_error = [0.9177295 0.8032046 0.9906051] +[2024-01-18 16:22:26,132][train][INFO] - std_rotation_error = [2.2979908 2.2905998 2.5663588] +[2024-01-18 16:22:26,132][train][INFO] - std_affordance_error = [2.5407376 1.1053872 2.095236 ] +[2024-01-18 16:22:26,132][train][INFO] - translation_outliers_num = 8 +[2024-01-18 16:22:26,132][train][INFO] - rotation_outliers_num = 78 +[2024-01-18 16:22:26,132][train][INFO] - affordance_outliers_num = 50 +[2024-01-18 16:22:26,132][train][INFO] - translation_outliers_ratio = 0.041666666666666664 +[2024-01-18 16:22:26,132][train][INFO] - rotation_outliers_ratio = 0.40625 +[2024-01-18 16:22:26,132][train][INFO] - affordance_outliers_ratio = 0.2604166666666667 +[2024-01-18 16:22:26,132][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 16:22:26,135][train][INFO] - Validated testing. +[2024-01-18 16:22:26,145][train][INFO] - Validating testing time: 115.61870384216309 +[2024-01-18 16:22:26,157][train][INFO] - epoch: 41 lr: 0.0007157607493247114 +[2024-01-18 16:29:06,694][train][INFO] - training loss: 0.0012080996388769043 + 0.09619578463690621 + 0.0014853495888278953 + 0.043036353175661395 = 0.1419255869196994, data num: 2227 +[2024-01-18 16:29:06,695][train][INFO] - epoch: 42 lr: 0.0007015882058642168 +[2024-01-18 16:35:47,373][train][INFO] - training loss: 0.0011899753976779592 + 0.09524172065513474 + 0.0014533762853326541 + 0.04260148155902113 = 0.14048655373709543, data num: 2227 +[2024-01-18 16:35:47,374][train][INFO] - epoch: 43 lr: 0.0006872216535789162 +[2024-01-18 16:42:29,689][train][INFO] - training loss: 0.001180404015966425 + 0.09520405669297491 + 0.001445069713684331 + 0.04192187774128148 = 0.13975140872810568, data num: 2227 +[2024-01-18 16:42:29,690][train][INFO] - epoch: 44 lr: 0.0006726752705214198 +[2024-01-18 16:49:16,329][train][INFO] - training loss: 0.0011908056023198048 + 0.0943627806114299 + 0.0014460790341088016 + 0.04171830443665385 = 0.13871796971985273, data num: 2227 +[2024-01-18 16:49:16,330][train][INFO] - epoch: 45 lr: 0.0006579634122155995 +[2024-01-18 16:55:55,837][train][INFO] - training loss: 0.0011700816315299433 + 0.09387348368763923 + 0.0014329710705039491 + 0.04106947268758501 = 0.13754600962357863, data num: 2227 +[2024-01-18 16:55:55,838][train][INFO] - epoch: 46 lr: 0.000643100597489419 +[2024-01-18 17:02:40,719][train][INFO] - training loss: 0.0011617543562481712 + 0.09399939525340284 + 0.0013985928962938488 + 0.04105736376451594 = 0.1376171063631773, data num: 2227 +[2024-01-18 17:02:40,721][train][INFO] - epoch: 47 lr: 0.0006281014941466035 +[2024-01-18 17:09:20,896][train][INFO] - training loss: 0.0011607274957766225 + 0.09286607658224447 + 0.0013949907447178183 + 0.040486795268952845 = 0.13590859041682313, data num: 2227 +[2024-01-18 17:09:20,897][train][INFO] - epoch: 48 lr: 0.000612980904491289 +[2024-01-18 17:16:01,183][train][INFO] - training loss: 0.0011455926927737893 + 0.09265661276876927 + 0.0013982557425541537 + 0.04020499760018928 = 0.13540545920176164, data num: 2227 +[2024-01-18 17:16:01,184][train][INFO] - epoch: 49 lr: 0.0005977537507199342 +[2024-01-18 17:22:51,660][train][INFO] - training loss: 0.0011539708498665797 + 0.09161208160221576 + 0.0014242243046672749 + 0.039869963178145035 = 0.13406024053692817, data num: 2227 +[2024-01-18 17:22:51,665][train][INFO] - epoch: 50 lr: 0.0005824350601949147 +[2024-01-18 17:29:45,225][train][INFO] - training loss: 0.00112396721420477 + 0.09099625311791897 + 0.0013591852995367454 + 0.039340499269643 = 0.13281990491918155, data num: 2227 +[2024-01-18 17:29:45,238][train][INFO] - Validating training... +[2024-01-18 17:31:48,381][train][INFO] - mean_translation_distance_error = [3.0565214 3.351258 2.7974446] +[2024-01-18 17:31:48,382][train][INFO] - mean_translation_along_error = [2.1646535 2.5676687 2.0465448] +[2024-01-18 17:31:48,382][train][INFO] - mean_translation_perp_error = [1.8898443 1.7839797 1.546149 ] +[2024-01-18 17:31:48,382][train][INFO] - mean_translation_plane_error = [1.8601195 1.8308554 1.5916067] +[2024-01-18 17:31:48,383][train][INFO] - mean_translation_line_error = [1.155589 1.174193 0.8925282] +[2024-01-18 17:31:48,383][train][INFO] - mean_rotation_error = [5.037941 4.776969 4.6605086] +[2024-01-18 17:31:48,383][train][INFO] - mean_affordance_error = [3.1942642 2.0305612 2.7274306] +[2024-01-18 17:31:48,384][train][INFO] - median_translation_distance_error = [2.879125 3.0339947 2.762758 ] +[2024-01-18 17:31:48,384][train][INFO] - median_translation_along_error = [1.9896374 2.2993698 1.8901582] +[2024-01-18 17:31:48,384][train][INFO] - median_translation_perp_error = [1.6312625 1.707932 1.4583594] +[2024-01-18 17:31:48,385][train][INFO] - median_translation_plane_error = [1.4716696 1.798815 1.4745092] +[2024-01-18 17:31:48,385][train][INFO] - median_translation_line_error = [0.9336288 0.9781538 0.6760037] +[2024-01-18 17:31:48,385][train][INFO] - median_rotation_error = [4.8247857 4.522775 4.5175095] +[2024-01-18 17:31:48,385][train][INFO] - median_affordance_error = [2.8989873 1.9193228 2.23134 ] +[2024-01-18 17:31:48,385][train][INFO] - max_translation_distance_error = [7.247264 7.478444 7.106949] +[2024-01-18 17:31:48,386][train][INFO] - max_translation_along_error = [6.1866484 7.296148 6.4538136] +[2024-01-18 17:31:48,386][train][INFO] - max_translation_perp_error = [4.466834 5.281182 6.1922045] +[2024-01-18 17:31:48,386][train][INFO] - max_translation_plane_error = [4.2104263 5.189554 6.5580597] +[2024-01-18 17:31:48,386][train][INFO] - max_translation_line_error = [3.5778408 4.9781356 3.0981946] +[2024-01-18 17:31:48,386][train][INFO] - max_rotation_error = [12.743015 12.743015 9.795386] +[2024-01-18 17:31:48,387][train][INFO] - max_affordance_error = [ 8.270935 4.490858 12.263252] +[2024-01-18 17:31:48,387][train][INFO] - min_translation_distance_error = [0.5561648 1.0856848 0.4106299] +[2024-01-18 17:31:48,387][train][INFO] - min_translation_along_error = [0.01596849 0.03362126 0.00865152] +[2024-01-18 17:31:48,387][train][INFO] - min_translation_perp_error = [0.23287024 0.10831923 0.22230797] +[2024-01-18 17:31:48,387][train][INFO] - min_translation_plane_error = [0.14386654 0.14443354 0.12571853] +[2024-01-18 17:31:48,388][train][INFO] - min_translation_line_error = [0.00994356 0.02916584 0.03132845] +[2024-01-18 17:31:48,388][train][INFO] - min_rotation_error = [0.6644077 0.6644077 0.6644077] +[2024-01-18 17:31:48,388][train][INFO] - min_affordance_error = [0.9785165 0.19463202 0.66716063] +[2024-01-18 17:31:48,389][train][INFO] - std_translation_distance_error = [1.5843431 1.6124408 1.4593925] +[2024-01-18 17:31:48,389][train][INFO] - std_translation_along_error = [1.5657864 1.7163252 1.481081 ] +[2024-01-18 17:31:48,389][train][INFO] - std_translation_perp_error = [1.069366 1.0533838 1.0876592] +[2024-01-18 17:31:48,389][train][INFO] - std_translation_plane_error = [1.0947421 1.0783229 1.1286515] +[2024-01-18 17:31:48,389][train][INFO] - std_translation_line_error = [0.85100424 0.98620033 0.73095363] +[2024-01-18 17:31:48,390][train][INFO] - std_rotation_error = [2.5712545 2.3054833 2.120626 ] +[2024-01-18 17:31:48,390][train][INFO] - std_affordance_error = [1.6630266 1.025908 1.8369912] +[2024-01-18 17:31:48,390][train][INFO] - translation_outliers_num = 9 +[2024-01-18 17:31:48,390][train][INFO] - rotation_outliers_num = 84 +[2024-01-18 17:31:48,390][train][INFO] - affordance_outliers_num = 16 +[2024-01-18 17:31:48,390][train][INFO] - translation_outliers_ratio = 0.046875 +[2024-01-18 17:31:48,390][train][INFO] - rotation_outliers_ratio = 0.4375 +[2024-01-18 17:31:48,390][train][INFO] - affordance_outliers_ratio = 0.08333333333333333 +[2024-01-18 17:31:48,390][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 17:31:48,394][train][INFO] - Validated training. +[2024-01-18 17:31:48,411][train][INFO] - Validating training time: 123.15616726875305 +[2024-01-18 17:31:48,415][train][INFO] - Validating testing... +[2024-01-18 17:33:44,883][train][INFO] - mean_translation_distance_error = [3.04762 2.9587853 2.868769 ] +[2024-01-18 17:33:44,883][train][INFO] - mean_translation_along_error = [2.31458 2.3585596 2.2436244] +[2024-01-18 17:33:44,883][train][INFO] - mean_translation_perp_error = [1.6675113 1.4180024 1.4544332] +[2024-01-18 17:33:44,883][train][INFO] - mean_translation_plane_error = [1.6886196 1.443079 1.4670638] +[2024-01-18 17:33:44,883][train][INFO] - mean_translation_line_error = [1.0256004 0.83043975 0.8357747 ] +[2024-01-18 17:33:44,884][train][INFO] - mean_rotation_error = [4.4969716 4.4323273 4.5932713] +[2024-01-18 17:33:44,884][train][INFO] - mean_affordance_error = [3.3530173 2.060724 2.6859503] +[2024-01-18 17:33:44,884][train][INFO] - median_translation_distance_error = [2.492844 2.8030543 2.481557 ] +[2024-01-18 17:33:44,885][train][INFO] - median_translation_along_error = [1.9618704 2.1601539 1.8405743] +[2024-01-18 17:33:44,885][train][INFO] - median_translation_perp_error = [1.547822 1.3519901 1.3313276] +[2024-01-18 17:33:44,885][train][INFO] - median_translation_plane_error = [1.5766025 1.3562686 1.3637408] +[2024-01-18 17:33:44,885][train][INFO] - median_translation_line_error = [0.87823236 0.7249763 0.7155051 ] +[2024-01-18 17:33:44,885][train][INFO] - median_rotation_error = [4.5403805 4.449166 4.5351963] +[2024-01-18 17:33:44,885][train][INFO] - median_affordance_error = [2.9414241 1.9779145 2.3557067] +[2024-01-18 17:33:44,886][train][INFO] - max_translation_distance_error = [8.502467 7.6847734 6.6955633] +[2024-01-18 17:33:44,886][train][INFO] - max_translation_along_error = [7.6592216 7.4795256 6.52282 ] +[2024-01-18 17:33:44,886][train][INFO] - max_translation_perp_error = [5.290724 3.162523 3.2212973] +[2024-01-18 17:33:44,886][train][INFO] - max_translation_plane_error = [4.8715043 3.0500531 3.2924168] +[2024-01-18 17:33:44,886][train][INFO] - max_translation_line_error = [2.9056265 2.245117 2.741611 ] +[2024-01-18 17:33:44,886][train][INFO] - max_rotation_error = [ 8.390822 9.852632 10.851971] +[2024-01-18 17:33:44,886][train][INFO] - max_affordance_error = [10.93444 5.911521 9.736079] +[2024-01-18 17:33:44,887][train][INFO] - min_translation_distance_error = [0.46490663 0.85970974 0.73293024] +[2024-01-18 17:33:44,887][train][INFO] - min_translation_along_error = [0.04579928 0.09600758 0.02522152] +[2024-01-18 17:33:44,887][train][INFO] - min_translation_perp_error = [0.23932232 0.21299587 0.3358085 ] +[2024-01-18 17:33:44,887][train][INFO] - min_translation_plane_error = [0.02024938 0.260383 0.31119856] +[2024-01-18 17:33:44,887][train][INFO] - min_translation_line_error = [0.01326481 0.05062849 0.01277854] +[2024-01-18 17:33:44,887][train][INFO] - min_rotation_error = [0.47888112 0.47888112 0.47888112] +[2024-01-18 17:33:44,887][train][INFO] - min_affordance_error = [0.3039732 0.38989624 0.7105612 ] +[2024-01-18 17:33:44,888][train][INFO] - std_translation_distance_error = [1.76949 1.3715898 1.3863882] +[2024-01-18 17:33:44,888][train][INFO] - std_translation_along_error = [1.8144784 1.6071985 1.5744348] +[2024-01-18 17:33:44,888][train][INFO] - std_translation_perp_error = [0.9944252 0.69213396 0.7237672 ] +[2024-01-18 17:33:44,888][train][INFO] - std_translation_plane_error = [1.0324686 0.65166736 0.73229045] +[2024-01-18 17:33:44,888][train][INFO] - std_translation_line_error = [0.73834234 0.6121688 0.65610737] +[2024-01-18 17:33:44,888][train][INFO] - std_rotation_error = [1.8253863 1.9244323 2.1388056] +[2024-01-18 17:33:44,889][train][INFO] - std_affordance_error = [1.9669544 0.94119227 1.6300367 ] +[2024-01-18 17:33:44,889][train][INFO] - translation_outliers_num = 4 +[2024-01-18 17:33:44,889][train][INFO] - rotation_outliers_num = 76 +[2024-01-18 17:33:44,889][train][INFO] - affordance_outliers_num = 13 +[2024-01-18 17:33:44,889][train][INFO] - translation_outliers_ratio = 0.020833333333333332 +[2024-01-18 17:33:44,889][train][INFO] - rotation_outliers_ratio = 0.3958333333333333 +[2024-01-18 17:33:44,889][train][INFO] - affordance_outliers_ratio = 0.06770833333333333 +[2024-01-18 17:33:44,889][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 17:33:44,892][train][INFO] - Validated testing. +[2024-01-18 17:33:44,909][train][INFO] - Validating testing time: 116.47194075584412 +[2024-01-18 17:33:44,913][train][INFO] - epoch: 51 lr: 0.000567039950614331 +[2024-01-18 17:40:26,712][train][INFO] - training loss: 0.0011106514035158657 + 0.09064987011786019 + 0.0013375839164447305 + 0.03890983929325428 = 0.13200794479676656, data num: 2227 +[2024-01-18 17:40:26,713][train][INFO] - epoch: 52 lr: 0.0005515836150926649 +[2024-01-18 17:47:05,986][train][INFO] - training loss: 0.001100630294032661 + 0.09061498695186206 + 0.0013374630881506683 + 0.03864387970949922 = 0.13169696043644633, data num: 2227 +[2024-01-18 17:47:05,987][train][INFO] - epoch: 53 lr: 0.0005360813071670105 +[2024-01-18 17:53:55,745][train][INFO] - training loss: 0.0010973653668770566 + 0.08971856098089899 + 0.0013290376481433798 + 0.03818355730867812 = 0.13032852123890604, data num: 2227 +[2024-01-18 17:53:55,746][train][INFO] - epoch: 54 lr: 0.0005205483257436738 +[2024-01-18 18:00:41,556][train][INFO] - training loss: 0.0010872322774957866 + 0.08954256405787808 + 0.0013442232834807199 + 0.03781847057065794 = 0.12979249001613685, data num: 2227 +[2024-01-18 18:00:41,557][train][INFO] - epoch: 55 lr: 0.0005050000000000002 +[2024-01-18 18:07:22,389][train][INFO] - training loss: 0.0010979946004226805 + 0.08909687804324286 + 0.0013070018716721929 + 0.038041900151542254 = 0.1295437745217766, data num: 2227 +[2024-01-18 18:07:22,390][train][INFO] - epoch: 56 lr: 0.0004894516742563267 +[2024-01-18 18:14:13,533][train][INFO] - training loss: 0.001085172957807247 + 0.0895527864673308 + 0.0013243366802011484 + 0.03757060341803091 = 0.1295328994414636, data num: 2227 +[2024-01-18 18:14:13,534][train][INFO] - epoch: 57 lr: 0.0004739186928329901 +[2024-01-18 18:20:46,646][train][INFO] - training loss: 0.0010805202307113046 + 0.08842943305415767 + 0.0012998981501108834 + 0.03741314367258123 = 0.12822299557072775, data num: 2227 +[2024-01-18 18:20:46,647][train][INFO] - epoch: 58 lr: 0.00045841638490733556 +[2024-01-18 18:27:31,096][train][INFO] - training loss: 0.001085078074746499 + 0.08757927630628859 + 0.0012934227486506903 + 0.03667627596961601 = 0.12663405250225748, data num: 2227 +[2024-01-18 18:27:31,097][train][INFO] - epoch: 59 lr: 0.0004429600493856696 +[2024-01-18 18:34:15,412][train][INFO] - training loss: 0.0010565893017753427 + 0.08779309966734478 + 0.0012771945280422058 + 0.036646239845348254 = 0.12677312328347137, data num: 2227 +[2024-01-18 18:34:15,413][train][INFO] - epoch: 60 lr: 0.0004275649398050859 +[2024-01-18 18:40:55,714][train][INFO] - training loss: 0.0010538756901431563 + 0.08699124790728092 + 0.0012731586233712734 + 0.036244119530809776 = 0.12556240202060767, data num: 2227 +[2024-01-18 18:40:55,727][train][INFO] - Validating training... +[2024-01-18 18:44:35,909][train][INFO] - mean_translation_distance_error = [2.863216 2.7806304 2.812451 ] +[2024-01-18 18:44:35,910][train][INFO] - mean_translation_along_error = [1.9265325 2.0315862 2.052027 ] +[2024-01-18 18:44:35,910][train][INFO] - mean_translation_perp_error = [1.7454743 1.4836462 1.5941017] +[2024-01-18 18:44:35,910][train][INFO] - mean_translation_plane_error = [1.7234402 1.4807068 1.6350578] +[2024-01-18 18:44:35,910][train][INFO] - mean_translation_line_error = [1.2330198 1.028271 1.0928357] +[2024-01-18 18:44:35,910][train][INFO] - mean_rotation_error = [4.702814 4.748467 4.5084696] +[2024-01-18 18:44:35,910][train][INFO] - mean_affordance_error = [2.7426655 2.1965008 2.3554964] +[2024-01-18 18:44:35,911][train][INFO] - median_translation_distance_error = [2.8402262 2.727065 2.3753848] +[2024-01-18 18:44:35,911][train][INFO] - median_translation_along_error = [1.5380151 1.5127534 1.4716356] +[2024-01-18 18:44:35,911][train][INFO] - median_translation_perp_error = [1.7066867 1.1698644 1.4122894] +[2024-01-18 18:44:35,911][train][INFO] - median_translation_plane_error = [1.6114064 1.153089 1.4292542] +[2024-01-18 18:44:35,911][train][INFO] - median_translation_line_error = [1.0198747 0.82157385 0.82368135] +[2024-01-18 18:44:35,912][train][INFO] - median_rotation_error = [4.727415 4.5609674 4.472477 ] +[2024-01-18 18:44:35,912][train][INFO] - median_affordance_error = [2.7412987 1.9538 2.1045578] +[2024-01-18 18:44:35,912][train][INFO] - max_translation_distance_error = [9.624347 6.8667784 7.889656 ] +[2024-01-18 18:44:35,912][train][INFO] - max_translation_along_error = [9.186931 6.7542696 7.5982084] +[2024-01-18 18:44:35,912][train][INFO] - max_translation_perp_error = [4.478158 5.04001 4.288078] +[2024-01-18 18:44:35,912][train][INFO] - max_translation_plane_error = [4.4531174 5.01825 4.4165263] +[2024-01-18 18:44:35,912][train][INFO] - max_translation_line_error = [4.370503 5.0153947 3.7154543] +[2024-01-18 18:44:35,913][train][INFO] - max_rotation_error = [ 9.346157 10.789267 9.294473] +[2024-01-18 18:44:35,913][train][INFO] - max_affordance_error = [6.897522 4.9706583 7.173566 ] +[2024-01-18 18:44:35,913][train][INFO] - min_translation_distance_error = [0.32349294 0.34756708 0.52695066] +[2024-01-18 18:44:35,913][train][INFO] - min_translation_along_error = [0.07123034 0.05753291 0.03685714] +[2024-01-18 18:44:35,913][train][INFO] - min_translation_perp_error = [0.02953244 0.14197318 0.20509556] +[2024-01-18 18:44:35,913][train][INFO] - min_translation_plane_error = [0.07306036 0.09390334 0.17466702] +[2024-01-18 18:44:35,913][train][INFO] - min_translation_line_error = [0.02932529 0.00837463 0.0346709 ] +[2024-01-18 18:44:35,913][train][INFO] - min_rotation_error = [1.5295671 1.5295671 1.5295671] +[2024-01-18 18:44:35,914][train][INFO] - min_affordance_error = [0.49161023 0.4058539 0.2877432 ] +[2024-01-18 18:44:35,914][train][INFO] - std_translation_distance_error = [1.6655128 1.5297413 1.651415 ] +[2024-01-18 18:44:35,914][train][INFO] - std_translation_along_error = [1.7277828 1.6793454 1.7066046] +[2024-01-18 18:44:35,914][train][INFO] - std_translation_perp_error = [1.1083766 0.9608648 0.9861941] +[2024-01-18 18:44:35,914][train][INFO] - std_translation_plane_error = [1.1274548 0.973305 0.9826517] +[2024-01-18 18:44:35,914][train][INFO] - std_translation_line_error = [0.99153763 0.8861987 0.92459923] +[2024-01-18 18:44:35,915][train][INFO] - std_rotation_error = [1.8694509 1.9504174 1.6744754] +[2024-01-18 18:44:35,915][train][INFO] - std_affordance_error = [1.2373203 1.1661161 1.2995069] +[2024-01-18 18:44:35,915][train][INFO] - translation_outliers_num = 6 +[2024-01-18 18:44:35,915][train][INFO] - rotation_outliers_num = 78 +[2024-01-18 18:44:35,915][train][INFO] - affordance_outliers_num = 5 +[2024-01-18 18:44:35,915][train][INFO] - translation_outliers_ratio = 0.03125 +[2024-01-18 18:44:35,915][train][INFO] - rotation_outliers_ratio = 0.40625 +[2024-01-18 18:44:35,915][train][INFO] - affordance_outliers_ratio = 0.026041666666666668 +[2024-01-18 18:44:35,915][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 18:44:35,918][train][INFO] - Validated training. +[2024-01-18 18:44:35,923][train][INFO] - Validating training time: 220.19099688529968 +[2024-01-18 18:44:35,934][train][INFO] - Validating testing... +[2024-01-18 18:47:17,418][train][INFO] - mean_translation_distance_error = [3.0917122 2.912246 3.0051801] +[2024-01-18 18:47:17,419][train][INFO] - mean_translation_along_error = [2.2800653 2.3212304 2.3779647] +[2024-01-18 18:47:17,419][train][INFO] - mean_translation_perp_error = [1.7421081 1.3612913 1.4785537] +[2024-01-18 18:47:17,419][train][INFO] - mean_translation_plane_error = [1.735617 1.3921492 1.4823098] +[2024-01-18 18:47:17,419][train][INFO] - mean_translation_line_error = [1.0731746 0.97140354 0.92920464] +[2024-01-18 18:47:17,419][train][INFO] - mean_rotation_error = [4.423514 4.3748593 4.1266055] +[2024-01-18 18:47:17,419][train][INFO] - mean_affordance_error = [2.9680057 2.3541882 2.8600242] +[2024-01-18 18:47:17,420][train][INFO] - median_translation_distance_error = [2.998056 2.4693117 2.3639963] +[2024-01-18 18:47:17,420][train][INFO] - median_translation_along_error = [2.3275528 1.9366517 1.6356164] +[2024-01-18 18:47:17,420][train][INFO] - median_translation_perp_error = [1.5213196 1.3072349 1.3117518] +[2024-01-18 18:47:17,420][train][INFO] - median_translation_plane_error = [1.509541 1.3265666 1.3509791] +[2024-01-18 18:47:17,421][train][INFO] - median_translation_line_error = [0.8656244 0.79656863 0.916985 ] +[2024-01-18 18:47:17,421][train][INFO] - median_rotation_error = [4.2804747 4.1863804 4.128521 ] +[2024-01-18 18:47:17,421][train][INFO] - median_affordance_error = [2.6888561 2.0975916 2.5111682] +[2024-01-18 18:47:17,421][train][INFO] - max_translation_distance_error = [8.152072 8.680575 8.401694] +[2024-01-18 18:47:17,421][train][INFO] - max_translation_along_error = [6.6026344 8.542191 8.147693 ] +[2024-01-18 18:47:17,421][train][INFO] - max_translation_perp_error = [5.789949 4.2452374 5.05858 ] +[2024-01-18 18:47:17,422][train][INFO] - max_translation_plane_error = [5.848806 4.42812 4.5279493] +[2024-01-18 18:47:17,422][train][INFO] - max_translation_line_error = [5.6074953 3.4929428 2.9288077] +[2024-01-18 18:47:17,422][train][INFO] - max_rotation_error = [10.414613 14.152562 10.414613] +[2024-01-18 18:47:17,422][train][INFO] - max_affordance_error = [17.43544 7.3273554 12.820493 ] +[2024-01-18 18:47:17,422][train][INFO] - min_translation_distance_error = [1.0875803 0.57492286 0.33298728] +[2024-01-18 18:47:17,422][train][INFO] - min_translation_along_error = [0.07037641 0.01166693 0.05458434] +[2024-01-18 18:47:17,422][train][INFO] - min_translation_perp_error = [0.24259962 0.20777155 0.2526194 ] +[2024-01-18 18:47:17,422][train][INFO] - min_translation_plane_error = [0.31715155 0.21935378 0.02503638] +[2024-01-18 18:47:17,423][train][INFO] - min_translation_line_error = [0.01776957 0.02711428 0.00652591] +[2024-01-18 18:47:17,423][train][INFO] - min_rotation_error = [0.43476272 0.43476272 0.43476272] +[2024-01-18 18:47:17,423][train][INFO] - min_affordance_error = [0.5663875 0.24294104 0.72178346] +[2024-01-18 18:47:17,423][train][INFO] - std_translation_distance_error = [1.3452426 1.761913 1.9727147] +[2024-01-18 18:47:17,423][train][INFO] - std_translation_along_error = [1.393577 1.9510754 2.0543058] +[2024-01-18 18:47:17,423][train][INFO] - std_translation_perp_error = [1.0920938 0.7332071 0.9282781] +[2024-01-18 18:47:17,424][train][INFO] - std_translation_plane_error = [1.081484 0.754694 0.9392247] +[2024-01-18 18:47:17,424][train][INFO] - std_translation_line_error = [0.971955 0.7452115 0.7061661] +[2024-01-18 18:47:17,424][train][INFO] - std_rotation_error = [2.0599842 2.2449152 1.8664874] +[2024-01-18 18:47:17,424][train][INFO] - std_affordance_error = [2.2203372 1.3577949 2.118995 ] +[2024-01-18 18:47:17,424][train][INFO] - translation_outliers_num = 7 +[2024-01-18 18:47:17,424][train][INFO] - rotation_outliers_num = 60 +[2024-01-18 18:47:17,424][train][INFO] - affordance_outliers_num = 16 +[2024-01-18 18:47:17,424][train][INFO] - translation_outliers_ratio = 0.036458333333333336 +[2024-01-18 18:47:17,424][train][INFO] - rotation_outliers_ratio = 0.3125 +[2024-01-18 18:47:17,424][train][INFO] - affordance_outliers_ratio = 0.08333333333333333 +[2024-01-18 18:47:17,424][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 18:47:17,428][train][INFO] - Validated testing. +[2024-01-18 18:47:17,428][train][INFO] - Validating testing time: 161.49068593978882 +[2024-01-18 18:47:17,428][train][INFO] - epoch: 61 lr: 0.0004122462492800665 +[2024-01-18 18:53:56,776][train][INFO] - training loss: 0.0010382561420556157 + 0.08666606955230235 + 0.001262029233371972 + 0.035862760724765914 = 0.1248291153460741, data num: 2227 +[2024-01-18 18:53:56,777][train][INFO] - epoch: 62 lr: 0.00039701909550871175 +[2024-01-18 19:01:13,223][train][INFO] - training loss: 0.0010445670424295323 + 0.08660279209060329 + 0.0012591149695383916 + 0.03624888615948813 = 0.12515536014522824, data num: 2227 +[2024-01-18 19:01:13,224][train][INFO] - epoch: 63 lr: 0.000381898505853397 +[2024-01-18 19:08:02,070][train][INFO] - training loss: 0.0010474275186425075 + 0.08648059080754007 + 0.0012533035640704578 + 0.035772330154265675 = 0.12455365263989994, data num: 2227 +[2024-01-18 19:08:02,071][train][INFO] - epoch: 64 lr: 0.00036689940251058173 +[2024-01-18 19:14:51,006][train][INFO] - training loss: 0.0010187300732858212 + 0.08616048225334712 + 0.001251558752015366 + 0.03530630244474326 = 0.12373707416866507, data num: 2227 +[2024-01-18 19:14:51,007][train][INFO] - epoch: 65 lr: 0.00035203658778440135 +[2024-01-18 19:21:30,917][train][INFO] - training loss: 0.0010260707623923997 + 0.08584274245159966 + 0.00124047384638938 + 0.03514741056465677 = 0.1232566979846784, data num: 2227 +[2024-01-18 19:21:30,918][train][INFO] - epoch: 66 lr: 0.00033732472947858096 +[2024-01-18 19:28:17,613][train][INFO] - training loss: 0.001016633364322063 + 0.085268138934459 + 0.0012403768769997572 + 0.035011568732027494 = 0.12253671767456191, data num: 2227 +[2024-01-18 19:28:17,615][train][INFO] - epoch: 67 lr: 0.0003227783464210847 +[2024-01-18 19:35:05,134][train][INFO] - training loss: 0.001005717578560247 + 0.08491654348160539 + 0.0012196224274313343 + 0.03441726465576461 = 0.1215591481753758, data num: 2227 +[2024-01-18 19:35:05,135][train][INFO] - epoch: 68 lr: 0.0003084117941357837 +[2024-01-18 19:41:55,859][train][INFO] - training loss: 0.0010106939556343215 + 0.08443137715969767 + 0.0012153259948328404 + 0.03469521898244109 = 0.12135261675076825, data num: 2227 +[2024-01-18 19:41:55,860][train][INFO] - epoch: 69 lr: 0.0002942392506752892 +[2024-01-18 19:48:41,549][train][INFO] - training loss: 0.0010023145666179646 + 0.08405862636864185 + 0.0012056129797461575 + 0.03420838028458612 = 0.12047493436506816, data num: 2227 +[2024-01-18 19:48:41,551][train][INFO] - epoch: 70 lr: 0.0002802747026289245 +[2024-01-18 19:55:29,211][train][INFO] - training loss: 0.000995988813727828 + 0.08386630953422615 + 0.0011893058939936704 + 0.03399888805246779 = 0.12005049208445208, data num: 2227 +[2024-01-18 19:55:29,223][train][INFO] - Validating training... +[2024-01-18 19:57:42,630][train][INFO] - mean_translation_distance_error = [3.398562 3.498125 3.0405135] +[2024-01-18 19:57:42,631][train][INFO] - mean_translation_along_error = [2.3390334 2.4235163 2.0162666] +[2024-01-18 19:57:42,631][train][INFO] - mean_translation_perp_error = [2.0687099 2.0899246 1.9013103] +[2024-01-18 19:57:42,631][train][INFO] - mean_translation_plane_error = [2.129952 2.1345031 1.9139669] +[2024-01-18 19:57:42,631][train][INFO] - mean_translation_line_error = [1.1549364 1.2032361 1.3560585] +[2024-01-18 19:57:42,631][train][INFO] - mean_rotation_error = [4.146999 4.433222 4.4605355] +[2024-01-18 19:57:42,631][train][INFO] - mean_affordance_error = [3.3706422 3.0369394 3.4773812] +[2024-01-18 19:57:42,632][train][INFO] - median_translation_distance_error = [2.9322097 2.8485522 2.7050922] +[2024-01-18 19:57:42,632][train][INFO] - median_translation_along_error = [1.886868 1.8499913 1.6225858] +[2024-01-18 19:57:42,632][train][INFO] - median_translation_perp_error = [1.8124226 1.6769533 1.6859533] +[2024-01-18 19:57:42,633][train][INFO] - median_translation_plane_error = [1.8831925 1.664357 1.660841 ] +[2024-01-18 19:57:42,633][train][INFO] - median_translation_line_error = [1.0016987 1.0138032 1.0757105] +[2024-01-18 19:57:42,633][train][INFO] - median_rotation_error = [3.5118055 3.7655253 3.9584198] +[2024-01-18 19:57:42,633][train][INFO] - median_affordance_error = [2.5684528 2.1585093 2.9857616] +[2024-01-18 19:57:42,633][train][INFO] - max_translation_distance_error = [8.762114 9.922256 9.688944] +[2024-01-18 19:57:42,633][train][INFO] - max_translation_along_error = [8.743386 8.179511 7.1109586] +[2024-01-18 19:57:42,634][train][INFO] - max_translation_perp_error = [6.336502 9.096711 6.581026] +[2024-01-18 19:57:42,634][train][INFO] - max_translation_plane_error = [6.2351346 8.784628 7.0248423] +[2024-01-18 19:57:42,634][train][INFO] - max_translation_line_error = [4.1954613 4.6953197 5.002801 ] +[2024-01-18 19:57:42,634][train][INFO] - max_rotation_error = [ 9.458519 10.990945 11.508586] +[2024-01-18 19:57:42,634][train][INFO] - max_affordance_error = [11.075498 25.041004 9.560689] +[2024-01-18 19:57:42,634][train][INFO] - min_translation_distance_error = [0.7111572 0.37630984 0.29796305] +[2024-01-18 19:57:42,634][train][INFO] - min_translation_along_error = [0.19687912 0.00237339 0.02894057] +[2024-01-18 19:57:42,634][train][INFO] - min_translation_perp_error = [0.3044601 0.18839048 0.11935356] +[2024-01-18 19:57:42,635][train][INFO] - min_translation_plane_error = [0.24444345 0.17530802 0.11989853] +[2024-01-18 19:57:42,635][train][INFO] - min_translation_line_error = [0.06616316 0.02990109 0.02913128] +[2024-01-18 19:57:42,635][train][INFO] - min_rotation_error = [0.53995484 0.53995484 0.53995484] +[2024-01-18 19:57:42,635][train][INFO] - min_affordance_error = [0.23955615 0.29639187 1.1592263 ] +[2024-01-18 19:57:42,635][train][INFO] - std_translation_distance_error = [1.8055731 2.0960562 1.817554 ] +[2024-01-18 19:57:42,635][train][INFO] - std_translation_along_error = [1.911261 1.9730737 1.7796366] +[2024-01-18 19:57:42,636][train][INFO] - std_translation_perp_error = [1.1860683 1.5799029 1.3041494] +[2024-01-18 19:57:42,636][train][INFO] - std_translation_plane_error = [1.1859206 1.6040977 1.3695138] +[2024-01-18 19:57:42,636][train][INFO] - std_translation_line_error = [0.9324594 0.853136 1.1703687] +[2024-01-18 19:57:42,636][train][INFO] - std_rotation_error = [1.9256319 2.2522206 2.2545402] +[2024-01-18 19:57:42,636][train][INFO] - std_affordance_error = [2.4883816 3.3410254 1.7752463] +[2024-01-18 19:57:42,636][train][INFO] - translation_outliers_num = 15 +[2024-01-18 19:57:42,636][train][INFO] - rotation_outliers_num = 68 +[2024-01-18 19:57:42,636][train][INFO] - affordance_outliers_num = 28 +[2024-01-18 19:57:42,636][train][INFO] - translation_outliers_ratio = 0.078125 +[2024-01-18 19:57:42,636][train][INFO] - rotation_outliers_ratio = 0.3541666666666667 +[2024-01-18 19:57:42,636][train][INFO] - affordance_outliers_ratio = 0.14583333333333334 +[2024-01-18 19:57:42,636][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 19:57:42,639][train][INFO] - Validated training. +[2024-01-18 19:57:42,640][train][INFO] - Validating training time: 133.41634464263916 +[2024-01-18 19:57:42,640][train][INFO] - Validating testing... +[2024-01-18 19:59:44,522][train][INFO] - mean_translation_distance_error = [3.6534126 3.125732 3.0749445] +[2024-01-18 19:59:44,523][train][INFO] - mean_translation_along_error = [2.9181361 2.5899653 2.298471 ] +[2024-01-18 19:59:44,523][train][INFO] - mean_translation_perp_error = [1.786523 1.3959982 1.7637537] +[2024-01-18 19:59:44,523][train][INFO] - mean_translation_plane_error = [1.8140845 1.4380708 1.7809058] +[2024-01-18 19:59:44,523][train][INFO] - mean_translation_line_error = [1.1549368 0.9613986 1.1596411] +[2024-01-18 19:59:44,523][train][INFO] - mean_rotation_error = [4.1206865 4.0465217 4.1482644] +[2024-01-18 19:59:44,524][train][INFO] - mean_affordance_error = [2.868722 1.9510605 2.7699392] +[2024-01-18 19:59:44,524][train][INFO] - median_translation_distance_error = [3.5245366 2.924235 2.819646 ] +[2024-01-18 19:59:44,524][train][INFO] - median_translation_along_error = [2.6424026 2.1569479 2.0548701] +[2024-01-18 19:59:44,525][train][INFO] - median_translation_perp_error = [1.5638068 1.3952498 1.7263241] +[2024-01-18 19:59:44,525][train][INFO] - median_translation_plane_error = [1.6065583 1.3913321 1.7384422] +[2024-01-18 19:59:44,525][train][INFO] - median_translation_line_error = [1.0833066 0.80616254 1.1626978 ] +[2024-01-18 19:59:44,525][train][INFO] - median_rotation_error = [3.698549 3.6337018 3.7198386] +[2024-01-18 19:59:44,525][train][INFO] - median_affordance_error = [2.4106736 1.7713223 2.6985807] +[2024-01-18 19:59:44,525][train][INFO] - max_translation_distance_error = [8.099166 7.116302 6.288127] +[2024-01-18 19:59:44,526][train][INFO] - max_translation_along_error = [7.9928794 7.032164 5.8841925] +[2024-01-18 19:59:44,526][train][INFO] - max_translation_perp_error = [4.8548856 4.1841917 3.41871 ] +[2024-01-18 19:59:44,526][train][INFO] - max_translation_plane_error = [4.8670607 4.3127937 3.5112886] +[2024-01-18 19:59:44,526][train][INFO] - max_translation_line_error = [4.828492 3.736055 2.617635] +[2024-01-18 19:59:44,526][train][INFO] - max_rotation_error = [13.683487 13.683487 10.673169] +[2024-01-18 19:59:44,526][train][INFO] - max_affordance_error = [10.099758 4.5525694 5.022438 ] +[2024-01-18 19:59:44,526][train][INFO] - min_translation_distance_error = [0.63331664 0.44487765 0.5363272 ] +[2024-01-18 19:59:44,526][train][INFO] - min_translation_along_error = [0.26964018 0.07648843 0.07759802] +[2024-01-18 19:59:44,527][train][INFO] - min_translation_perp_error = [0.15498142 0.16364649 0.20745432] +[2024-01-18 19:59:44,527][train][INFO] - min_translation_plane_error = [0.10629042 0.15670642 0.21339436] +[2024-01-18 19:59:44,527][train][INFO] - min_translation_line_error = [0.01602596 0.00673054 0.15626433] +[2024-01-18 19:59:44,527][train][INFO] - min_rotation_error = [0.4334104 0.4334104 0.4334104] +[2024-01-18 19:59:44,527][train][INFO] - min_affordance_error = [0.62907076 0.61349416 0.91853803] +[2024-01-18 19:59:44,527][train][INFO] - std_translation_distance_error = [1.744654 1.644811 1.2654612] +[2024-01-18 19:59:44,528][train][INFO] - std_translation_along_error = [1.9154584 1.7914469 1.4304789] +[2024-01-18 19:59:44,528][train][INFO] - std_translation_perp_error = [1.0075084 0.780762 0.78524494] +[2024-01-18 19:59:44,528][train][INFO] - std_translation_plane_error = [1.0417684 0.81010985 0.8089697 ] +[2024-01-18 19:59:44,528][train][INFO] - std_translation_line_error = [0.8965991 0.7458778 0.65429586] +[2024-01-18 19:59:44,528][train][INFO] - std_rotation_error = [2.2485623 2.1219947 2.1009064] +[2024-01-18 19:59:44,528][train][INFO] - std_affordance_error = [2.014398 0.90054816 1.2101542 ] +[2024-01-18 19:59:44,528][train][INFO] - translation_outliers_num = 4 +[2024-01-18 19:59:44,528][train][INFO] - rotation_outliers_num = 56 +[2024-01-18 19:59:44,528][train][INFO] - affordance_outliers_num = 8 +[2024-01-18 19:59:44,528][train][INFO] - translation_outliers_ratio = 0.020833333333333332 +[2024-01-18 19:59:44,528][train][INFO] - rotation_outliers_ratio = 0.2916666666666667 +[2024-01-18 19:59:44,528][train][INFO] - affordance_outliers_ratio = 0.041666666666666664 +[2024-01-18 19:59:44,529][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 19:59:44,531][train][INFO] - Validated testing. +[2024-01-18 19:59:44,531][train][INFO] - Validating testing time: 121.891366481781 +[2024-01-18 19:59:44,557][train][INFO] - epoch: 71 lr: 0.000266531931319651 +[2024-01-18 20:06:26,966][train][INFO] - training loss: 0.0009987712006217667 + 0.08402246651904924 + 0.0012120710864629862 + 0.034074368088373115 = 0.12030767702630588, data num: 2227 +[2024-01-18 20:06:26,967][train][INFO] - epoch: 72 lr: 0.0002530244992035663 +[2024-01-18 20:13:10,545][train][INFO] - training loss: 0.0009897391103939818 + 0.08328402643757207 + 0.0011941384906614466 + 0.03388845971120255 = 0.11935636369245393, data num: 2227 +[2024-01-18 20:13:10,546][train][INFO] - epoch: 73 lr: 0.00023976573648539667 +[2024-01-18 20:20:06,854][train][INFO] - training loss: 0.0009777566122855725 + 0.08259895002203328 + 0.001180227767326869 + 0.033184322315667356 = 0.11794125682541302, data num: 2227 +[2024-01-18 20:20:06,855][train][INFO] - epoch: 74 lr: 0.00022676872796319544 +[2024-01-18 20:26:44,848][train][INFO] - training loss: 0.0009802203650386737 + 0.08310668580234051 + 0.0011772132948473363 + 0.03349583504189338 = 0.11875995482717241, data num: 2227 +[2024-01-18 20:26:44,849][train][INFO] - epoch: 75 lr: 0.00021404630011522598 +[2024-01-18 20:33:31,260][train][INFO] - training loss: 0.0009733031034037205 + 0.08287891553980964 + 0.001185174915008247 + 0.03293815881812147 = 0.11797555211399283, data num: 2227 +[2024-01-18 20:33:31,263][train][INFO] - epoch: 76 lr: 0.00020161100844177672 +[2024-01-18 20:40:12,275][train][INFO] - training loss: 0.0009664626746338659 + 0.08217355380100863 + 0.0011617340696310357 + 0.03272731920172061 = 0.11702906989625522, data num: 2227 +[2024-01-18 20:40:12,276][train][INFO] - epoch: 77 lr: 0.0001894751250743987 +[2024-01-18 20:46:43,856][train][INFO] - training loss: 0.000954720244044438 + 0.08216480607432979 + 0.001165071383833752 + 0.0330430562607944 = 0.11732765441494329, data num: 2227 +[2024-01-18 20:46:43,861][train][INFO] - epoch: 78 lr: 0.00017765062666479255 +[2024-01-18 20:53:31,252][train][INFO] - training loss: 0.0009544627300264048 + 0.08187484105250666 + 0.0011525062104088388 + 0.032535275191600835 = 0.11651708483695984, data num: 2227 +[2024-01-18 20:53:31,253][train][INFO] - epoch: 79 lr: 0.0001661491825652992 +[2024-01-18 21:00:23,626][train][INFO] - training loss: 0.0009514017853819366 + 0.08172105928616864 + 0.001148064200034631 + 0.03240711868607572 = 0.11622764430940151, data num: 2227 +[2024-01-18 21:00:23,627][train][INFO] - epoch: 80 lr: 0.00015498214331265912 +[2024-01-18 21:07:29,753][train][INFO] - training loss: 0.0009548215844136263 + 0.08177597054413387 + 0.0011537817859789356 + 0.032408356333949735 = 0.11629293002188205, data num: 2227 +[2024-01-18 21:07:29,766][train][INFO] - Validating training... +[2024-01-18 21:09:27,981][train][INFO] - mean_translation_distance_error = [2.5304396 2.5508108 2.5493035] +[2024-01-18 21:09:27,982][train][INFO] - mean_translation_along_error = [1.774471 1.6881028 1.8149259] +[2024-01-18 21:09:27,982][train][INFO] - mean_translation_perp_error = [1.5440917 1.5360526 1.3786006] +[2024-01-18 21:09:27,982][train][INFO] - mean_translation_plane_error = [1.571259 1.5870194 1.3968266] +[2024-01-18 21:09:27,982][train][INFO] - mean_translation_line_error = [0.9326806 1.0457239 0.9675112] +[2024-01-18 21:09:27,982][train][INFO] - mean_rotation_error = [4.901103 4.8058567 4.940106 ] +[2024-01-18 21:09:27,983][train][INFO] - mean_affordance_error = [2.7649605 2.3243465 2.2008245] +[2024-01-18 21:09:27,984][train][INFO] - median_translation_distance_error = [2.1622796 2.227711 2.2859478] +[2024-01-18 21:09:27,984][train][INFO] - median_translation_along_error = [1.2319096 1.2944071 1.229084 ] +[2024-01-18 21:09:27,984][train][INFO] - median_translation_perp_error = [1.4584677 1.2713642 1.1902831] +[2024-01-18 21:09:27,984][train][INFO] - median_translation_plane_error = [1.5360718 1.2983211 1.201963 ] +[2024-01-18 21:09:27,985][train][INFO] - median_translation_line_error = [0.72124815 0.71079665 0.6639786 ] +[2024-01-18 21:09:27,985][train][INFO] - median_rotation_error = [4.694789 4.733107 4.692181] +[2024-01-18 21:09:27,985][train][INFO] - median_affordance_error = [2.294012 1.8949409 1.8738496] +[2024-01-18 21:09:27,985][train][INFO] - max_translation_distance_error = [6.654374 7.9353533 8.12828 ] +[2024-01-18 21:09:27,985][train][INFO] - max_translation_along_error = [6.5980115 7.326195 8.056468 ] +[2024-01-18 21:09:27,986][train][INFO] - max_translation_perp_error = [4.495139 6.44478 5.0959306] +[2024-01-18 21:09:27,986][train][INFO] - max_translation_plane_error = [5.0759134 6.500305 5.7553062] +[2024-01-18 21:09:27,986][train][INFO] - max_translation_line_error = [3.629259 5.6667466 3.6749468] +[2024-01-18 21:09:27,986][train][INFO] - max_rotation_error = [ 9.034766 8.608067 13.556618] +[2024-01-18 21:09:27,986][train][INFO] - max_affordance_error = [ 8.0962515 13.195812 8.107592 ] +[2024-01-18 21:09:27,987][train][INFO] - min_translation_distance_error = [0.25185257 0.39299998 0.44233698] +[2024-01-18 21:09:27,987][train][INFO] - min_translation_along_error = [0.01640063 0.00012499 0.01687908] +[2024-01-18 21:09:27,987][train][INFO] - min_translation_perp_error = [0.17024079 0.22815122 0.15358697] +[2024-01-18 21:09:27,987][train][INFO] - min_translation_plane_error = [0.17628416 0.31372756 0.20286094] +[2024-01-18 21:09:27,987][train][INFO] - min_translation_line_error = [0.01696322 0.04048115 0.0047932 ] +[2024-01-18 21:09:27,987][train][INFO] - min_rotation_error = [0.5308178 0.5308178 0.5308178] +[2024-01-18 21:09:27,988][train][INFO] - min_affordance_error = [0.51648843 0.43319 0.42733067] +[2024-01-18 21:09:27,988][train][INFO] - std_translation_distance_error = [1.43903 1.5818315 1.6211303] +[2024-01-18 21:09:27,988][train][INFO] - std_translation_along_error = [1.4678992 1.6197661 1.7379484] +[2024-01-18 21:09:27,989][train][INFO] - std_translation_perp_error = [0.8867004 1.0844531 0.9550153] +[2024-01-18 21:09:27,989][train][INFO] - std_translation_plane_error = [0.9195135 1.0859715 0.98569185] +[2024-01-18 21:09:27,989][train][INFO] - std_translation_line_error = [0.79208666 1.0140039 0.84461576] +[2024-01-18 21:09:27,989][train][INFO] - std_rotation_error = [1.8665044 1.7234242 2.1416383] +[2024-01-18 21:09:27,989][train][INFO] - std_affordance_error = [1.7004142 1.7882795 1.267654 ] +[2024-01-18 21:09:27,990][train][INFO] - translation_outliers_num = 4 +[2024-01-18 21:09:27,990][train][INFO] - rotation_outliers_num = 89 +[2024-01-18 21:09:27,990][train][INFO] - affordance_outliers_num = 12 +[2024-01-18 21:09:27,990][train][INFO] - translation_outliers_ratio = 0.020833333333333332 +[2024-01-18 21:09:27,990][train][INFO] - rotation_outliers_ratio = 0.4635416666666667 +[2024-01-18 21:09:27,990][train][INFO] - affordance_outliers_ratio = 0.0625 +[2024-01-18 21:09:27,990][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 21:09:27,995][train][INFO] - Validated training. +[2024-01-18 21:09:27,995][train][INFO] - Validating training time: 118.22874236106873 +[2024-01-18 21:09:28,008][train][INFO] - Validating testing... +[2024-01-18 21:11:22,463][train][INFO] - mean_translation_distance_error = [3.1008754 3.0746725 2.9322968] +[2024-01-18 21:11:22,464][train][INFO] - mean_translation_along_error = [2.226263 2.307105 2.233706] +[2024-01-18 21:11:22,464][train][INFO] - mean_translation_perp_error = [1.8116119 1.6287849 1.6128811] +[2024-01-18 21:11:22,464][train][INFO] - mean_translation_plane_error = [1.8566068 1.6811161 1.671079 ] +[2024-01-18 21:11:22,464][train][INFO] - mean_translation_line_error = [1.2186385 1.0049896 0.9903073] +[2024-01-18 21:11:22,464][train][INFO] - mean_rotation_error = [4.4892454 4.341535 4.3668556] +[2024-01-18 21:11:22,465][train][INFO] - mean_affordance_error = [2.764427 2.3206556 2.1804614] +[2024-01-18 21:11:22,465][train][INFO] - median_translation_distance_error = [2.6163812 2.561573 2.4024732] +[2024-01-18 21:11:22,466][train][INFO] - median_translation_along_error = [1.7330251 1.7185736 1.7162247] +[2024-01-18 21:11:22,466][train][INFO] - median_translation_perp_error = [1.642947 1.422246 1.5093589] +[2024-01-18 21:11:22,466][train][INFO] - median_translation_plane_error = [1.6261721 1.5052592 1.4936655] +[2024-01-18 21:11:22,466][train][INFO] - median_translation_line_error = [0.95158756 0.8100984 0.7751113 ] +[2024-01-18 21:11:22,466][train][INFO] - median_rotation_error = [4.279446 4.0483265 3.973269 ] +[2024-01-18 21:11:22,466][train][INFO] - median_affordance_error = [2.503738 2.08012 1.9593596] +[2024-01-18 21:11:22,466][train][INFO] - max_translation_distance_error = [10.394173 8.453265 8.792234] +[2024-01-18 21:11:22,467][train][INFO] - max_translation_along_error = [10.100584 7.849407 8.676666] +[2024-01-18 21:11:22,467][train][INFO] - max_translation_perp_error = [6.5245514 3.889044 3.9159386] +[2024-01-18 21:11:22,467][train][INFO] - max_translation_plane_error = [6.6385617 4.3877864 4.3501406] +[2024-01-18 21:11:22,467][train][INFO] - max_translation_line_error = [3.5610597 2.9744601 3.0615244] +[2024-01-18 21:11:22,467][train][INFO] - max_rotation_error = [ 9.400758 9.400758 12.669918] +[2024-01-18 21:11:22,467][train][INFO] - max_affordance_error = [8.0630455 8.806981 5.598422 ] +[2024-01-18 21:11:22,467][train][INFO] - min_translation_distance_error = [0.42471892 0.24552006 0.81330276] +[2024-01-18 21:11:22,467][train][INFO] - min_translation_along_error = [0.01907108 0.09248692 0.12208015] +[2024-01-18 21:11:22,468][train][INFO] - min_translation_perp_error = [0.32085893 0.15349038 0.23535359] +[2024-01-18 21:11:22,468][train][INFO] - min_translation_plane_error = [0.31702036 0.13155855 0.32544756] +[2024-01-18 21:11:22,468][train][INFO] - min_translation_line_error = [0.02270229 0.01042967 0.01452086] +[2024-01-18 21:11:22,468][train][INFO] - min_rotation_error = [0.24389327 0.24389327 0.24389327] +[2024-01-18 21:11:22,468][train][INFO] - min_affordance_error = [0.44026828 0.49939618 0.24897051] +[2024-01-18 21:11:22,468][train][INFO] - std_translation_distance_error = [1.94051 1.8338645 1.7950901] +[2024-01-18 21:11:22,469][train][INFO] - std_translation_along_error = [1.9739197 2.030606 1.8597093] +[2024-01-18 21:11:22,469][train][INFO] - std_translation_perp_error = [1.1164546 0.8471331 0.87827724] +[2024-01-18 21:11:22,469][train][INFO] - std_translation_plane_error = [1.1681675 0.89295 0.9400429] +[2024-01-18 21:11:22,470][train][INFO] - std_translation_line_error = [0.83574605 0.7975639 0.7561237 ] +[2024-01-18 21:11:22,470][train][INFO] - std_rotation_error = [1.9012817 1.8770189 2.182344 ] +[2024-01-18 21:11:22,470][train][INFO] - std_affordance_error = [1.7022032 1.3439546 1.1549128] +[2024-01-18 21:11:22,471][train][INFO] - translation_outliers_num = 9 +[2024-01-18 21:11:22,471][train][INFO] - rotation_outliers_num = 58 +[2024-01-18 21:11:22,471][train][INFO] - affordance_outliers_num = 9 +[2024-01-18 21:11:22,471][train][INFO] - translation_outliers_ratio = 0.046875 +[2024-01-18 21:11:22,471][train][INFO] - rotation_outliers_ratio = 0.3020833333333333 +[2024-01-18 21:11:22,471][train][INFO] - affordance_outliers_ratio = 0.046875 +[2024-01-18 21:11:22,471][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 21:11:22,476][train][INFO] - Validated testing. +[2024-01-18 21:11:22,481][train][INFO] - Validating testing time: 114.4670991897583 +[2024-01-18 21:11:22,482][train][INFO] - epoch: 81 lr: 0.00014416052942640148 +[2024-01-18 21:18:27,890][train][INFO] - training loss: 0.0009472867486432992 + 0.08136941827833652 + 0.001140926281056766 + 0.032252146024256946 = 0.11570977754890918, data num: 2227 +[2024-01-18 21:18:27,891][train][INFO] - epoch: 82 lr: 0.00013369502053292258 +[2024-01-18 21:25:24,084][train][INFO] - training loss: 0.0009461251399313498 + 0.08094368454601084 + 0.0011364924313966185 + 0.03209871846650328 = 0.1151250209659338, data num: 2227 +[2024-01-18 21:25:24,085][train][INFO] - epoch: 83 lr: 0.00012359594482598446 +[2024-01-18 21:32:10,388][train][INFO] - training loss: 0.0009366676543972322 + 0.08081200708236014 + 0.0011338878755590746 + 0.03197299792830433 = 0.11485555996852262, data num: 2227 +[2024-01-18 21:32:10,390][train][INFO] - epoch: 84 lr: 0.00011387326887403332 +[2024-01-18 21:38:52,674][train][INFO] - training loss: 0.0009391608523271446 + 0.08080029929322856 + 0.001125552727275395 + 0.03177589755505324 = 0.11464091102991786, data num: 2227 +[2024-01-18 21:38:52,676][train][INFO] - epoch: 85 lr: 0.00010453658778440112 +[2024-01-18 21:45:39,079][train][INFO] - training loss: 0.0009344682005965816 + 0.0804084521319185 + 0.001126128518288689 + 0.03170374356476324 = 0.11417279275400298, data num: 2227 +[2024-01-18 21:45:39,080][train][INFO] - epoch: 86 lr: 9.5595115734092e-05 +[2024-01-18 21:52:25,777][train][INFO] - training loss: 0.0009318561276553997 + 0.08022500925830432 + 0.0011202438551533435 + 0.03157699430095298 = 0.11385410295001099, data num: 2227 +[2024-01-18 21:52:25,779][train][INFO] - epoch: 87 lr: 8.705767687650269e-05 +[2024-01-18 21:59:05,158][train][INFO] - training loss: 0.0009348983286015158 + 0.08022475141499724 + 0.0011231812660948241 + 0.03147402446983116 = 0.11375685547079359, data num: 2227 +[2024-01-18 21:59:05,159][train][INFO] - epoch: 88 lr: 7.893269663304787e-05 +[2024-01-18 22:05:44,768][train][INFO] - training loss: 0.0009293561082033973 + 0.07991236065115248 + 0.0011185510242025234 + 0.03148442320525646 = 0.1134446918964386, data num: 2227 +[2024-01-18 22:05:44,769][train][INFO] - epoch: 89 lr: 7.122819337828756e-05 +[2024-01-18 22:12:16,118][train][INFO] - training loss: 0.0009280785277951508 + 0.08001142059053694 + 0.0011137280047738127 + 0.031342669842498644 = 0.11339589745870658, data num: 2227 +[2024-01-18 22:12:16,119][train][INFO] - epoch: 90 lr: 6.395177052675798e-05 +[2024-01-18 22:18:44,064][train][INFO] - training loss: 0.000926183902941245 + 0.07976730348808425 + 0.001110239461247277 + 0.031246264172451837 = 0.11304999094988619, data num: 2227 +[2024-01-18 22:18:44,077][train][INFO] - Validating training... +[2024-01-18 22:20:38,904][train][INFO] - mean_translation_distance_error = [2.5801475 2.3522325 2.6691124] +[2024-01-18 22:20:38,905][train][INFO] - mean_translation_along_error = [1.8295488 1.5058358 1.6858566] +[2024-01-18 22:20:38,905][train][INFO] - mean_translation_perp_error = [1.550265 1.5385886 1.7879401] +[2024-01-18 22:20:38,905][train][INFO] - mean_translation_plane_error = [1.5703377 1.5459707 1.7913886] +[2024-01-18 22:20:38,905][train][INFO] - mean_translation_line_error = [1.1592088 1.0543585 1.2136382] +[2024-01-18 22:20:38,906][train][INFO] - mean_rotation_error = [4.295644 4.076008 4.0173264] +[2024-01-18 22:20:38,906][train][INFO] - mean_affordance_error = [2.303189 2.0046756 2.416922 ] +[2024-01-18 22:20:38,907][train][INFO] - median_translation_distance_error = [2.2809978 1.8835319 2.2338927] +[2024-01-18 22:20:38,907][train][INFO] - median_translation_along_error = [1.7108815 1.0051689 1.4019868] +[2024-01-18 22:20:38,907][train][INFO] - median_translation_perp_error = [1.4069495 1.3592277 1.6790812] +[2024-01-18 22:20:38,907][train][INFO] - median_translation_plane_error = [1.4457479 1.3259356 1.6970779] +[2024-01-18 22:20:38,907][train][INFO] - median_translation_line_error = [0.96903574 0.79270256 1.009287 ] +[2024-01-18 22:20:38,908][train][INFO] - median_rotation_error = [4.080475 4.0202503 3.946805 ] +[2024-01-18 22:20:38,908][train][INFO] - median_affordance_error = [1.9074755 1.8058448 1.9101493] +[2024-01-18 22:20:38,908][train][INFO] - max_translation_distance_error = [8.974765 6.5116363 6.28272 ] +[2024-01-18 22:20:38,908][train][INFO] - max_translation_along_error = [8.629705 5.4735866 5.7222347] +[2024-01-18 22:20:38,909][train][INFO] - max_translation_perp_error = [4.8568487 4.6394386 5.304752 ] +[2024-01-18 22:20:38,909][train][INFO] - max_translation_plane_error = [4.987056 4.8997717 5.2982364] +[2024-01-18 22:20:38,909][train][INFO] - max_translation_line_error = [4.801182 3.8046892 5.2351093] +[2024-01-18 22:20:38,909][train][INFO] - max_rotation_error = [10.257048 8.996237 9.598986] +[2024-01-18 22:20:38,909][train][INFO] - max_affordance_error = [8.020673 5.277882 7.375402] +[2024-01-18 22:20:38,909][train][INFO] - min_translation_distance_error = [0.4730945 0.4076077 0.5135445] +[2024-01-18 22:20:38,910][train][INFO] - min_translation_along_error = [0.07207379 0.01089524 0.01858491] +[2024-01-18 22:20:38,910][train][INFO] - min_translation_perp_error = [0.22857873 0.1255201 0.3101518 ] +[2024-01-18 22:20:38,910][train][INFO] - min_translation_plane_error = [0.19199651 0.11578633 0.31116948] +[2024-01-18 22:20:38,910][train][INFO] - min_translation_line_error = [0.00493849 0.00248686 0.00016089] +[2024-01-18 22:20:38,910][train][INFO] - min_rotation_error = [0.8235324 0.8235324 0.8235324] +[2024-01-18 22:20:38,911][train][INFO] - min_affordance_error = [0.44916916 0.44532973 0.36051965] +[2024-01-18 22:20:38,911][train][INFO] - std_translation_distance_error = [1.4826586 1.3849363 1.3173532] +[2024-01-18 22:20:38,911][train][INFO] - std_translation_along_error = [1.512602 1.3351412 1.360448 ] +[2024-01-18 22:20:38,912][train][INFO] - std_translation_perp_error = [0.90382624 1.0166835 0.9848442 ] +[2024-01-18 22:20:38,912][train][INFO] - std_translation_plane_error = [0.9046906 1.0374538 0.9769871] +[2024-01-18 22:20:38,912][train][INFO] - std_translation_line_error = [0.92190087 0.9126947 0.9879187 ] +[2024-01-18 22:20:38,912][train][INFO] - std_rotation_error = [2.268267 1.9685146 2.0512412] +[2024-01-18 22:20:38,912][train][INFO] - std_affordance_error = [1.6044946 1.0119671 1.5123111] +[2024-01-18 22:20:38,912][train][INFO] - translation_outliers_num = 7 +[2024-01-18 22:20:38,912][train][INFO] - rotation_outliers_num = 55 +[2024-01-18 22:20:38,912][train][INFO] - affordance_outliers_num = 8 +[2024-01-18 22:20:38,913][train][INFO] - translation_outliers_ratio = 0.036458333333333336 +[2024-01-18 22:20:38,913][train][INFO] - rotation_outliers_ratio = 0.2864583333333333 +[2024-01-18 22:20:38,913][train][INFO] - affordance_outliers_ratio = 0.041666666666666664 +[2024-01-18 22:20:38,913][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 22:20:38,917][train][INFO] - Validated training. +[2024-01-18 22:20:38,918][train][INFO] - Validating training time: 114.84031510353088 +[2024-01-18 22:20:38,918][train][INFO] - Validating testing... +[2024-01-18 22:22:24,453][train][INFO] - mean_translation_distance_error = [2.8949723 2.7684488 2.6111395] +[2024-01-18 22:22:24,453][train][INFO] - mean_translation_along_error = [2.111557 2.1045513 1.7687037] +[2024-01-18 22:22:24,454][train][INFO] - mean_translation_perp_error = [1.7095062 1.4391425 1.6010628] +[2024-01-18 22:22:24,454][train][INFO] - mean_translation_plane_error = [1.7314205 1.4521835 1.6395348] +[2024-01-18 22:22:24,454][train][INFO] - mean_translation_line_error = [1.0742021 0.9901533 1.1084617] +[2024-01-18 22:22:24,454][train][INFO] - mean_rotation_error = [4.529071 4.3051386 4.46193 ] +[2024-01-18 22:22:24,454][train][INFO] - mean_affordance_error = [2.1371975 1.9752867 2.411354 ] +[2024-01-18 22:22:24,455][train][INFO] - median_translation_distance_error = [2.2954938 2.4903908 2.060083 ] +[2024-01-18 22:22:24,456][train][INFO] - median_translation_along_error = [1.4867506 1.6916442 1.1727085] +[2024-01-18 22:22:24,456][train][INFO] - median_translation_perp_error = [1.3950961 1.4382498 1.5474112] +[2024-01-18 22:22:24,456][train][INFO] - median_translation_plane_error = [1.3884602 1.3477417 1.5277386] +[2024-01-18 22:22:24,456][train][INFO] - median_translation_line_error = [0.86626387 0.88289154 0.86232936] +[2024-01-18 22:22:24,456][train][INFO] - median_rotation_error = [4.373251 4.2615685 4.373006 ] +[2024-01-18 22:22:24,457][train][INFO] - median_affordance_error = [1.6806592 1.9382794 2.1864414] +[2024-01-18 22:22:24,457][train][INFO] - max_translation_distance_error = [9.435817 9.150599 7.4750533] +[2024-01-18 22:22:24,457][train][INFO] - max_translation_along_error = [9.411144 7.836677 7.298468] +[2024-01-18 22:22:24,457][train][INFO] - max_translation_perp_error = [5.7693667 4.7243986 3.9059339] +[2024-01-18 22:22:24,457][train][INFO] - max_translation_plane_error = [5.2742286 5.3431535 3.9634407] +[2024-01-18 22:22:24,458][train][INFO] - max_translation_line_error = [3.322928 2.7849138 3.749899 ] +[2024-01-18 22:22:24,458][train][INFO] - max_rotation_error = [10.335119 8.443455 8.443455] +[2024-01-18 22:22:24,458][train][INFO] - max_affordance_error = [8.803592 5.2866745 6.3123083] +[2024-01-18 22:22:24,458][train][INFO] - min_translation_distance_error = [0.32174084 0.4560276 0.5405161 ] +[2024-01-18 22:22:24,458][train][INFO] - min_translation_along_error = [0.03226959 0.01626972 0.02461211] +[2024-01-18 22:22:24,459][train][INFO] - min_translation_perp_error = [0.1823973 0.20889537 0.15747505] +[2024-01-18 22:22:24,459][train][INFO] - min_translation_plane_error = [0.17480892 0.16618171 0.32625955] +[2024-01-18 22:22:24,459][train][INFO] - min_translation_line_error = [0.00086915 0.03942138 0.01318219] +[2024-01-18 22:22:24,459][train][INFO] - min_rotation_error = [1.479887 0.53995484 1.479887 ] +[2024-01-18 22:22:24,459][train][INFO] - min_affordance_error = [0.5498932 0.24833688 0.7560531 ] +[2024-01-18 22:22:24,460][train][INFO] - std_translation_distance_error = [2.0014687 1.7321184 1.661416 ] +[2024-01-18 22:22:24,460][train][INFO] - std_translation_along_error = [1.9565897 1.8575159 1.7745521] +[2024-01-18 22:22:24,460][train][INFO] - std_translation_perp_error = [1.0850866 0.84493107 0.8588373 ] +[2024-01-18 22:22:24,460][train][INFO] - std_translation_plane_error = [1.0902653 0.88402486 0.88206476] +[2024-01-18 22:22:24,461][train][INFO] - std_translation_line_error = [0.7848741 0.7015179 0.8994753] +[2024-01-18 22:22:24,461][train][INFO] - std_rotation_error = [1.6628981 1.5068525 1.5297307] +[2024-01-18 22:22:24,461][train][INFO] - std_affordance_error = [1.4109287 1.0378158 1.3443956] +[2024-01-18 22:22:24,461][train][INFO] - translation_outliers_num = 8 +[2024-01-18 22:22:24,461][train][INFO] - rotation_outliers_num = 52 +[2024-01-18 22:22:24,461][train][INFO] - affordance_outliers_num = 9 +[2024-01-18 22:22:24,461][train][INFO] - translation_outliers_ratio = 0.041666666666666664 +[2024-01-18 22:22:24,461][train][INFO] - rotation_outliers_ratio = 0.2708333333333333 +[2024-01-18 22:22:24,461][train][INFO] - affordance_outliers_ratio = 0.046875 +[2024-01-18 22:22:24,461][train][INFO] - data_num = 64, joint_num = 3 +[2024-01-18 22:22:24,465][train][INFO] - Validated testing. +[2024-01-18 22:22:24,465][train][INFO] - Validating testing time: 105.54668545722961 +[2024-01-18 22:22:24,466][train][INFO] - epoch: 91 lr: 5.711060902932045e-05 +[2024-01-18 22:28:30,430][train][INFO] - training loss: 0.0009197714514032539 + 0.07950586932046073 + 0.001109720961955775 + 0.03113497155053275 = 0.112670333098088, data num: 2227 +[2024-01-18 22:28:30,432][train][INFO] - epoch: 92 lr: 5.071146028642948e-05 +[2024-01-18 22:34:38,012][train][INFO] - training loss: 0.0009186135879385152 + 0.07957806608506611 + 0.0011087408422359398 + 0.031086714140006473 = 0.1126921349870307, data num: 2227 +[2024-01-18 22:34:38,013][train][INFO] - epoch: 93 lr: 4.476063948531561e-05 +[2024-01-18 22:40:51,264][train][INFO] - training loss: 0.0009203807151477252 + 0.07961552100522178 + 0.0011079766916476988 + 0.031189049341316735 = 0.11283292749098368, data num: 2227 +[2024-01-18 22:40:51,266][train][INFO] - epoch: 94 lr: 3.9264019367658426e-05 +[2024-01-18 22:47:11,636][train][INFO] - training loss: 0.000917623144674248 + 0.0794380989990064 + 0.0011050213947393266 + 0.030972393894834176 = 0.11243313662707806, data num: 2227 +[2024-01-18 22:47:11,638][train][INFO] - epoch: 95 lr: 3.4227024433899026e-05 +[2024-01-18 22:53:28,802][train][INFO] - training loss: 0.0009144336043391376 + 0.07915376941008227 + 0.0011029557773976455 + 0.030995324520128115 = 0.1121664833277464, data num: 2227 +[2024-01-18 22:53:28,803][train][INFO] - epoch: 96 lr: 2.9654625589913258e-05 +[2024-01-18 22:59:32,112][train][INFO] - training loss: 0.0009145765922897096 + 0.07933551732982908 + 0.0011025893260791365 + 0.030947245684053215 = 0.11229992908026491, data num: 2227 +[2024-01-18 22:59:32,113][train][INFO] - epoch: 97 lr: 2.5551335241327692e-05 +[2024-01-18 23:05:45,037][train][INFO] - training loss: 0.000912729448256349 + 0.07904376313090325 + 0.001100412307589847 + 0.030803766048380306 = 0.11186067116047654, data num: 2227 +[2024-01-18 23:05:45,039][train][INFO] - epoch: 98 lr: 2.192120284032009e-05 +[2024-01-18 23:11:59,081][train][INFO] - training loss: 0.0009120346392072471 + 0.0790566662060363 + 0.0010995519014873674 + 0.030791894985096796 = 0.11186014775718961, data num: 2227 +[2024-01-18 23:11:59,082][train][INFO] - epoch: 99 lr: 1.8767810889299096e-05 +[2024-01-18 23:18:09,664][train][INFO] - training loss: 0.0009095419256482274 + 0.07898934355803898 + 0.001096224262229433 + 0.03071844805298107 = 0.111713557690382, data num: 2227 +[2024-01-18 23:18:09,665][train][INFO] - Optimized. +[2024-01-18 23:18:09,665][train][INFO] - Training time: 43181.5410900116 +[2024-01-18 23:18:09,666][train][INFO] - Testing training... +[2024-01-19 00:43:40,579][train][INFO] - mean_translation_distance_error = [2.48702 2.5522249 2.5881736] +[2024-01-19 00:43:40,579][train][INFO] - mean_translation_along_error = [1.7052132 1.743619 1.761378 ] +[2024-01-19 00:43:40,579][train][INFO] - mean_translation_perp_error = [1.529419 1.5471827 1.6023937] +[2024-01-19 00:43:40,580][train][INFO] - mean_translation_plane_error = [1.5428497 1.5603715 1.6186475] +[2024-01-19 00:43:40,580][train][INFO] - mean_translation_line_error = [0.9656786 1.0175847 1.0247192] +[2024-01-19 00:43:40,580][train][INFO] - mean_rotation_error = [4.2545857 4.2021303 4.1968937] +[2024-01-19 00:43:40,580][train][INFO] - mean_affordance_error = [2.2055078 1.9503262 2.1697025] +[2024-01-19 00:43:40,582][train][INFO] - median_translation_distance_error = [2.189932 2.242644 2.2833362] +[2024-01-19 00:43:40,583][train][INFO] - median_translation_along_error = [1.3581916 1.3759729 1.4385293] +[2024-01-19 00:43:40,583][train][INFO] - median_translation_perp_error = [1.3053702 1.3040612 1.39707 ] +[2024-01-19 00:43:40,583][train][INFO] - median_translation_plane_error = [1.3126774 1.3131677 1.4087713] +[2024-01-19 00:43:40,583][train][INFO] - median_translation_line_error = [0.7573852 0.79122084 0.8204693 ] +[2024-01-19 00:43:40,584][train][INFO] - median_rotation_error = [4.050768 4.043558 4.0223866] +[2024-01-19 00:43:40,584][train][INFO] - median_affordance_error = [1.8724121 1.6681515 1.7331723] +[2024-01-19 00:43:40,585][train][INFO] - max_translation_distance_error = [11.4457655 10.493446 11.321631 ] +[2024-01-19 00:43:40,585][train][INFO] - max_translation_along_error = [ 9.213302 10.324284 11.2131605] +[2024-01-19 00:43:40,585][train][INFO] - max_translation_perp_error = [7.644745 9.662016 8.142898] +[2024-01-19 00:43:40,585][train][INFO] - max_translation_plane_error = [6.7768717 9.640089 7.980315 ] +[2024-01-19 00:43:40,586][train][INFO] - max_translation_line_error = [5.5595727 6.7539663 6.9428997] +[2024-01-19 00:43:40,586][train][INFO] - max_rotation_error = [15.918297 11.924131 14.342251] +[2024-01-19 00:43:40,586][train][INFO] - max_affordance_error = [27.766926 25.265163 15.581947] +[2024-01-19 00:43:40,586][train][INFO] - min_translation_distance_error = [0.09462717 0.09565368 0.17142235] +[2024-01-19 00:43:40,587][train][INFO] - min_translation_along_error = [0.00077643 0.00028107 0.0009838 ] +[2024-01-19 00:43:40,587][train][INFO] - min_translation_perp_error = [0.05318681 0.01771324 0.03055564] +[2024-01-19 00:43:40,587][train][INFO] - min_translation_plane_error = [0.05593749 0.02031172 0.0328947 ] +[2024-01-19 00:43:40,587][train][INFO] - min_translation_line_error = [3.549368e-04 2.989631e-05 7.468610e-05] +[2024-01-19 00:43:40,587][train][INFO] - min_rotation_error = [0.03426402 0.03426402 0.03426402] +[2024-01-19 00:43:40,587][train][INFO] - min_affordance_error = [0.15169613 0.07567334 0.13532272] +[2024-01-19 00:43:40,588][train][INFO] - std_translation_distance_error = [1.4292116 1.4851904 1.4465144] +[2024-01-19 00:43:40,588][train][INFO] - std_translation_along_error = [1.4128596 1.4429741 1.4360127] +[2024-01-19 00:43:40,589][train][INFO] - std_translation_perp_error = [0.99240965 1.0970302 1.0289778 ] +[2024-01-19 00:43:40,589][train][INFO] - std_translation_plane_error = [0.99915636 1.1031232 1.0439314 ] +[2024-01-19 00:43:40,589][train][INFO] - std_translation_line_error = [0.8272201 0.9095061 0.8627598] +[2024-01-19 00:43:40,589][train][INFO] - std_rotation_error = [2.025527 1.9486854 1.9696193] +[2024-01-19 00:43:40,589][train][INFO] - std_affordance_error = [1.5274787 1.465358 1.7088544] +[2024-01-19 00:43:40,589][train][INFO] - translation_outliers_num = 153 +[2024-01-19 00:43:40,589][train][INFO] - rotation_outliers_num = 2150 +[2024-01-19 00:43:40,589][train][INFO] - affordance_outliers_num = 255 +[2024-01-19 00:43:40,589][train][INFO] - translation_outliers_ratio = 0.022900763358778626 +[2024-01-19 00:43:40,589][train][INFO] - rotation_outliers_ratio = 0.3218081125580003 +[2024-01-19 00:43:40,589][train][INFO] - affordance_outliers_ratio = 0.03816793893129771 +[2024-01-19 00:43:40,590][train][INFO] - data_num = 2227, joint_num = 3 +[2024-01-19 00:43:40,592][train][INFO] - Tested training. +[2024-01-19 00:43:40,592][train][INFO] - Testing training time: 5130.926317691803 +[2024-01-19 00:43:40,592][train][INFO] - Testing testing... +[2024-01-19 01:01:52,483][train][INFO] - mean_translation_distance_error = [2.8194273 2.72659 2.7261362] +[2024-01-19 01:01:52,483][train][INFO] - mean_translation_along_error = [2.035134 2.0164156 1.9771625] +[2024-01-19 01:01:52,484][train][INFO] - mean_translation_perp_error = [1.6042293 1.5021652 1.547532 ] +[2024-01-19 01:01:52,484][train][INFO] - mean_translation_plane_error = [1.6160067 1.530837 1.5792055] +[2024-01-19 01:01:52,484][train][INFO] - mean_translation_line_error = [1.0603658 1.0071675 1.029498 ] +[2024-01-19 01:01:52,484][train][INFO] - mean_rotation_error = [4.1851397 4.2414966 4.264279 ] +[2024-01-19 01:01:52,484][train][INFO] - mean_affordance_error = [2.1917639 1.9606334 2.1972234] +[2024-01-19 01:01:52,485][train][INFO] - median_translation_distance_error = [2.5370345 2.397123 2.3661323] +[2024-01-19 01:01:52,485][train][INFO] - median_translation_along_error = [1.650125 1.5466385 1.5061007] +[2024-01-19 01:01:52,486][train][INFO] - median_translation_perp_error = [1.4530575 1.3913324 1.4314442] +[2024-01-19 01:01:52,486][train][INFO] - median_translation_plane_error = [1.4793401 1.4179108 1.4833391] +[2024-01-19 01:01:52,486][train][INFO] - median_translation_line_error = [0.87182605 0.8713242 0.9003234 ] +[2024-01-19 01:01:52,486][train][INFO] - median_rotation_error = [4.0620885 4.032767 4.037086 ] +[2024-01-19 01:01:52,486][train][INFO] - median_affordance_error = [1.9529752 1.7939599 1.9515238] +[2024-01-19 01:01:52,486][train][INFO] - max_translation_distance_error = [10.710134 9.222844 9.286183] +[2024-01-19 01:01:52,487][train][INFO] - max_translation_along_error = [10.461391 8.730109 8.709967] +[2024-01-19 01:01:52,487][train][INFO] - max_translation_perp_error = [6.4145446 5.049178 5.3162346] +[2024-01-19 01:01:52,487][train][INFO] - max_translation_plane_error = [6.6114373 5.1476073 5.0235944] +[2024-01-19 01:01:52,487][train][INFO] - max_translation_line_error = [4.174564 4.8249917 4.61808 ] +[2024-01-19 01:01:52,487][train][INFO] - max_rotation_error = [10.14701 14.152562 11.778933] +[2024-01-19 01:01:52,487][train][INFO] - max_affordance_error = [17.021828 6.764738 13.879813] +[2024-01-19 01:01:52,488][train][INFO] - min_translation_distance_error = [0.3542722 0.10099204 0.16054353] +[2024-01-19 01:01:52,488][train][INFO] - min_translation_along_error = [0.01417347 0.00878823 0.00845539] +[2024-01-19 01:01:52,488][train][INFO] - min_translation_perp_error = [0.05092542 0.02168321 0.0892126 ] +[2024-01-19 01:01:52,488][train][INFO] - min_translation_plane_error = [0.0772144 0.04420284 0.05954728] +[2024-01-19 01:01:52,488][train][INFO] - min_translation_line_error = [0.00383822 0.00145826 0.00131543] +[2024-01-19 01:01:52,488][train][INFO] - min_rotation_error = [0.24389327 0.24389327 0.24389327] +[2024-01-19 01:01:52,489][train][INFO] - min_affordance_error = [0.22410734 0.14293319 0.03654472] +[2024-01-19 01:01:52,489][train][INFO] - std_translation_distance_error = [1.6137221 1.5456042 1.5507092] +[2024-01-19 01:01:52,490][train][INFO] - std_translation_along_error = [1.7421786 1.6822473 1.6752014] +[2024-01-19 01:01:52,490][train][INFO] - std_translation_perp_error = [0.8959671 0.81903094 0.8521728 ] +[2024-01-19 01:01:52,490][train][INFO] - std_translation_plane_error = [0.9027971 0.83347565 0.85868967] +[2024-01-19 01:01:52,490][train][INFO] - std_translation_line_error = [0.82338417 0.74614763 0.77481765] +[2024-01-19 01:01:52,490][train][INFO] - std_rotation_error = [1.8756287 1.9835407 2.0130334] +[2024-01-19 01:01:52,490][train][INFO] - std_affordance_error = [1.4974825 1.033096 1.3413224] +[2024-01-19 01:01:52,490][train][INFO] - translation_outliers_num = 42 +[2024-01-19 01:01:52,490][train][INFO] - rotation_outliers_num = 752 +[2024-01-19 01:01:52,490][train][INFO] - affordance_outliers_num = 63 +[2024-01-19 01:01:52,490][train][INFO] - translation_outliers_ratio = 0.018229166666666668 +[2024-01-19 01:01:52,491][train][INFO] - rotation_outliers_ratio = 0.3263888888888889 +[2024-01-19 01:01:52,491][train][INFO] - affordance_outliers_ratio = 0.02734375 +[2024-01-19 01:01:52,491][train][INFO] - data_num = 768, joint_num = 3 +[2024-01-19 01:01:52,493][train][INFO] - Tested testing. +[2024-01-19 01:01:52,507][train][INFO] - Testing testing time: 1091.9009532928467 diff --git a/formal_drawer_2024_01_18_11_18_23/weights/encoder_latest.pth b/formal_drawer_2024_01_18_11_18_23/weights/encoder_latest.pth new file mode 100644 index 0000000000000000000000000000000000000000..b2a330007ee8e485f1181e500e60bc6866295ed7 --- /dev/null +++ b/formal_drawer_2024_01_18_11_18_23/weights/encoder_latest.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eaa3ef0d2ef0f63cb406c25a0d3cdce126af049449006b225d0fba8964ee56c4 +size 1160273 diff --git a/formal_drawer_2024_01_18_11_18_23/weights/shot_encoder_latest.pth b/formal_drawer_2024_01_18_11_18_23/weights/shot_encoder_latest.pth new file mode 100644 index 0000000000000000000000000000000000000000..d04dd5eaa45d886eed6ef862df98aac817a550e7 --- /dev/null +++ b/formal_drawer_2024_01_18_11_18_23/weights/shot_encoder_latest.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c90ca1b021d1cc199ee314522426a37ffa989e2d1f8994002b8547cc72dc99c +size 1046929 diff --git a/formal_microwave_2024_01_16_12_16_57/.hydra/config.yaml b/formal_microwave_2024_01_16_12_16_57/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45fe8c677346184d3780fb05f9ec48947c41ecc1 --- /dev/null +++ b/formal_microwave_2024_01_16_12_16_57/.hydra/config.yaml @@ -0,0 +1,69 @@ +dataset: + train_path: /data2/junbo/sapien4/train + test_path: /data2/junbo/sapien4/test + train_categories: + - Microwave + test_categories: + - Microwave + joint_num: 1 + resolution: 0.01 + receptive_field: 10 + normalize: none + sample_points_num: 1024 + rgb: false + denoise: false +algorithm: + sampling: + sample_tuples_num: 100000 + tuple_more_num: 3 + shot_encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + feature_dim: 64 + bn: false + ln: false + dropout: 0 + encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + bn: false + ln: false + dropout: 0 + voting: + rot_bin_num: 36 + voting_num: 120 + angle_tol: 1.5 + translation2pc: false + rotation_cluster: false + multi_candidate: false + candidate_threshold: 0.5 + rotation_multi_neighbor: false + neighbor_threshold: 10 + bmm_size: 100000 +training: + seed: 42 + device: 7 + batch_size: 16 + num_workers: 8 + epoch_num: 200 + lr: 0.001 + weight_decay: 0 + lambda_rot: 0.1 + lambda_afford: 1.0 + lambda_conf: 0.5 + val_training: true + val_training_num: 64 + val_testing: true + val_testing_num: 64 + test_train: true + test_test: true +abbr: formal_microwave +debug: false diff --git a/formal_microwave_2024_01_16_12_16_57/.hydra/hydra.yaml b/formal_microwave_2024_01_16_12_16_57/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..016e3051aaf1c841af683dd95d033fc9868af903 --- /dev/null +++ b/formal_microwave_2024_01_16_12_16_57/.hydra/hydra.yaml @@ -0,0 +1,157 @@ +hydra: + run: + dir: ./outputs/train/${abbr}_${now:%Y_%m_%d_%H_%M_%S} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: train + chdir: null + override_dirname: '' + id: ??? + num: ??? + config_name: train_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.2' + cwd: /home/junbo/Codes/rpmart + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/junbo/Codes/rpmart/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/junbo/Codes/rpmart/outputs/train/formal_microwave_2024_01_16_12_16_57 + choices: + training: formal + algorithm: formal + dataset: formal_microwave + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/formal_microwave_2024_01_16_12_16_57/.hydra/overrides.yaml b/formal_microwave_2024_01_16_12_16_57/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe51488c7066f6687ef680d6bfaa4f7768ef205c --- /dev/null +++ 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b/formal_microwave_2024_01_16_12_16_57/tb/training_outliers_ratio_translation/events.out.tfevents.1705378832.aiadm-PIO-6049GP-TRT1-ZY001.182067.31 new file mode 100644 index 0000000000000000000000000000000000000000..08d6f1da90dd9065c2d53f677e9c1703feb09ef2 --- /dev/null +++ b/formal_microwave_2024_01_16_12_16_57/tb/training_outliers_ratio_translation/events.out.tfevents.1705378832.aiadm-PIO-6049GP-TRT1-ZY001.182067.31 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd641518f72c1d9e099c043f49360259cd3513149f13ed9e8516942cf612e249 +size 761 diff --git a/formal_microwave_2024_01_16_12_16_57/train.log b/formal_microwave_2024_01_16_12_16_57/train.log new file mode 100644 index 0000000000000000000000000000000000000000..0760ad02e531ddc4690c7cac652f561a5e4c6813 --- /dev/null +++ b/formal_microwave_2024_01_16_12_16_57/train.log @@ -0,0 +1,1397 @@ +[2024-01-16 12:16:57,360][train][INFO] - Preparing dataset... +[2024-01-16 12:16:57,584][train][INFO] - Prepared dataset. +[2024-01-16 12:16:57,585][train][INFO] - Preparing model... +[2024-01-16 12:17:00,886][train][INFO] - Prepared model. +[2024-01-16 12:17:00,886][train][INFO] - Optimizing... +[2024-01-16 12:17:00,906][train][INFO] - epoch: 0 lr: 0.0001 +[2024-01-16 12:19:16,620][train][INFO] - training loss: 0.018672020604404118 + 0.2971480878499838 + 0.029619377851486207 + 0.3357035613976992 = 0.6811430481763986, data num: 1030 +[2024-01-16 12:19:16,635][train][INFO] - Validating training... +[2024-01-16 12:20:32,484][train][INFO] - mean_translation_distance_error = [143.62354] +[2024-01-16 12:20:32,484][train][INFO] - mean_translation_along_error = [22.774446] +[2024-01-16 12:20:32,484][train][INFO] - mean_translation_perp_error = [140.99408] +[2024-01-16 12:20:32,484][train][INFO] - mean_translation_plane_error = [98.6371] +[2024-01-16 12:20:32,484][train][INFO] - mean_translation_line_error = [97.39055] +[2024-01-16 12:20:32,485][train][INFO] - mean_rotation_error = [90.] +[2024-01-16 12:20:32,485][train][INFO] - mean_affordance_error = [120.9522] +[2024-01-16 12:20:32,485][train][INFO] - median_translation_distance_error = [144.52283] +[2024-01-16 12:20:32,485][train][INFO] - median_translation_along_error = [22.125439] +[2024-01-16 12:20:32,486][train][INFO] - median_translation_perp_error = [143.4551] +[2024-01-16 12:20:32,486][train][INFO] - median_translation_plane_error = [96.009964] +[2024-01-16 12:20:32,486][train][INFO] - median_translation_line_error = [99.35387] +[2024-01-16 12:20:32,486][train][INFO] - median_rotation_error = [90.] +[2024-01-16 12:20:32,486][train][INFO] - median_affordance_error = [117.73712] +[2024-01-16 12:20:32,486][train][INFO] - max_translation_distance_error = [221.33319] +[2024-01-16 12:20:32,486][train][INFO] - max_translation_along_error = [53.60204] +[2024-01-16 12:20:32,486][train][INFO] - max_translation_perp_error = [220.96872] +[2024-01-16 12:20:32,487][train][INFO] - max_translation_plane_error = [185.54097] +[2024-01-16 12:20:32,487][train][INFO] - max_translation_line_error = [155.21535] +[2024-01-16 12:20:32,487][train][INFO] - max_rotation_error = [90.] +[2024-01-16 12:20:32,487][train][INFO] - max_affordance_error = [235.16663] +[2024-01-16 12:20:32,487][train][INFO] - min_translation_distance_error = [88.24211] +[2024-01-16 12:20:32,487][train][INFO] - min_translation_along_error = [0.3096521] +[2024-01-16 12:20:32,487][train][INFO] - min_translation_perp_error = [82.57679] +[2024-01-16 12:20:32,487][train][INFO] - min_translation_plane_error = [47.424706] +[2024-01-16 12:20:32,487][train][INFO] - min_translation_line_error = [41.529408] +[2024-01-16 12:20:32,488][train][INFO] - min_rotation_error = [90.] +[2024-01-16 12:20:32,488][train][INFO] - min_affordance_error = [65.643654] +[2024-01-16 12:20:32,488][train][INFO] - std_translation_distance_error = [30.069263] +[2024-01-16 12:20:32,488][train][INFO] - std_translation_along_error = [13.2006235] +[2024-01-16 12:20:32,488][train][INFO] - std_translation_perp_error = [30.977709] +[2024-01-16 12:20:32,488][train][INFO] - std_translation_plane_error = [30.383635] +[2024-01-16 12:20:32,489][train][INFO] - std_translation_line_error = [29.294544] +[2024-01-16 12:20:32,489][train][INFO] - std_rotation_error = [0.] +[2024-01-16 12:20:32,489][train][INFO] - std_affordance_error = [32.36459] +[2024-01-16 12:20:32,489][train][INFO] - translation_outliers_num = 64 +[2024-01-16 12:20:32,489][train][INFO] - rotation_outliers_num = 64 +[2024-01-16 12:20:32,489][train][INFO] - affordance_outliers_num = 64 +[2024-01-16 12:20:32,489][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-16 12:20:32,489][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-16 12:20:32,489][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-16 12:20:32,489][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 12:20:32,518][train][INFO] - Validated training. +[2024-01-16 12:20:32,518][train][INFO] - Validating training time: 75.88286519050598 +[2024-01-16 12:20:32,518][train][INFO] - Validating testing... +[2024-01-16 12:21:37,894][train][INFO] - mean_translation_distance_error = [142.66835] +[2024-01-16 12:21:37,895][train][INFO] - mean_translation_along_error = [22.33046] +[2024-01-16 12:21:37,895][train][INFO] - mean_translation_perp_error = [139.93484] +[2024-01-16 12:21:37,895][train][INFO] - mean_translation_plane_error = [94.57343] +[2024-01-16 12:21:37,896][train][INFO] - mean_translation_line_error = [95.72636] +[2024-01-16 12:21:37,896][train][INFO] - mean_rotation_error = [90.] +[2024-01-16 12:21:37,896][train][INFO] - mean_affordance_error = [117.21791] +[2024-01-16 12:21:37,897][train][INFO] - median_translation_distance_error = [138.6051] +[2024-01-16 12:21:37,897][train][INFO] - median_translation_along_error = [19.552399] +[2024-01-16 12:21:37,897][train][INFO] - median_translation_perp_error = [137.26852] +[2024-01-16 12:21:37,897][train][INFO] - median_translation_plane_error = [93.62033] +[2024-01-16 12:21:37,898][train][INFO] - median_translation_line_error = [97.598465] +[2024-01-16 12:21:37,898][train][INFO] - median_rotation_error = [90.] +[2024-01-16 12:21:37,898][train][INFO] - median_affordance_error = [115.92682] +[2024-01-16 12:21:37,898][train][INFO] - max_translation_distance_error = [198.3381] +[2024-01-16 12:21:37,898][train][INFO] - max_translation_along_error = [57.468212] +[2024-01-16 12:21:37,899][train][INFO] - max_translation_perp_error = [198.12296] +[2024-01-16 12:21:37,899][train][INFO] - max_translation_plane_error = [150.57808] +[2024-01-16 12:21:37,899][train][INFO] - max_translation_line_error = [156.98682] +[2024-01-16 12:21:37,899][train][INFO] - max_rotation_error = [90.] +[2024-01-16 12:21:37,899][train][INFO] - max_affordance_error = [170.63539] +[2024-01-16 12:21:37,899][train][INFO] - min_translation_distance_error = [98.42435] +[2024-01-16 12:21:37,900][train][INFO] - min_translation_along_error = [0.8776903] +[2024-01-16 12:21:37,900][train][INFO] - min_translation_perp_error = [93.40315] +[2024-01-16 12:21:37,900][train][INFO] - min_translation_plane_error = [38.855164] +[2024-01-16 12:21:37,900][train][INFO] - min_translation_line_error = [16.193115] +[2024-01-16 12:21:37,900][train][INFO] - min_rotation_error = [90.] +[2024-01-16 12:21:37,900][train][INFO] - min_affordance_error = [70.03734] +[2024-01-16 12:21:37,901][train][INFO] - std_translation_distance_error = [22.323046] +[2024-01-16 12:21:37,901][train][INFO] - std_translation_along_error = [14.227857] +[2024-01-16 12:21:37,901][train][INFO] - std_translation_perp_error = [23.869164] +[2024-01-16 12:21:37,902][train][INFO] - std_translation_plane_error = [29.04241] +[2024-01-16 12:21:37,902][train][INFO] - std_translation_line_error = [29.147875] +[2024-01-16 12:21:37,902][train][INFO] - std_rotation_error = [0.] +[2024-01-16 12:21:37,902][train][INFO] - std_affordance_error = [22.712872] +[2024-01-16 12:21:37,902][train][INFO] - translation_outliers_num = 64 +[2024-01-16 12:21:37,902][train][INFO] - rotation_outliers_num = 64 +[2024-01-16 12:21:37,902][train][INFO] - affordance_outliers_num = 64 +[2024-01-16 12:21:37,902][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-16 12:21:37,902][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-16 12:21:37,902][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-16 12:21:37,902][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 12:21:37,930][train][INFO] - Validated testing. +[2024-01-16 12:21:37,930][train][INFO] - Validating testing time: 65.41130805015564 +[2024-01-16 12:21:37,930][train][INFO] - epoch: 1 lr: 0.0002 +[2024-01-16 12:23:55,785][train][INFO] - training loss: 0.011276795614797335 + 0.2612553876179915 + 0.0171069752281675 + 0.3168714835093572 = 0.606510642858652, data num: 1030 +[2024-01-16 12:23:55,789][train][INFO] - epoch: 2 lr: 0.0003 +[2024-01-16 12:26:13,609][train][INFO] - training loss: 0.01139574761574085 + 0.254729746396725 + 0.015965745110924426 + 0.2849422308114859 = 0.5670334678429824, data num: 1030 +[2024-01-16 12:26:13,610][train][INFO] - epoch: 3 lr: 0.0004 +[2024-01-16 12:28:30,237][train][INFO] - training loss: 0.009826835989952088 + 0.23912432285455557 + 0.014614736904891637 + 0.24744023726536676 = 0.5110061319974752, data num: 1030 +[2024-01-16 12:28:30,238][train][INFO] - epoch: 4 lr: 0.0005 +[2024-01-16 12:30:44,795][train][INFO] - training loss: 0.00901479204543508 + 0.19544323155513177 + 0.013066482801850025 + 0.2194140021617596 = 0.43693850682331964, data num: 1030 +[2024-01-16 12:30:44,796][train][INFO] - epoch: 5 lr: 0.0006 +[2024-01-16 12:33:01,816][train][INFO] - training loss: 0.008427643202818358 + 0.1809759279856315 + 0.012154193573559706 + 0.20280454594355363 = 0.4043623112715208, data num: 1030 +[2024-01-16 12:33:01,817][train][INFO] - epoch: 6 lr: 0.0007 +[2024-01-16 12:35:22,973][train][INFO] - training loss: 0.007956217293842481 + 0.1726169709975903 + 0.011396671602359186 + 0.18929405831373655 = 0.38126391860154957, data num: 1030 +[2024-01-16 12:35:22,974][train][INFO] - epoch: 7 lr: 0.0008 +[2024-01-16 12:37:41,893][train][INFO] - training loss: 0.007907258081608094 + 0.16193393583481128 + 0.011511982776797734 + 0.18346893237187312 = 0.36482211030446565, data num: 1030 +[2024-01-16 12:37:41,894][train][INFO] - epoch: 8 lr: 0.0009000000000000001 +[2024-01-16 12:39:55,541][train][INFO] - training loss: 0.007936680703782117 + 0.15376182897732807 + 0.011006475390436558 + 0.1744891045185236 = 0.3471940870468433, data num: 1030 +[2024-01-16 12:39:55,543][train][INFO] - epoch: 9 lr: 0.001 +[2024-01-16 12:42:09,305][train][INFO] - training loss: 0.007779961351591807 + 0.15188337908341334 + 0.011797606199979781 + 0.16623598703971276 = 0.33769693466333245, data num: 1030 +[2024-01-16 12:42:09,306][train][INFO] - epoch: 10 lr: 0.001 +[2024-01-16 12:44:30,096][train][INFO] - training loss: 0.006984434427263645 + 0.14568162262439727 + 0.009737062368255394 + 0.15637092292308807 = 0.31877404405520515, data num: 1030 +[2024-01-16 12:44:30,097][train][INFO] - epoch: 11 lr: 0.000999938933078422 +[2024-01-16 12:46:54,838][train][INFO] - training loss: 0.006772165910269206 + 0.1420087795991164 + 0.009617610225597253 + 0.14772565284600625 = 0.3061242098991688, data num: 1030 +[2024-01-16 12:46:54,839][train][INFO] - epoch: 12 lr: 0.000999755747381037 +[2024-01-16 12:49:15,820][train][INFO] - training loss: 0.00654650701639744 + 0.13876159168206728 + 0.00877100107474969 + 0.13822706570992102 = 0.2923061659702888, data num: 1030 +[2024-01-16 12:49:15,821][train][INFO] - epoch: 13 lr: 0.000999450488106175 +[2024-01-16 12:51:39,348][train][INFO] - training loss: 0.006327116016585093 + 0.13749429010427916 + 0.00882423513640578 + 0.13982881960960536 = 0.29247446472828204, data num: 1030 +[2024-01-16 12:51:39,349][train][INFO] - epoch: 14 lr: 0.0009990232305719944 +[2024-01-16 12:53:55,276][train][INFO] - training loss: 0.006393077632842156 + 0.13337519203241055 + 0.008721466197703894 + 0.13591616337115947 = 0.2844058972138625, data num: 1030 +[2024-01-16 12:53:55,279][train][INFO] - epoch: 15 lr: 0.0009984740801978983 +[2024-01-16 12:56:15,516][train][INFO] - training loss: 0.006233118410007312 + 0.13039547033034837 + 0.008169212708106407 + 0.12448989290457506 = 0.2692876944175133, data num: 1030 +[2024-01-16 12:56:15,517][train][INFO] - epoch: 16 lr: 0.0009978031724785245 +[2024-01-16 12:58:41,571][train][INFO] - training loss: 0.005992639014640679 + 0.13020943781504266 + 0.007961053157655093 + 0.12293505955200928 = 0.2670981886295172, data num: 1030 +[2024-01-16 12:58:41,572][train][INFO] - epoch: 17 lr: 0.000997010672950314 +[2024-01-16 13:00:58,702][train][INFO] - training loss: 0.005647103459789203 + 0.12518272147728846 + 0.007496901744833359 + 0.11515522140723009 = 0.2534819483757019, data num: 1030 +[2024-01-16 13:00:58,703][train][INFO] - epoch: 18 lr: 0.0009960967771506664 +[2024-01-16 13:03:17,386][train][INFO] - training loss: 0.005673141000219263 + 0.12496330520281425 + 0.007153396186633752 + 0.10682397301380452 = 0.2446138166464292, data num: 1030 +[2024-01-16 13:03:17,387][train][INFO] - epoch: 19 lr: 0.0009950617105696957 +[2024-01-16 13:05:38,625][train][INFO] - training loss: 0.005498903957553781 + 0.12130549790767522 + 0.007014942333961909 + 0.10587195261166646 = 0.23969129828306346, data num: 1030 +[2024-01-16 13:05:38,626][train][INFO] - epoch: 20 lr: 0.0009939057285945929 +[2024-01-16 13:07:55,676][train][INFO] - training loss: 0.005611177175663984 + 0.12236251498644168 + 0.007188178713505085 + 0.10569568941226372 = 0.24085755898402286, data num: 1030 +[2024-01-16 13:07:55,690][train][INFO] - Validating training... +[2024-01-16 13:08:57,443][train][INFO] - mean_translation_distance_error = [8.396297] +[2024-01-16 13:08:57,444][train][INFO] - mean_translation_along_error = [2.7539678] +[2024-01-16 13:08:57,445][train][INFO] - mean_translation_perp_error = [7.61468] +[2024-01-16 13:08:57,445][train][INFO] - mean_translation_plane_error = [7.442559] +[2024-01-16 13:08:57,445][train][INFO] - mean_translation_line_error = [4.5231957] +[2024-01-16 13:08:57,445][train][INFO] - mean_rotation_error = [6.9149694] +[2024-01-16 13:08:57,445][train][INFO] - mean_affordance_error = [10.600334] +[2024-01-16 13:08:57,446][train][INFO] - median_translation_distance_error = [7.684079] +[2024-01-16 13:08:57,447][train][INFO] - median_translation_along_error = [2.5862708] +[2024-01-16 13:08:57,447][train][INFO] - median_translation_perp_error = [7.28152] +[2024-01-16 13:08:57,447][train][INFO] - median_translation_plane_error = [6.8494906] +[2024-01-16 13:08:57,447][train][INFO] - median_translation_line_error = [3.0731692] +[2024-01-16 13:08:57,447][train][INFO] - median_rotation_error = [5.9069366] +[2024-01-16 13:08:57,447][train][INFO] - median_affordance_error = [10.119331] +[2024-01-16 13:08:57,448][train][INFO] - max_translation_distance_error = [23.495916] +[2024-01-16 13:08:57,448][train][INFO] - max_translation_along_error = [8.143975] +[2024-01-16 13:08:57,448][train][INFO] - max_translation_perp_error = [23.179766] +[2024-01-16 13:08:57,448][train][INFO] - max_translation_plane_error = [23.17891] +[2024-01-16 13:08:57,448][train][INFO] - max_translation_line_error = [23.177416] +[2024-01-16 13:08:57,448][train][INFO] - max_rotation_error = [25.132227] +[2024-01-16 13:08:57,449][train][INFO] - max_affordance_error = [25.229246] +[2024-01-16 13:08:57,449][train][INFO] - min_translation_distance_error = [2.269611] +[2024-01-16 13:08:57,449][train][INFO] - min_translation_along_error = [0.0353829] +[2024-01-16 13:08:57,449][train][INFO] - min_translation_perp_error = [0.6019888] +[2024-01-16 13:08:57,449][train][INFO] - min_translation_plane_error = [0.7273322] +[2024-01-16 13:08:57,449][train][INFO] - min_translation_line_error = [0.06532654] +[2024-01-16 13:08:57,450][train][INFO] - min_rotation_error = [0.12820426] +[2024-01-16 13:08:57,450][train][INFO] - min_affordance_error = [1.684015] +[2024-01-16 13:08:57,450][train][INFO] - std_translation_distance_error = [4.054458] +[2024-01-16 13:08:57,451][train][INFO] - std_translation_along_error = [1.8838676] +[2024-01-16 13:08:57,451][train][INFO] - std_translation_perp_error = [4.22135] +[2024-01-16 13:08:57,451][train][INFO] - std_translation_plane_error = [4.2283387] +[2024-01-16 13:08:57,451][train][INFO] - std_translation_line_error = [4.093384] +[2024-01-16 13:08:57,451][train][INFO] - std_rotation_error = [4.9167786] +[2024-01-16 13:08:57,451][train][INFO] - std_affordance_error = [5.254413] +[2024-01-16 13:08:57,451][train][INFO] - translation_outliers_num = 47 +[2024-01-16 13:08:57,452][train][INFO] - rotation_outliers_num = 36 +[2024-01-16 13:08:57,452][train][INFO] - affordance_outliers_num = 57 +[2024-01-16 13:08:57,452][train][INFO] - translation_outliers_ratio = 0.734375 +[2024-01-16 13:08:57,452][train][INFO] - rotation_outliers_ratio = 0.5625 +[2024-01-16 13:08:57,452][train][INFO] - affordance_outliers_ratio = 0.890625 +[2024-01-16 13:08:57,452][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 13:08:57,453][train][INFO] - Validated training. +[2024-01-16 13:08:57,453][train][INFO] - Validating training time: 61.7631721496582 +[2024-01-16 13:08:57,454][train][INFO] - Validating testing... +[2024-01-16 13:09:56,914][train][INFO] - mean_translation_distance_error = [9.882121] +[2024-01-16 13:09:56,915][train][INFO] - mean_translation_along_error = [3.462528] +[2024-01-16 13:09:56,915][train][INFO] - mean_translation_perp_error = [8.880695] +[2024-01-16 13:09:56,915][train][INFO] - mean_translation_plane_error = [8.870398] +[2024-01-16 13:09:56,916][train][INFO] - mean_translation_line_error = [5.646183] +[2024-01-16 13:09:56,916][train][INFO] - mean_rotation_error = [6.625651] +[2024-01-16 13:09:56,917][train][INFO] - mean_affordance_error = [12.196791] +[2024-01-16 13:09:56,917][train][INFO] - median_translation_distance_error = [9.560312] +[2024-01-16 13:09:56,918][train][INFO] - median_translation_along_error = [2.8870592] +[2024-01-16 13:09:56,918][train][INFO] - median_translation_perp_error = [9.021048] +[2024-01-16 13:09:56,918][train][INFO] - median_translation_plane_error = [8.946972] +[2024-01-16 13:09:56,918][train][INFO] - median_translation_line_error = [5.603134] +[2024-01-16 13:09:56,918][train][INFO] - median_rotation_error = [5.841381] +[2024-01-16 13:09:56,918][train][INFO] - median_affordance_error = [11.8448305] +[2024-01-16 13:09:56,919][train][INFO] - max_translation_distance_error = [23.343853] +[2024-01-16 13:09:56,919][train][INFO] - max_translation_along_error = [11.561344] +[2024-01-16 13:09:56,919][train][INFO] - max_translation_perp_error = [22.61559] +[2024-01-16 13:09:56,919][train][INFO] - max_translation_plane_error = [22.660671] +[2024-01-16 13:09:56,919][train][INFO] - max_translation_line_error = [21.3091] +[2024-01-16 13:09:56,920][train][INFO] - max_rotation_error = [23.814281] +[2024-01-16 13:09:56,920][train][INFO] - max_affordance_error = [32.483536] +[2024-01-16 13:09:56,920][train][INFO] - min_translation_distance_error = [1.343936] +[2024-01-16 13:09:56,920][train][INFO] - min_translation_along_error = [0.11491142] +[2024-01-16 13:09:56,920][train][INFO] - min_translation_perp_error = [0.98274773] +[2024-01-16 13:09:56,920][train][INFO] - min_translation_plane_error = [0.8495571] +[2024-01-16 13:09:56,921][train][INFO] - min_translation_line_error = [0.03189203] +[2024-01-16 13:09:56,921][train][INFO] - min_rotation_error = [0.20558421] +[2024-01-16 13:09:56,921][train][INFO] - min_affordance_error = [2.2084646] +[2024-01-16 13:09:56,921][train][INFO] - std_translation_distance_error = [4.1117606] +[2024-01-16 13:09:56,922][train][INFO] - std_translation_along_error = [2.2634249] +[2024-01-16 13:09:56,922][train][INFO] - std_translation_perp_error = [4.3109097] +[2024-01-16 13:09:56,922][train][INFO] - std_translation_plane_error = [4.192539] +[2024-01-16 13:09:56,922][train][INFO] - std_translation_line_error = [4.357408] +[2024-01-16 13:09:56,922][train][INFO] - std_rotation_error = [4.787077] +[2024-01-16 13:09:56,922][train][INFO] - std_affordance_error = [5.9755497] +[2024-01-16 13:09:56,923][train][INFO] - translation_outliers_num = 52 +[2024-01-16 13:09:56,923][train][INFO] - rotation_outliers_num = 38 +[2024-01-16 13:09:56,923][train][INFO] - affordance_outliers_num = 58 +[2024-01-16 13:09:56,923][train][INFO] - translation_outliers_ratio = 0.8125 +[2024-01-16 13:09:56,923][train][INFO] - rotation_outliers_ratio = 0.59375 +[2024-01-16 13:09:56,923][train][INFO] - affordance_outliers_ratio = 0.90625 +[2024-01-16 13:09:56,923][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 13:09:56,924][train][INFO] - Validated testing. +[2024-01-16 13:09:56,924][train][INFO] - Validating testing time: 59.47029757499695 +[2024-01-16 13:09:56,925][train][INFO] - epoch: 21 lr: 0.0009926291164466126 +[2024-01-16 13:12:11,338][train][INFO] - training loss: 0.005428441040790998 + 0.11663275326673801 + 0.006890547289871252 + 0.09525266736745834 = 0.22420441049795883, data num: 1030 +[2024-01-16 13:12:11,341][train][INFO] - epoch: 22 lr: 0.0009912321891107005 +[2024-01-16 13:14:31,034][train][INFO] - training loss: 0.005372850210047685 + 0.11602438997763853 + 0.006737587278565535 + 0.09564111324457023 = 0.22377594090425051, data num: 1030 +[2024-01-16 13:14:31,036][train][INFO] - epoch: 23 lr: 0.0009897152912577737 +[2024-01-16 13:16:51,000][train][INFO] - training loss: 0.005287955468520522 + 0.11506366718273897 + 0.006750488044837346 + 0.09661322213136232 = 0.22371533329670246, data num: 1030 +[2024-01-16 13:16:51,002][train][INFO] - epoch: 24 lr: 0.0009880787971596797 +[2024-01-16 13:19:17,015][train][INFO] - training loss: 0.0050691853349025436 + 0.11421651553649169 + 0.006549504521087959 + 0.09079594898682375 = 0.21663115391364465, data num: 1030 +[2024-01-16 13:19:17,016][train][INFO] - epoch: 25 lr: 0.0009863231105968495 +[2024-01-16 13:21:40,984][train][INFO] - training loss: 0.004861406673892186 + 0.11007014226454954 + 0.006099135944476495 + 0.08839134768797802 = 0.20942203333744636, data num: 1030 +[2024-01-16 13:21:40,985][train][INFO] - epoch: 26 lr: 0.000984448664758672 +[2024-01-16 13:23:55,041][train][INFO] - training loss: 0.005104398730999002 + 0.10953251891411268 + 0.006328502712914577 + 0.08836743350212391 = 0.20933285355567932, data num: 1030 +[2024-01-16 13:23:55,043][train][INFO] - epoch: 27 lr: 0.0009824559221366096 +[2024-01-16 13:26:15,369][train][INFO] - training loss: 0.0048521218212464684 + 0.10843638227536129 + 0.0059724818700208114 + 0.08212483685750227 = 0.20138582128744859, data num: 1030 +[2024-01-16 13:26:15,370][train][INFO] - epoch: 28 lr: 0.0009803453744100864 +[2024-01-16 13:28:24,987][train][INFO] - training loss: 0.004720060319568102 + 0.1074174070587525 + 0.005969773841878543 + 0.08143677138365232 = 0.1995440123172907, data num: 1030 +[2024-01-16 13:28:24,988][train][INFO] - epoch: 29 lr: 0.0009781175423251728 +[2024-01-16 13:30:41,711][train][INFO] - training loss: 0.004965197413156812 + 0.10864939231138963 + 0.006156089830283935 + 0.08339021280407906 = 0.2031608916245974, data num: 1030 +[2024-01-16 13:30:41,712][train][INFO] - epoch: 30 lr: 0.0009757729755661004 +[2024-01-16 13:32:55,860][train][INFO] - training loss: 0.004692203257806026 + 0.10436298572100126 + 0.005848634859117178 + 0.07483598876457948 = 0.18973981348367838, data num: 1030 +[2024-01-16 13:32:55,861][train][INFO] - epoch: 31 lr: 0.0009733122526196342 +[2024-01-16 13:35:17,880][train][INFO] - training loss: 0.00479155620918251 + 0.10384924514935567 + 0.005672074037675674 + 0.075408414292794 = 0.1897212892770767, data num: 1030 +[2024-01-16 13:35:17,882][train][INFO] - epoch: 32 lr: 0.000970735980632341 +[2024-01-16 13:37:28,025][train][INFO] - training loss: 0.00446348601164153 + 0.1016984577362354 + 0.005580211831973149 + 0.07273801719913116 = 0.1844801726249548, data num: 1030 +[2024-01-16 13:37:28,026][train][INFO] - epoch: 33 lr: 0.0009680447952607838 +[2024-01-16 13:39:39,624][train][INFO] - training loss: 0.004425108482917914 + 0.1033646693596473 + 0.005504917313989538 + 0.07138504947607334 = 0.18467974410607266, data num: 1030 +[2024-01-16 13:39:39,625][train][INFO] - epoch: 34 lr: 0.0009652393605146839 +[2024-01-16 13:41:54,787][train][INFO] - training loss: 0.00440150611460782 + 0.10156935980686775 + 0.00546947901065533 + 0.06792659169206253 = 0.17936693521646352, data num: 1030 +[2024-01-16 13:41:54,788][train][INFO] - epoch: 35 lr: 0.0009623203685930864 +[2024-01-16 13:44:11,682][train][INFO] - training loss: 0.004632610218742719 + 0.10008449130333387 + 0.005443372061619392 + 0.06610257499493086 = 0.17626304832788614, data num: 1030 +[2024-01-16 13:44:11,683][train][INFO] - epoch: 36 lr: 0.00095928853971357 +[2024-01-16 13:46:23,916][train][INFO] - training loss: 0.004303875210909889 + 0.09941929762180035 + 0.005491374870045827 + 0.06525188369246629 = 0.17446643091165104, data num: 1030 +[2024-01-16 13:46:23,917][train][INFO] - epoch: 37 lr: 0.0009561446219345448 +[2024-01-16 13:48:39,453][train][INFO] - training loss: 0.004199351864651992 + 0.09702384242644677 + 0.005249743829839505 + 0.06441370936540457 = 0.17088664724276617, data num: 1030 +[2024-01-16 13:48:39,455][train][INFO] - epoch: 38 lr: 0.0009528893909706791 +[2024-01-16 13:50:49,029][train][INFO] - training loss: 0.0044079356934302125 + 0.0952506531889622 + 0.005238443842301002 + 0.06481551814537782 = 0.16971255105275374, data num: 1030 +[2024-01-16 13:50:49,031][train][INFO] - epoch: 39 lr: 0.0009495236500015041 +[2024-01-16 13:53:06,541][train][INFO] - training loss: 0.0041163614306312345 + 0.09408999589773324 + 0.005079940434258717 + 0.05970993460370944 = 0.16299623342660757, data num: 1030 +[2024-01-16 13:53:06,542][train][INFO] - epoch: 40 lr: 0.0009460482294732414 +[2024-01-16 13:55:21,064][train][INFO] - training loss: 0.0042134897317737344 + 0.09328132455165569 + 0.005026294025950707 + 0.06107854229899553 = 0.1635996509056825, data num: 1030 +[2024-01-16 13:55:21,078][train][INFO] - Validating training... +[2024-01-16 13:56:19,607][train][INFO] - mean_translation_distance_error = [6.8576217] +[2024-01-16 13:56:19,608][train][INFO] - mean_translation_along_error = [1.4587276] +[2024-01-16 13:56:19,608][train][INFO] - mean_translation_perp_error = [6.5367756] +[2024-01-16 13:56:19,609][train][INFO] - mean_translation_plane_error = [6.5281076] +[2024-01-16 13:56:19,609][train][INFO] - mean_translation_line_error = [4.030634] +[2024-01-16 13:56:19,609][train][INFO] - mean_rotation_error = [4.565583] +[2024-01-16 13:56:19,609][train][INFO] - mean_affordance_error = [7.1947694] +[2024-01-16 13:56:19,610][train][INFO] - median_translation_distance_error = [6.0448875] +[2024-01-16 13:56:19,610][train][INFO] - median_translation_along_error = [1.0989091] +[2024-01-16 13:56:19,610][train][INFO] - median_translation_perp_error = [5.5924516] +[2024-01-16 13:56:19,611][train][INFO] - median_translation_plane_error = [5.626998] +[2024-01-16 13:56:19,611][train][INFO] - median_translation_line_error = [3.4330251] +[2024-01-16 13:56:19,611][train][INFO] - median_rotation_error = [3.8087707] +[2024-01-16 13:56:19,611][train][INFO] - median_affordance_error = [6.4745464] +[2024-01-16 13:56:19,611][train][INFO] - max_translation_distance_error = [16.958632] +[2024-01-16 13:56:19,612][train][INFO] - max_translation_along_error = [5.1197143] +[2024-01-16 13:56:19,612][train][INFO] - max_translation_perp_error = [16.95848] +[2024-01-16 13:56:19,612][train][INFO] - max_translation_plane_error = [16.958431] +[2024-01-16 13:56:19,612][train][INFO] - max_translation_line_error = [15.979921] +[2024-01-16 13:56:19,612][train][INFO] - max_rotation_error = [13.938971] +[2024-01-16 13:56:19,612][train][INFO] - max_affordance_error = [17.781013] +[2024-01-16 13:56:19,613][train][INFO] - min_translation_distance_error = [1.3195807] +[2024-01-16 13:56:19,613][train][INFO] - min_translation_along_error = [0.0186677] +[2024-01-16 13:56:19,613][train][INFO] - min_translation_perp_error = [1.2559856] +[2024-01-16 13:56:19,613][train][INFO] - min_translation_plane_error = [1.2932215] +[2024-01-16 13:56:19,613][train][INFO] - min_translation_line_error = [0.05121125] +[2024-01-16 13:56:19,613][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-16 13:56:19,614][train][INFO] - min_affordance_error = [2.0382042] +[2024-01-16 13:56:19,614][train][INFO] - std_translation_distance_error = [3.6197863] +[2024-01-16 13:56:19,614][train][INFO] - std_translation_along_error = [1.2852043] +[2024-01-16 13:56:19,615][train][INFO] - std_translation_perp_error = [3.6906304] +[2024-01-16 13:56:19,615][train][INFO] - std_translation_plane_error = [3.6934168] +[2024-01-16 13:56:19,615][train][INFO] - std_translation_line_error = [3.1300237] +[2024-01-16 13:56:19,615][train][INFO] - std_rotation_error = [3.0405412] +[2024-01-16 13:56:19,615][train][INFO] - std_affordance_error = [3.626658] +[2024-01-16 13:56:19,615][train][INFO] - translation_outliers_num = 37 +[2024-01-16 13:56:19,615][train][INFO] - rotation_outliers_num = 25 +[2024-01-16 13:56:19,615][train][INFO] - affordance_outliers_num = 45 +[2024-01-16 13:56:19,615][train][INFO] - translation_outliers_ratio = 0.578125 +[2024-01-16 13:56:19,615][train][INFO] - rotation_outliers_ratio = 0.390625 +[2024-01-16 13:56:19,616][train][INFO] - affordance_outliers_ratio = 0.703125 +[2024-01-16 13:56:19,616][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 13:56:19,617][train][INFO] - Validated training. +[2024-01-16 13:56:19,617][train][INFO] - Validating training time: 58.539387226104736 +[2024-01-16 13:56:19,618][train][INFO] - Validating testing... +[2024-01-16 13:57:17,688][train][INFO] - mean_translation_distance_error = [6.789546] +[2024-01-16 13:57:17,689][train][INFO] - mean_translation_along_error = [1.732629] +[2024-01-16 13:57:17,690][train][INFO] - mean_translation_perp_error = [6.3705516] +[2024-01-16 13:57:17,690][train][INFO] - mean_translation_plane_error = [6.280384] +[2024-01-16 13:57:17,690][train][INFO] - mean_translation_line_error = [3.854217] +[2024-01-16 13:57:17,691][train][INFO] - mean_rotation_error = [6.514065] +[2024-01-16 13:57:17,691][train][INFO] - mean_affordance_error = [7.8448167] +[2024-01-16 13:57:17,693][train][INFO] - median_translation_distance_error = [6.875663] +[2024-01-16 13:57:17,693][train][INFO] - median_translation_along_error = [1.372749] +[2024-01-16 13:57:17,693][train][INFO] - median_translation_perp_error = [6.2751064] +[2024-01-16 13:57:17,693][train][INFO] - median_translation_plane_error = [6.337843] +[2024-01-16 13:57:17,694][train][INFO] - median_translation_line_error = [3.2247965] +[2024-01-16 13:57:17,694][train][INFO] - median_rotation_error = [5.6646266] +[2024-01-16 13:57:17,694][train][INFO] - median_affordance_error = [6.820554] +[2024-01-16 13:57:17,694][train][INFO] - max_translation_distance_error = [18.807186] +[2024-01-16 13:57:17,694][train][INFO] - max_translation_along_error = [5.015874] +[2024-01-16 13:57:17,694][train][INFO] - max_translation_perp_error = [18.520638] +[2024-01-16 13:57:17,695][train][INFO] - max_translation_plane_error = [18.158089] +[2024-01-16 13:57:17,695][train][INFO] - max_translation_line_error = [15.87988] +[2024-01-16 13:57:17,695][train][INFO] - max_rotation_error = [25.81413] +[2024-01-16 13:57:17,695][train][INFO] - max_affordance_error = [23.83431] +[2024-01-16 13:57:17,695][train][INFO] - min_translation_distance_error = [0.48112026] +[2024-01-16 13:57:17,695][train][INFO] - min_translation_along_error = [0.00953153] +[2024-01-16 13:57:17,696][train][INFO] - min_translation_perp_error = [0.35431308] +[2024-01-16 13:57:17,696][train][INFO] - min_translation_plane_error = [0.35349426] +[2024-01-16 13:57:17,696][train][INFO] - min_translation_line_error = [0.32765266] +[2024-01-16 13:57:17,696][train][INFO] - min_rotation_error = [0.8873521] +[2024-01-16 13:57:17,696][train][INFO] - min_affordance_error = [1.229203] +[2024-01-16 13:57:17,697][train][INFO] - std_translation_distance_error = [3.1612966] +[2024-01-16 13:57:17,697][train][INFO] - std_translation_along_error = [1.4427899] +[2024-01-16 13:57:17,697][train][INFO] - std_translation_perp_error = [3.2286458] +[2024-01-16 13:57:17,697][train][INFO] - std_translation_plane_error = [3.1724513] +[2024-01-16 13:57:17,697][train][INFO] - std_translation_line_error = [2.7697012] +[2024-01-16 13:57:17,698][train][INFO] - std_rotation_error = [4.169308] +[2024-01-16 13:57:17,698][train][INFO] - std_affordance_error = [4.6401787] +[2024-01-16 13:57:17,698][train][INFO] - translation_outliers_num = 41 +[2024-01-16 13:57:17,698][train][INFO] - rotation_outliers_num = 36 +[2024-01-16 13:57:17,698][train][INFO] - affordance_outliers_num = 42 +[2024-01-16 13:57:17,698][train][INFO] - translation_outliers_ratio = 0.640625 +[2024-01-16 13:57:17,698][train][INFO] - rotation_outliers_ratio = 0.5625 +[2024-01-16 13:57:17,698][train][INFO] - affordance_outliers_ratio = 0.65625 +[2024-01-16 13:57:17,698][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 13:57:17,700][train][INFO] - Validated testing. +[2024-01-16 13:57:17,700][train][INFO] - Validating testing time: 58.08167552947998 +[2024-01-16 13:57:17,700][train][INFO] - epoch: 41 lr: 0.0009424639868939027 +[2024-01-16 13:59:28,912][train][INFO] - training loss: 0.0042509368298432005 + 0.09508511252128161 + 0.005044790916144848 + 0.06327714977356104 = 0.16765798834654, data num: 1030 +[2024-01-16 13:59:28,913][train][INFO] - epoch: 42 lr: 0.0009387718066217117 +[2024-01-16 14:01:47,883][train][INFO] - training loss: 0.004058578245055217 + 0.09301544829056813 + 0.0048975197598338125 + 0.056111456281863724 = 0.15808300261314098, data num: 1030 +[2024-01-16 14:01:47,884][train][INFO] - epoch: 43 lr: 0.000934972599646904 +[2024-01-16 14:04:05,863][train][INFO] - training loss: 0.0040320414082648665 + 0.09056247105965247 + 0.004902292007150559 + 0.05910762439553554 = 0.15860442908910605, data num: 1030 +[2024-01-16 14:04:05,864][train][INFO] - epoch: 44 lr: 0.0009310673033669515 +[2024-01-16 14:06:21,932][train][INFO] - training loss: 0.004038879629940941 + 0.08975860831829217 + 0.0049221274586251145 + 0.055994698462577965 = 0.15471431406644676, data num: 1030 +[2024-01-16 14:06:21,934][train][INFO] - epoch: 45 lr: 0.0009270568813552751 +[2024-01-16 14:08:43,978][train][INFO] - training loss: 0.004031822508057723 + 0.08989258591945355 + 0.004791994478840094 + 0.05481414061326247 = 0.15353054381333864, data num: 1030 +[2024-01-16 14:08:43,979][train][INFO] - epoch: 46 lr: 0.0009229423231234969 +[2024-01-16 14:11:05,060][train][INFO] - training loss: 0.004002291290089488 + 0.08758536004103147 + 0.0048685398705017105 + 0.055308164197664995 = 0.1517643541097641, data num: 1030 +[2024-01-16 14:11:05,061][train][INFO] - epoch: 47 lr: 0.0009187246438772933 +[2024-01-16 14:13:22,935][train][INFO] - training loss: 0.003792714048177004 + 0.08630027507360165 + 0.004726315941661596 + 0.05271703193967159 = 0.14753633657327064, data num: 1030 +[2024-01-16 14:13:22,936][train][INFO] - epoch: 48 lr: 0.0009144048842659075 +[2024-01-16 14:15:37,805][train][INFO] - training loss: 0.0038764148162534606 + 0.0868599560398322 + 0.004685569783815971 + 0.05042754119405379 = 0.14584948248588123, data num: 1030 +[2024-01-16 14:15:37,806][train][INFO] - epoch: 49 lr: 0.0009099841101253861 +[2024-01-16 14:17:53,672][train][INFO] - training loss: 0.0038606947108816643 + 0.08633187894637769 + 0.004638887787810885 + 0.050227197603537485 = 0.1450586579166926, data num: 1030 +[2024-01-16 14:17:53,673][train][INFO] - epoch: 50 lr: 0.0009054634122155986 +[2024-01-16 14:20:11,447][train][INFO] - training loss: 0.0038764469074801756 + 0.08429785336439426 + 0.004644512256177572 + 0.05151175478330025 = 0.144330567580003, data num: 1030 +[2024-01-16 14:20:11,448][train][INFO] - epoch: 51 lr: 0.0009008439059511095 +[2024-01-16 14:22:32,311][train][INFO] - training loss: 0.0036762477149470496 + 0.08583253163557786 + 0.004701989161996887 + 0.04794159832482155 = 0.14215236627138578, data num: 1030 +[2024-01-16 14:22:32,313][train][INFO] - epoch: 52 lr: 0.0008961267311259662 +[2024-01-16 14:24:50,754][train][INFO] - training loss: 0.003768694372131274 + 0.08780004565532391 + 0.004696744648166574 + 0.05023471887868184 = 0.1465002043889119, data num: 1030 +[2024-01-16 14:24:50,755][train][INFO] - epoch: 53 lr: 0.0008913130516324728 +[2024-01-16 14:27:06,817][train][INFO] - training loss: 0.00364294104063167 + 0.08289304352723635 + 0.004330385741419517 + 0.044559551488894684 = 0.1354259219307166, data num: 1030 +[2024-01-16 14:27:06,819][train][INFO] - epoch: 54 lr: 0.0008864040551740152 +[2024-01-16 14:29:25,066][train][INFO] - training loss: 0.0036519044974388983 + 0.08282032643373195 + 0.004479773213657049 + 0.0461880031400002 = 0.13714000789018777, data num: 1030 +[2024-01-16 14:29:25,068][train][INFO] - epoch: 55 lr: 0.000881400952972015 +[2024-01-16 14:31:43,257][train][INFO] - training loss: 0.0035698065928255135 + 0.08337942808866501 + 0.004442117323812384 + 0.04539142852792373 = 0.13678278063352292, data num: 1030 +[2024-01-16 14:31:43,258][train][INFO] - epoch: 56 lr: 0.0008763049794670771 +[2024-01-16 14:33:59,076][train][INFO] - training loss: 0.003558406341247834 + 0.08012967040905586 + 0.004211741381396468 + 0.04307378324178549 = 0.13097360145587186, data num: 1030 +[2024-01-16 14:33:59,078][train][INFO] - epoch: 57 lr: 0.0008711173920144113 +[2024-01-16 14:36:19,429][train][INFO] - training loss: 0.0036396641069306778 + 0.08142261447814794 + 0.004392135730729653 + 0.04548580921613253 = 0.13494022419819465, data num: 1030 +[2024-01-16 14:36:19,430][train][INFO] - epoch: 58 lr: 0.0008658394705735983 +[2024-01-16 14:38:30,524][train][INFO] - training loss: 0.0035968382878658863 + 0.08105400594381186 + 0.0043001939363491075 + 0.044881112730273835 = 0.1338321511562054, data num: 1030 +[2024-01-16 14:38:30,526][train][INFO] - epoch: 59 lr: 0.0008604725173927781 +[2024-01-16 14:40:52,423][train][INFO] - training loss: 0.003586032563963762 + 0.0790436775638507 + 0.004297938878433063 + 0.041808467272382514 = 0.12873611599206924, data num: 1030 +[2024-01-16 14:40:52,424][train][INFO] - epoch: 60 lr: 0.0008550178566873405 +[2024-01-16 14:43:02,620][train][INFO] - training loss: 0.0035311778756574944 + 0.07970815151929855 + 0.004197148717223452 + 0.04315879092766688 = 0.1305952706016027, data num: 1030 +[2024-01-16 14:43:02,632][train][INFO] - Validating training... +[2024-01-16 14:43:57,837][train][INFO] - mean_translation_distance_error = [6.547849] +[2024-01-16 14:43:57,837][train][INFO] - mean_translation_along_error = [3.1448255] +[2024-01-16 14:43:57,837][train][INFO] - mean_translation_perp_error = [5.257286] +[2024-01-16 14:43:57,837][train][INFO] - mean_translation_plane_error = [5.2743406] +[2024-01-16 14:43:57,838][train][INFO] - mean_translation_line_error = [2.8062885] +[2024-01-16 14:43:57,838][train][INFO] - mean_rotation_error = [4.590022] +[2024-01-16 14:43:57,838][train][INFO] - mean_affordance_error = [5.5202026] +[2024-01-16 14:43:57,839][train][INFO] - median_translation_distance_error = [6.080162] +[2024-01-16 14:43:57,839][train][INFO] - median_translation_along_error = [2.8725364] +[2024-01-16 14:43:57,839][train][INFO] - median_translation_perp_error = [4.457465] +[2024-01-16 14:43:57,839][train][INFO] - median_translation_plane_error = [4.5159855] +[2024-01-16 14:43:57,840][train][INFO] - median_translation_line_error = [2.1958272] +[2024-01-16 14:43:57,840][train][INFO] - median_rotation_error = [4.0152836] +[2024-01-16 14:43:57,840][train][INFO] - median_affordance_error = [4.8831477] +[2024-01-16 14:43:57,840][train][INFO] - max_translation_distance_error = [13.800573] +[2024-01-16 14:43:57,840][train][INFO] - max_translation_along_error = [8.648587] +[2024-01-16 14:43:57,841][train][INFO] - max_translation_perp_error = [13.510127] +[2024-01-16 14:43:57,841][train][INFO] - max_translation_plane_error = [13.326752] +[2024-01-16 14:43:57,841][train][INFO] - max_translation_line_error = [11.449083] +[2024-01-16 14:43:57,841][train][INFO] - max_rotation_error = [11.789935] +[2024-01-16 14:43:57,841][train][INFO] - max_affordance_error = [18.062489] +[2024-01-16 14:43:57,841][train][INFO] - min_translation_distance_error = [1.1118116] +[2024-01-16 14:43:57,842][train][INFO] - min_translation_along_error = [0.20796078] +[2024-01-16 14:43:57,842][train][INFO] - min_translation_perp_error = [0.63448125] +[2024-01-16 14:43:57,842][train][INFO] - min_translation_plane_error = [0.66817254] +[2024-01-16 14:43:57,842][train][INFO] - min_translation_line_error = [0.00628079] +[2024-01-16 14:43:57,842][train][INFO] - min_rotation_error = [0.57095516] +[2024-01-16 14:43:57,842][train][INFO] - min_affordance_error = [0.5007409] +[2024-01-16 14:43:57,843][train][INFO] - std_translation_distance_error = [2.9427311] +[2024-01-16 14:43:57,843][train][INFO] - std_translation_along_error = [1.753608] +[2024-01-16 14:43:57,843][train][INFO] - std_translation_perp_error = [3.306034] +[2024-01-16 14:43:57,843][train][INFO] - std_translation_plane_error = [3.2842057] +[2024-01-16 14:43:57,844][train][INFO] - std_translation_line_error = [2.4360454] +[2024-01-16 14:43:57,844][train][INFO] - std_rotation_error = [2.3516443] +[2024-01-16 14:43:57,844][train][INFO] - std_affordance_error = [3.5726323] +[2024-01-16 14:43:57,844][train][INFO] - translation_outliers_num = 33 +[2024-01-16 14:43:57,844][train][INFO] - rotation_outliers_num = 21 +[2024-01-16 14:43:57,844][train][INFO] - affordance_outliers_num = 30 +[2024-01-16 14:43:57,844][train][INFO] - translation_outliers_ratio = 0.515625 +[2024-01-16 14:43:57,844][train][INFO] - rotation_outliers_ratio = 0.328125 +[2024-01-16 14:43:57,844][train][INFO] - affordance_outliers_ratio = 0.46875 +[2024-01-16 14:43:57,844][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 14:43:57,846][train][INFO] - Validated training. +[2024-01-16 14:43:57,849][train][INFO] - Validating training time: 55.21366572380066 +[2024-01-16 14:43:57,850][train][INFO] - Validating testing... +[2024-01-16 14:44:53,231][train][INFO] - mean_translation_distance_error = [7.099615] +[2024-01-16 14:44:53,232][train][INFO] - mean_translation_along_error = [3.5528517] +[2024-01-16 14:44:53,233][train][INFO] - mean_translation_perp_error = [5.746418] +[2024-01-16 14:44:53,233][train][INFO] - mean_translation_plane_error = [5.8752213] +[2024-01-16 14:44:53,233][train][INFO] - mean_translation_line_error = [3.4145184] +[2024-01-16 14:44:53,233][train][INFO] - mean_rotation_error = [5.5395913] +[2024-01-16 14:44:53,233][train][INFO] - mean_affordance_error = [7.4767857] +[2024-01-16 14:44:53,234][train][INFO] - median_translation_distance_error = [7.1475835] +[2024-01-16 14:44:53,234][train][INFO] - median_translation_along_error = [3.7635462] +[2024-01-16 14:44:53,235][train][INFO] - median_translation_perp_error = [5.845522] +[2024-01-16 14:44:53,235][train][INFO] - median_translation_plane_error = [5.840127] +[2024-01-16 14:44:53,235][train][INFO] - median_translation_line_error = [2.8481674] +[2024-01-16 14:44:53,235][train][INFO] - median_rotation_error = [4.839813] +[2024-01-16 14:44:53,235][train][INFO] - median_affordance_error = [6.85481] +[2024-01-16 14:44:53,236][train][INFO] - max_translation_distance_error = [13.571933] +[2024-01-16 14:44:53,236][train][INFO] - max_translation_along_error = [8.851436] +[2024-01-16 14:44:53,236][train][INFO] - max_translation_perp_error = [12.932598] +[2024-01-16 14:44:53,236][train][INFO] - max_translation_plane_error = [12.794149] +[2024-01-16 14:44:53,236][train][INFO] - max_translation_line_error = [10.605591] +[2024-01-16 14:44:53,236][train][INFO] - max_rotation_error = [13.812087] +[2024-01-16 14:44:53,237][train][INFO] - max_affordance_error = [16.237965] +[2024-01-16 14:44:53,237][train][INFO] - min_translation_distance_error = [1.5880651] +[2024-01-16 14:44:53,237][train][INFO] - min_translation_along_error = [0.01934208] +[2024-01-16 14:44:53,237][train][INFO] - min_translation_perp_error = [0.989203] +[2024-01-16 14:44:53,237][train][INFO] - min_translation_plane_error = [0.9736369] +[2024-01-16 14:44:53,237][train][INFO] - min_translation_line_error = [0.26089975] +[2024-01-16 14:44:53,238][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-16 14:44:53,238][train][INFO] - min_affordance_error = [1.4197954] +[2024-01-16 14:44:53,238][train][INFO] - std_translation_distance_error = [2.2724445] +[2024-01-16 14:44:53,238][train][INFO] - std_translation_along_error = [2.0608375] +[2024-01-16 14:44:53,239][train][INFO] - std_translation_perp_error = [2.3827336] +[2024-01-16 14:44:53,239][train][INFO] - std_translation_plane_error = [2.3887596] +[2024-01-16 14:44:53,239][train][INFO] - std_translation_line_error = [2.3720047] +[2024-01-16 14:44:53,239][train][INFO] - std_rotation_error = [3.2929764] +[2024-01-16 14:44:53,239][train][INFO] - std_affordance_error = [3.7005928] +[2024-01-16 14:44:53,239][train][INFO] - translation_outliers_num = 50 +[2024-01-16 14:44:53,239][train][INFO] - rotation_outliers_num = 29 +[2024-01-16 14:44:53,239][train][INFO] - affordance_outliers_num = 48 +[2024-01-16 14:44:53,240][train][INFO] - translation_outliers_ratio = 0.78125 +[2024-01-16 14:44:53,240][train][INFO] - rotation_outliers_ratio = 0.453125 +[2024-01-16 14:44:53,240][train][INFO] - affordance_outliers_ratio = 0.75 +[2024-01-16 14:44:53,240][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 14:44:53,241][train][INFO] - Validated testing. +[2024-01-16 14:44:53,241][train][INFO] - Validating testing time: 55.39142394065857 +[2024-01-16 14:44:53,242][train][INFO] - epoch: 61 lr: 0.0008494768343131951 +[2024-01-16 14:47:04,526][train][INFO] - training loss: 0.0035508944258953517 + 0.07892152804594774 + 0.004237291589379311 + 0.04239647523141824 = 0.1291061886228048, data num: 1030 +[2024-01-16 14:47:04,528][train][INFO] - epoch: 62 lr: 0.0008438508174347005 +[2024-01-16 14:49:22,341][train][INFO] - training loss: 0.003527439643557255 + 0.07813707315004789 + 0.004339020932093263 + 0.04353307313643969 = 0.1295366074030216, data num: 1030 +[2024-01-16 14:49:22,342][train][INFO] - epoch: 63 lr: 0.0008381411941873374 +[2024-01-16 14:51:36,475][train][INFO] - training loss: 0.0034109410292540603 + 0.07684073379406563 + 0.004050459899008274 + 0.039180589295350586 = 0.12348272307560994, data num: 1030 +[2024-01-16 14:51:36,476][train][INFO] - epoch: 64 lr: 0.0008323493733352073 +[2024-01-16 14:53:46,253][train][INFO] - training loss: 0.0034303646677961716 + 0.07713804359619435 + 0.004144680184813647 + 0.03873220590444711 = 0.12344529353655302, data num: 1030 +[2024-01-16 14:53:46,255][train][INFO] - epoch: 65 lr: 0.0008264767839234405 +[2024-01-16 14:55:59,983][train][INFO] - training loss: 0.0034209700014728767 + 0.07759917240876418 + 0.0041401474127689235 + 0.040115128056361124 = 0.12527541701610273, data num: 1030 +[2024-01-16 14:55:59,985][train][INFO] - epoch: 66 lr: 0.000820524874925601 +[2024-01-16 14:58:21,501][train][INFO] - training loss: 0.003507091477513313 + 0.0756738628905553 + 0.004035705578728364 + 0.03664559979851429 = 0.11986225969516313, data num: 1030 +[2024-01-16 14:58:21,502][train][INFO] - epoch: 67 lr: 0.0008144951148861737 +[2024-01-16 15:00:43,558][train][INFO] - training loss: 0.003358442522585392 + 0.07650655003694387 + 0.003916967445268081 + 0.036195512029987116 = 0.11997747111778993, data num: 1030 +[2024-01-16 15:00:43,559][train][INFO] - epoch: 68 lr: 0.0008083889915582231 +[2024-01-16 15:02:58,713][train][INFO] - training loss: 0.003500351933046029 + 0.07727731649692242 + 0.003989279739415416 + 0.0387381573422597 = 0.12350510588059059, data num: 1030 +[2024-01-16 15:02:58,715][train][INFO] - epoch: 69 lr: 0.0008022080115363123 +[2024-01-16 15:05:17,217][train][INFO] - training loss: 0.0032770174053999095 + 0.07455828172656206 + 0.0041035935497627804 + 0.03965370847055545 = 0.12159260178987796, data num: 1030 +[2024-01-16 15:05:17,218][train][INFO] - epoch: 70 lr: 0.0007959536998847739 +[2024-01-16 15:07:42,032][train][INFO] - training loss: 0.0032520154383606638 + 0.07431369183155206 + 0.0038575811741443783 + 0.03617188403239617 = 0.11759517169915713, data num: 1030 +[2024-01-16 15:07:42,033][train][INFO] - epoch: 71 lr: 0.0007896275997614226 +[2024-01-16 15:09:56,672][train][INFO] - training loss: 0.0033593442470121844 + 0.07413225007744936 + 0.003965576286785877 + 0.035542845439452395 = 0.11700001599696966, data num: 1030 +[2024-01-16 15:09:56,673][train][INFO] - epoch: 72 lr: 0.0007832312720368044 +[2024-01-16 15:12:11,343][train][INFO] - training loss: 0.0034295314421447422 + 0.07393118767784192 + 0.004132735521460955 + 0.0357879772495765 = 0.11728143244981766, data num: 1030 +[2024-01-16 15:12:11,344][train][INFO] - epoch: 73 lr: 0.0007767662949090749 +[2024-01-16 15:14:24,980][train][INFO] - training loss: 0.003192843575603687 + 0.07355507274086659 + 0.003902266790660528 + 0.03527058523434859 = 0.11592076867818832, data num: 1030 +[2024-01-16 15:14:24,981][train][INFO] - epoch: 74 lr: 0.000770234263514603 +[2024-01-16 15:16:38,933][train][INFO] - training loss: 0.003110029430200274 + 0.07201545536518097 + 0.0038007199800071806 + 0.0331816878169775 = 0.11210789210521258, data num: 1030 +[2024-01-16 15:16:38,935][train][INFO] - epoch: 75 lr: 0.0007636367895343944 +[2024-01-16 15:18:52,324][train][INFO] - training loss: 0.003151696200410907 + 0.07099450626052344 + 0.003785932339871159 + 0.033959370880172805 = 0.11189150569530634, data num: 1030 +[2024-01-16 15:18:52,326][train][INFO] - epoch: 76 lr: 0.0007569755007964335 +[2024-01-16 15:21:08,155][train][INFO] - training loss: 0.0030980675015598535 + 0.07071478429895181 + 0.00376311272669297 + 0.032931805946505986 = 0.11050777148741942, data num: 1030 +[2024-01-16 15:21:08,157][train][INFO] - epoch: 77 lr: 0.0007502520408740415 +[2024-01-16 15:23:19,216][train][INFO] - training loss: 0.003150775437601484 + 0.07089127548612081 + 0.0038014743083085007 + 0.035441190778062896 = 0.11328471532234778, data num: 1030 +[2024-01-16 15:23:19,217][train][INFO] - epoch: 78 lr: 0.0007434680686803488 +[2024-01-16 15:25:42,473][train][INFO] - training loss: 0.00318564258945676 + 0.07133976926024144 + 0.0037920975699447666 + 0.03345102194983226 = 0.11176853111157051, data num: 1030 +[2024-01-16 15:25:42,475][train][INFO] - epoch: 79 lr: 0.0007366252580589837 +[2024-01-16 15:27:57,403][train][INFO] - training loss: 0.0031172134555303133 + 0.07034256188915326 + 0.0036508150542011626 + 0.031069131883291096 = 0.10817972123622895, data num: 1030 +[2024-01-16 15:27:57,405][train][INFO] - epoch: 80 lr: 0.0007297252973710754 +[2024-01-16 15:30:10,586][train][INFO] - training loss: 0.0030552019006930865 + 0.07040248782588886 + 0.0036674498580396174 + 0.03075291866866442 = 0.10787805880491551, data num: 1030 +[2024-01-16 15:30:10,599][train][INFO] - Validating training... +[2024-01-16 15:31:07,582][train][INFO] - mean_translation_distance_error = [5.4354587] +[2024-01-16 15:31:07,583][train][INFO] - mean_translation_along_error = [1.5123644] +[2024-01-16 15:31:07,583][train][INFO] - mean_translation_perp_error = [5.025654] +[2024-01-16 15:31:07,583][train][INFO] - mean_translation_plane_error = [5.033765] +[2024-01-16 15:31:07,583][train][INFO] - mean_translation_line_error = [3.4303627] +[2024-01-16 15:31:07,584][train][INFO] - mean_rotation_error = [4.498666] +[2024-01-16 15:31:07,584][train][INFO] - mean_affordance_error = [5.6853323] +[2024-01-16 15:31:07,585][train][INFO] - median_translation_distance_error = [5.0406055] +[2024-01-16 15:31:07,585][train][INFO] - median_translation_along_error = [1.149245] +[2024-01-16 15:31:07,586][train][INFO] - median_translation_perp_error = [4.7025194] +[2024-01-16 15:31:07,586][train][INFO] - median_translation_plane_error = [4.7660017] +[2024-01-16 15:31:07,586][train][INFO] - median_translation_line_error = [2.6077971] +[2024-01-16 15:31:07,586][train][INFO] - median_rotation_error = [4.190658] +[2024-01-16 15:31:07,586][train][INFO] - median_affordance_error = [4.971236] +[2024-01-16 15:31:07,587][train][INFO] - max_translation_distance_error = [12.941853] +[2024-01-16 15:31:07,587][train][INFO] - max_translation_along_error = [5.2806897] +[2024-01-16 15:31:07,587][train][INFO] - max_translation_perp_error = [12.381844] +[2024-01-16 15:31:07,587][train][INFO] - max_translation_plane_error = [12.413186] +[2024-01-16 15:31:07,588][train][INFO] - max_translation_line_error = [12.344127] +[2024-01-16 15:31:07,588][train][INFO] - max_rotation_error = [17.039476] +[2024-01-16 15:31:07,588][train][INFO] - max_affordance_error = [18.019773] +[2024-01-16 15:31:07,588][train][INFO] - min_translation_distance_error = [0.6827581] +[2024-01-16 15:31:07,589][train][INFO] - min_translation_along_error = [0.01334529] +[2024-01-16 15:31:07,589][train][INFO] - min_translation_perp_error = [0.52420646] +[2024-01-16 15:31:07,589][train][INFO] - min_translation_plane_error = [0.51725125] +[2024-01-16 15:31:07,589][train][INFO] - min_translation_line_error = [0.041012] +[2024-01-16 15:31:07,589][train][INFO] - min_rotation_error = [0.12820426] +[2024-01-16 15:31:07,590][train][INFO] - min_affordance_error = [2.0258915] +[2024-01-16 15:31:07,590][train][INFO] - std_translation_distance_error = [2.7690156] +[2024-01-16 15:31:07,590][train][INFO] - std_translation_along_error = [1.2730423] +[2024-01-16 15:31:07,590][train][INFO] - std_translation_perp_error = [2.8366494] +[2024-01-16 15:31:07,591][train][INFO] - std_translation_plane_error = [2.8303838] +[2024-01-16 15:31:07,591][train][INFO] - std_translation_line_error = [2.9292686] +[2024-01-16 15:31:07,591][train][INFO] - std_rotation_error = [2.7672577] +[2024-01-16 15:31:07,591][train][INFO] - std_affordance_error = [2.9342632] +[2024-01-16 15:31:07,591][train][INFO] - translation_outliers_num = 29 +[2024-01-16 15:31:07,591][train][INFO] - rotation_outliers_num = 18 +[2024-01-16 15:31:07,591][train][INFO] - affordance_outliers_num = 31 +[2024-01-16 15:31:07,591][train][INFO] - translation_outliers_ratio = 0.453125 +[2024-01-16 15:31:07,591][train][INFO] - rotation_outliers_ratio = 0.28125 +[2024-01-16 15:31:07,591][train][INFO] - affordance_outliers_ratio = 0.484375 +[2024-01-16 15:31:07,591][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 15:31:07,593][train][INFO] - Validated training. +[2024-01-16 15:31:07,593][train][INFO] - Validating training time: 56.99411869049072 +[2024-01-16 15:31:07,593][train][INFO] - Validating testing... +[2024-01-16 15:32:04,490][train][INFO] - mean_translation_distance_error = [5.2405005] +[2024-01-16 15:32:04,491][train][INFO] - mean_translation_along_error = [1.5197973] +[2024-01-16 15:32:04,491][train][INFO] - mean_translation_perp_error = [4.8014965] +[2024-01-16 15:32:04,491][train][INFO] - mean_translation_plane_error = [4.794341] +[2024-01-16 15:32:04,491][train][INFO] - mean_translation_line_error = [3.3525584] +[2024-01-16 15:32:04,491][train][INFO] - mean_rotation_error = [5.1622286] +[2024-01-16 15:32:04,491][train][INFO] - mean_affordance_error = [7.1097884] +[2024-01-16 15:32:04,492][train][INFO] - median_translation_distance_error = [5.055998] +[2024-01-16 15:32:04,492][train][INFO] - median_translation_along_error = [1.162231] +[2024-01-16 15:32:04,492][train][INFO] - median_translation_perp_error = [4.7546997] +[2024-01-16 15:32:04,492][train][INFO] - median_translation_plane_error = [4.7234783] +[2024-01-16 15:32:04,492][train][INFO] - median_translation_line_error = [2.9183059] +[2024-01-16 15:32:04,493][train][INFO] - median_rotation_error = [4.3227396] +[2024-01-16 15:32:04,493][train][INFO] - median_affordance_error = [6.571145] +[2024-01-16 15:32:04,493][train][INFO] - max_translation_distance_error = [13.433445] +[2024-01-16 15:32:04,493][train][INFO] - max_translation_along_error = [4.6357474] +[2024-01-16 15:32:04,493][train][INFO] - max_translation_perp_error = [13.156044] +[2024-01-16 15:32:04,493][train][INFO] - max_translation_plane_error = [13.170121] +[2024-01-16 15:32:04,493][train][INFO] - max_translation_line_error = [13.101541] +[2024-01-16 15:32:04,493][train][INFO] - max_rotation_error = [13.404672] +[2024-01-16 15:32:04,494][train][INFO] - max_affordance_error = [17.014572] +[2024-01-16 15:32:04,494][train][INFO] - min_translation_distance_error = [1.0026753] +[2024-01-16 15:32:04,494][train][INFO] - min_translation_along_error = [0.02634823] +[2024-01-16 15:32:04,494][train][INFO] - min_translation_perp_error = [0.82016104] +[2024-01-16 15:32:04,494][train][INFO] - min_translation_plane_error = [0.749292] +[2024-01-16 15:32:04,494][train][INFO] - min_translation_line_error = [0.03162665] +[2024-01-16 15:32:04,494][train][INFO] - min_rotation_error = [0.61229753] +[2024-01-16 15:32:04,494][train][INFO] - min_affordance_error = [0.85468197] +[2024-01-16 15:32:04,495][train][INFO] - std_translation_distance_error = [2.3703935] +[2024-01-16 15:32:04,495][train][INFO] - std_translation_along_error = [1.2505884] +[2024-01-16 15:32:04,495][train][INFO] - std_translation_perp_error = [2.4806218] +[2024-01-16 15:32:04,495][train][INFO] - std_translation_plane_error = [2.4658837] +[2024-01-16 15:32:04,495][train][INFO] - std_translation_line_error = [2.438613] +[2024-01-16 15:32:04,495][train][INFO] - std_rotation_error = [3.072643] +[2024-01-16 15:32:04,496][train][INFO] - std_affordance_error = [3.6013546] +[2024-01-16 15:32:04,496][train][INFO] - translation_outliers_num = 29 +[2024-01-16 15:32:04,496][train][INFO] - rotation_outliers_num = 27 +[2024-01-16 15:32:04,496][train][INFO] - affordance_outliers_num = 46 +[2024-01-16 15:32:04,496][train][INFO] - translation_outliers_ratio = 0.453125 +[2024-01-16 15:32:04,496][train][INFO] - rotation_outliers_ratio = 0.421875 +[2024-01-16 15:32:04,496][train][INFO] - affordance_outliers_ratio = 0.71875 +[2024-01-16 15:32:04,496][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 15:32:04,497][train][INFO] - Validated testing. +[2024-01-16 15:32:04,497][train][INFO] - Validating testing time: 56.9034857749939 +[2024-01-16 15:32:04,498][train][INFO] - epoch: 81 lr: 0.0007227698890786777 +[2024-01-16 15:34:19,024][train][INFO] - training loss: 0.003072808858437034 + 0.06996303361195784 + 0.0036526155586426075 + 0.03094950788296186 = 0.10763796671078756, data num: 1030 +[2024-01-16 15:34:19,025][train][INFO] - epoch: 82 lr: 0.0007157607493247108 +[2024-01-16 15:36:36,962][train][INFO] - training loss: 0.003069374724649466 + 0.07137270724544158 + 0.0036620266377352753 + 0.03228740313878426 = 0.1103915111376689, data num: 1030 +[2024-01-16 15:36:36,964][train][INFO] - epoch: 83 lr: 0.0007086996075095287 +[2024-01-16 15:38:50,945][train][INFO] - training loss: 0.0030197870953438373 + 0.07094763230818968 + 0.003596017577757056 + 0.030375219566317706 = 0.10793865678402094, data num: 1030 +[2024-01-16 15:38:50,946][train][INFO] - epoch: 84 lr: 0.0007015882058642161 +[2024-01-16 15:41:06,884][train][INFO] - training loss: 0.0029546479981106062 + 0.06884954153345181 + 0.0036312324639696343 + 0.029453021058669458 = 0.10488844307569357, data num: 1030 +[2024-01-16 15:41:06,885][train][INFO] - epoch: 85 lr: 0.0006944282990207193 +[2024-01-16 15:43:24,910][train][INFO] - training loss: 0.0029430619834993894 + 0.06701455987416781 + 0.0035031738655211834 + 0.028616343409969255 = 0.10207713876779263, data num: 1030 +[2024-01-16 15:43:24,911][train][INFO] - epoch: 86 lr: 0.0006872216535789155 +[2024-01-16 15:45:39,855][train][INFO] - training loss: 0.002949049216336929 + 0.06809223420344866 + 0.0035515355519377266 + 0.02861223922899136 = 0.10320505832250301, data num: 1030 +[2024-01-16 15:45:39,856][train][INFO] - epoch: 87 lr: 0.0006799700476707321 +[2024-01-16 15:47:56,643][train][INFO] - training loss: 0.002938892337708519 + 0.06703245662725889 + 0.0034996043532513656 + 0.02957080018061858 = 0.10304175305825014, data num: 1030 +[2024-01-16 15:47:56,646][train][INFO] - epoch: 88 lr: 0.0006726752705214191 +[2024-01-16 15:50:20,504][train][INFO] - training loss: 0.002939253905788064 + 0.0680319987810575 + 0.003606839789650761 + 0.02866368915599126 = 0.1032417818903923, data num: 1030 +[2024-01-16 15:50:20,505][train][INFO] - epoch: 89 lr: 0.0006653391220080838 +[2024-01-16 15:52:32,996][train][INFO] - training loss: 0.0029103994835168122 + 0.06736190811945841 + 0.0034675092866214424 + 0.028240125368420896 = 0.10197994250517625, data num: 1030 +[2024-01-16 15:52:32,997][train][INFO] - epoch: 90 lr: 0.0006579634122155988 +[2024-01-16 15:54:53,771][train][INFO] - training loss: 0.002839627145574643 + 0.06582764581992076 + 0.0034031957029723205 + 0.02712142258309401 = 0.09919189054232377, data num: 1030 +[2024-01-16 15:54:53,772][train][INFO] - epoch: 91 lr: 0.0006505499609899903 +[2024-01-16 15:57:18,816][train][INFO] - training loss: 0.002869437334056084 + 0.06604808907096203 + 0.003525454171288472 + 0.02759591186275849 = 0.10003889283308616, data num: 1030 +[2024-01-16 15:57:18,817][train][INFO] - epoch: 92 lr: 0.0006431005974894184 +[2024-01-16 15:59:43,388][train][INFO] - training loss: 0.0029524902204194894 + 0.06547224791004108 + 0.0034446491967313566 + 0.029576451560625664 = 0.101445839038262, data num: 1030 +[2024-01-16 15:59:43,389][train][INFO] - epoch: 93 lr: 0.0006356171597328593 +[2024-01-16 16:02:07,957][train][INFO] - training loss: 0.002820804940823179 + 0.06482693289334958 + 0.0033891620902487866 + 0.02618815185358891 = 0.09722505131593118, data num: 1030 +[2024-01-16 16:02:07,958][train][INFO] - epoch: 94 lr: 0.0006281014941466028 +[2024-01-16 16:04:26,696][train][INFO] - training loss: 0.0029104658438322637 + 0.06519654272840573 + 0.003433751153688018 + 0.026772989304019855 = 0.09831374952426324, data num: 1030 +[2024-01-16 16:04:26,698][train][INFO] - epoch: 95 lr: 0.000620555455108673 +[2024-01-16 16:06:51,399][train][INFO] - training loss: 0.002845474798232317 + 0.06577360756122148 + 0.0033846145459952262 + 0.02691713971300767 = 0.09892083681546725, data num: 1030 +[2024-01-16 16:06:51,401][train][INFO] - epoch: 96 lr: 0.0006129809044912885 +[2024-01-16 16:09:15,955][train][INFO] - training loss: 0.0027915685545079985 + 0.06382178692863538 + 0.003341350371304613 + 0.02480310986821468 = 0.09475781562236639, data num: 1030 +[2024-01-16 16:09:15,956][train][INFO] - epoch: 97 lr: 0.0006053797112014735 +[2024-01-16 16:11:42,765][train][INFO] - training loss: 0.0028924457227381376 + 0.06424115867568897 + 0.003405264997854829 + 0.025682245596097067 = 0.09622111458044785, data num: 1030 +[2024-01-16 16:11:42,767][train][INFO] - epoch: 98 lr: 0.0005977537507199336 +[2024-01-16 16:14:10,174][train][INFO] - training loss: 0.0028495006549816865 + 0.06459886683867527 + 0.00339941532136156 + 0.027341101003380924 = 0.09818888329542601, data num: 1030 +[2024-01-16 16:14:10,175][train][INFO] - epoch: 99 lr: 0.0005901049046383074 +[2024-01-16 16:16:29,010][train][INFO] - training loss: 0.002777686774229201 + 0.06479331054366552 + 0.003413165743964223 + 0.02496386274981957 = 0.09594802575615737, data num: 1030 +[2024-01-16 16:16:29,012][train][INFO] - epoch: 100 lr: 0.0005824350601949141 +[2024-01-16 16:18:57,931][train][INFO] - training loss: 0.0027865557895543486 + 0.06342730917609656 + 0.0033182345151614684 + 0.025126133701549126 = 0.09465823414234015, data num: 1030 +[2024-01-16 16:18:57,944][train][INFO] - Validating training... +[2024-01-16 16:19:53,945][train][INFO] - mean_translation_distance_error = [3.7309506] +[2024-01-16 16:19:53,946][train][INFO] - mean_translation_along_error = [1.1907232] +[2024-01-16 16:19:53,947][train][INFO] - mean_translation_perp_error = [3.4151928] +[2024-01-16 16:19:53,947][train][INFO] - mean_translation_plane_error = [3.403132] +[2024-01-16 16:19:53,947][train][INFO] - mean_translation_line_error = [2.1104202] +[2024-01-16 16:19:53,948][train][INFO] - mean_rotation_error = [4.4546347] +[2024-01-16 16:19:53,948][train][INFO] - mean_affordance_error = [4.2810607] +[2024-01-16 16:19:53,949][train][INFO] - median_translation_distance_error = [3.2681167] +[2024-01-16 16:19:53,949][train][INFO] - median_translation_along_error = [0.9903861] +[2024-01-16 16:19:53,949][train][INFO] - median_translation_perp_error = [2.9529293] +[2024-01-16 16:19:53,949][train][INFO] - median_translation_plane_error = [2.9336452] +[2024-01-16 16:19:53,950][train][INFO] - median_translation_line_error = [1.5862541] +[2024-01-16 16:19:53,950][train][INFO] - median_rotation_error = [3.6854343] +[2024-01-16 16:19:53,950][train][INFO] - median_affordance_error = [3.4096649] +[2024-01-16 16:19:53,950][train][INFO] - max_translation_distance_error = [8.724664] +[2024-01-16 16:19:53,950][train][INFO] - max_translation_along_error = [5.549015] +[2024-01-16 16:19:53,950][train][INFO] - max_translation_perp_error = [7.41628] +[2024-01-16 16:19:53,950][train][INFO] - max_translation_plane_error = [7.568945] +[2024-01-16 16:19:53,950][train][INFO] - max_translation_line_error = [7.190629] +[2024-01-16 16:19:53,950][train][INFO] - max_rotation_error = [13.5647745] +[2024-01-16 16:19:53,951][train][INFO] - max_affordance_error = [11.658371] +[2024-01-16 16:19:53,951][train][INFO] - min_translation_distance_error = [1.0354533] +[2024-01-16 16:19:53,951][train][INFO] - min_translation_along_error = [0.00294] +[2024-01-16 16:19:53,951][train][INFO] - min_translation_perp_error = [0.27139238] +[2024-01-16 16:19:53,951][train][INFO] - min_translation_plane_error = [0.30746442] +[2024-01-16 16:19:53,951][train][INFO] - min_translation_line_error = [0.08966569] +[2024-01-16 16:19:53,951][train][INFO] - min_rotation_error = [0.25256422] +[2024-01-16 16:19:53,951][train][INFO] - min_affordance_error = [1.3598155] +[2024-01-16 16:19:53,952][train][INFO] - std_translation_distance_error = [1.7452179] +[2024-01-16 16:19:53,952][train][INFO] - std_translation_along_error = [0.9584352] +[2024-01-16 16:19:53,952][train][INFO] - std_translation_perp_error = [1.7221539] +[2024-01-16 16:19:53,952][train][INFO] - std_translation_plane_error = [1.7248251] +[2024-01-16 16:19:53,952][train][INFO] - std_translation_line_error = [1.5658102] +[2024-01-16 16:19:53,952][train][INFO] - std_rotation_error = [2.6287186] +[2024-01-16 16:19:53,952][train][INFO] - std_affordance_error = [2.2388408] +[2024-01-16 16:19:53,952][train][INFO] - translation_outliers_num = 11 +[2024-01-16 16:19:53,952][train][INFO] - rotation_outliers_num = 18 +[2024-01-16 16:19:53,952][train][INFO] - affordance_outliers_num = 21 +[2024-01-16 16:19:53,953][train][INFO] - translation_outliers_ratio = 0.171875 +[2024-01-16 16:19:53,953][train][INFO] - rotation_outliers_ratio = 0.28125 +[2024-01-16 16:19:53,953][train][INFO] - affordance_outliers_ratio = 0.328125 +[2024-01-16 16:19:53,953][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 16:19:53,954][train][INFO] - Validated training. +[2024-01-16 16:19:53,954][train][INFO] - Validating training time: 56.01022291183472 +[2024-01-16 16:19:53,959][train][INFO] - Validating testing... +[2024-01-16 16:20:52,312][train][INFO] - mean_translation_distance_error = [5.3376713] +[2024-01-16 16:20:52,313][train][INFO] - mean_translation_along_error = [2.0247445] +[2024-01-16 16:20:52,313][train][INFO] - mean_translation_perp_error = [4.63753] +[2024-01-16 16:20:52,313][train][INFO] - mean_translation_plane_error = [4.626668] +[2024-01-16 16:20:52,313][train][INFO] - mean_translation_line_error = [3.2192676] +[2024-01-16 16:20:52,313][train][INFO] - mean_rotation_error = [4.5285378] +[2024-01-16 16:20:52,314][train][INFO] - mean_affordance_error = [6.518472] +[2024-01-16 16:20:52,314][train][INFO] - median_translation_distance_error = [4.851116] +[2024-01-16 16:20:52,315][train][INFO] - median_translation_along_error = [1.5053002] +[2024-01-16 16:20:52,315][train][INFO] - median_translation_perp_error = [4.128795] +[2024-01-16 16:20:52,315][train][INFO] - median_translation_plane_error = [4.2244177] +[2024-01-16 16:20:52,315][train][INFO] - median_translation_line_error = [2.8271031] +[2024-01-16 16:20:52,315][train][INFO] - median_rotation_error = [3.7007427] +[2024-01-16 16:20:52,315][train][INFO] - median_affordance_error = [6.3072777] +[2024-01-16 16:20:52,316][train][INFO] - max_translation_distance_error = [13.257025] +[2024-01-16 16:20:52,316][train][INFO] - max_translation_along_error = [7.777186] +[2024-01-16 16:20:52,316][train][INFO] - max_translation_perp_error = [13.209923] +[2024-01-16 16:20:52,316][train][INFO] - max_translation_plane_error = [13.281213] +[2024-01-16 16:20:52,316][train][INFO] - max_translation_line_error = [11.807049] +[2024-01-16 16:20:52,316][train][INFO] - max_rotation_error = [12.7728] +[2024-01-16 16:20:52,317][train][INFO] - max_affordance_error = [19.726595] +[2024-01-16 16:20:52,317][train][INFO] - min_translation_distance_error = [1.1167967] +[2024-01-16 16:20:52,317][train][INFO] - min_translation_along_error = [0.03677607] +[2024-01-16 16:20:52,317][train][INFO] - min_translation_perp_error = [1.021093] +[2024-01-16 16:20:52,317][train][INFO] - min_translation_plane_error = [0.38334572] +[2024-01-16 16:20:52,318][train][INFO] - min_translation_line_error = [0.17190261] +[2024-01-16 16:20:52,318][train][INFO] - min_rotation_error = [0.26392958] +[2024-01-16 16:20:52,318][train][INFO] - min_affordance_error = [1.1678929] +[2024-01-16 16:20:52,318][train][INFO] - std_translation_distance_error = [2.4129744] +[2024-01-16 16:20:52,319][train][INFO] - std_translation_along_error = [1.6058725] +[2024-01-16 16:20:52,319][train][INFO] - std_translation_perp_error = [2.4754946] +[2024-01-16 16:20:52,319][train][INFO] - std_translation_plane_error = [2.5231178] +[2024-01-16 16:20:52,319][train][INFO] - std_translation_line_error = [2.3297114] +[2024-01-16 16:20:52,319][train][INFO] - std_rotation_error = [2.6275856] +[2024-01-16 16:20:52,319][train][INFO] - std_affordance_error = [3.8342297] +[2024-01-16 16:20:52,319][train][INFO] - translation_outliers_num = 25 +[2024-01-16 16:20:52,319][train][INFO] - rotation_outliers_num = 23 +[2024-01-16 16:20:52,320][train][INFO] - affordance_outliers_num = 38 +[2024-01-16 16:20:52,320][train][INFO] - translation_outliers_ratio = 0.390625 +[2024-01-16 16:20:52,320][train][INFO] - rotation_outliers_ratio = 0.359375 +[2024-01-16 16:20:52,320][train][INFO] - affordance_outliers_ratio = 0.59375 +[2024-01-16 16:20:52,320][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 16:20:52,321][train][INFO] - Validated testing. +[2024-01-16 16:20:52,321][train][INFO] - Validating testing time: 58.3619966506958 +[2024-01-16 16:20:52,322][train][INFO] - epoch: 101 lr: 0.0005747461098091033 +[2024-01-16 16:23:11,052][train][INFO] - training loss: 0.002800393541558431 + 0.06289132890792994 + 0.0033144010911480737 + 0.024106534140614363 = 0.09311265784960526, data num: 1030 +[2024-01-16 16:23:11,053][train][INFO] - epoch: 102 lr: 0.0005670399506143305 +[2024-01-16 16:25:27,520][train][INFO] - training loss: 0.0027792867702933458 + 0.06243099868297577 + 0.003298542100506333 + 0.02616492870908517 = 0.09467375519183965, data num: 1030 +[2024-01-16 16:25:27,521][train][INFO] - epoch: 103 lr: 0.0005593184839900673 +[2024-01-16 16:27:50,652][train][INFO] - training loss: 0.0027138407270495706 + 0.06272562604684095 + 0.003254023942953119 + 0.024662787983050712 = 0.0933562784240796, data num: 1030 +[2024-01-16 16:27:50,654][train][INFO] - epoch: 104 lr: 0.0005515836150926644 +[2024-01-16 16:30:13,098][train][INFO] - training loss: 0.002820775958781059 + 0.06248369979170652 + 0.0032706564937073452 + 0.022942759397511298 = 0.09151789190677496, data num: 1030 +[2024-01-16 16:30:13,099][train][INFO] - epoch: 105 lr: 0.0005438372523852832 +[2024-01-16 16:32:29,207][train][INFO] - training loss: 0.0027290412081548802 + 0.06170079914423136 + 0.0031643842669347158 + 0.023704941986271967 = 0.09129916681693151, data num: 1030 +[2024-01-16 16:32:29,209][train][INFO] - epoch: 106 lr: 0.00053608130716701 +[2024-01-16 16:34:52,454][train][INFO] - training loss: 0.002717287759654797 + 0.06219344832576238 + 0.003201170853124215 + 0.023326142590779524 = 0.09143804953648493, data num: 1030 +[2024-01-16 16:34:52,455][train][INFO] - epoch: 107 lr: 0.0005283176931012729 +[2024-01-16 16:37:19,191][train][INFO] - training loss: 0.002667819196358323 + 0.06110068748776729 + 0.0032128529229129735 + 0.023011545278131963 = 0.0899929037460914, data num: 1030 +[2024-01-16 16:37:19,193][train][INFO] - epoch: 108 lr: 0.0005205483257436734 +[2024-01-16 16:39:39,136][train][INFO] - training loss: 0.002717370020512205 + 0.06129321513267664 + 0.0032363901810290724 + 0.022877599413578326 = 0.09012457522062155, data num: 1030 +[2024-01-16 16:39:39,137][train][INFO] - epoch: 109 lr: 0.0005127751220693511 +[2024-01-16 16:41:55,249][train][INFO] - training loss: 0.002629835343060012 + 0.060591100098995064 + 0.003211698978422926 + 0.02235731890854927 = 0.08878995352066481, data num: 1030 +[2024-01-16 16:41:55,251][train][INFO] - epoch: 110 lr: 0.0005049999999999998 +[2024-01-16 16:44:16,312][train][INFO] - training loss: 0.00263126279012515 + 0.060127759323670316 + 0.0030965831238203324 + 0.021429380072424044 = 0.08728498541391813, data num: 1030 +[2024-01-16 16:44:16,313][train][INFO] - epoch: 111 lr: 0.0004972248779306486 +[2024-01-16 16:46:39,430][train][INFO] - training loss: 0.0025896739859420518 + 0.060662524574078044 + 0.003143354032475215 + 0.021909305883141664 = 0.08830485802430373, data num: 1030 +[2024-01-16 16:46:39,431][train][INFO] - epoch: 112 lr: 0.0004894516742563262 +[2024-01-16 16:49:01,299][train][INFO] - training loss: 0.0026048590536587512 + 0.05983530042263178 + 0.003080001322982403 + 0.02226420139464048 = 0.0877843609222999, data num: 1030 +[2024-01-16 16:49:01,300][train][INFO] - epoch: 113 lr: 0.00048168230689872663 +[2024-01-16 16:51:23,419][train][INFO] - training loss: 0.002621716346878272 + 0.06045417906000064 + 0.0031355394086299035 + 0.02206377086157982 = 0.08827520517202524, data num: 1030 +[2024-01-16 16:51:23,419][train][INFO] - epoch: 114 lr: 0.0004739186928329896 +[2024-01-16 16:53:39,471][train][INFO] - training loss: 0.002607348795908575 + 0.06148512730231652 + 0.003110373500161446 + 0.021683147435004893 = 0.08888599723577499, data num: 1030 +[2024-01-16 16:53:39,472][train][INFO] - epoch: 115 lr: 0.00046616274761471655 +[2024-01-16 16:55:53,803][train][INFO] - training loss: 0.0025983482366427777 + 0.05912781776143954 + 0.003104265546426177 + 0.021569040790200233 = 0.08639947313528795, data num: 1030 +[2024-01-16 16:55:53,804][train][INFO] - epoch: 116 lr: 0.0004584163849073352 +[2024-01-16 16:58:11,481][train][INFO] - training loss: 0.0025941312760831073 + 0.05966068145174246 + 0.0031099988899838467 + 0.021494250615628867 = 0.08685906231403351, data num: 1030 +[2024-01-16 16:58:11,482][train][INFO] - epoch: 117 lr: 0.0004506815160099324 +[2024-01-16 17:00:29,290][train][INFO] - training loss: 0.002614019657126986 + 0.058986262002816564 + 0.0030620562449957317 + 0.020237135930130115 = 0.08489947422192647, data num: 1030 +[2024-01-16 17:00:29,292][train][INFO] - epoch: 118 lr: 0.0004429600493856693 +[2024-01-16 17:02:51,436][train][INFO] - training loss: 0.002554705853645618 + 0.05916515903977247 + 0.0030581395428341167 + 0.02059787976054045 = 0.08537588463379786, data num: 1030 +[2024-01-16 17:02:51,437][train][INFO] - epoch: 119 lr: 0.00043525389019089656 +[2024-01-16 17:05:07,270][train][INFO] - training loss: 0.002578444814739319 + 0.05929749946181591 + 0.0031546940740484457 + 0.019997777274021737 = 0.08502841523060432, data num: 1030 +[2024-01-16 17:05:07,272][train][INFO] - epoch: 120 lr: 0.0004275649398050856 +[2024-01-16 17:07:21,345][train][INFO] - training loss: 0.002557905095342833 + 0.05891795038030698 + 0.0030762620986654206 + 0.02010683209563677 = 0.08465894953562664, data num: 1030 +[2024-01-16 17:07:21,357][train][INFO] - Validating training... +[2024-01-16 17:08:20,417][train][INFO] - mean_translation_distance_error = [4.405342] +[2024-01-16 17:08:20,417][train][INFO] - mean_translation_along_error = [1.1963184] +[2024-01-16 17:08:20,417][train][INFO] - mean_translation_perp_error = [4.119411] +[2024-01-16 17:08:20,417][train][INFO] - mean_translation_plane_error = [4.097232] +[2024-01-16 17:08:20,418][train][INFO] - mean_translation_line_error = [2.4318957] +[2024-01-16 17:08:20,418][train][INFO] - mean_rotation_error = [4.2997384] +[2024-01-16 17:08:20,418][train][INFO] - mean_affordance_error = [3.9639757] +[2024-01-16 17:08:20,419][train][INFO] - median_translation_distance_error = [4.1113586] +[2024-01-16 17:08:20,419][train][INFO] - median_translation_along_error = [1.0110581] +[2024-01-16 17:08:20,419][train][INFO] - median_translation_perp_error = [3.9312806] +[2024-01-16 17:08:20,419][train][INFO] - median_translation_plane_error = [3.841004] +[2024-01-16 17:08:20,420][train][INFO] - median_translation_line_error = [2.1382546] +[2024-01-16 17:08:20,420][train][INFO] - median_rotation_error = [3.755922] +[2024-01-16 17:08:20,420][train][INFO] - median_affordance_error = [3.617763] +[2024-01-16 17:08:20,420][train][INFO] - max_translation_distance_error = [11.903439] +[2024-01-16 17:08:20,420][train][INFO] - max_translation_along_error = [3.0488632] +[2024-01-16 17:08:20,420][train][INFO] - max_translation_perp_error = [11.896526] +[2024-01-16 17:08:20,421][train][INFO] - max_translation_plane_error = [11.85935] +[2024-01-16 17:08:20,421][train][INFO] - max_translation_line_error = [9.295694] +[2024-01-16 17:08:20,421][train][INFO] - max_rotation_error = [12.824845] +[2024-01-16 17:08:20,421][train][INFO] - max_affordance_error = [10.118827] +[2024-01-16 17:08:20,421][train][INFO] - min_translation_distance_error = [0.87322307] +[2024-01-16 17:08:20,421][train][INFO] - min_translation_along_error = [0.02487842] +[2024-01-16 17:08:20,422][train][INFO] - min_translation_perp_error = [0.8726738] +[2024-01-16 17:08:20,422][train][INFO] - min_translation_plane_error = [0.87340605] +[2024-01-16 17:08:20,422][train][INFO] - min_translation_line_error = [0.04720964] +[2024-01-16 17:08:20,422][train][INFO] - min_rotation_error = [0.12666881] +[2024-01-16 17:08:20,422][train][INFO] - min_affordance_error = [0.53832436] +[2024-01-16 17:08:20,423][train][INFO] - std_translation_distance_error = [2.0375528] +[2024-01-16 17:08:20,423][train][INFO] - std_translation_along_error = [0.84387165] +[2024-01-16 17:08:20,423][train][INFO] - std_translation_perp_error = [2.1085098] +[2024-01-16 17:08:20,423][train][INFO] - std_translation_plane_error = [2.1098123] +[2024-01-16 17:08:20,424][train][INFO] - std_translation_line_error = [1.8849595] +[2024-01-16 17:08:20,424][train][INFO] - std_rotation_error = [2.6301417] +[2024-01-16 17:08:20,424][train][INFO] - std_affordance_error = [1.941332] +[2024-01-16 17:08:20,424][train][INFO] - translation_outliers_num = 17 +[2024-01-16 17:08:20,424][train][INFO] - rotation_outliers_num = 19 +[2024-01-16 17:08:20,424][train][INFO] - affordance_outliers_num = 14 +[2024-01-16 17:08:20,424][train][INFO] - translation_outliers_ratio = 0.265625 +[2024-01-16 17:08:20,424][train][INFO] - rotation_outliers_ratio = 0.296875 +[2024-01-16 17:08:20,424][train][INFO] - affordance_outliers_ratio = 0.21875 +[2024-01-16 17:08:20,424][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 17:08:20,426][train][INFO] - Validated training. +[2024-01-16 17:08:20,426][train][INFO] - Validating training time: 59.06819939613342 +[2024-01-16 17:08:20,429][train][INFO] - Validating testing... +[2024-01-16 17:09:30,991][train][INFO] - mean_translation_distance_error = [4.348799] +[2024-01-16 17:09:30,992][train][INFO] - mean_translation_along_error = [1.425367] +[2024-01-16 17:09:30,992][train][INFO] - mean_translation_perp_error = [3.9170566] +[2024-01-16 17:09:30,992][train][INFO] - mean_translation_plane_error = [3.915494] +[2024-01-16 17:09:30,993][train][INFO] - mean_translation_line_error = [2.5161052] +[2024-01-16 17:09:30,993][train][INFO] - mean_rotation_error = [4.9643397] +[2024-01-16 17:09:30,993][train][INFO] - mean_affordance_error = [5.3118706] +[2024-01-16 17:09:30,994][train][INFO] - median_translation_distance_error = [4.1644173] +[2024-01-16 17:09:30,994][train][INFO] - median_translation_along_error = [1.2827685] +[2024-01-16 17:09:30,994][train][INFO] - median_translation_perp_error = [3.4892192] +[2024-01-16 17:09:30,994][train][INFO] - median_translation_plane_error = [3.4175227] +[2024-01-16 17:09:30,994][train][INFO] - median_translation_line_error = [2.1578722] +[2024-01-16 17:09:30,994][train][INFO] - median_rotation_error = [4.460784] +[2024-01-16 17:09:30,994][train][INFO] - median_affordance_error = [4.9248934] +[2024-01-16 17:09:30,994][train][INFO] - max_translation_distance_error = [11.0222025] +[2024-01-16 17:09:30,994][train][INFO] - max_translation_along_error = [4.130685] +[2024-01-16 17:09:30,995][train][INFO] - max_translation_perp_error = [10.819396] +[2024-01-16 17:09:30,995][train][INFO] - max_translation_plane_error = [11.185398] +[2024-01-16 17:09:30,995][train][INFO] - max_translation_line_error = [7.140033] +[2024-01-16 17:09:30,995][train][INFO] - max_rotation_error = [13.282281] +[2024-01-16 17:09:30,995][train][INFO] - max_affordance_error = [12.619777] +[2024-01-16 17:09:30,995][train][INFO] - min_translation_distance_error = [0.8572841] +[2024-01-16 17:09:30,995][train][INFO] - min_translation_along_error = [0.00184744] +[2024-01-16 17:09:30,995][train][INFO] - min_translation_perp_error = [0.79773784] +[2024-01-16 17:09:30,995][train][INFO] - min_translation_plane_error = [0.8070295] +[2024-01-16 17:09:30,996][train][INFO] - min_translation_line_error = [0.04165731] +[2024-01-16 17:09:30,996][train][INFO] - min_rotation_error = [1.0441772] +[2024-01-16 17:09:30,996][train][INFO] - min_affordance_error = [0.43092948] +[2024-01-16 17:09:30,996][train][INFO] - std_translation_distance_error = [1.9356627] +[2024-01-16 17:09:30,996][train][INFO] - std_translation_along_error = [1.0470632] +[2024-01-16 17:09:30,997][train][INFO] - std_translation_perp_error = [2.046339] +[2024-01-16 17:09:30,997][train][INFO] - std_translation_plane_error = [2.0741644] +[2024-01-16 17:09:30,997][train][INFO] - std_translation_line_error = [1.8582606] +[2024-01-16 17:09:30,997][train][INFO] - std_rotation_error = [2.8864539] +[2024-01-16 17:09:30,997][train][INFO] - std_affordance_error = [2.8933601] +[2024-01-16 17:09:30,997][train][INFO] - translation_outliers_num = 16 +[2024-01-16 17:09:30,997][train][INFO] - rotation_outliers_num = 30 +[2024-01-16 17:09:30,997][train][INFO] - affordance_outliers_num = 31 +[2024-01-16 17:09:30,997][train][INFO] - translation_outliers_ratio = 0.25 +[2024-01-16 17:09:30,997][train][INFO] - rotation_outliers_ratio = 0.46875 +[2024-01-16 17:09:30,997][train][INFO] - affordance_outliers_ratio = 0.484375 +[2024-01-16 17:09:30,997][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 17:09:30,999][train][INFO] - Validated testing. +[2024-01-16 17:09:30,999][train][INFO] - Validating testing time: 70.56961154937744 +[2024-01-16 17:09:30,999][train][INFO] - epoch: 121 lr: 0.0004198950953616921 +[2024-01-16 17:11:51,985][train][INFO] - training loss: 0.0025095753801556734 + 0.05843953650731307 + 0.003003365618105118 + 0.019417175736564856 = 0.08336965258304889, data num: 1030 +[2024-01-16 17:11:51,986][train][INFO] - epoch: 122 lr: 0.0004122462492800662 +[2024-01-16 17:14:08,072][train][INFO] - training loss: 0.002523686203102653 + 0.05950621183101947 + 0.0030055824380654556 + 0.019536455978567784 = 0.08457193672657012, data num: 1030 +[2024-01-16 17:14:08,074][train][INFO] - epoch: 123 lr: 0.0004046202887985263 +[2024-01-16 17:16:28,093][train][INFO] - training loss: 0.0025327478642933644 + 0.05775849360686082 + 0.0029999209926105464 + 0.020131759173594988 = 0.0834229214833333, data num: 1030 +[2024-01-16 17:16:28,095][train][INFO] - epoch: 124 lr: 0.0003970190955087115 +[2024-01-16 17:18:41,960][train][INFO] - training loss: 0.002551291940303949 + 0.05694635355701813 + 0.0030623183120042086 + 0.019780829548835754 = 0.08234079365546887, data num: 1030 +[2024-01-16 17:18:41,961][train][INFO] - epoch: 125 lr: 0.0003894445448913267 +[2024-01-16 17:20:57,228][train][INFO] - training loss: 0.0025335050367105466 + 0.05718438699841499 + 0.0030036164770046105 + 0.01920120160167034 = 0.08192271062960992, data num: 1030 +[2024-01-16 17:20:57,229][train][INFO] - epoch: 126 lr: 0.00038189850585339675 +[2024-01-16 17:23:18,347][train][INFO] - training loss: 0.002513510126692171 + 0.057159501371475366 + 0.0029613168372844274 + 0.019193471738925348 = 0.08182780009049635, data num: 1030 +[2024-01-16 17:23:18,349][train][INFO] - epoch: 127 lr: 0.0003743828402671403 +[2024-01-16 17:25:41,671][train][INFO] - training loss: 0.0024567826471936244 + 0.0572841502726078 + 0.0029530857080736985 + 0.018984637438104704 = 0.08167865597284757, data num: 1030 +[2024-01-16 17:25:41,672][train][INFO] - epoch: 128 lr: 0.0003668994025105814 +[2024-01-16 17:27:56,826][train][INFO] - training loss: 0.0024872187901144992 + 0.056468909348432836 + 0.0029486876267653247 + 0.018415860158319655 = 0.08032067572841277, data num: 1030 +[2024-01-16 17:27:56,828][train][INFO] - epoch: 129 lr: 0.00035945003901000945 +[2024-01-16 17:30:21,184][train][INFO] - training loss: 0.002480773513133709 + 0.05649832676236446 + 0.002920054830610752 + 0.018659570942131373 = 0.08055872630614501, data num: 1030 +[2024-01-16 17:30:21,185][train][INFO] - epoch: 130 lr: 0.00035203658778440103 +[2024-01-16 17:32:42,554][train][INFO] - training loss: 0.0024388285604520486 + 0.05661720197934371 + 0.0028978210587341053 + 0.01822756454348564 = 0.08018141641066624, data num: 1030 +[2024-01-16 17:32:42,556][train][INFO] - epoch: 131 lr: 0.0003446608779919159 +[2024-01-16 17:35:02,680][train][INFO] - training loss: 0.0024498670935057675 + 0.056197147701795284 + 0.002914124827545423 + 0.017544888547406746 = 0.07910602791951253, data num: 1030 +[2024-01-16 17:35:02,681][train][INFO] - epoch: 132 lr: 0.00033732472947858063 +[2024-01-16 17:37:24,040][train][INFO] - training loss: 0.0024242186524833626 + 0.05612017151254874 + 0.0029148448939220264 + 0.018434401845129636 = 0.07989363658886689, data num: 1030 +[2024-01-16 17:37:24,042][train][INFO] - epoch: 133 lr: 0.00033002995232926766 +[2024-01-16 17:39:46,963][train][INFO] - training loss: 0.002437227536351062 + 0.05681819296800173 + 0.0029405449839452137 + 0.018234176489596184 = 0.08043014235221423, data num: 1030 +[2024-01-16 17:39:46,964][train][INFO] - epoch: 134 lr: 0.0003227783464210844 +[2024-01-16 17:42:03,850][train][INFO] - training loss: 0.0024380398932127996 + 0.05571544709113928 + 0.0028917593630747155 + 0.017912255098613408 = 0.07895750185618033, data num: 1030 +[2024-01-16 17:42:03,851][train][INFO] - epoch: 135 lr: 0.00031557170097928054 +[2024-01-16 17:44:25,051][train][INFO] - training loss: 0.0024282761956923283 + 0.056322292353098206 + 0.0028973872844989482 + 0.017252584604116588 = 0.0789005404481521, data num: 1030 +[2024-01-16 17:44:25,052][train][INFO] - epoch: 136 lr: 0.0003084117941357834 +[2024-01-16 17:46:36,920][train][INFO] - training loss: 0.0024170249969197007 + 0.05489766798340357 + 0.002893619156944064 + 0.017449732697927035 = 0.07765804517727631, data num: 1030 +[2024-01-16 17:46:36,921][train][INFO] - epoch: 137 lr: 0.00030130039249047106 +[2024-01-16 17:48:49,605][train][INFO] - training loss: 0.0023989524692296983 + 0.05517076844206223 + 0.002873532244792351 + 0.017340616896175422 = 0.07778387023852422, data num: 1030 +[2024-01-16 17:48:49,606][train][INFO] - epoch: 138 lr: 0.00029423925067528897 +[2024-01-16 17:51:08,410][train][INFO] - training loss: 0.00240809887361068 + 0.05475686748440449 + 0.002895592115461253 + 0.017377905218073954 = 0.07743846372916148, data num: 1030 +[2024-01-16 17:51:08,412][train][INFO] - epoch: 139 lr: 0.0002872301109213219 +[2024-01-16 17:53:25,343][train][INFO] - training loss: 0.0024144265997725037 + 0.0552298815204547 + 0.0028201396827800917 + 0.017057204174880797 = 0.07752165244175838, data num: 1030 +[2024-01-16 17:53:25,344][train][INFO] - epoch: 140 lr: 0.0002802747026289243 +[2024-01-16 17:55:40,295][train][INFO] - training loss: 0.0023805344495205923 + 0.054784136036267646 + 0.0028692375008876505 + 0.017656377573999075 = 0.077690285215011, data num: 1030 +[2024-01-16 17:55:40,308][train][INFO] - Validating training... +[2024-01-16 17:56:36,834][train][INFO] - mean_translation_distance_error = [3.2914104] +[2024-01-16 17:56:36,835][train][INFO] - mean_translation_along_error = [1.1640522] +[2024-01-16 17:56:36,836][train][INFO] - mean_translation_perp_error = [2.9329367] +[2024-01-16 17:56:36,836][train][INFO] - mean_translation_plane_error = [2.924441] +[2024-01-16 17:56:36,836][train][INFO] - mean_translation_line_error = [1.7575886] +[2024-01-16 17:56:36,837][train][INFO] - mean_rotation_error = [4.7385483] +[2024-01-16 17:56:36,837][train][INFO] - mean_affordance_error = [3.9663966] +[2024-01-16 17:56:36,838][train][INFO] - median_translation_distance_error = [3.0144196] +[2024-01-16 17:56:36,838][train][INFO] - median_translation_along_error = [1.0725567] +[2024-01-16 17:56:36,838][train][INFO] - median_translation_perp_error = [2.7491014] +[2024-01-16 17:56:36,838][train][INFO] - median_translation_plane_error = [2.76016] +[2024-01-16 17:56:36,838][train][INFO] - median_translation_line_error = [1.0483193] +[2024-01-16 17:56:36,839][train][INFO] - median_rotation_error = [4.3923216] +[2024-01-16 17:56:36,839][train][INFO] - median_affordance_error = [3.448813] +[2024-01-16 17:56:36,839][train][INFO] - max_translation_distance_error = [9.099289] +[2024-01-16 17:56:36,839][train][INFO] - max_translation_along_error = [3.0747435] +[2024-01-16 17:56:36,839][train][INFO] - max_translation_perp_error = [8.968001] +[2024-01-16 17:56:36,840][train][INFO] - max_translation_plane_error = [8.984931] +[2024-01-16 17:56:36,840][train][INFO] - max_translation_line_error = [8.047878] +[2024-01-16 17:56:36,840][train][INFO] - max_rotation_error = [13.689318] +[2024-01-16 17:56:36,840][train][INFO] - max_affordance_error = [12.570967] +[2024-01-16 17:56:36,840][train][INFO] - min_translation_distance_error = [0.9192125] +[2024-01-16 17:56:36,840][train][INFO] - min_translation_along_error = [0.03161775] +[2024-01-16 17:56:36,841][train][INFO] - min_translation_perp_error = [0.29577473] +[2024-01-16 17:56:36,841][train][INFO] - min_translation_plane_error = [0.19862922] +[2024-01-16 17:56:36,841][train][INFO] - min_translation_line_error = [0.02512965] +[2024-01-16 17:56:36,841][train][INFO] - min_rotation_error = [0.36956525] +[2024-01-16 17:56:36,841][train][INFO] - min_affordance_error = [0.21478592] +[2024-01-16 17:56:36,842][train][INFO] - std_translation_distance_error = [1.7693185] +[2024-01-16 17:56:36,842][train][INFO] - std_translation_along_error = [0.7349346] +[2024-01-16 17:56:36,842][train][INFO] - std_translation_perp_error = [1.8618828] +[2024-01-16 17:56:36,842][train][INFO] - std_translation_plane_error = [1.8340831] +[2024-01-16 17:56:36,842][train][INFO] - std_translation_line_error = [1.7524937] +[2024-01-16 17:56:36,843][train][INFO] - std_rotation_error = [2.4544356] +[2024-01-16 17:56:36,843][train][INFO] - std_affordance_error = [2.4198253] +[2024-01-16 17:56:36,843][train][INFO] - translation_outliers_num = 8 +[2024-01-16 17:56:36,843][train][INFO] - rotation_outliers_num = 21 +[2024-01-16 17:56:36,843][train][INFO] - affordance_outliers_num = 15 +[2024-01-16 17:56:36,843][train][INFO] - translation_outliers_ratio = 0.125 +[2024-01-16 17:56:36,843][train][INFO] - rotation_outliers_ratio = 0.328125 +[2024-01-16 17:56:36,843][train][INFO] - affordance_outliers_ratio = 0.234375 +[2024-01-16 17:56:36,843][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 17:56:36,844][train][INFO] - Validated training. +[2024-01-16 17:56:36,851][train][INFO] - Validating training time: 56.5363028049469 +[2024-01-16 17:56:36,852][train][INFO] - Validating testing... +[2024-01-16 17:57:34,064][train][INFO] - mean_translation_distance_error = [4.3807373] +[2024-01-16 17:57:34,065][train][INFO] - mean_translation_along_error = [1.5157797] +[2024-01-16 17:57:34,066][train][INFO] - mean_translation_perp_error = [3.8710012] +[2024-01-16 17:57:34,066][train][INFO] - mean_translation_plane_error = [3.8920064] +[2024-01-16 17:57:34,067][train][INFO] - mean_translation_line_error = [2.471452] +[2024-01-16 17:57:34,067][train][INFO] - mean_rotation_error = [4.821788] +[2024-01-16 17:57:34,067][train][INFO] - mean_affordance_error = [6.1114807] +[2024-01-16 17:57:34,069][train][INFO] - median_translation_distance_error = [4.2682815] +[2024-01-16 17:57:34,069][train][INFO] - median_translation_along_error = [1.283618] +[2024-01-16 17:57:34,069][train][INFO] - median_translation_perp_error = [3.7973921] +[2024-01-16 17:57:34,070][train][INFO] - median_translation_plane_error = [3.854876] +[2024-01-16 17:57:34,070][train][INFO] - median_translation_line_error = [1.9254057] +[2024-01-16 17:57:34,070][train][INFO] - median_rotation_error = [4.3506966] +[2024-01-16 17:57:34,070][train][INFO] - median_affordance_error = [5.2458286] +[2024-01-16 17:57:34,070][train][INFO] - max_translation_distance_error = [11.07637] +[2024-01-16 17:57:34,070][train][INFO] - max_translation_along_error = [5.59129] +[2024-01-16 17:57:34,071][train][INFO] - max_translation_perp_error = [10.308443] +[2024-01-16 17:57:34,071][train][INFO] - max_translation_plane_error = [10.177746] +[2024-01-16 17:57:34,071][train][INFO] - max_translation_line_error = [8.603697] +[2024-01-16 17:57:34,071][train][INFO] - max_rotation_error = [13.512417] +[2024-01-16 17:57:34,071][train][INFO] - max_affordance_error = [19.580103] +[2024-01-16 17:57:34,071][train][INFO] - min_translation_distance_error = [0.8042958] +[2024-01-16 17:57:34,072][train][INFO] - min_translation_along_error = [0.00320971] +[2024-01-16 17:57:34,072][train][INFO] - min_translation_perp_error = [0.18869258] +[2024-01-16 17:57:34,072][train][INFO] - min_translation_plane_error = [0.29670206] +[2024-01-16 17:57:34,072][train][INFO] - min_translation_line_error = [0.0785923] +[2024-01-16 17:57:34,072][train][INFO] - min_rotation_error = [0.17132017] +[2024-01-16 17:57:34,072][train][INFO] - min_affordance_error = [1.9640023] +[2024-01-16 17:57:34,073][train][INFO] - std_translation_distance_error = [2.1817555] +[2024-01-16 17:57:34,073][train][INFO] - std_translation_along_error = [1.3338351] +[2024-01-16 17:57:34,073][train][INFO] - std_translation_perp_error = [2.2112343] +[2024-01-16 17:57:34,074][train][INFO] - std_translation_plane_error = [2.2013438] +[2024-01-16 17:57:34,074][train][INFO] - std_translation_line_error = [2.0970147] +[2024-01-16 17:57:34,074][train][INFO] - std_rotation_error = [2.9540293] +[2024-01-16 17:57:34,074][train][INFO] - std_affordance_error = [3.1514983] +[2024-01-16 17:57:34,074][train][INFO] - translation_outliers_num = 20 +[2024-01-16 17:57:34,074][train][INFO] - rotation_outliers_num = 26 +[2024-01-16 17:57:34,074][train][INFO] - affordance_outliers_num = 35 +[2024-01-16 17:57:34,074][train][INFO] - translation_outliers_ratio = 0.3125 +[2024-01-16 17:57:34,074][train][INFO] - rotation_outliers_ratio = 0.40625 +[2024-01-16 17:57:34,074][train][INFO] - affordance_outliers_ratio = 0.546875 +[2024-01-16 17:57:34,074][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 17:57:34,076][train][INFO] - Validated testing. +[2024-01-16 17:57:34,076][train][INFO] - Validating testing time: 57.224159955978394 +[2024-01-16 17:57:34,077][train][INFO] - epoch: 141 lr: 0.00027337474194101617 +[2024-01-16 17:59:48,498][train][INFO] - training loss: 0.002405753917992115 + 0.054350592138675546 + 0.00285634074288492 + 0.01685316009590259 = 0.07646584728589424, data num: 1030 +[2024-01-16 17:59:48,499][train][INFO] - epoch: 142 lr: 0.00026653193131965077 +[2024-01-16 18:02:03,437][train][INFO] - training loss: 0.002405267826711329 + 0.054411799288713016 + 0.0028339135209814862 + 0.01607532320687404 = 0.07572630391671108, data num: 1030 +[2024-01-16 18:02:03,438][train][INFO] - epoch: 143 lr: 0.00025974795912595813 +[2024-01-16 18:04:22,576][train][INFO] - training loss: 0.002360103542629916 + 0.054068698791357186 + 0.0028014350288475937 + 0.016724921992191902 = 0.07595515996217728, data num: 1030 +[2024-01-16 18:04:22,577][train][INFO] - epoch: 144 lr: 0.0002530244992035661 +[2024-01-16 18:06:42,381][train][INFO] - training loss: 0.002382176881656051 + 0.05405656701097122 + 0.002794386324687646 + 0.01637639396179181 = 0.07560952386030784, data num: 1030 +[2024-01-16 18:06:42,383][train][INFO] - epoch: 145 lr: 0.00024636321046560527 +[2024-01-16 18:08:52,885][train][INFO] - training loss: 0.0023641971566785987 + 0.053483938253842865 + 0.002802188809101398 + 0.016166409448935437 = 0.07481673377064559, data num: 1030 +[2024-01-16 18:08:52,886][train][INFO] - epoch: 146 lr: 0.00023976573648539645 +[2024-01-16 18:11:04,099][train][INFO] - training loss: 0.0023977676872164013 + 0.05448861248218096 + 0.002812580653251364 + 0.016036656104887907 = 0.0757356169132086, data num: 1030 +[2024-01-16 18:11:04,100][train][INFO] - epoch: 147 lr: 0.00023323370509092462 +[2024-01-16 18:13:19,203][train][INFO] - training loss: 0.0023465519341138693 + 0.05354314331824963 + 0.002801623213319824 + 0.015663986638761482 = 0.07435530447042905, data num: 1030 +[2024-01-16 18:13:19,205][train][INFO] - epoch: 148 lr: 0.00022676872796319523 +[2024-01-16 18:15:37,514][train][INFO] - training loss: 0.0023833956623163363 + 0.053387096180365634 + 0.0027680342425950443 + 0.016422871586221913 = 0.07496139802611791, data num: 1030 +[2024-01-16 18:15:37,517][train][INFO] - epoch: 149 lr: 0.00022037240023857702 +[2024-01-16 18:17:49,863][train][INFO] - training loss: 0.0023802345779796058 + 0.05350850723110712 + 0.0027775629280278316 + 0.01574967808734912 = 0.07441598314505357, data num: 1030 +[2024-01-16 18:17:49,865][train][INFO] - epoch: 150 lr: 0.00021404630011522577 +[2024-01-16 18:20:04,190][train][INFO] - training loss: 0.0023399941300830014 + 0.05314684498768586 + 0.002776125711030685 + 0.015601947617072325 = 0.07386491287213105, data num: 1030 +[2024-01-16 18:20:04,191][train][INFO] - epoch: 151 lr: 0.00020779198846368737 +[2024-01-16 18:22:17,435][train][INFO] - training loss: 0.0023175837131790243 + 0.052706681822354974 + 0.002761309826746583 + 0.01533579439497911 = 0.0731213692862254, data num: 1030 +[2024-01-16 18:22:17,436][train][INFO] - epoch: 152 lr: 0.0002016110084417765 +[2024-01-16 18:24:32,809][train][INFO] - training loss: 0.002326635985921782 + 0.05282709506841806 + 0.002775631658732891 + 0.015322629548609256 = 0.07325199269331419, data num: 1030 +[2024-01-16 18:24:32,811][train][INFO] - epoch: 153 lr: 0.00019550488511382584 +[2024-01-16 18:26:46,309][train][INFO] - training loss: 0.0023279752546491532 + 0.0527651469867963 + 0.002763413924437303 + 0.015330235015314359 = 0.07318677122776325, data num: 1030 +[2024-01-16 18:26:46,310][train][INFO] - epoch: 154 lr: 0.00018947512507439847 +[2024-01-16 18:28:59,786][train][INFO] - training loss: 0.0023145442416604893 + 0.052688569690172486 + 0.002744568622885988 + 0.015156689400856311 = 0.07290437204333453, data num: 1030 +[2024-01-16 18:28:59,787][train][INFO] - epoch: 155 lr: 0.00018352321607655904 +[2024-01-16 18:31:10,939][train][INFO] - training loss: 0.0023281358594361406 + 0.0529096167248029 + 0.0027310282457619905 + 0.015104521395495304 = 0.07307330243862592, data num: 1030 +[2024-01-16 18:31:10,941][train][INFO] - epoch: 156 lr: 0.0001776506266647923 +[2024-01-16 18:33:25,093][train][INFO] - training loss: 0.0023286605755297035 + 0.051818851152291664 + 0.0027227241581735703 + 0.015090379083099273 = 0.07196061502282436, data num: 1030 +[2024-01-16 18:33:25,094][train][INFO] - epoch: 157 lr: 0.00017185880581266206 +[2024-01-16 18:35:39,306][train][INFO] - training loss: 0.0023256282071368053 + 0.052428239354720484 + 0.002747489669575141 + 0.014975945450938666 = 0.0724773027575933, data num: 1030 +[2024-01-16 18:35:39,307][train][INFO] - epoch: 158 lr: 0.000166149182565299 +[2024-01-16 18:37:52,477][train][INFO] - training loss: 0.0023131099135543292 + 0.05204291532819088 + 0.0027255052557358375 + 0.015003362527260413 = 0.07208489265579443, data num: 1030 +[2024-01-16 18:37:52,478][train][INFO] - epoch: 159 lr: 0.00016052316568680435 +[2024-01-16 18:40:06,058][train][INFO] - training loss: 0.0023003832419187975 + 0.05236456462970147 + 0.0027294340973290114 + 0.014698480857679478 = 0.07209286271379545, data num: 1030 +[2024-01-16 18:40:06,060][train][INFO] - epoch: 160 lr: 0.00015498214331265893 +[2024-01-16 18:42:15,774][train][INFO] - training loss: 0.0022913046682683322 + 0.05230046178285892 + 0.0026974032203165386 + 0.014417515308237993 = 0.07170668507997806, data num: 1030 +[2024-01-16 18:42:15,786][train][INFO] - Validating training... +[2024-01-16 18:43:15,421][train][INFO] - mean_translation_distance_error = [3.852469] +[2024-01-16 18:43:15,422][train][INFO] - mean_translation_along_error = [0.9663969] +[2024-01-16 18:43:15,422][train][INFO] - mean_translation_perp_error = [3.6230652] +[2024-01-16 18:43:15,423][train][INFO] - mean_translation_plane_error = [3.5978906] +[2024-01-16 18:43:15,423][train][INFO] - mean_translation_line_error = [2.1513596] +[2024-01-16 18:43:15,423][train][INFO] - mean_rotation_error = [4.4985337] +[2024-01-16 18:43:15,423][train][INFO] - mean_affordance_error = [4.0145216] +[2024-01-16 18:43:15,424][train][INFO] - median_translation_distance_error = [3.4454036] +[2024-01-16 18:43:15,424][train][INFO] - median_translation_along_error = [0.8448723] +[2024-01-16 18:43:15,425][train][INFO] - median_translation_perp_error = [3.261488] +[2024-01-16 18:43:15,425][train][INFO] - median_translation_plane_error = [3.1487968] +[2024-01-16 18:43:15,425][train][INFO] - median_translation_line_error = [1.7262528] +[2024-01-16 18:43:15,425][train][INFO] - median_rotation_error = [3.801887] +[2024-01-16 18:43:15,425][train][INFO] - median_affordance_error = [3.5142982] +[2024-01-16 18:43:15,425][train][INFO] - max_translation_distance_error = [9.422683] +[2024-01-16 18:43:15,426][train][INFO] - max_translation_along_error = [2.50727] +[2024-01-16 18:43:15,426][train][INFO] - max_translation_perp_error = [9.39208] +[2024-01-16 18:43:15,426][train][INFO] - max_translation_plane_error = [9.402632] +[2024-01-16 18:43:15,426][train][INFO] - max_translation_line_error = [8.262322] +[2024-01-16 18:43:15,426][train][INFO] - max_rotation_error = [13.100771] +[2024-01-16 18:43:15,426][train][INFO] - max_affordance_error = [9.354581] +[2024-01-16 18:43:15,427][train][INFO] - min_translation_distance_error = [0.8339718] +[2024-01-16 18:43:15,427][train][INFO] - min_translation_along_error = [0.00987807] +[2024-01-16 18:43:15,427][train][INFO] - min_translation_perp_error = [0.2146546] +[2024-01-16 18:43:15,427][train][INFO] - min_translation_plane_error = [0.13059972] +[2024-01-16 18:43:15,427][train][INFO] - min_translation_line_error = [0.00115941] +[2024-01-16 18:43:15,427][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-16 18:43:15,428][train][INFO] - min_affordance_error = [1.2739941] +[2024-01-16 18:43:15,428][train][INFO] - std_translation_distance_error = [2.1502128] +[2024-01-16 18:43:15,428][train][INFO] - std_translation_along_error = [0.6876143] +[2024-01-16 18:43:15,429][train][INFO] - std_translation_perp_error = [2.220719] +[2024-01-16 18:43:15,429][train][INFO] - std_translation_plane_error = [2.2037401] +[2024-01-16 18:43:15,429][train][INFO] - std_translation_line_error = [1.8852037] +[2024-01-16 18:43:15,429][train][INFO] - std_rotation_error = [3.1136296] +[2024-01-16 18:43:15,429][train][INFO] - std_affordance_error = [1.9476111] +[2024-01-16 18:43:15,429][train][INFO] - translation_outliers_num = 18 +[2024-01-16 18:43:15,429][train][INFO] - rotation_outliers_num = 22 +[2024-01-16 18:43:15,429][train][INFO] - affordance_outliers_num = 24 +[2024-01-16 18:43:15,429][train][INFO] - translation_outliers_ratio = 0.28125 +[2024-01-16 18:43:15,429][train][INFO] - rotation_outliers_ratio = 0.34375 +[2024-01-16 18:43:15,430][train][INFO] - affordance_outliers_ratio = 0.375 +[2024-01-16 18:43:15,430][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 18:43:15,431][train][INFO] - Validated training. +[2024-01-16 18:43:15,432][train][INFO] - Validating training time: 59.64561867713928 +[2024-01-16 18:43:15,438][train][INFO] - Validating testing... +[2024-01-16 18:44:09,394][train][INFO] - mean_translation_distance_error = [3.933427] +[2024-01-16 18:44:09,395][train][INFO] - mean_translation_along_error = [1.4791472] +[2024-01-16 18:44:09,395][train][INFO] - mean_translation_perp_error = [3.3831758] +[2024-01-16 18:44:09,395][train][INFO] - mean_translation_plane_error = [3.4088001] +[2024-01-16 18:44:09,395][train][INFO] - mean_translation_line_error = [1.9748198] +[2024-01-16 18:44:09,396][train][INFO] - mean_rotation_error = [5.0866] +[2024-01-16 18:44:09,396][train][INFO] - mean_affordance_error = [5.1619616] +[2024-01-16 18:44:09,397][train][INFO] - median_translation_distance_error = [3.3734078] +[2024-01-16 18:44:09,397][train][INFO] - median_translation_along_error = [1.1469742] +[2024-01-16 18:44:09,397][train][INFO] - median_translation_perp_error = [3.0223489] +[2024-01-16 18:44:09,397][train][INFO] - median_translation_plane_error = [3.0038965] +[2024-01-16 18:44:09,397][train][INFO] - median_translation_line_error = [1.8148122] +[2024-01-16 18:44:09,397][train][INFO] - median_rotation_error = [4.4557195] +[2024-01-16 18:44:09,398][train][INFO] - median_affordance_error = [4.5786247] +[2024-01-16 18:44:09,398][train][INFO] - max_translation_distance_error = [11.651995] +[2024-01-16 18:44:09,398][train][INFO] - max_translation_along_error = [6.5323462] +[2024-01-16 18:44:09,398][train][INFO] - max_translation_perp_error = [11.637887] +[2024-01-16 18:44:09,398][train][INFO] - max_translation_plane_error = [11.667659] +[2024-01-16 18:44:09,399][train][INFO] - max_translation_line_error = [10.831908] +[2024-01-16 18:44:09,399][train][INFO] - max_rotation_error = [11.99853] +[2024-01-16 18:44:09,399][train][INFO] - max_affordance_error = [15.733072] +[2024-01-16 18:44:09,399][train][INFO] - min_translation_distance_error = [1.2626114] +[2024-01-16 18:44:09,399][train][INFO] - min_translation_along_error = [0.00401204] +[2024-01-16 18:44:09,399][train][INFO] - min_translation_perp_error = [0.44215423] +[2024-01-16 18:44:09,400][train][INFO] - min_translation_plane_error = [0.4017395] +[2024-01-16 18:44:09,400][train][INFO] - min_translation_line_error = [0.02839318] +[2024-01-16 18:44:09,400][train][INFO] - min_rotation_error = [0.2478722] +[2024-01-16 18:44:09,400][train][INFO] - min_affordance_error = [1.1911318] +[2024-01-16 18:44:09,401][train][INFO] - std_translation_distance_error = [2.029843] +[2024-01-16 18:44:09,401][train][INFO] - std_translation_along_error = [1.1928841] +[2024-01-16 18:44:09,401][train][INFO] - std_translation_perp_error = [2.129644] +[2024-01-16 18:44:09,401][train][INFO] - std_translation_plane_error = [2.1271896] +[2024-01-16 18:44:09,401][train][INFO] - std_translation_line_error = [1.8044769] +[2024-01-16 18:44:09,402][train][INFO] - std_rotation_error = [2.8570557] +[2024-01-16 18:44:09,402][train][INFO] - std_affordance_error = [2.8230624] +[2024-01-16 18:44:09,402][train][INFO] - translation_outliers_num = 10 +[2024-01-16 18:44:09,402][train][INFO] - rotation_outliers_num = 28 +[2024-01-16 18:44:09,402][train][INFO] - affordance_outliers_num = 29 +[2024-01-16 18:44:09,402][train][INFO] - translation_outliers_ratio = 0.15625 +[2024-01-16 18:44:09,402][train][INFO] - rotation_outliers_ratio = 0.4375 +[2024-01-16 18:44:09,402][train][INFO] - affordance_outliers_ratio = 0.453125 +[2024-01-16 18:44:09,402][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 18:44:09,413][train][INFO] - Validated testing. +[2024-01-16 18:44:09,417][train][INFO] - Validating testing time: 53.975141286849976 +[2024-01-16 18:44:09,419][train][INFO] - epoch: 161 lr: 0.0001495274826072215 +[2024-01-16 18:46:25,229][train][INFO] - training loss: 0.0022863190137566284 + 0.051549392480116626 + 0.0027057743774583707 + 0.014507007584548913 = 0.07104849339677738, data num: 1030 +[2024-01-16 18:46:25,230][train][INFO] - epoch: 162 lr: 0.00014416052942640132 +[2024-01-16 18:48:44,197][train][INFO] - training loss: 0.0022752716958236237 + 0.05157347166767487 + 0.0027014233386860446 + 0.01418494928914767 = 0.07073511555790901, data num: 1030 +[2024-01-16 18:48:44,199][train][INFO] - epoch: 163 lr: 0.0001388826079855881 +[2024-01-16 18:50:57,594][train][INFO] - training loss: 0.0022730160826960437 + 0.05210936115338252 + 0.0026945354882627727 + 0.013990024090386355 = 0.07106693679323563, data num: 1030 +[2024-01-16 18:50:57,595][train][INFO] - epoch: 164 lr: 0.00013369502053292245 +[2024-01-16 18:53:12,900][train][INFO] - training loss: 0.0022751353287066406 + 0.05140867204620288 + 0.002697630785405636 + 0.013993432731009448 = 0.07037487018566865, data num: 1030 +[2024-01-16 18:53:12,901][train][INFO] - epoch: 165 lr: 0.00012859904702798464 +[2024-01-16 18:55:27,206][train][INFO] - training loss: 0.002282482129521668 + 0.05205499197428043 + 0.002676698914729059 + 0.014256341784046247 = 0.07127051525391065, data num: 1030 +[2024-01-16 18:55:27,208][train][INFO] - epoch: 166 lr: 0.00012359594482598432 +[2024-01-16 18:57:40,744][train][INFO] - training loss: 0.0022561494887878117 + 0.051475140681633585 + 0.0026859138554965072 + 0.013717874726996973 = 0.0701350785791874, data num: 1030 +[2024-01-16 18:57:40,745][train][INFO] - epoch: 167 lr: 0.00011868694836752681 +[2024-01-16 18:59:59,093][train][INFO] - training loss: 0.0022761198960674495 + 0.05142757319487058 + 0.002685101581020997 + 0.013973333930166868 = 0.07036212877585338, data num: 1030 +[2024-01-16 18:59:59,095][train][INFO] - epoch: 168 lr: 0.0001138732688740332 +[2024-01-16 19:02:14,012][train][INFO] - training loss: 0.0022543087655391833 + 0.05132791388493318 + 0.002668863420303051 + 0.01379772315804775 = 0.07004880962463525, data num: 1030 +[2024-01-16 19:02:14,014][train][INFO] - epoch: 169 lr: 0.00010915609404889012 +[2024-01-16 19:04:25,671][train][INFO] - training loss: 0.0022707710078415963 + 0.05087350079646477 + 0.0026738901085291917 + 0.013711818809119555 = 0.0695299805356906, data num: 1030 +[2024-01-16 19:04:25,672][train][INFO] - epoch: 170 lr: 0.00010453658778440103 +[2024-01-16 19:06:38,893][train][INFO] - training loss: 0.0022543541334856016 + 0.05075458958745003 + 0.0026664118963078813 + 0.013646216181894908 = 0.06932157174899028, data num: 1030 +[2024-01-16 19:06:38,894][train][INFO] - epoch: 171 lr: 0.00010001588987461343 +[2024-01-16 19:08:57,415][train][INFO] - training loss: 0.002258282505835478 + 0.050921384474405876 + 0.00266394462937919 + 0.013560243072704627 = 0.06940385412711364, data num: 1030 +[2024-01-16 19:08:57,415][train][INFO] - epoch: 172 lr: 9.559511573409192e-05 +[2024-01-16 19:11:12,788][train][INFO] - training loss: 0.002262564220179159 + 0.050778874984154336 + 0.002662687266890246 + 0.013789081731094764 = 0.06949320853902743, data num: 1030 +[2024-01-16 19:11:12,789][train][INFO] - epoch: 173 lr: 9.12753561227063e-05 +[2024-01-16 19:13:34,167][train][INFO] - training loss: 0.0022499219657709964 + 0.051150734149492706 + 0.002657368481875612 + 0.013513854296448139 = 0.06957187939148683, data num: 1030 +[2024-01-16 19:13:34,168][train][INFO] - epoch: 174 lr: 8.705767687650262e-05 +[2024-01-16 19:15:46,022][train][INFO] - training loss: 0.002241122586509356 + 0.0504937296303419 + 0.0026450751904541483 + 0.01339516665499944 = 0.06877509407125987, data num: 1030 +[2024-01-16 19:15:46,023][train][INFO] - epoch: 175 lr: 8.294311864472445e-05 +[2024-01-16 19:18:02,746][train][INFO] - training loss: 0.0022413264494389297 + 0.050704492915135166 + 0.0026665266710691727 + 0.013597249074910696 = 0.06920959502458572, data num: 1030 +[2024-01-16 19:18:02,748][train][INFO] - epoch: 176 lr: 7.89326966330478e-05 +[2024-01-16 19:20:18,999][train][INFO] - training loss: 0.002234654968532805 + 0.05071198000357701 + 0.002655892905134421 + 0.013318835793492885 = 0.06892136404147516, data num: 1030 +[2024-01-16 19:20:19,000][train][INFO] - epoch: 177 lr: 7.502740035309526e-05 +[2024-01-16 19:22:35,985][train][INFO] - training loss: 0.002227576578465792 + 0.05018025802878233 + 0.002639929491740007 + 0.013299627745380769 = 0.06834739223122596, data num: 1030 +[2024-01-16 19:22:35,987][train][INFO] - epoch: 178 lr: 7.12281933782875e-05 +[2024-01-16 19:24:47,931][train][INFO] - training loss: 0.0022286448860540987 + 0.05044838310434268 + 0.0026358660883628406 + 0.013125847537930195 = 0.0684387420805601, data num: 1030 +[2024-01-16 19:24:47,933][train][INFO] - epoch: 179 lr: 6.75360131060967e-05 +[2024-01-16 19:27:09,333][train][INFO] - training loss: 0.002220199962791342 + 0.05026822720582669 + 0.0026396246215042015 + 0.01315637414988417 = 0.06828442617104603, data num: 1030 +[2024-01-16 19:27:09,334][train][INFO] - epoch: 180 lr: 6.395177052675792e-05 +[2024-01-16 19:29:30,252][train][INFO] - training loss: 0.002232782324202932 + 0.050232670054985926 + 0.002628667244257835 + 0.013385071877676707 = 0.06847919191305454, data num: 1030 +[2024-01-16 19:29:30,266][train][INFO] - Validating training... +[2024-01-16 19:30:26,151][train][INFO] - mean_translation_distance_error = [3.367179] +[2024-01-16 19:30:26,151][train][INFO] - mean_translation_along_error = [0.9649825] +[2024-01-16 19:30:26,152][train][INFO] - mean_translation_perp_error = [3.089002] +[2024-01-16 19:30:26,152][train][INFO] - mean_translation_plane_error = [3.102985] +[2024-01-16 19:30:26,153][train][INFO] - mean_translation_line_error = [1.9949934] +[2024-01-16 19:30:26,153][train][INFO] - mean_rotation_error = [4.4750466] +[2024-01-16 19:30:26,153][train][INFO] - mean_affordance_error = [3.661368] +[2024-01-16 19:30:26,154][train][INFO] - median_translation_distance_error = [2.948372] +[2024-01-16 19:30:26,154][train][INFO] - median_translation_along_error = [0.91664535] +[2024-01-16 19:30:26,154][train][INFO] - median_translation_perp_error = [2.842754] +[2024-01-16 19:30:26,154][train][INFO] - median_translation_plane_error = [2.8239276] +[2024-01-16 19:30:26,154][train][INFO] - median_translation_line_error = [1.8702072] +[2024-01-16 19:30:26,155][train][INFO] - median_rotation_error = [3.736158] +[2024-01-16 19:30:26,155][train][INFO] - median_affordance_error = [2.9195848] +[2024-01-16 19:30:26,155][train][INFO] - max_translation_distance_error = [9.501315] +[2024-01-16 19:30:26,155][train][INFO] - max_translation_along_error = [2.7448118] +[2024-01-16 19:30:26,155][train][INFO] - max_translation_perp_error = [9.501065] +[2024-01-16 19:30:26,155][train][INFO] - max_translation_plane_error = [9.502577] +[2024-01-16 19:30:26,156][train][INFO] - max_translation_line_error = [8.968555] +[2024-01-16 19:30:26,156][train][INFO] - max_rotation_error = [13.512417] +[2024-01-16 19:30:26,156][train][INFO] - max_affordance_error = [14.535878] +[2024-01-16 19:30:26,156][train][INFO] - min_translation_distance_error = [0.8072908] +[2024-01-16 19:30:26,156][train][INFO] - min_translation_along_error = [0.0308122] +[2024-01-16 19:30:26,157][train][INFO] - min_translation_perp_error = [0.7305944] +[2024-01-16 19:30:26,157][train][INFO] - min_translation_plane_error = [0.80397874] +[2024-01-16 19:30:26,157][train][INFO] - min_translation_line_error = [0.01489267] +[2024-01-16 19:30:26,157][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-16 19:30:26,157][train][INFO] - min_affordance_error = [0.8386868] +[2024-01-16 19:30:26,158][train][INFO] - std_translation_distance_error = [1.7139812] +[2024-01-16 19:30:26,158][train][INFO] - std_translation_along_error = [0.72654206] +[2024-01-16 19:30:26,158][train][INFO] - std_translation_perp_error = [1.8095962] +[2024-01-16 19:30:26,158][train][INFO] - std_translation_plane_error = [1.8076288] +[2024-01-16 19:30:26,158][train][INFO] - std_translation_line_error = [1.570942] +[2024-01-16 19:30:26,159][train][INFO] - std_rotation_error = [2.5242553] +[2024-01-16 19:30:26,159][train][INFO] - std_affordance_error = [2.7605627] +[2024-01-16 19:30:26,159][train][INFO] - translation_outliers_num = 8 +[2024-01-16 19:30:26,159][train][INFO] - rotation_outliers_num = 23 +[2024-01-16 19:30:26,159][train][INFO] - affordance_outliers_num = 10 +[2024-01-16 19:30:26,159][train][INFO] - translation_outliers_ratio = 0.125 +[2024-01-16 19:30:26,159][train][INFO] - rotation_outliers_ratio = 0.359375 +[2024-01-16 19:30:26,159][train][INFO] - affordance_outliers_ratio = 0.15625 +[2024-01-16 19:30:26,159][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 19:30:26,161][train][INFO] - Validated training. +[2024-01-16 19:30:26,161][train][INFO] - Validating training time: 55.89481592178345 +[2024-01-16 19:30:26,161][train][INFO] - Validating testing... +[2024-01-16 19:31:23,478][train][INFO] - mean_translation_distance_error = [4.326724] +[2024-01-16 19:31:23,479][train][INFO] - mean_translation_along_error = [1.3993217] +[2024-01-16 19:31:23,479][train][INFO] - mean_translation_perp_error = [3.8659637] +[2024-01-16 19:31:23,479][train][INFO] - mean_translation_plane_error = [3.8796556] +[2024-01-16 19:31:23,479][train][INFO] - mean_translation_line_error = [2.4194388] +[2024-01-16 19:31:23,479][train][INFO] - mean_rotation_error = [5.504703] +[2024-01-16 19:31:23,479][train][INFO] - mean_affordance_error = [5.211428] +[2024-01-16 19:31:23,480][train][INFO] - median_translation_distance_error = [4.210938] +[2024-01-16 19:31:23,480][train][INFO] - median_translation_along_error = [1.1548301] +[2024-01-16 19:31:23,480][train][INFO] - median_translation_perp_error = [3.6406364] +[2024-01-16 19:31:23,480][train][INFO] - median_translation_plane_error = [3.6496763] +[2024-01-16 19:31:23,480][train][INFO] - median_translation_line_error = [1.8326215] +[2024-01-16 19:31:23,480][train][INFO] - median_rotation_error = [5.0902166] +[2024-01-16 19:31:23,481][train][INFO] - median_affordance_error = [4.4009466] +[2024-01-16 19:31:23,481][train][INFO] - max_translation_distance_error = [11.981191] +[2024-01-16 19:31:23,481][train][INFO] - max_translation_along_error = [4.314605] +[2024-01-16 19:31:23,481][train][INFO] - max_translation_perp_error = [11.979863] +[2024-01-16 19:31:23,481][train][INFO] - max_translation_plane_error = [11.995946] +[2024-01-16 19:31:23,481][train][INFO] - max_translation_line_error = [8.755485] +[2024-01-16 19:31:23,481][train][INFO] - max_rotation_error = [12.832982] +[2024-01-16 19:31:23,481][train][INFO] - max_affordance_error = [15.673931] +[2024-01-16 19:31:23,481][train][INFO] - min_translation_distance_error = [0.17461151] +[2024-01-16 19:31:23,482][train][INFO] - min_translation_along_error = [0.04743548] +[2024-01-16 19:31:23,482][train][INFO] - min_translation_perp_error = [0.05875555] +[2024-01-16 19:31:23,482][train][INFO] - min_translation_plane_error = [0.04613519] +[2024-01-16 19:31:23,482][train][INFO] - min_translation_line_error = [0.02246836] +[2024-01-16 19:31:23,482][train][INFO] - min_rotation_error = [0.2478722] +[2024-01-16 19:31:23,482][train][INFO] - min_affordance_error = [0.43253022] +[2024-01-16 19:31:23,482][train][INFO] - std_translation_distance_error = [2.1612656] +[2024-01-16 19:31:23,483][train][INFO] - std_translation_along_error = [1.0085621] +[2024-01-16 19:31:23,483][train][INFO] - std_translation_perp_error = [2.3389394] +[2024-01-16 19:31:23,483][train][INFO] - std_translation_plane_error = [2.3577085] +[2024-01-16 19:31:23,483][train][INFO] - std_translation_line_error = [2.0216067] +[2024-01-16 19:31:23,483][train][INFO] - std_rotation_error = [3.2083557] +[2024-01-16 19:31:23,483][train][INFO] - std_affordance_error = [3.3148494] +[2024-01-16 19:31:23,483][train][INFO] - translation_outliers_num = 17 +[2024-01-16 19:31:23,483][train][INFO] - rotation_outliers_num = 33 +[2024-01-16 19:31:23,483][train][INFO] - affordance_outliers_num = 25 +[2024-01-16 19:31:23,483][train][INFO] - translation_outliers_ratio = 0.265625 +[2024-01-16 19:31:23,483][train][INFO] - rotation_outliers_ratio = 0.515625 +[2024-01-16 19:31:23,483][train][INFO] - affordance_outliers_ratio = 0.390625 +[2024-01-16 19:31:23,483][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-16 19:31:23,487][train][INFO] - Validated testing. +[2024-01-16 19:31:23,487][train][INFO] - Validating testing time: 57.325345039367676 +[2024-01-16 19:31:23,487][train][INFO] - epoch: 181 lr: 6.047634999849528e-05 +[2024-01-16 19:33:37,000][train][INFO] - training loss: 0.0022234229496321998 + 0.05005061156474627 + 0.0026288689096243337 + 0.012937802233948158 = 0.06784070518154364, data num: 1030 +[2024-01-16 19:33:37,001][train][INFO] - epoch: 182 lr: 5.711060902932039e-05 +[2024-01-16 19:36:01,470][train][INFO] - training loss: 0.002221678005746351 + 0.05005258648441388 + 0.0026332625187933446 + 0.013217504623417671 = 0.06812503194579711, data num: 1030 +[2024-01-16 19:36:01,471][train][INFO] - epoch: 183 lr: 5.385537806545467e-05 +[2024-01-16 19:38:24,733][train][INFO] - training loss: 0.0022250345173793346 + 0.04990473790810658 + 0.0026204464169075855 + 0.01294709646787781 = 0.06769731531922633, data num: 1030 +[2024-01-16 19:38:24,734][train][INFO] - epoch: 184 lr: 5.0711460286429424e-05 +[2024-01-16 19:40:48,152][train][INFO] - training loss: 0.0022134431190072345 + 0.04974695530075293 + 0.002615402083700666 + 0.0129117899072858 = 0.06748759053074396, data num: 1030 +[2024-01-16 19:40:48,153][train][INFO] - epoch: 185 lr: 4.767963140691315e-05 +[2024-01-16 19:43:13,000][train][INFO] - training loss: 0.002211621486080381 + 0.049967191425653604 + 0.002614242139344032 + 0.01290978375249184 = 0.06770283883580795, data num: 1030 +[2024-01-16 19:43:13,000][train][INFO] - epoch: 186 lr: 4.4760639485315563e-05 +[2024-01-16 19:45:37,343][train][INFO] - training loss: 0.002213392576847512 + 0.049753824048317394 + 0.00260702428372147 + 0.01275740356829304 = 0.06733164523656551, data num: 1030 +[2024-01-16 19:45:37,344][train][INFO] - epoch: 187 lr: 4.195520473921563e-05 +[2024-01-16 19:48:04,852][train][INFO] - training loss: 0.002206858627211589 + 0.049954140186309816 + 0.002637539585479177 + 0.012732589402450966 = 0.06753112736802835, data num: 1030 +[2024-01-16 19:48:04,854][train][INFO] - epoch: 188 lr: 3.9264019367658385e-05 +[2024-01-16 19:50:27,439][train][INFO] - training loss: 0.002225734956132678 + 0.04988354765451872 + 0.00262651895889296 + 0.012863937192238294 = 0.0675997389623752, data num: 1030 +[2024-01-16 19:50:27,440][train][INFO] - epoch: 189 lr: 3.6687747380365064e-05 +[2024-01-16 19:52:49,039][train][INFO] - training loss: 0.002222477884676594 + 0.04991920131903428 + 0.0026180665402744823 + 0.012852387860990487 = 0.06761213306051034, data num: 1030 +[2024-01-16 19:52:49,040][train][INFO] - epoch: 190 lr: 3.422702443389899e-05 +[2024-01-16 19:55:08,455][train][INFO] - training loss: 0.002213943301914976 + 0.04971432983875275 + 0.0026097981330866996 + 0.012681555103224057 = 0.06721962627310019, data num: 1030 +[2024-01-16 19:55:08,457][train][INFO] - epoch: 191 lr: 3.188245767482658e-05 +[2024-01-16 19:57:36,344][train][INFO] - training loss: 0.002209580044906873 + 0.049827513442589684 + 0.002604256541683124 + 0.012682910127421985 = 0.06732425981989273, data num: 1030 +[2024-01-16 19:57:36,346][train][INFO] - epoch: 192 lr: 2.965462558991323e-05 +[2024-01-16 20:00:01,397][train][INFO] - training loss: 0.00221300100764403 + 0.04959847846856484 + 0.002604722958774521 + 0.012560276515208758 = 0.06697647898243024, data num: 1030 +[2024-01-16 20:00:01,399][train][INFO] - epoch: 193 lr: 2.7544077863390004e-05 +[2024-01-16 20:02:23,972][train][INFO] - training loss: 0.002206539522068432 + 0.049584848032547875 + 0.0026020814234820697 + 0.012612904536609466 = 0.06700637380664165, data num: 1030 +[2024-01-16 20:02:23,974][train][INFO] - epoch: 194 lr: 2.5551335241327672e-05 +[2024-01-16 20:04:44,878][train][INFO] - training loss: 0.002200839537768983 + 0.049574570529736 + 0.002597018245321054 + 0.012476545128111655 = 0.066848973184824, data num: 1030 +[2024-01-16 20:04:44,880][train][INFO] - epoch: 195 lr: 2.367688940315011e-05 +[2024-01-16 20:07:09,182][train][INFO] - training loss: 0.002203452379371111 + 0.0496348920923013 + 0.0026032578701583237 + 0.01242498870079334 = 0.06686659128620075, data num: 1030 +[2024-01-16 20:07:09,183][train][INFO] - epoch: 196 lr: 2.1921202840320077e-05 +[2024-01-16 20:09:33,096][train][INFO] - training loss: 0.002200061509099144 + 0.04952242374420166 + 0.0026129483549784008 + 0.012465400614130956 = 0.0668008338373441, data num: 1030 +[2024-01-16 20:09:33,097][train][INFO] - epoch: 197 lr: 2.0284708742225903e-05 +[2024-01-16 20:11:50,555][train][INFO] - training loss: 0.0022014631083808267 + 0.049471835906688987 + 0.002598388589775333 + 0.012493348623124453 = 0.06676503626199869, data num: 1030 +[2024-01-16 20:11:50,556][train][INFO] - epoch: 198 lr: 1.8767810889299086e-05 +[2024-01-16 20:14:14,465][train][INFO] - training loss: 0.00220162662713287 + 0.0493818668791881 + 0.002591937121290427 + 0.012393766921013594 = 0.06656919757907208, data num: 1030 +[2024-01-16 20:14:14,467][train][INFO] - epoch: 199 lr: 1.7370883553386936e-05 +[2024-01-16 20:16:33,244][train][INFO] - training loss: 0.0021980556802680858 + 0.049582198319526816 + 0.002602693963294419 + 0.012669147866276594 = 0.06705209607115159, data num: 1030 +[2024-01-16 20:16:33,245][train][INFO] - Optimized. +[2024-01-16 20:16:33,245][train][INFO] - Training time: 28772.3588681221 +[2024-01-16 20:16:33,246][train][INFO] - Testing training... +[2024-01-16 20:23:50,678][train][INFO] - mean_translation_distance_error = [3.19322] +[2024-01-16 20:23:50,679][train][INFO] - mean_translation_along_error = [0.9575744] +[2024-01-16 20:23:50,680][train][INFO] - mean_translation_perp_error = [2.9115481] +[2024-01-16 20:23:50,681][train][INFO] - mean_translation_plane_error = [2.9117343] +[2024-01-16 20:23:50,681][train][INFO] - mean_translation_line_error = [1.8307527] +[2024-01-16 20:23:50,682][train][INFO] - mean_rotation_error = [4.3044796] +[2024-01-16 20:23:50,682][train][INFO] - mean_affordance_error = [3.3440278] +[2024-01-16 20:23:50,685][train][INFO] - median_translation_distance_error = [2.7528853] +[2024-01-16 20:23:50,686][train][INFO] - median_translation_along_error = [0.79504377] +[2024-01-16 20:23:50,686][train][INFO] - median_translation_perp_error = [2.4259715] +[2024-01-16 20:23:50,687][train][INFO] - median_translation_plane_error = [2.4248614] +[2024-01-16 20:23:50,688][train][INFO] - median_translation_line_error = [1.3658824] +[2024-01-16 20:23:50,688][train][INFO] - median_rotation_error = [3.804288] +[2024-01-16 20:23:50,689][train][INFO] - median_affordance_error = [2.8376348] +[2024-01-16 20:23:50,690][train][INFO] - max_translation_distance_error = [12.862319] +[2024-01-16 20:23:50,690][train][INFO] - max_translation_along_error = [4.863314] +[2024-01-16 20:23:50,691][train][INFO] - max_translation_perp_error = [12.859912] +[2024-01-16 20:23:50,691][train][INFO] - max_translation_plane_error = [12.859973] +[2024-01-16 20:23:50,692][train][INFO] - max_translation_line_error = [12.859888] +[2024-01-16 20:23:50,693][train][INFO] - max_rotation_error = [14.103886] +[2024-01-16 20:23:50,693][train][INFO] - max_affordance_error = [13.224985] +[2024-01-16 20:23:50,694][train][INFO] - min_translation_distance_error = [0.04843453] +[2024-01-16 20:23:50,695][train][INFO] - min_translation_along_error = [0.00031963] +[2024-01-16 20:23:50,695][train][INFO] - min_translation_perp_error = [0.03245909] +[2024-01-16 20:23:50,696][train][INFO] - min_translation_plane_error = [0.02919785] +[2024-01-16 20:23:50,696][train][INFO] - min_translation_line_error = [0.00027122] +[2024-01-16 20:23:50,697][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-16 20:23:50,697][train][INFO] - min_affordance_error = [0.21383148] +[2024-01-16 20:23:50,699][train][INFO] - std_translation_distance_error = [1.8348285] +[2024-01-16 20:23:50,700][train][INFO] - std_translation_along_error = [0.76095253] +[2024-01-16 20:23:50,700][train][INFO] - std_translation_perp_error = [1.8947668] +[2024-01-16 20:23:50,701][train][INFO] - std_translation_plane_error = [1.8899318] +[2024-01-16 20:23:50,702][train][INFO] - std_translation_line_error = [1.623651] +[2024-01-16 20:23:50,702][train][INFO] - std_rotation_error = [2.3848896] +[2024-01-16 20:23:50,703][train][INFO] - std_affordance_error = [2.0478165] +[2024-01-16 20:23:50,703][train][INFO] - translation_outliers_num = 129 +[2024-01-16 20:23:50,703][train][INFO] - rotation_outliers_num = 322 +[2024-01-16 20:23:50,703][train][INFO] - affordance_outliers_num = 176 +[2024-01-16 20:23:50,703][train][INFO] - translation_outliers_ratio = 0.12524271844660195 +[2024-01-16 20:23:50,704][train][INFO] - rotation_outliers_ratio = 0.312621359223301 +[2024-01-16 20:23:50,704][train][INFO] - affordance_outliers_ratio = 0.170873786407767 +[2024-01-16 20:23:50,704][train][INFO] - data_num = 1030, joint_num = 1 +[2024-01-16 20:23:50,706][train][INFO] - Tested training. +[2024-01-16 20:23:50,706][train][INFO] - Testing training time: 437.4604432582855 +[2024-01-16 20:23:50,707][train][INFO] - Testing testing... +[2024-01-16 20:27:19,974][train][INFO] - mean_translation_distance_error = [4.20073] +[2024-01-16 20:27:19,975][train][INFO] - mean_translation_along_error = [1.4389546] +[2024-01-16 20:27:19,976][train][INFO] - mean_translation_perp_error = [3.7320921] +[2024-01-16 20:27:19,976][train][INFO] - mean_translation_plane_error = [3.740536] +[2024-01-16 20:27:19,976][train][INFO] - mean_translation_line_error = [2.3993518] +[2024-01-16 20:27:19,976][train][INFO] - mean_rotation_error = [4.925307] +[2024-01-16 20:27:19,977][train][INFO] - mean_affordance_error = [5.4103317] +[2024-01-16 20:27:19,978][train][INFO] - median_translation_distance_error = [3.8502314] +[2024-01-16 20:27:19,978][train][INFO] - median_translation_along_error = [1.1669216] +[2024-01-16 20:27:19,979][train][INFO] - median_translation_perp_error = [3.4338534] +[2024-01-16 20:27:19,979][train][INFO] - median_translation_plane_error = [3.4516664] +[2024-01-16 20:27:19,979][train][INFO] - median_translation_line_error = [2.002438] +[2024-01-16 20:27:19,980][train][INFO] - median_rotation_error = [4.194793] +[2024-01-16 20:27:19,980][train][INFO] - median_affordance_error = [4.535543] +[2024-01-16 20:27:19,980][train][INFO] - max_translation_distance_error = [11.174289] +[2024-01-16 20:27:19,981][train][INFO] - max_translation_along_error = [8.547924] +[2024-01-16 20:27:19,981][train][INFO] - max_translation_perp_error = [11.165984] +[2024-01-16 20:27:19,981][train][INFO] - max_translation_plane_error = [11.140326] +[2024-01-16 20:27:19,982][train][INFO] - max_translation_line_error = [8.872055] +[2024-01-16 20:27:19,982][train][INFO] - max_rotation_error = [14.137273] +[2024-01-16 20:27:19,982][train][INFO] - max_affordance_error = [31.302345] +[2024-01-16 20:27:19,982][train][INFO] - min_translation_distance_error = [0.3980259] +[2024-01-16 20:27:19,983][train][INFO] - min_translation_along_error = [0.01449451] +[2024-01-16 20:27:19,983][train][INFO] - min_translation_perp_error = [0.21968384] +[2024-01-16 20:27:19,983][train][INFO] - min_translation_plane_error = [0.19077408] +[2024-01-16 20:27:19,983][train][INFO] - min_translation_line_error = [0.00657497] +[2024-01-16 20:27:19,984][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-16 20:27:19,984][train][INFO] - min_affordance_error = [0.54923946] +[2024-01-16 20:27:19,985][train][INFO] - std_translation_distance_error = [2.0480764] +[2024-01-16 20:27:19,985][train][INFO] - std_translation_along_error = [1.2091554] +[2024-01-16 20:27:19,986][train][INFO] - std_translation_perp_error = [2.092747] +[2024-01-16 20:27:19,986][train][INFO] - std_translation_plane_error = [2.0930176] +[2024-01-16 20:27:19,986][train][INFO] - std_translation_line_error = [1.8240399] +[2024-01-16 20:27:19,986][train][INFO] - std_rotation_error = [2.9317732] +[2024-01-16 20:27:19,987][train][INFO] - std_affordance_error = [3.5191622] +[2024-01-16 20:27:19,987][train][INFO] - translation_outliers_num = 106 +[2024-01-16 20:27:19,987][train][INFO] - rotation_outliers_num = 173 +[2024-01-16 20:27:19,987][train][INFO] - affordance_outliers_num = 190 +[2024-01-16 20:27:19,987][train][INFO] - translation_outliers_ratio = 0.2459396751740139 +[2024-01-16 20:27:19,987][train][INFO] - rotation_outliers_ratio = 0.4013921113689095 +[2024-01-16 20:27:19,987][train][INFO] - affordance_outliers_ratio = 0.4408352668213457 +[2024-01-16 20:27:19,987][train][INFO] - data_num = 431, joint_num = 1 +[2024-01-16 20:27:19,989][train][INFO] - Tested testing. +[2024-01-16 20:27:19,989][train][INFO] - Testing testing time: 209.28126430511475 diff --git a/formal_microwave_2024_01_16_12_16_57/weights/encoder_latest.pth b/formal_microwave_2024_01_16_12_16_57/weights/encoder_latest.pth new file mode 100644 index 0000000000000000000000000000000000000000..cf1d0380d9462fce1fddaa412e57cbf83e9fb28f --- /dev/null +++ b/formal_microwave_2024_01_16_12_16_57/weights/encoder_latest.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09ad82689d170b4b8ac3fbd5183329c5cb9615f555915243e8d52f461ad5dde7 +size 1021585 diff --git a/formal_microwave_2024_01_16_12_16_57/weights/shot_encoder_latest.pth b/formal_microwave_2024_01_16_12_16_57/weights/shot_encoder_latest.pth new file mode 100644 index 0000000000000000000000000000000000000000..649fd568ffce575e00d658894eb749b343ebe961 --- /dev/null +++ b/formal_microwave_2024_01_16_12_16_57/weights/shot_encoder_latest.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf649fd63866d2585e274382e27be29267ff6a4a9e9eb43407a23a24d85cc43a +size 1046929 diff --git a/formal_refrigerator_2024_01_17_22_52_26/.hydra/config.yaml b/formal_refrigerator_2024_01_17_22_52_26/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aad9654fa6a1d13de43e67220af84def5274f8c8 --- /dev/null +++ b/formal_refrigerator_2024_01_17_22_52_26/.hydra/config.yaml @@ -0,0 +1,69 @@ +dataset: + train_path: /data2/junbo/sapien4/train + test_path: /data2/junbo/sapien4/test + train_categories: + - Refrigerator + test_categories: + - Refrigerator + joint_num: 1 + resolution: 0.01 + receptive_field: 10 + normalize: none + sample_points_num: 1024 + rgb: false + denoise: false +algorithm: + sampling: + sample_tuples_num: 100000 + tuple_more_num: 3 + shot_encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + feature_dim: 64 + bn: false + ln: false + dropout: 0 + encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + bn: false + ln: false + dropout: 0 + voting: + rot_bin_num: 36 + voting_num: 120 + angle_tol: 1.5 + translation2pc: false + rotation_cluster: false + multi_candidate: false + candidate_threshold: 0.5 + rotation_multi_neighbor: false + neighbor_threshold: 10 + bmm_size: 100000 +training: + seed: 42 + device: 0 + batch_size: 16 + num_workers: 8 + epoch_num: 300 + lr: 0.001 + weight_decay: 0 + lambda_rot: 0.1 + lambda_afford: 1.0 + lambda_conf: 0.5 + val_training: true + val_training_num: 64 + val_testing: true + val_testing_num: 64 + test_train: true + test_test: true +abbr: formal_refrigerator +debug: false diff --git a/formal_refrigerator_2024_01_17_22_52_26/.hydra/hydra.yaml b/formal_refrigerator_2024_01_17_22_52_26/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6d38f4ed6167e1b2574b02e15626509da58a8c8e --- /dev/null +++ b/formal_refrigerator_2024_01_17_22_52_26/.hydra/hydra.yaml @@ -0,0 +1,157 @@ +hydra: + run: + dir: ./outputs/train/${abbr}_${now:%Y_%m_%d_%H_%M_%S} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: train + chdir: null + override_dirname: '' + id: ??? + num: ??? + config_name: train_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.2' + cwd: /home/junbo/Codes/rpmart + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/junbo/Codes/rpmart/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/junbo/Codes/rpmart/outputs/train/formal_refrigerator_2024_01_17_22_52_26 + choices: + training: formal + algorithm: formal + dataset: formal_refrigerator + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/formal_refrigerator_2024_01_17_22_52_26/.hydra/overrides.yaml b/formal_refrigerator_2024_01_17_22_52_26/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe51488c7066f6687ef680d6bfaa4f7768ef205c --- /dev/null +++ b/formal_refrigerator_2024_01_17_22_52_26/.hydra/overrides.yaml @@ -0,0 +1 @@ +[] diff --git a/formal_refrigerator_2024_01_17_22_52_26/tb/events.out.tfevents.1705503148.aiadm-PIO-6049GP-TRT1-ZY001.3967349.0 b/formal_refrigerator_2024_01_17_22_52_26/tb/events.out.tfevents.1705503148.aiadm-PIO-6049GP-TRT1-ZY001.3967349.0 new file mode 100644 index 0000000000000000000000000000000000000000..7ffad195839a18e487c265d7c30a0ab912eaf3c4 --- /dev/null +++ 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/dev/null +++ b/formal_refrigerator_2024_01_17_22_52_26/tb/training_outliers_ratio_translation/events.out.tfevents.1705503339.aiadm-PIO-6049GP-TRT1-ZY001.3967349.36 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9c13fb4d564b8699f7efa3863c3a02d3eab5a757d90f7664951c85f1e611d3d +size 763 diff --git a/formal_refrigerator_2024_01_17_22_52_26/train.log b/formal_refrigerator_2024_01_17_22_52_26/train.log new file mode 100644 index 0000000000000000000000000000000000000000..3d783c01c39a1a447d021a251cf3210d8b81a2db --- /dev/null +++ b/formal_refrigerator_2024_01_17_22_52_26/train.log @@ -0,0 +1,1597 @@ +[2024-01-17 22:52:26,399][train][INFO] - Preparing dataset... +[2024-01-17 22:52:26,655][train][INFO] - Prepared dataset. +[2024-01-17 22:52:26,655][train][INFO] - Preparing model... +[2024-01-17 22:52:28,598][train][INFO] - Prepared model. +[2024-01-17 22:52:28,598][train][INFO] - Optimizing... +[2024-01-17 22:52:28,620][train][INFO] - epoch: 0 lr: 6.666666666666667e-05 +[2024-01-17 22:54:08,411][train][INFO] - training loss: 0.010568331295831335 + 0.3070800503094991 + 0.028130731566084755 + 0.343292948934767 = 0.6890720658832126, data num: 712 +[2024-01-17 22:54:08,426][train][INFO] - Validating training... +[2024-01-17 22:55:38,933][train][INFO] - mean_translation_distance_error = [118.63895] +[2024-01-17 22:55:38,934][train][INFO] - mean_translation_along_error = [28.668346] +[2024-01-17 22:55:38,934][train][INFO] - mean_translation_perp_error = [112.93188] +[2024-01-17 22:55:38,934][train][INFO] - mean_translation_plane_error = [82.731636] +[2024-01-17 22:55:38,935][train][INFO] - mean_translation_line_error = [99.17152] +[2024-01-17 22:55:38,935][train][INFO] - mean_rotation_error = [90.] +[2024-01-17 22:55:38,935][train][INFO] - mean_affordance_error = [114.84921] +[2024-01-17 22:55:38,937][train][INFO] - median_translation_distance_error = [116.71037] +[2024-01-17 22:55:38,937][train][INFO] - median_translation_along_error = [27.68951] +[2024-01-17 22:55:38,937][train][INFO] - median_translation_perp_error = [114.3161] +[2024-01-17 22:55:38,938][train][INFO] - median_translation_plane_error = [80.32422] +[2024-01-17 22:55:38,938][train][INFO] - median_translation_line_error = [102.58695] +[2024-01-17 22:55:38,938][train][INFO] - median_rotation_error = [90.] +[2024-01-17 22:55:38,938][train][INFO] - median_affordance_error = [117.10141] +[2024-01-17 22:55:38,939][train][INFO] - max_translation_distance_error = [159.58908] +[2024-01-17 22:55:38,939][train][INFO] - max_translation_along_error = [61.781162] +[2024-01-17 22:55:38,939][train][INFO] - max_translation_perp_error = [159.38455] +[2024-01-17 22:55:38,940][train][INFO] - max_translation_plane_error = [150.36469] +[2024-01-17 22:55:38,940][train][INFO] - max_translation_line_error = [146.40977] +[2024-01-17 22:55:38,940][train][INFO] - max_rotation_error = [90.] +[2024-01-17 22:55:38,941][train][INFO] - max_affordance_error = [158.708] +[2024-01-17 22:55:38,941][train][INFO] - min_translation_distance_error = [73.29692] +[2024-01-17 22:55:38,941][train][INFO] - min_translation_along_error = [0.0289917] +[2024-01-17 22:55:38,942][train][INFO] - min_translation_perp_error = [52.91656] +[2024-01-17 22:55:38,942][train][INFO] - min_translation_plane_error = [39.497295] +[2024-01-17 22:55:38,942][train][INFO] - min_translation_line_error = [31.782618] +[2024-01-17 22:55:38,942][train][INFO] - min_rotation_error = [90.] +[2024-01-17 22:55:38,943][train][INFO] - min_affordance_error = [72.52975] +[2024-01-17 22:55:38,944][train][INFO] - std_translation_distance_error = [20.472729] +[2024-01-17 22:55:38,944][train][INFO] - std_translation_along_error = [17.996597] +[2024-01-17 22:55:38,944][train][INFO] - std_translation_perp_error = [24.392044] +[2024-01-17 22:55:38,945][train][INFO] - std_translation_plane_error = [23.609331] +[2024-01-17 22:55:38,945][train][INFO] - std_translation_line_error = [26.948385] +[2024-01-17 22:55:38,945][train][INFO] - std_rotation_error = [0.] +[2024-01-17 22:55:38,946][train][INFO] - std_affordance_error = [16.599888] +[2024-01-17 22:55:38,946][train][INFO] - translation_outliers_num = 64 +[2024-01-17 22:55:38,946][train][INFO] - rotation_outliers_num = 64 +[2024-01-17 22:55:38,946][train][INFO] - affordance_outliers_num = 64 +[2024-01-17 22:55:38,946][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-17 22:55:38,946][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-17 22:55:38,946][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-17 22:55:38,946][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-17 22:55:39,176][train][INFO] - Validated training. +[2024-01-17 22:55:39,177][train][INFO] - Validating training time: 90.74963092803955 +[2024-01-17 22:55:39,178][train][INFO] - Validating testing... +[2024-01-17 22:56:41,582][train][INFO] - mean_translation_distance_error = [125.722855] +[2024-01-17 22:56:41,583][train][INFO] - mean_translation_along_error = [27.8702] +[2024-01-17 22:56:41,583][train][INFO] - mean_translation_perp_error = [120.81232] +[2024-01-17 22:56:41,584][train][INFO] - mean_translation_plane_error = [87.8639] +[2024-01-17 22:56:41,584][train][INFO] - mean_translation_line_error = [107.36261] +[2024-01-17 22:56:41,584][train][INFO] - mean_rotation_error = [90.] +[2024-01-17 22:56:41,585][train][INFO] - mean_affordance_error = [120.6479] +[2024-01-17 22:56:41,585][train][INFO] - median_translation_distance_error = [124.22264] +[2024-01-17 22:56:41,586][train][INFO] - median_translation_along_error = [23.24065] +[2024-01-17 22:56:41,586][train][INFO] - median_translation_perp_error = [118.54117] +[2024-01-17 22:56:41,586][train][INFO] - median_translation_plane_error = [84.73873] +[2024-01-17 22:56:41,586][train][INFO] - median_translation_line_error = [106.825676] +[2024-01-17 22:56:41,586][train][INFO] - median_rotation_error = [90.] +[2024-01-17 22:56:41,586][train][INFO] - median_affordance_error = [119.96762] +[2024-01-17 22:56:41,586][train][INFO] - max_translation_distance_error = [159.54855] +[2024-01-17 22:56:41,587][train][INFO] - max_translation_along_error = [73.528625] +[2024-01-17 22:56:41,587][train][INFO] - max_translation_perp_error = [159.54703] +[2024-01-17 22:56:41,587][train][INFO] - max_translation_plane_error = [150.65938] +[2024-01-17 22:56:41,587][train][INFO] - max_translation_line_error = [154.55658] +[2024-01-17 22:56:41,587][train][INFO] - max_rotation_error = [90.] +[2024-01-17 22:56:41,587][train][INFO] - max_affordance_error = [167.08725] +[2024-01-17 22:56:41,587][train][INFO] - min_translation_distance_error = [93.76503] +[2024-01-17 22:56:41,587][train][INFO] - min_translation_along_error = [0.22945404] +[2024-01-17 22:56:41,588][train][INFO] - min_translation_perp_error = [80.85365] +[2024-01-17 22:56:41,588][train][INFO] - min_translation_plane_error = [50.693573] +[2024-01-17 22:56:41,588][train][INFO] - min_translation_line_error = [46.227562] +[2024-01-17 22:56:41,588][train][INFO] - min_rotation_error = [90.] +[2024-01-17 22:56:41,588][train][INFO] - min_affordance_error = [80.79536] +[2024-01-17 22:56:41,588][train][INFO] - std_translation_distance_error = [15.904904] +[2024-01-17 22:56:41,589][train][INFO] - std_translation_along_error = [18.77265] +[2024-01-17 22:56:41,589][train][INFO] - std_translation_perp_error = [18.287334] +[2024-01-17 22:56:41,589][train][INFO] - std_translation_plane_error = [22.69922] +[2024-01-17 22:56:41,589][train][INFO] - std_translation_line_error = [22.050564] +[2024-01-17 22:56:41,589][train][INFO] - std_rotation_error = [0.] +[2024-01-17 22:56:41,589][train][INFO] - std_affordance_error = [18.088665] +[2024-01-17 22:56:41,589][train][INFO] - translation_outliers_num = 64 +[2024-01-17 22:56:41,589][train][INFO] - rotation_outliers_num = 64 +[2024-01-17 22:56:41,589][train][INFO] - affordance_outliers_num = 64 +[2024-01-17 22:56:41,589][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-17 22:56:41,589][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-17 22:56:41,589][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-17 22:56:41,589][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-17 22:56:41,624][train][INFO] - Validated testing. +[2024-01-17 22:56:41,624][train][INFO] - Validating testing time: 62.4454607963562 +[2024-01-17 22:56:41,625][train][INFO] - epoch: 1 lr: 0.00013333333333333334 +[2024-01-17 22:58:21,584][train][INFO] - training loss: 0.00658653432296382 + 0.29590115282270646 + 0.012800898609889878 + 0.3381376928753323 = 0.6534262776374817, data num: 712 +[2024-01-17 22:58:21,586][train][INFO] - epoch: 2 lr: 0.0002 +[2024-01-17 22:59:56,773][train][INFO] - training loss: 0.006366094584680266 + 0.281922803984748 + 0.011014600408573945 + 0.3141015244854821 = 0.6134050183826023, data num: 712 +[2024-01-17 22:59:56,775][train][INFO] - epoch: 3 lr: 0.0002666666666666667 +[2024-01-17 23:01:35,739][train][INFO] - training loss: 0.0056221653707325455 + 0.2768238955073886 + 0.010139034636732604 + 0.2835272451241811 = 0.5761123418807983, data num: 712 +[2024-01-17 23:01:35,741][train][INFO] - epoch: 4 lr: 0.0003333333333333333 +[2024-01-17 23:03:27,916][train][INFO] - training loss: 0.005244357552793291 + 0.25623366898960537 + 0.009409066444883743 + 0.23714448445373112 = 0.5080315808455149, data num: 712 +[2024-01-17 23:03:27,918][train][INFO] - epoch: 5 lr: 0.0004 +[2024-01-17 23:05:24,372][train][INFO] - training loss: 0.004875026415619585 + 0.21060851547453138 + 0.008995183650404215 + 0.20729091432359484 = 0.4317696385913425, data num: 712 +[2024-01-17 23:05:24,373][train][INFO] - epoch: 6 lr: 0.00046666666666666666 +[2024-01-17 23:07:18,705][train][INFO] - training loss: 0.004424525073005094 + 0.1903587069776323 + 0.008572997721946902 + 0.18244211276372274 = 0.38579834236039057, data num: 712 +[2024-01-17 23:07:18,707][train][INFO] - epoch: 7 lr: 0.0005333333333333334 +[2024-01-17 23:09:15,388][train][INFO] - training loss: 0.004349225919900669 + 0.18472170366181268 + 0.00842095667289363 + 0.18005116217666203 = 0.377543048063914, data num: 712 +[2024-01-17 23:09:15,390][train][INFO] - epoch: 8 lr: 0.0006 +[2024-01-17 23:10:56,584][train][INFO] - training loss: 0.004196643311944272 + 0.17976440091927845 + 0.00754359167897039 + 0.16715262466006808 = 0.35865726073582965, data num: 712 +[2024-01-17 23:10:56,586][train][INFO] - epoch: 9 lr: 0.0006666666666666666 +[2024-01-17 23:12:39,986][train][INFO] - training loss: 0.00379131272331708 + 0.1772437274456024 + 0.007145903590652678 + 0.16258241269323562 = 0.3507633566856384, data num: 712 +[2024-01-17 23:12:39,987][train][INFO] - epoch: 10 lr: 0.0007333333333333333 +[2024-01-17 23:14:25,606][train][INFO] - training loss: 0.0040768226660374135 + 0.1739493598540624 + 0.007480927629189359 + 0.15242287119229633 = 0.33792998393376666, data num: 712 +[2024-01-17 23:14:25,609][train][INFO] - epoch: 11 lr: 0.0008 +[2024-01-17 23:16:20,687][train][INFO] - training loss: 0.0038848566305306224 + 0.17022581067350176 + 0.006811507191095087 + 0.15140201416280535 = 0.3323241862985823, data num: 712 +[2024-01-17 23:16:20,688][train][INFO] - epoch: 12 lr: 0.0008666666666666667 +[2024-01-17 23:18:21,408][train][INFO] - training loss: 0.004080284816316433 + 0.16955261495378282 + 0.0070786570509274805 + 0.14526528616746268 = 0.3259768419795566, data num: 712 +[2024-01-17 23:18:21,410][train][INFO] - epoch: 13 lr: 0.0009333333333333333 +[2024-01-17 23:20:24,979][train][INFO] - training loss: 0.0037027086545195842 + 0.1649273931980133 + 0.006512260881976949 + 0.14420002549886704 = 0.319342393345303, data num: 712 +[2024-01-17 23:20:24,980][train][INFO] - epoch: 14 lr: 0.001 +[2024-01-17 23:22:25,528][train][INFO] - training loss: 0.003652765301780568 + 0.16265275180339814 + 0.00649912492889497 + 0.14411063724093967 = 0.3169152776400248, data num: 712 +[2024-01-17 23:22:25,529][train][INFO] - epoch: 15 lr: 0.001 +[2024-01-17 23:24:26,176][train][INFO] - training loss: 0.0034665801510628726 + 0.1644046770201789 + 0.006312041367507643 + 0.13013224833541445 = 0.30431554714838666, data num: 712 +[2024-01-17 23:24:26,177][train][INFO] - epoch: 16 lr: 0.0009999728588359286 +[2024-01-17 23:26:23,292][train][INFO] - training loss: 0.0035446249983376926 + 0.15686793294217852 + 0.005992388652844562 + 0.13193692747089597 = 0.2983418709701962, data num: 712 +[2024-01-17 23:26:23,293][train][INFO] - epoch: 17 lr: 0.0009998914383200486 +[2024-01-17 23:28:23,467][train][INFO] - training loss: 0.0035893869379328355 + 0.15378850665357377 + 0.005521353582541148 + 0.11952245185772578 = 0.28242169751061336, data num: 712 +[2024-01-17 23:28:23,469][train][INFO] - epoch: 18 lr: 0.0009997557473810372 +[2024-01-17 23:30:24,058][train][INFO] - training loss: 0.003604273632582691 + 0.15273449487156338 + 0.005774943396035168 + 0.1190807913740476 = 0.2811945031086604, data num: 712 +[2024-01-17 23:30:24,061][train][INFO] - epoch: 19 lr: 0.000999565800898935 +[2024-01-17 23:32:25,254][train][INFO] - training loss: 0.0031480679598947367 + 0.15143760078483157 + 0.005251687465028631 + 0.11197050263484319 = 0.27180786099698806, data num: 712 +[2024-01-17 23:32:25,255][train][INFO] - epoch: 20 lr: 0.0009993216197035143 +[2024-01-17 23:34:25,220][train][INFO] - training loss: 0.0032701489256901873 + 0.15116876396867965 + 0.005425461417891913 + 0.11248827228943507 = 0.27235265009933046, data num: 712 +[2024-01-17 23:34:25,221][train][INFO] - epoch: 21 lr: 0.0009990232305719946 +[2024-01-17 23:36:21,337][train][INFO] - training loss: 0.0032215508425401315 + 0.14650066561169095 + 0.005103805438718862 + 0.10695090326997969 = 0.26177692148420545, data num: 712 +[2024-01-17 23:36:21,338][train][INFO] - epoch: 22 lr: 0.0009986706662261067 +[2024-01-17 23:38:24,635][train][INFO] - training loss: 0.0030488066375255586 + 0.14722131656275855 + 0.005175026081916358 + 0.10930217620399263 = 0.2647473265727361, data num: 712 +[2024-01-17 23:38:24,638][train][INFO] - epoch: 23 lr: 0.0009982639653285047 +[2024-01-17 23:40:14,290][train][INFO] - training loss: 0.0032187137856251663 + 0.14508803851074642 + 0.004916613357555535 + 0.10212774988677767 = 0.2553511165910297, data num: 712 +[2024-01-17 23:40:14,291][train][INFO] - epoch: 24 lr: 0.0009978031724785245 +[2024-01-17 23:42:05,027][train][INFO] - training loss: 0.003106661109874646 + 0.14337913211849002 + 0.0052551772755881155 + 0.09559218188126882 = 0.24733315176433987, data num: 712 +[2024-01-17 23:42:05,029][train][INFO] - epoch: 25 lr: 0.0009972883382072953 +[2024-01-17 23:43:53,961][train][INFO] - training loss: 0.002962293444822232 + 0.14033999376826817 + 0.004877364511291186 + 0.0940882126490275 = 0.24226786494255065, data num: 712 +[2024-01-17 23:43:53,962][train][INFO] - epoch: 26 lr: 0.0009967195189721962 +[2024-01-17 23:45:44,273][train][INFO] - training loss: 0.00291714150355094 + 0.14003726260529625 + 0.004761640479167302 + 0.0977770639790429 = 0.24549310836527083, data num: 712 +[2024-01-17 23:45:44,274][train][INFO] - epoch: 27 lr: 0.0009960967771506667 +[2024-01-17 23:47:43,113][train][INFO] - training loss: 0.0031711329912973776 + 0.14093353648980458 + 0.005043333075526688 + 0.09556562023030388 = 0.24471362233161925, data num: 712 +[2024-01-17 23:47:43,115][train][INFO] - epoch: 28 lr: 0.0009954201810333646 +[2024-01-17 23:49:38,479][train][INFO] - training loss: 0.002974973815596766 + 0.14011839893129135 + 0.004806211150975691 + 0.087817040251361 = 0.23571662538581425, data num: 712 +[2024-01-17 23:49:38,481][train][INFO] - epoch: 29 lr: 0.0009946898048166792 +[2024-01-17 23:51:31,702][train][INFO] - training loss: 0.002759402421199613 + 0.13567637883954578 + 0.00478585583364798 + 0.08915531850523419 = 0.23237695693969726, data num: 712 +[2024-01-17 23:51:31,703][train][INFO] - epoch: 30 lr: 0.000993905728594593 +[2024-01-17 23:53:28,399][train][INFO] - training loss: 0.0028078838717192412 + 0.13568109919627508 + 0.004828518225500981 + 0.08036750099725193 = 0.22368500232696534, data num: 712 +[2024-01-17 23:53:28,412][train][INFO] - Validating training... +[2024-01-17 23:55:04,706][train][INFO] - mean_translation_distance_error = [5.709215] +[2024-01-17 23:55:04,706][train][INFO] - mean_translation_along_error = [1.3027759] +[2024-01-17 23:55:04,706][train][INFO] - mean_translation_perp_error = [5.455963] +[2024-01-17 23:55:04,706][train][INFO] - mean_translation_plane_error = [5.4339924] +[2024-01-17 23:55:04,706][train][INFO] - mean_translation_line_error = [3.1244948] +[2024-01-17 23:55:04,707][train][INFO] - mean_rotation_error = [8.878923] +[2024-01-17 23:55:04,707][train][INFO] - mean_affordance_error = [9.398773] +[2024-01-17 23:55:04,707][train][INFO] - median_translation_distance_error = [5.472454] +[2024-01-17 23:55:04,708][train][INFO] - median_translation_along_error = [1.1326783] +[2024-01-17 23:55:04,708][train][INFO] - median_translation_perp_error = [5.257599] +[2024-01-17 23:55:04,708][train][INFO] - median_translation_plane_error = [4.94396] +[2024-01-17 23:55:04,708][train][INFO] - median_translation_line_error = [2.273961] +[2024-01-17 23:55:04,708][train][INFO] - median_rotation_error = [6.815112] +[2024-01-17 23:55:04,708][train][INFO] - median_affordance_error = [8.381527] +[2024-01-17 23:55:04,708][train][INFO] - max_translation_distance_error = [15.932835] +[2024-01-17 23:55:04,709][train][INFO] - max_translation_along_error = [4.116926] +[2024-01-17 23:55:04,709][train][INFO] - max_translation_perp_error = [15.800004] +[2024-01-17 23:55:04,709][train][INFO] - max_translation_plane_error = [15.722878] +[2024-01-17 23:55:04,709][train][INFO] - max_translation_line_error = [11.800293] +[2024-01-17 23:55:04,709][train][INFO] - max_rotation_error = [22.38394] +[2024-01-17 23:55:04,709][train][INFO] - max_affordance_error = [20.204285] +[2024-01-17 23:55:04,710][train][INFO] - min_translation_distance_error = [0.66613674] +[2024-01-17 23:55:04,710][train][INFO] - min_translation_along_error = [0.03490113] +[2024-01-17 23:55:04,710][train][INFO] - min_translation_perp_error = [0.38424575] +[2024-01-17 23:55:04,710][train][INFO] - min_translation_plane_error = [0.46556312] +[2024-01-17 23:55:04,710][train][INFO] - min_translation_line_error = [0.24253151] +[2024-01-17 23:55:04,710][train][INFO] - min_rotation_error = [0.68414134] +[2024-01-17 23:55:04,710][train][INFO] - min_affordance_error = [2.1344862] +[2024-01-17 23:55:04,711][train][INFO] - std_translation_distance_error = [3.0878086] +[2024-01-17 23:55:04,711][train][INFO] - std_translation_along_error = [0.977519] +[2024-01-17 23:55:04,711][train][INFO] - std_translation_perp_error = [3.1159902] +[2024-01-17 23:55:04,711][train][INFO] - std_translation_plane_error = [3.1200202] +[2024-01-17 23:55:04,711][train][INFO] - std_translation_line_error = [2.4695945] +[2024-01-17 23:55:04,711][train][INFO] - std_rotation_error = [6.003583] +[2024-01-17 23:55:04,711][train][INFO] - std_affordance_error = [4.355753] +[2024-01-17 23:55:04,711][train][INFO] - translation_outliers_num = 32 +[2024-01-17 23:55:04,711][train][INFO] - rotation_outliers_num = 43 +[2024-01-17 23:55:04,711][train][INFO] - affordance_outliers_num = 55 +[2024-01-17 23:55:04,712][train][INFO] - translation_outliers_ratio = 0.5 +[2024-01-17 23:55:04,712][train][INFO] - rotation_outliers_ratio = 0.671875 +[2024-01-17 23:55:04,712][train][INFO] - affordance_outliers_ratio = 0.859375 +[2024-01-17 23:55:04,712][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-17 23:55:04,713][train][INFO] - Validated training. +[2024-01-17 23:55:04,721][train][INFO] - Validating training time: 96.30093812942505 +[2024-01-17 23:55:04,724][train][INFO] - Validating testing... +[2024-01-17 23:56:02,086][train][INFO] - mean_translation_distance_error = [7.4619293] +[2024-01-17 23:56:02,087][train][INFO] - mean_translation_along_error = [1.329169] +[2024-01-17 23:56:02,087][train][INFO] - mean_translation_perp_error = [7.239835] +[2024-01-17 23:56:02,087][train][INFO] - mean_translation_plane_error = [7.180161] +[2024-01-17 23:56:02,088][train][INFO] - mean_translation_line_error = [4.916527] +[2024-01-17 23:56:02,088][train][INFO] - mean_rotation_error = [10.259918] +[2024-01-17 23:56:02,089][train][INFO] - mean_affordance_error = [10.610205] +[2024-01-17 23:56:02,089][train][INFO] - median_translation_distance_error = [6.953746] +[2024-01-17 23:56:02,090][train][INFO] - median_translation_along_error = [0.9801631] +[2024-01-17 23:56:02,090][train][INFO] - median_translation_perp_error = [6.908434] +[2024-01-17 23:56:02,090][train][INFO] - median_translation_plane_error = [6.6768055] +[2024-01-17 23:56:02,090][train][INFO] - median_translation_line_error = [4.42021] +[2024-01-17 23:56:02,090][train][INFO] - median_rotation_error = [8.110138] +[2024-01-17 23:56:02,090][train][INFO] - median_affordance_error = [9.136083] +[2024-01-17 23:56:02,091][train][INFO] - max_translation_distance_error = [16.587158] +[2024-01-17 23:56:02,091][train][INFO] - max_translation_along_error = [5.5724645] +[2024-01-17 23:56:02,091][train][INFO] - max_translation_perp_error = [16.55242] +[2024-01-17 23:56:02,091][train][INFO] - max_translation_plane_error = [16.586308] +[2024-01-17 23:56:02,091][train][INFO] - max_translation_line_error = [13.972296] +[2024-01-17 23:56:02,091][train][INFO] - max_rotation_error = [28.21032] +[2024-01-17 23:56:02,091][train][INFO] - max_affordance_error = [28.627542] +[2024-01-17 23:56:02,092][train][INFO] - min_translation_distance_error = [1.7604672] +[2024-01-17 23:56:02,092][train][INFO] - min_translation_along_error = [0.00618668] +[2024-01-17 23:56:02,092][train][INFO] - min_translation_perp_error = [1.3358164] +[2024-01-17 23:56:02,092][train][INFO] - min_translation_plane_error = [1.6701791] +[2024-01-17 23:56:02,092][train][INFO] - min_translation_line_error = [0.01593657] +[2024-01-17 23:56:02,092][train][INFO] - min_rotation_error = [0.26392958] +[2024-01-17 23:56:02,092][train][INFO] - min_affordance_error = [2.2726514] +[2024-01-17 23:56:02,093][train][INFO] - std_translation_distance_error = [3.3922975] +[2024-01-17 23:56:02,093][train][INFO] - std_translation_along_error = [1.2732598] +[2024-01-17 23:56:02,093][train][INFO] - std_translation_perp_error = [3.3741643] +[2024-01-17 23:56:02,093][train][INFO] - std_translation_plane_error = [3.4086397] +[2024-01-17 23:56:02,093][train][INFO] - std_translation_line_error = [3.3912401] +[2024-01-17 23:56:02,094][train][INFO] - std_rotation_error = [7.2752666] +[2024-01-17 23:56:02,094][train][INFO] - std_affordance_error = [5.804304] +[2024-01-17 23:56:02,094][train][INFO] - translation_outliers_num = 46 +[2024-01-17 23:56:02,094][train][INFO] - rotation_outliers_num = 45 +[2024-01-17 23:56:02,094][train][INFO] - affordance_outliers_num = 52 +[2024-01-17 23:56:02,094][train][INFO] - translation_outliers_ratio = 0.71875 +[2024-01-17 23:56:02,094][train][INFO] - rotation_outliers_ratio = 0.703125 +[2024-01-17 23:56:02,094][train][INFO] - affordance_outliers_ratio = 0.8125 +[2024-01-17 23:56:02,094][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-17 23:56:02,095][train][INFO] - Validated testing. +[2024-01-17 23:56:02,100][train][INFO] - Validating testing time: 57.36963200569153 +[2024-01-17 23:56:02,101][train][INFO] - epoch: 31 lr: 0.0009930680383498998 +[2024-01-17 23:58:04,663][train][INFO] - training loss: 0.0027601495488650267 + 0.1344516987601916 + 0.004427615646272897 + 0.08220641132858064 = 0.22384587460094027, data num: 712 +[2024-01-17 23:58:04,664][train][INFO] - epoch: 32 lr: 0.0009921768259447744 +[2024-01-18 00:00:09,819][train][INFO] - training loss: 0.002752911765128374 + 0.13243980523612764 + 0.004308361410059863 + 0.07587042484018537 = 0.21537150376372868, data num: 712 +[2024-01-18 00:00:09,820][train][INFO] - epoch: 33 lr: 0.0009912321891107007 +[2024-01-18 00:02:12,790][train][INFO] - training loss: 0.0026711639844708974 + 0.13462171339326434 + 0.00444735798260404 + 0.07861146347390281 = 0.22035169667667812, data num: 712 +[2024-01-18 00:02:12,791][train][INFO] - epoch: 34 lr: 0.0009902342314377522 +[2024-01-18 00:04:11,984][train][INFO] - training loss: 0.0029521722450024553 + 0.1326348712046941 + 0.004273137470914258 + 0.0725097503927019 = 0.2123699300818973, data num: 712 +[2024-01-18 00:04:11,985][train][INFO] - epoch: 35 lr: 0.0009891830623632338 +[2024-01-18 00:06:15,353][train][INFO] - training loss: 0.0027433406095951794 + 0.12876865963141124 + 0.00435755812149081 + 0.07204789188173082 = 0.20791744854715136, data num: 712 +[2024-01-18 00:06:15,354][train][INFO] - epoch: 36 lr: 0.00098807879715968 +[2024-01-18 00:08:20,486][train][INFO] - training loss: 0.0027299038651916714 + 0.1313784236709277 + 0.004300869059645467 + 0.07438505598240429 = 0.21279425124327342, data num: 712 +[2024-01-18 00:08:20,487][train][INFO] - epoch: 37 lr: 0.0009869215569222143 +[2024-01-18 00:10:16,928][train][INFO] - training loss: 0.0026108242830054627 + 0.12917142311731974 + 0.004136190351305737 + 0.07393820509314537 = 0.20985664460394118, data num: 712 +[2024-01-18 00:10:16,929][train][INFO] - epoch: 38 lr: 0.0009857114685552697 +[2024-01-18 00:12:22,169][train][INFO] - training loss: 0.002618926931690011 + 0.12530109783013663 + 0.004040118617316087 + 0.06870700187153286 = 0.20066714551713732, data num: 712 +[2024-01-18 00:12:22,171][train][INFO] - epoch: 39 lr: 0.0009844486647586721 +[2024-01-18 00:14:26,899][train][INFO] - training loss: 0.0026357915407667558 + 0.12555395861466725 + 0.004295546571827597 + 0.0710325823061996 = 0.2035178780555725, data num: 712 +[2024-01-18 00:14:26,901][train][INFO] - epoch: 40 lr: 0.0009831332840130884 +[2024-01-18 00:16:27,922][train][INFO] - training loss: 0.0028374425911655028 + 0.12507474223772685 + 0.004492201635407077 + 0.06759924201501741 = 0.20000362892945608, data num: 712 +[2024-01-18 00:16:27,922][train][INFO] - epoch: 41 lr: 0.0009817654705648405 +[2024-01-18 00:18:34,255][train][INFO] - training loss: 0.0027474239313354095 + 0.12240406258238687 + 0.004322906542155478 + 0.06477560665872362 = 0.19424999985429975, data num: 712 +[2024-01-18 00:18:34,256][train][INFO] - epoch: 42 lr: 0.0009803453744100864 +[2024-01-18 00:20:39,157][train][INFO] - training loss: 0.0024792254954162573 + 0.12209133389923307 + 0.003762677332593335 + 0.06595789127879673 = 0.19429112838374243, data num: 712 +[2024-01-18 00:20:39,158][train][INFO] - epoch: 43 lr: 0.0009788731512783728 +[2024-01-18 00:22:37,907][train][INFO] - training loss: 0.0024365167159380186 + 0.12284257229831484 + 0.0038127699039048617 + 0.062099647604756884 = 0.1911915057235294, data num: 712 +[2024-01-18 00:22:37,914][train][INFO] - epoch: 44 lr: 0.0009773489626155566 +[2024-01-18 00:24:34,751][train][INFO] - training loss: 0.002433325257152319 + 0.12259896861182319 + 0.0036825298021237055 + 0.06142799945341216 = 0.19014282491472032, data num: 712 +[2024-01-18 00:24:34,752][train][INFO] - epoch: 45 lr: 0.0009757729755661006 +[2024-01-18 00:26:35,299][train][INFO] - training loss: 0.002440098978372084 + 0.12078766740030712 + 0.003908679763683014 + 0.05903499474128087 = 0.18617144028345745, data num: 712 +[2024-01-18 00:26:35,300][train][INFO] - epoch: 46 lr: 0.0009741453629547445 +[2024-01-18 00:28:33,010][train][INFO] - training loss: 0.0023783521235196128 + 0.12035563455687628 + 0.00381009114595751 + 0.06368492874834272 = 0.1902290059460534, data num: 712 +[2024-01-18 00:28:33,011][train][INFO] - epoch: 47 lr: 0.0009724663032675527 +[2024-01-18 00:30:26,563][train][INFO] - training loss: 0.0023768089013174176 + 0.11944102015760209 + 0.0039453094307747155 + 0.056058357490433586 = 0.1818214966191186, data num: 712 +[2024-01-18 00:30:26,564][train][INFO] - epoch: 48 lr: 0.0009707359806323412 +[2024-01-18 00:32:22,968][train][INFO] - training loss: 0.0022443020742179617 + 0.11899575922224256 + 0.0035522436102231342 + 0.055306738366683324 = 0.1800990432500839, data num: 712 +[2024-01-18 00:32:22,969][train][INFO] - epoch: 49 lr: 0.0009689545847984858 +[2024-01-18 00:34:25,375][train][INFO] - training loss: 0.002319073568408688 + 0.11857022179497613 + 0.0035606655033512246 + 0.05732278616891967 = 0.18177274730470444, data num: 712 +[2024-01-18 00:34:25,376][train][INFO] - epoch: 50 lr: 0.0009671223111161144 +[2024-01-18 00:36:22,610][train][INFO] - training loss: 0.002380804598538412 + 0.12047623677386178 + 0.0039325338374409415 + 0.05735051780939102 = 0.18414009379016028, data num: 712 +[2024-01-18 00:36:22,611][train][INFO] - epoch: 51 lr: 0.000965239360514684 +[2024-01-18 00:38:24,419][train][INFO] - training loss: 0.002557630197972887 + 0.11519683003425599 + 0.003573776160677274 + 0.0572378428445922 = 0.1785660786761178, data num: 712 +[2024-01-18 00:38:24,420][train][INFO] - epoch: 52 lr: 0.000963305939480947 +[2024-01-18 00:40:26,611][train][INFO] - training loss: 0.002484660370585819 + 0.11450363861189948 + 0.003544300566944811 + 0.050768146498335734 = 0.1713007456726498, data num: 712 +[2024-01-18 00:40:26,612][train][INFO] - epoch: 53 lr: 0.0009613222600363074 +[2024-01-18 00:42:29,136][train][INFO] - training loss: 0.0024159774779238634 + 0.11583067410522037 + 0.0035237665339890455 + 0.051503154635429385 = 0.17327357298798032, data num: 712 +[2024-01-18 00:42:29,137][train][INFO] - epoch: 54 lr: 0.0009592885397135703 +[2024-01-18 00:44:32,080][train][INFO] - training loss: 0.0021609465384648907 + 0.11396943132082621 + 0.00319541214654843 + 0.048506472342544134 = 0.1678322629796134, data num: 712 +[2024-01-18 00:44:32,082][train][INFO] - epoch: 55 lr: 0.0009572050015330871 +[2024-01-18 00:46:35,169][train][INFO] - training loss: 0.002603569036970536 + 0.11317352553208669 + 0.0036867239615983433 + 0.050638822466135026 = 0.17010263999303182, data num: 712 +[2024-01-18 00:46:35,171][train][INFO] - epoch: 56 lr: 0.0009550718739782986 +[2024-01-18 00:48:31,012][train][INFO] - training loss: 0.002419238542723987 + 0.1120338531004058 + 0.0033366980134612984 + 0.051642054733302856 = 0.16943184534708658, data num: 712 +[2024-01-18 00:48:31,014][train][INFO] - epoch: 57 lr: 0.0009528893909706794 +[2024-01-18 00:50:36,893][train][INFO] - training loss: 0.0023791780333138174 + 0.11132911096016566 + 0.003328682275282012 + 0.04683291448487176 = 0.1638698846101761, data num: 712 +[2024-01-18 00:50:36,894][train][INFO] - epoch: 58 lr: 0.0009506577918440856 +[2024-01-18 00:52:32,404][train][INFO] - training loss: 0.0021776049863547085 + 0.1108004093170166 + 0.0033841242858519156 + 0.05102119007044369 = 0.16738332874245113, data num: 712 +[2024-01-18 00:52:32,405][train][INFO] - epoch: 59 lr: 0.000948377321318509 +[2024-01-18 00:54:30,629][train][INFO] - training loss: 0.0021704313500473895 + 0.11098107778363758 + 0.00330054708239105 + 0.046934637592898475 = 0.1633866935968399, data num: 712 +[2024-01-18 00:54:30,630][train][INFO] - epoch: 60 lr: 0.0009460482294732416 +[2024-01-18 00:56:32,002][train][INFO] - training loss: 0.0022988973676951394 + 0.10894336783223682 + 0.003202221170067787 + 0.044888212697373496 = 0.159332698252466, data num: 712 +[2024-01-18 00:56:32,022][train][INFO] - Validating training... +[2024-01-18 00:57:42,408][train][INFO] - mean_translation_distance_error = [4.6704016] +[2024-01-18 00:57:42,409][train][INFO] - mean_translation_along_error = [2.2201529] +[2024-01-18 00:57:42,409][train][INFO] - mean_translation_perp_error = [3.8236902] +[2024-01-18 00:57:42,410][train][INFO] - mean_translation_plane_error = [3.813593] +[2024-01-18 00:57:42,410][train][INFO] - mean_translation_line_error = [2.508476] +[2024-01-18 00:57:42,410][train][INFO] - mean_rotation_error = [5.136853] +[2024-01-18 00:57:42,411][train][INFO] - mean_affordance_error = [5.810877] +[2024-01-18 00:57:42,412][train][INFO] - median_translation_distance_error = [4.431508] +[2024-01-18 00:57:42,412][train][INFO] - median_translation_along_error = [1.9400313] +[2024-01-18 00:57:42,413][train][INFO] - median_translation_perp_error = [3.4827518] +[2024-01-18 00:57:42,413][train][INFO] - median_translation_plane_error = [3.4764686] +[2024-01-18 00:57:42,413][train][INFO] - median_translation_line_error = [2.5758257] +[2024-01-18 00:57:42,413][train][INFO] - median_rotation_error = [4.966502] +[2024-01-18 00:57:42,413][train][INFO] - median_affordance_error = [5.2701354] +[2024-01-18 00:57:42,414][train][INFO] - max_translation_distance_error = [9.536538] +[2024-01-18 00:57:42,414][train][INFO] - max_translation_along_error = [4.9149537] +[2024-01-18 00:57:42,414][train][INFO] - max_translation_perp_error = [8.915747] +[2024-01-18 00:57:42,414][train][INFO] - max_translation_plane_error = [9.0978365] +[2024-01-18 00:57:42,414][train][INFO] - max_translation_line_error = [6.255526] +[2024-01-18 00:57:42,414][train][INFO] - max_rotation_error = [13.867823] +[2024-01-18 00:57:42,414][train][INFO] - max_affordance_error = [14.160421] +[2024-01-18 00:57:42,415][train][INFO] - min_translation_distance_error = [1.0832946] +[2024-01-18 00:57:42,415][train][INFO] - min_translation_along_error = [0.06979761] +[2024-01-18 00:57:42,415][train][INFO] - min_translation_perp_error = [0.49235243] +[2024-01-18 00:57:42,415][train][INFO] - min_translation_plane_error = [0.41594663] +[2024-01-18 00:57:42,415][train][INFO] - min_translation_line_error = [0.05901036] +[2024-01-18 00:57:42,415][train][INFO] - min_rotation_error = [0.4392403] +[2024-01-18 00:57:42,415][train][INFO] - min_affordance_error = [1.0273468] +[2024-01-18 00:57:42,416][train][INFO] - std_translation_distance_error = [1.6101986] +[2024-01-18 00:57:42,416][train][INFO] - std_translation_along_error = [1.3427279] +[2024-01-18 00:57:42,416][train][INFO] - std_translation_perp_error = [1.7472228] +[2024-01-18 00:57:42,416][train][INFO] - std_translation_plane_error = [1.7585689] +[2024-01-18 00:57:42,417][train][INFO] - std_translation_line_error = [1.5610663] +[2024-01-18 00:57:42,417][train][INFO] - std_rotation_error = [2.6232061] +[2024-01-18 00:57:42,417][train][INFO] - std_affordance_error = [2.9020922] +[2024-01-18 00:57:42,417][train][INFO] - translation_outliers_num = 18 +[2024-01-18 00:57:42,417][train][INFO] - rotation_outliers_num = 31 +[2024-01-18 00:57:42,417][train][INFO] - affordance_outliers_num = 34 +[2024-01-18 00:57:42,417][train][INFO] - translation_outliers_ratio = 0.28125 +[2024-01-18 00:57:42,417][train][INFO] - rotation_outliers_ratio = 0.484375 +[2024-01-18 00:57:42,417][train][INFO] - affordance_outliers_ratio = 0.53125 +[2024-01-18 00:57:42,417][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 00:57:42,418][train][INFO] - Validated training. +[2024-01-18 00:57:42,423][train][INFO] - Validating training time: 70.39581966400146 +[2024-01-18 00:57:42,425][train][INFO] - Validating testing... +[2024-01-18 00:58:38,387][train][INFO] - mean_translation_distance_error = [5.818417] +[2024-01-18 00:58:38,387][train][INFO] - mean_translation_along_error = [1.9412636] +[2024-01-18 00:58:38,388][train][INFO] - mean_translation_perp_error = [5.244199] +[2024-01-18 00:58:38,388][train][INFO] - mean_translation_plane_error = [5.2257557] +[2024-01-18 00:58:38,388][train][INFO] - mean_translation_line_error = [3.3652544] +[2024-01-18 00:58:38,388][train][INFO] - mean_rotation_error = [5.884102] +[2024-01-18 00:58:38,388][train][INFO] - mean_affordance_error = [6.254582] +[2024-01-18 00:58:38,389][train][INFO] - median_translation_distance_error = [5.4998655] +[2024-01-18 00:58:38,389][train][INFO] - median_translation_along_error = [1.714073] +[2024-01-18 00:58:38,390][train][INFO] - median_translation_perp_error = [4.909392] +[2024-01-18 00:58:38,390][train][INFO] - median_translation_plane_error = [4.825673] +[2024-01-18 00:58:38,390][train][INFO] - median_translation_line_error = [3.3738441] +[2024-01-18 00:58:38,390][train][INFO] - median_rotation_error = [4.304387] +[2024-01-18 00:58:38,390][train][INFO] - median_affordance_error = [5.756686] +[2024-01-18 00:58:38,391][train][INFO] - max_translation_distance_error = [19.926281] +[2024-01-18 00:58:38,391][train][INFO] - max_translation_along_error = [7.0779877] +[2024-01-18 00:58:38,391][train][INFO] - max_translation_perp_error = [19.814484] +[2024-01-18 00:58:38,391][train][INFO] - max_translation_plane_error = [19.34704] +[2024-01-18 00:58:38,392][train][INFO] - max_translation_line_error = [9.565024] +[2024-01-18 00:58:38,392][train][INFO] - max_rotation_error = [15.468702] +[2024-01-18 00:58:38,392][train][INFO] - max_affordance_error = [15.387827] +[2024-01-18 00:58:38,392][train][INFO] - min_translation_distance_error = [1.6018474] +[2024-01-18 00:58:38,393][train][INFO] - min_translation_along_error = [0.00167009] +[2024-01-18 00:58:38,393][train][INFO] - min_translation_perp_error = [0.17247874] +[2024-01-18 00:58:38,393][train][INFO] - min_translation_plane_error = [0.1461713] +[2024-01-18 00:58:38,393][train][INFO] - min_translation_line_error = [0.01185289] +[2024-01-18 00:58:38,393][train][INFO] - min_rotation_error = [0.17132017] +[2024-01-18 00:58:38,394][train][INFO] - min_affordance_error = [0.40370402] +[2024-01-18 00:58:38,394][train][INFO] - std_translation_distance_error = [2.9481258] +[2024-01-18 00:58:38,394][train][INFO] - std_translation_along_error = [1.3968589] +[2024-01-18 00:58:38,395][train][INFO] - std_translation_perp_error = [3.053537] +[2024-01-18 00:58:38,395][train][INFO] - std_translation_plane_error = [3.0102541] +[2024-01-18 00:58:38,395][train][INFO] - std_translation_line_error = [2.292034] +[2024-01-18 00:58:38,395][train][INFO] - std_rotation_error = [4.0438995] +[2024-01-18 00:58:38,395][train][INFO] - std_affordance_error = [3.652189] +[2024-01-18 00:58:38,395][train][INFO] - translation_outliers_num = 34 +[2024-01-18 00:58:38,395][train][INFO] - rotation_outliers_num = 29 +[2024-01-18 00:58:38,395][train][INFO] - affordance_outliers_num = 37 +[2024-01-18 00:58:38,395][train][INFO] - translation_outliers_ratio = 0.53125 +[2024-01-18 00:58:38,395][train][INFO] - rotation_outliers_ratio = 0.453125 +[2024-01-18 00:58:38,395][train][INFO] - affordance_outliers_ratio = 0.578125 +[2024-01-18 00:58:38,395][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 00:58:38,397][train][INFO] - Validated testing. +[2024-01-18 00:58:38,401][train][INFO] - Validating testing time: 55.97185730934143 +[2024-01-18 00:58:38,404][train][INFO] - epoch: 61 lr: 0.0009436707717194508 +[2024-01-18 01:00:38,636][train][INFO] - training loss: 0.002180546180655559 + 0.10993563599056667 + 0.0031600146502670312 + 0.045309303659531806 = 0.16058550079663594, data num: 712 +[2024-01-18 01:00:38,637][train][INFO] - epoch: 62 lr: 0.0009412452087721706 +[2024-01-18 01:02:40,009][train][INFO] - training loss: 0.0022064745891839264 + 0.10890199790398279 + 0.0033685661904099915 + 0.04399638362228871 = 0.15847342179881202, data num: 712 +[2024-01-18 01:02:40,011][train][INFO] - epoch: 63 lr: 0.000938771806621712 +[2024-01-18 01:04:37,676][train][INFO] - training loss: 0.002219256083481014 + 0.10571612334913677 + 0.0032020379944394032 + 0.0424505929566092 = 0.15358801020516288, data num: 712 +[2024-01-18 01:04:37,678][train][INFO] - epoch: 64 lr: 0.0009362508365044934 +[2024-01-18 01:06:43,410][train][INFO] - training loss: 0.0023700581061550314 + 0.10685051149792141 + 0.0031756470911204816 + 0.0417579130993949 = 0.15415413214100732, data num: 712 +[2024-01-18 01:06:43,411][train][INFO] - epoch: 65 lr: 0.0009336825748732968 +[2024-01-18 01:08:43,111][train][INFO] - training loss: 0.0022601672758658727 + 0.10831403334935506 + 0.0031587163529669246 + 0.043683938682079315 = 0.15741685695118374, data num: 712 +[2024-01-18 01:08:43,113][train][INFO] - epoch: 66 lr: 0.0009310673033669517 +[2024-01-18 01:10:46,450][train][INFO] - training loss: 0.00220621678357323 + 0.10724570039245818 + 0.003316072364234262 + 0.04273238418002923 = 0.15550037291314867, data num: 712 +[2024-01-18 01:10:46,451][train][INFO] - epoch: 67 lr: 0.0009284053087794505 +[2024-01-18 01:12:45,567][train][INFO] - training loss: 0.002181159456570943 + 0.10405727691120571 + 0.00315800323151052 + 0.0421628449526098 = 0.15155928333600363, data num: 712 +[2024-01-18 01:12:45,568][train][INFO] - epoch: 68 lr: 0.0009256968830284974 +[2024-01-18 01:14:44,260][train][INFO] - training loss: 0.0020225311163812876 + 0.10515705777539147 + 0.0029987052652157013 + 0.04197271259294616 = 0.15215100778473747, data num: 712 +[2024-01-18 01:14:44,261][train][INFO] - epoch: 69 lr: 0.0009229423231234972 +[2024-01-18 01:16:45,800][train][INFO] - training loss: 0.0019661700792817606 + 0.10582466324170431 + 0.003033388587128785 + 0.04204946574237611 = 0.15287368893623351, data num: 712 +[2024-01-18 01:16:45,802][train][INFO] - epoch: 70 lr: 0.0009201419311329846 +[2024-01-18 01:18:46,518][train][INFO] - training loss: 0.002227024115725524 + 0.1038538869884279 + 0.0032415695022791624 + 0.03893954936001036 = 0.14826202856169807, data num: 712 +[2024-01-18 01:18:46,520][train][INFO] - epoch: 71 lr: 0.0009172960141514989 +[2024-01-18 01:20:51,891][train][INFO] - training loss: 0.0022498793486091825 + 0.10377586368057463 + 0.002953710743329591 + 0.03932492302523719 = 0.14830437666840024, data num: 712 +[2024-01-18 01:20:51,892][train][INFO] - epoch: 72 lr: 0.0009144048842659077 +[2024-01-18 01:22:52,947][train][INFO] - training loss: 0.0020602212649666603 + 0.10177135864893595 + 0.0031762592391007477 + 0.038231534883379936 = 0.1452393737104204, data num: 712 +[2024-01-18 01:22:52,949][train][INFO] - epoch: 73 lr: 0.0009114688585211832 +[2024-01-18 01:24:56,305][train][INFO] - training loss: 0.0021190930338990358 + 0.1009797516796324 + 0.002986992952517337 + 0.03802004208167394 = 0.14410587946573894, data num: 712 +[2024-01-18 01:24:56,306][train][INFO] - epoch: 74 lr: 0.0009084882588856339 +[2024-01-18 01:26:57,115][train][INFO] - training loss: 0.001962359275461899 + 0.10124805685546663 + 0.0028743289411067964 + 0.03915737821824021 = 0.1452421228090922, data num: 712 +[2024-01-18 01:26:57,118][train][INFO] - epoch: 75 lr: 0.0009054634122155986 +[2024-01-18 01:28:58,064][train][INFO] - training loss: 0.002076046740532749 + 0.10012739780876372 + 0.002867762273591426 + 0.03549845876793067 = 0.14056966569688584, data num: 712 +[2024-01-18 01:28:58,065][train][INFO] - epoch: 76 lr: 0.0009023946502196013 +[2024-01-18 01:30:56,924][train][INFO] - training loss: 0.00209659342136648 + 0.10072440207004547 + 0.002931355123615099 + 0.037630871766143374 = 0.14338322314951155, data num: 712 +[2024-01-18 01:30:56,925][train][INFO] - epoch: 77 lr: 0.0008992823094219767 +[2024-01-18 01:32:54,492][train][INFO] - training loss: 0.002055646613654163 + 0.0999840991364585 + 0.0028785664924523896 + 0.03708002794947889 = 0.14199834068616232, data num: 712 +[2024-01-18 01:32:54,493][train][INFO] - epoch: 78 lr: 0.0008961267311259662 +[2024-01-18 01:34:51,386][train][INFO] - training loss: 0.0020842176163569093 + 0.10018662992450926 + 0.0029164674640115764 + 0.036311513226893216 = 0.14149882826540205, data num: 712 +[2024-01-18 01:34:51,387][train][INFO] - epoch: 79 lr: 0.0008929282613762903 +[2024-01-18 01:36:52,799][train][INFO] - training loss: 0.0019587138176171315 + 0.09870165470573637 + 0.0029272451841582856 + 0.0376744967367914 = 0.1412621115644773, data num: 712 +[2024-01-18 01:36:52,800][train][INFO] - epoch: 80 lr: 0.0008896872509212002 +[2024-01-18 01:38:53,922][train][INFO] - training loss: 0.0019980286687819493 + 0.09755907704432805 + 0.0030848242549432647 + 0.034241303097870615 = 0.13688323232862684, data num: 712 +[2024-01-18 01:38:53,924][train][INFO] - epoch: 81 lr: 0.0008864040551740152 +[2024-01-18 01:40:53,625][train][INFO] - training loss: 0.0020546827620516223 + 0.09798157927062777 + 0.002807142125028703 + 0.033878333576851424 = 0.13672173817952474, data num: 712 +[2024-01-18 01:40:53,626][train][INFO] - epoch: 82 lr: 0.0008830790341741476 +[2024-01-18 01:42:50,950][train][INFO] - training loss: 0.0019385634041908714 + 0.09784910877545674 + 0.0029314470736102926 + 0.036342696224649744 = 0.13906181471215354, data num: 712 +[2024-01-18 01:42:50,952][train][INFO] - epoch: 83 lr: 0.000879712552547619 +[2024-01-18 01:44:54,648][train][INFO] - training loss: 0.001866083056665957 + 0.09872551825311449 + 0.002867110999714997 + 0.0326871570199728 = 0.1361458679040273, data num: 712 +[2024-01-18 01:44:54,650][train][INFO] - epoch: 84 lr: 0.0008763049794670771 +[2024-01-18 01:46:55,747][train][INFO] - training loss: 0.0019208710744149154 + 0.09538434743881226 + 0.00278849222490357 + 0.03379456475377083 = 0.13388827476236556, data num: 712 +[2024-01-18 01:46:55,748][train][INFO] - epoch: 85 lr: 0.0008728566886113098 +[2024-01-18 01:48:51,777][train][INFO] - training loss: 0.0020042095359207855 + 0.09458148496018516 + 0.002794332367678483 + 0.033367963218026694 = 0.1327479902240965, data num: 712 +[2024-01-18 01:48:51,779][train][INFO] - epoch: 86 lr: 0.000869368058124268 +[2024-01-18 01:50:54,983][train][INFO] - training loss: 0.001969925275382896 + 0.09761562711662716 + 0.0028783209207985136 + 0.033773075458076264 = 0.13623694959614013, data num: 712 +[2024-01-18 01:50:54,984][train][INFO] - epoch: 87 lr: 0.0008658394705735983 +[2024-01-18 01:52:59,314][train][INFO] - training loss: 0.0019014489914601048 + 0.09323459929890103 + 0.00272369095020824 + 0.03277353453967306 = 0.13063327355517282, data num: 712 +[2024-01-18 01:52:59,317][train][INFO] - epoch: 88 lr: 0.0008622713129086888 +[2024-01-18 01:54:59,657][train][INFO] - training loss: 0.0019846814710439906 + 0.09216313345564736 + 0.002629415993578732 + 0.030373424333002833 = 0.1271506549583541, data num: 712 +[2024-01-18 01:54:59,657][train][INFO] - epoch: 89 lr: 0.0008586639764182372 +[2024-01-18 01:57:00,996][train][INFO] - training loss: 0.0018585359005050526 + 0.09238317509492239 + 0.0027764118638717466 + 0.031262834245959915 = 0.1282809578710132, data num: 712 +[2024-01-18 01:57:00,997][train][INFO] - epoch: 90 lr: 0.0008550178566873405 +[2024-01-18 01:59:01,498][train][INFO] - training loss: 0.0019662899974112707 + 0.09349522921774123 + 0.0030115251688079703 + 0.031377395366628966 = 0.12985043956173792, data num: 712 +[2024-01-18 01:59:01,514][train][INFO] - Validating training... +[2024-01-18 02:00:06,253][train][INFO] - mean_translation_distance_error = [4.452545] +[2024-01-18 02:00:06,254][train][INFO] - mean_translation_along_error = [0.9610415] +[2024-01-18 02:00:06,254][train][INFO] - mean_translation_perp_error = [4.2210255] +[2024-01-18 02:00:06,254][train][INFO] - mean_translation_plane_error = [4.2225404] +[2024-01-18 02:00:06,254][train][INFO] - mean_translation_line_error = [2.9555044] +[2024-01-18 02:00:06,255][train][INFO] - mean_rotation_error = [5.317271] +[2024-01-18 02:00:06,255][train][INFO] - mean_affordance_error = [5.6176796] +[2024-01-18 02:00:06,255][train][INFO] - median_translation_distance_error = [4.1881385] +[2024-01-18 02:00:06,256][train][INFO] - median_translation_along_error = [0.78625745] +[2024-01-18 02:00:06,256][train][INFO] - median_translation_perp_error = [4.135544] +[2024-01-18 02:00:06,256][train][INFO] - median_translation_plane_error = [4.1664505] +[2024-01-18 02:00:06,256][train][INFO] - median_translation_line_error = [2.6930103] +[2024-01-18 02:00:06,256][train][INFO] - median_rotation_error = [4.718684] +[2024-01-18 02:00:06,257][train][INFO] - median_affordance_error = [4.8145447] +[2024-01-18 02:00:06,257][train][INFO] - max_translation_distance_error = [10.242554] +[2024-01-18 02:00:06,257][train][INFO] - max_translation_along_error = [2.757607] +[2024-01-18 02:00:06,257][train][INFO] - max_translation_perp_error = [10.178338] +[2024-01-18 02:00:06,257][train][INFO] - max_translation_plane_error = [9.971983] +[2024-01-18 02:00:06,257][train][INFO] - max_translation_line_error = [8.119538] +[2024-01-18 02:00:06,258][train][INFO] - max_rotation_error = [13.084806] +[2024-01-18 02:00:06,258][train][INFO] - max_affordance_error = [16.128925] +[2024-01-18 02:00:06,258][train][INFO] - min_translation_distance_error = [0.2700557] +[2024-01-18 02:00:06,258][train][INFO] - min_translation_along_error = [0.01121946] +[2024-01-18 02:00:06,258][train][INFO] - min_translation_perp_error = [0.2509773] +[2024-01-18 02:00:06,258][train][INFO] - min_translation_plane_error = [0.2507286] +[2024-01-18 02:00:06,259][train][INFO] - min_translation_line_error = [0.24996541] +[2024-01-18 02:00:06,259][train][INFO] - min_rotation_error = [0.2264194] +[2024-01-18 02:00:06,259][train][INFO] - min_affordance_error = [0.48175007] +[2024-01-18 02:00:06,259][train][INFO] - std_translation_distance_error = [1.9556781] +[2024-01-18 02:00:06,260][train][INFO] - std_translation_along_error = [0.7797704] +[2024-01-18 02:00:06,260][train][INFO] - std_translation_perp_error = [2.073919] +[2024-01-18 02:00:06,260][train][INFO] - std_translation_plane_error = [2.072072] +[2024-01-18 02:00:06,260][train][INFO] - std_translation_line_error = [1.5998136] +[2024-01-18 02:00:06,260][train][INFO] - std_rotation_error = [2.8516853] +[2024-01-18 02:00:06,260][train][INFO] - std_affordance_error = [3.2636218] +[2024-01-18 02:00:06,260][train][INFO] - translation_outliers_num = 19 +[2024-01-18 02:00:06,260][train][INFO] - rotation_outliers_num = 31 +[2024-01-18 02:00:06,261][train][INFO] - affordance_outliers_num = 31 +[2024-01-18 02:00:06,261][train][INFO] - translation_outliers_ratio = 0.296875 +[2024-01-18 02:00:06,261][train][INFO] - rotation_outliers_ratio = 0.484375 +[2024-01-18 02:00:06,261][train][INFO] - affordance_outliers_ratio = 0.484375 +[2024-01-18 02:00:06,261][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 02:00:06,262][train][INFO] - Validated training. +[2024-01-18 02:00:06,267][train][INFO] - Validating training time: 64.74752497673035 +[2024-01-18 02:00:06,271][train][INFO] - Validating testing... +[2024-01-18 02:00:57,386][train][INFO] - mean_translation_distance_error = [4.436197] +[2024-01-18 02:00:57,387][train][INFO] - mean_translation_along_error = [0.9843008] +[2024-01-18 02:00:57,387][train][INFO] - mean_translation_perp_error = [4.222552] +[2024-01-18 02:00:57,387][train][INFO] - mean_translation_plane_error = [4.206106] +[2024-01-18 02:00:57,388][train][INFO] - mean_translation_line_error = [2.6422338] +[2024-01-18 02:00:57,388][train][INFO] - mean_rotation_error = [5.008107] +[2024-01-18 02:00:57,388][train][INFO] - mean_affordance_error = [6.094901] +[2024-01-18 02:00:57,390][train][INFO] - median_translation_distance_error = [4.567648] +[2024-01-18 02:00:57,390][train][INFO] - median_translation_along_error = [0.82152164] +[2024-01-18 02:00:57,390][train][INFO] - median_translation_perp_error = [4.48135] +[2024-01-18 02:00:57,390][train][INFO] - median_translation_plane_error = [4.377083] +[2024-01-18 02:00:57,391][train][INFO] - median_translation_line_error = [2.6168232] +[2024-01-18 02:00:57,391][train][INFO] - median_rotation_error = [4.48099] +[2024-01-18 02:00:57,391][train][INFO] - median_affordance_error = [5.9554987] +[2024-01-18 02:00:57,392][train][INFO] - max_translation_distance_error = [8.415628] +[2024-01-18 02:00:57,392][train][INFO] - max_translation_along_error = [3.644155] +[2024-01-18 02:00:57,392][train][INFO] - max_translation_perp_error = [8.370822] +[2024-01-18 02:00:57,392][train][INFO] - max_translation_plane_error = [8.3498535] +[2024-01-18 02:00:57,393][train][INFO] - max_translation_line_error = [7.777764] +[2024-01-18 02:00:57,393][train][INFO] - max_rotation_error = [13.262839] +[2024-01-18 02:00:57,393][train][INFO] - max_affordance_error = [12.922926] +[2024-01-18 02:00:57,394][train][INFO] - min_translation_distance_error = [0.63306195] +[2024-01-18 02:00:57,394][train][INFO] - min_translation_along_error = [0.03158717] +[2024-01-18 02:00:57,394][train][INFO] - min_translation_perp_error = [0.63227344] +[2024-01-18 02:00:57,395][train][INFO] - min_translation_plane_error = [0.6321858] +[2024-01-18 02:00:57,395][train][INFO] - min_translation_line_error = [0.01337152] +[2024-01-18 02:00:57,395][train][INFO] - min_rotation_error = [0.17132017] +[2024-01-18 02:00:57,395][train][INFO] - min_affordance_error = [1.2744731] +[2024-01-18 02:00:57,396][train][INFO] - std_translation_distance_error = [1.7601062] +[2024-01-18 02:00:57,397][train][INFO] - std_translation_along_error = [0.7005469] +[2024-01-18 02:00:57,397][train][INFO] - std_translation_perp_error = [1.867688] +[2024-01-18 02:00:57,397][train][INFO] - std_translation_plane_error = [1.863517] +[2024-01-18 02:00:57,398][train][INFO] - std_translation_line_error = [1.7526375] +[2024-01-18 02:00:57,398][train][INFO] - std_rotation_error = [2.9902043] +[2024-01-18 02:00:57,398][train][INFO] - std_affordance_error = [2.5470755] +[2024-01-18 02:00:57,398][train][INFO] - translation_outliers_num = 21 +[2024-01-18 02:00:57,398][train][INFO] - rotation_outliers_num = 29 +[2024-01-18 02:00:57,398][train][INFO] - affordance_outliers_num = 39 +[2024-01-18 02:00:57,399][train][INFO] - translation_outliers_ratio = 0.328125 +[2024-01-18 02:00:57,399][train][INFO] - rotation_outliers_ratio = 0.453125 +[2024-01-18 02:00:57,399][train][INFO] - affordance_outliers_ratio = 0.609375 +[2024-01-18 02:00:57,399][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 02:00:57,401][train][INFO] - Validated testing. +[2024-01-18 02:00:57,405][train][INFO] - Validating testing time: 51.13021731376648 +[2024-01-18 02:00:57,406][train][INFO] - epoch: 91 lr: 0.0008513333535541156 +[2024-01-18 02:02:48,608][train][INFO] - training loss: 0.0019550160168566636 + 0.09412498424450556 + 0.002654080589612325 + 0.030487796829806433 = 0.1292218792769644, data num: 712 +[2024-01-18 02:02:48,610][train][INFO] - epoch: 92 lr: 0.0008476108710658509 +[2024-01-18 02:04:42,595][train][INFO] - training loss: 0.0020311087551009325 + 0.09311963435676363 + 0.00276437195069674 + 0.031776183429691525 = 0.12969129780928293, data num: 712 +[2024-01-18 02:04:42,597][train][INFO] - epoch: 93 lr: 0.0008438508174347005 +[2024-01-18 02:06:33,853][train][INFO] - training loss: 0.0018047402302424113 + 0.09222867753770617 + 0.0025832782007960808 + 0.029229815842376813 = 0.1258465126156807, data num: 712 +[2024-01-18 02:06:33,855][train][INFO] - epoch: 94 lr: 0.0008400536049929166 +[2024-01-18 02:08:24,718][train][INFO] - training loss: 0.00197924151757939 + 0.08963460293081071 + 0.0028439552523195745 + 0.028803162111176384 = 0.12326096246639888, data num: 712 +[2024-01-18 02:08:24,721][train][INFO] - epoch: 95 lr: 0.0008362196501476343 +[2024-01-18 02:10:14,591][train][INFO] - training loss: 0.0018158436028493776 + 0.09194008939796024 + 0.0026301194085843033 + 0.03060475972791513 = 0.1269908145070076, data num: 712 +[2024-01-18 02:10:14,592][train][INFO] - epoch: 96 lr: 0.0008323493733352072 +[2024-01-18 02:12:06,832][train][INFO] - training loss: 0.0017807149354161487 + 0.09068938874536091 + 0.002686592385483285 + 0.02893728030224641 = 0.12409397744470173, data num: 712 +[2024-01-18 02:12:06,834][train][INFO] - epoch: 97 lr: 0.0008284431989751018 +[2024-01-18 02:13:58,060][train][INFO] - training loss: 0.0018900595812333955 + 0.08940182162655724 + 0.002489083498302433 + 0.026929300568170018 = 0.12071026464303335, data num: 712 +[2024-01-18 02:13:58,061][train][INFO] - epoch: 98 lr: 0.000824501555423355 +[2024-01-18 02:15:55,494][train][INFO] - training loss: 0.0019848311837348674 + 0.090828471382459 + 0.002618148834961984 + 0.03201790725191434 = 0.12744935933086607, data num: 712 +[2024-01-18 02:15:55,494][train][INFO] - epoch: 99 lr: 0.0008205248749256009 +[2024-01-18 02:17:54,375][train][INFO] - training loss: 0.0018727740143529242 + 0.09221229387654198 + 0.0025883138231519195 + 0.030001812614500523 = 0.12667519466744528, data num: 712 +[2024-01-18 02:17:54,377][train][INFO] - epoch: 100 lr: 0.000816513593569669 +[2024-01-18 02:19:53,623][train][INFO] - training loss: 0.0017423131425554554 + 0.08892481376727422 + 0.0025049042034273345 + 0.027691530932982763 = 0.12086356149779426, data num: 712 +[2024-01-18 02:19:53,624][train][INFO] - epoch: 101 lr: 0.0008124681512377632 +[2024-01-18 02:21:54,337][train][INFO] - training loss: 0.0017845083235038652 + 0.09110254761245516 + 0.0025756589835509657 + 0.026709748266471756 = 0.12217246310578453, data num: 712 +[2024-01-18 02:21:54,338][train][INFO] - epoch: 102 lr: 0.000808388991558223 +[2024-01-18 02:23:55,905][train][INFO] - training loss: 0.0018212352284333773 + 0.08916039450301064 + 0.0025889024552371766 + 0.026613772991630764 = 0.12018430497911241, data num: 712 +[2024-01-18 02:23:55,906][train][INFO] - epoch: 103 lr: 0.0008042765618568752 +[2024-01-18 02:25:58,962][train][INFO] - training loss: 0.001748503413465288 + 0.08864577197366291 + 0.0025745318685140876 + 0.02585769763423337 = 0.11882650438282225, data num: 712 +[2024-01-18 02:25:58,963][train][INFO] - epoch: 104 lr: 0.0008001313131079794 +[2024-01-18 02:28:01,685][train][INFO] - training loss: 0.0018773096484235592 + 0.08759575403398938 + 0.0024681047898613743 + 0.025604901959498723 = 0.11754607061545054, data num: 712 +[2024-01-18 02:28:01,687][train][INFO] - epoch: 105 lr: 0.0007959536998847737 +[2024-01-18 02:29:57,787][train][INFO] - training loss: 0.0019539969662825266 + 0.08960755285289553 + 0.0025173592769230408 + 0.026828405633568763 = 0.12090731461842855, data num: 712 +[2024-01-18 02:29:57,789][train][INFO] - epoch: 106 lr: 0.0007917441803096255 +[2024-01-18 02:31:52,795][train][INFO] - training loss: 0.0017668014237036307 + 0.08739879214101368 + 0.002575740466515223 + 0.027426439689265357 = 0.11916777276330524, data num: 712 +[2024-01-18 02:31:52,796][train][INFO] - epoch: 107 lr: 0.0007875032160037932 +[2024-01-18 02:33:49,080][train][INFO] - training loss: 0.001754520608422657 + 0.08485791567299102 + 0.0024897414156132276 + 0.024666867984665764 = 0.11376904629998737, data num: 712 +[2024-01-18 02:33:49,081][train][INFO] - epoch: 108 lr: 0.0007832312720368042 +[2024-01-18 02:35:46,742][train][INFO] - training loss: 0.0018946605967357754 + 0.08572893606291877 + 0.0025070624477747413 + 0.026263995613488886 = 0.11639465424749586, data num: 712 +[2024-01-18 02:35:46,743][train][INFO] - epoch: 109 lr: 0.0007789288168754548 +[2024-01-18 02:37:40,434][train][INFO] - training loss: 0.0017231037374585867 + 0.08455463896195094 + 0.0024540608283132315 + 0.023963022542496524 = 0.11269482688771354, data num: 712 +[2024-01-18 02:37:40,435][train][INFO] - epoch: 110 lr: 0.0007745963223324379 +[2024-01-18 02:39:36,650][train][INFO] - training loss: 0.0017204831819981337 + 0.08498951494693756 + 0.00247536207187093 + 0.023466420753134622 = 0.11265178090996213, data num: 712 +[2024-01-18 02:39:36,651][train][INFO] - epoch: 111 lr: 0.0007702342635146028 +[2024-01-18 02:41:37,330][train][INFO] - training loss: 0.0017627345113497641 + 0.0863819655444887 + 0.0023920832279448706 + 0.023921282382475005 = 0.11445806622505188, data num: 712 +[2024-01-18 02:41:37,331][train][INFO] - epoch: 112 lr: 0.000765843118770855 +[2024-01-18 02:43:34,715][train][INFO] - training loss: 0.0017496344012518724 + 0.08474222107066048 + 0.002428036641019086 + 0.026078023264805475 = 0.11499791542689006, data num: 712 +[2024-01-18 02:43:34,717][train][INFO] - epoch: 113 lr: 0.0007614233696396991 +[2024-01-18 02:45:31,559][train][INFO] - training loss: 0.0017074276537944874 + 0.08423428800370958 + 0.0023441876233037976 + 0.025264790488613978 = 0.11355069329341252, data num: 712 +[2024-01-18 02:45:31,560][train][INFO] - epoch: 114 lr: 0.0007569755007964334 +[2024-01-18 02:47:26,298][train][INFO] - training loss: 0.0017564376919633811 + 0.08326659086677764 + 0.0024054410324121514 + 0.024595570688446363 = 0.11202404068575965, data num: 712 +[2024-01-18 02:47:26,299][train][INFO] - epoch: 115 lr: 0.0007524999999999996 +[2024-01-18 02:49:22,192][train][INFO] - training loss: 0.0017300124797556134 + 0.08352112505171035 + 0.002401999060788916 + 0.022682237211200926 = 0.11033537354734209, data num: 712 +[2024-01-18 02:49:22,193][train][INFO] - epoch: 116 lr: 0.0007479973580394943 +[2024-01-18 02:51:26,173][train][INFO] - training loss: 0.0019831283871705333 + 0.08247244656085968 + 0.0024929616729625396 + 0.02367691790892018 = 0.11062545561128193, data num: 712 +[2024-01-18 02:51:26,175][train][INFO] - epoch: 117 lr: 0.0007434680686803487 +[2024-01-18 02:53:22,190][train][INFO] - training loss: 0.001698000972262687 + 0.08419942888948652 + 0.0023776441372724043 + 0.024727373632291952 = 0.11300244745281007, data num: 712 +[2024-01-18 02:53:22,191][train][INFO] - epoch: 118 lr: 0.0007389126286101815 +[2024-01-18 02:55:22,628][train][INFO] - training loss: 0.0016939757986822062 + 0.08327393449015087 + 0.002361698479702075 + 0.022987903965016206 = 0.11031751351224052, data num: 712 +[2024-01-18 02:55:22,630][train][INFO] - epoch: 119 lr: 0.0007343315373843313 +[2024-01-18 02:57:23,141][train][INFO] - training loss: 0.0016889099652568499 + 0.08230649613671832 + 0.0023550221981066795 + 0.02417077792601453 = 0.11052120592859056, data num: 712 +[2024-01-18 02:57:23,143][train][INFO] - epoch: 120 lr: 0.0007297252973710753 +[2024-01-18 02:59:21,800][train][INFO] - training loss: 0.0016847177305155331 + 0.08295016669564777 + 0.002351165332624482 + 0.022117190870145957 = 0.10910324156284332, data num: 712 +[2024-01-18 02:59:21,814][train][INFO] - Validating training... +[2024-01-18 03:00:29,983][train][INFO] - mean_translation_distance_error = [3.878279] +[2024-01-18 03:00:29,984][train][INFO] - mean_translation_along_error = [1.0922918] +[2024-01-18 03:00:29,985][train][INFO] - mean_translation_perp_error = [3.5818458] +[2024-01-18 03:00:29,985][train][INFO] - mean_translation_plane_error = [3.5934205] +[2024-01-18 03:00:29,986][train][INFO] - mean_translation_line_error = [1.8892295] +[2024-01-18 03:00:29,986][train][INFO] - mean_rotation_error = [5.142044] +[2024-01-18 03:00:29,987][train][INFO] - mean_affordance_error = [4.498472] +[2024-01-18 03:00:29,988][train][INFO] - median_translation_distance_error = [3.5716095] +[2024-01-18 03:00:29,989][train][INFO] - median_translation_along_error = [0.9196704] +[2024-01-18 03:00:29,989][train][INFO] - median_translation_perp_error = [3.051805] +[2024-01-18 03:00:29,989][train][INFO] - median_translation_plane_error = [3.0134664] +[2024-01-18 03:00:29,989][train][INFO] - median_translation_line_error = [1.4033176] +[2024-01-18 03:00:29,989][train][INFO] - median_rotation_error = [4.8975735] +[2024-01-18 03:00:29,990][train][INFO] - median_affordance_error = [4.1787214] +[2024-01-18 03:00:29,990][train][INFO] - max_translation_distance_error = [11.555926] +[2024-01-18 03:00:29,990][train][INFO] - max_translation_along_error = [3.431473] +[2024-01-18 03:00:29,990][train][INFO] - max_translation_perp_error = [11.363384] +[2024-01-18 03:00:29,990][train][INFO] - max_translation_plane_error = [11.713035] +[2024-01-18 03:00:29,990][train][INFO] - max_translation_line_error = [6.0400968] +[2024-01-18 03:00:29,991][train][INFO] - max_rotation_error = [13.121065] +[2024-01-18 03:00:29,991][train][INFO] - max_affordance_error = [17.24559] +[2024-01-18 03:00:29,991][train][INFO] - min_translation_distance_error = [0.6546108] +[2024-01-18 03:00:29,991][train][INFO] - min_translation_along_error = [0.01349609] +[2024-01-18 03:00:29,991][train][INFO] - min_translation_perp_error = [0.34460863] +[2024-01-18 03:00:29,991][train][INFO] - min_translation_plane_error = [0.34954527] +[2024-01-18 03:00:29,992][train][INFO] - min_translation_line_error = [0.00299568] +[2024-01-18 03:00:29,992][train][INFO] - min_rotation_error = [0.17132017] +[2024-01-18 03:00:29,992][train][INFO] - min_affordance_error = [0.551045] +[2024-01-18 03:00:29,993][train][INFO] - std_translation_distance_error = [2.192717] +[2024-01-18 03:00:29,993][train][INFO] - std_translation_along_error = [0.8724294] +[2024-01-18 03:00:29,993][train][INFO] - std_translation_perp_error = [2.250601] +[2024-01-18 03:00:29,993][train][INFO] - std_translation_plane_error = [2.2931917] +[2024-01-18 03:00:29,993][train][INFO] - std_translation_line_error = [1.4986606] +[2024-01-18 03:00:29,993][train][INFO] - std_rotation_error = [2.9679348] +[2024-01-18 03:00:29,994][train][INFO] - std_affordance_error = [2.3955102] +[2024-01-18 03:00:29,994][train][INFO] - translation_outliers_num = 13 +[2024-01-18 03:00:29,994][train][INFO] - rotation_outliers_num = 30 +[2024-01-18 03:00:29,994][train][INFO] - affordance_outliers_num = 18 +[2024-01-18 03:00:29,994][train][INFO] - translation_outliers_ratio = 0.203125 +[2024-01-18 03:00:29,994][train][INFO] - rotation_outliers_ratio = 0.46875 +[2024-01-18 03:00:29,994][train][INFO] - affordance_outliers_ratio = 0.28125 +[2024-01-18 03:00:29,994][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 03:00:29,996][train][INFO] - Validated training. +[2024-01-18 03:00:29,999][train][INFO] - Validating training time: 68.1822280883789 +[2024-01-18 03:00:30,000][train][INFO] - Validating testing... +[2024-01-18 03:01:23,189][train][INFO] - mean_translation_distance_error = [5.4204464] +[2024-01-18 03:01:23,190][train][INFO] - mean_translation_along_error = [0.9905782] +[2024-01-18 03:01:23,190][train][INFO] - mean_translation_perp_error = [5.271375] +[2024-01-18 03:01:23,191][train][INFO] - mean_translation_plane_error = [5.2508507] +[2024-01-18 03:01:23,191][train][INFO] - mean_translation_line_error = [3.5832767] +[2024-01-18 03:01:23,191][train][INFO] - mean_rotation_error = [4.858502] +[2024-01-18 03:01:23,192][train][INFO] - mean_affordance_error = [4.6947765] +[2024-01-18 03:01:23,193][train][INFO] - median_translation_distance_error = [5.4273357] +[2024-01-18 03:01:23,193][train][INFO] - median_translation_along_error = [0.7491181] +[2024-01-18 03:01:23,193][train][INFO] - median_translation_perp_error = [5.378984] +[2024-01-18 03:01:23,193][train][INFO] - median_translation_plane_error = [5.3423214] +[2024-01-18 03:01:23,194][train][INFO] - median_translation_line_error = [2.8995821] +[2024-01-18 03:01:23,194][train][INFO] - median_rotation_error = [4.2841377] +[2024-01-18 03:01:23,194][train][INFO] - median_affordance_error = [4.499757] +[2024-01-18 03:01:23,194][train][INFO] - max_translation_distance_error = [11.888318] +[2024-01-18 03:01:23,194][train][INFO] - max_translation_along_error = [3.4281108] +[2024-01-18 03:01:23,194][train][INFO] - max_translation_perp_error = [11.4664135] +[2024-01-18 03:01:23,195][train][INFO] - max_translation_plane_error = [11.132453] +[2024-01-18 03:01:23,195][train][INFO] - max_translation_line_error = [9.089926] +[2024-01-18 03:01:23,195][train][INFO] - max_rotation_error = [12.832982] +[2024-01-18 03:01:23,195][train][INFO] - max_affordance_error = [10.757397] +[2024-01-18 03:01:23,195][train][INFO] - min_translation_distance_error = [0.9744888] +[2024-01-18 03:01:23,195][train][INFO] - min_translation_along_error = [0.0166364] +[2024-01-18 03:01:23,195][train][INFO] - min_translation_perp_error = [0.75673014] +[2024-01-18 03:01:23,196][train][INFO] - min_translation_plane_error = [0.78401875] +[2024-01-18 03:01:23,196][train][INFO] - min_translation_line_error = [0.03988285] +[2024-01-18 03:01:23,196][train][INFO] - min_rotation_error = [0.26392958] +[2024-01-18 03:01:23,196][train][INFO] - min_affordance_error = [0.9923713] +[2024-01-18 03:01:23,197][train][INFO] - std_translation_distance_error = [2.4322824] +[2024-01-18 03:01:23,197][train][INFO] - std_translation_along_error = [0.772393] +[2024-01-18 03:01:23,197][train][INFO] - std_translation_perp_error = [2.4355717] +[2024-01-18 03:01:23,197][train][INFO] - std_translation_plane_error = [2.3979964] +[2024-01-18 03:01:23,197][train][INFO] - std_translation_line_error = [2.3448226] +[2024-01-18 03:01:23,197][train][INFO] - std_rotation_error = [2.5429974] +[2024-01-18 03:01:23,197][train][INFO] - std_affordance_error = [2.3074024] +[2024-01-18 03:01:23,198][train][INFO] - translation_outliers_num = 30 +[2024-01-18 03:01:23,198][train][INFO] - rotation_outliers_num = 28 +[2024-01-18 03:01:23,198][train][INFO] - affordance_outliers_num = 27 +[2024-01-18 03:01:23,198][train][INFO] - translation_outliers_ratio = 0.46875 +[2024-01-18 03:01:23,198][train][INFO] - rotation_outliers_ratio = 0.4375 +[2024-01-18 03:01:23,198][train][INFO] - affordance_outliers_ratio = 0.421875 +[2024-01-18 03:01:23,198][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 03:01:23,199][train][INFO] - Validated testing. +[2024-01-18 03:01:23,206][train][INFO] - Validating testing time: 53.19694805145264 +[2024-01-18 03:01:23,207][train][INFO] - epoch: 121 lr: 0.0007250944136965387 +[2024-01-18 03:03:25,794][train][INFO] - training loss: 0.0016806749549383919 + 0.08278992440965441 + 0.0023524298953513305 + 0.022439882511066066 = 0.10926291197538376, data num: 712 +[2024-01-18 03:03:25,795][train][INFO] - epoch: 122 lr: 0.0007204393941893019 +[2024-01-18 03:05:22,801][train][INFO] - training loss: 0.0016335485735908151 + 0.08403853740957049 + 0.0025408144522872235 + 0.022600384780930148 = 0.11081328441699347, data num: 712 +[2024-01-18 03:05:22,802][train][INFO] - epoch: 123 lr: 0.0007157607493247106 +[2024-01-18 03:07:24,459][train][INFO] - training loss: 0.0016480600875284936 + 0.08422413037882912 + 0.002319124610059791 + 0.0234192230221298 = 0.11161053776741028, data num: 712 +[2024-01-18 03:07:24,460][train][INFO] - epoch: 124 lr: 0.0007110589921688983 +[2024-01-18 03:09:26,592][train][INFO] - training loss: 0.0016435310813701816 + 0.0832855804098977 + 0.0022693473561149506 + 0.022220083222621017 = 0.10941854185528226, data num: 712 +[2024-01-18 03:09:26,594][train][INFO] - epoch: 125 lr: 0.0007063346383225208 +[2024-01-18 03:11:17,139][train][INFO] - training loss: 0.0016716093290597201 + 0.08256704294019275 + 0.0022832359187304973 + 0.022539875408013662 = 0.10906176384952333, data num: 712 +[2024-01-18 03:11:17,140][train][INFO] - epoch: 126 lr: 0.0007015882058642161 +[2024-01-18 03:13:11,153][train][INFO] - training loss: 0.0016043056682166126 + 0.07905002716514799 + 0.002237738971598446 + 0.02053401997933785 = 0.1034260920352406, data num: 712 +[2024-01-18 03:13:11,154][train][INFO] - epoch: 127 lr: 0.0006968202152937907 +[2024-01-18 03:15:03,209][train][INFO] - training loss: 0.0016519990465086367 + 0.08147624913189146 + 0.0023170405300334098 + 0.022243462420172163 = 0.10768875049220192, data num: 712 +[2024-01-18 03:15:03,210][train][INFO] - epoch: 128 lr: 0.000692031189475141 +[2024-01-18 03:16:54,297][train][INFO] - training loss: 0.0016747687244787813 + 0.08028460724486244 + 0.0022372858805788888 + 0.020784117467701434 = 0.10498077902528975, data num: 712 +[2024-01-18 03:16:54,298][train][INFO] - epoch: 129 lr: 0.0006872216535789155 +[2024-01-18 03:18:41,953][train][INFO] - training loss: 0.0016644799642057883 + 0.07869426425960328 + 0.002382487977027065 + 0.02096273276127047 = 0.10370396474997202, data num: 712 +[2024-01-18 03:18:41,955][train][INFO] - epoch: 130 lr: 0.0006823921350249233 +[2024-01-18 03:20:34,582][train][INFO] - training loss: 0.0016711478276799122 + 0.0784158867266443 + 0.0022029696834377117 + 0.021441310292316808 = 0.10373131533463796, data num: 712 +[2024-01-18 03:20:34,583][train][INFO] - epoch: 131 lr: 0.0006775431634242984 +[2024-01-18 03:22:22,808][train][INFO] - training loss: 0.0016220135795366433 + 0.07956985947158601 + 0.002169265455773307 + 0.020709967240691185 = 0.10407110469208823, data num: 712 +[2024-01-18 03:22:22,809][train][INFO] - epoch: 132 lr: 0.0006726752705214191 +[2024-01-18 03:24:11,791][train][INFO] - training loss: 0.0015978439167762795 + 0.07825458943843841 + 0.002198273440202077 + 0.01920544101546208 = 0.10125614802042643, data num: 712 +[2024-01-18 03:24:11,792][train][INFO] - epoch: 133 lr: 0.0006677889901355985 +[2024-01-18 03:26:03,553][train][INFO] - training loss: 0.0016058336632947126 + 0.07879992441998587 + 0.002256060815933678 + 0.02123088575899601 = 0.10389270418220097, data num: 712 +[2024-01-18 03:26:03,554][train][INFO] - epoch: 134 lr: 0.0006628848581025445 +[2024-01-18 03:27:51,247][train][INFO] - training loss: 0.0016264853404007024 + 0.08061814192268583 + 0.002229220686583883 + 0.01947145950463083 = 0.10394530759917366, data num: 712 +[2024-01-18 03:27:51,248][train][INFO] - epoch: 135 lr: 0.0006579634122155989 +[2024-01-18 03:29:39,984][train][INFO] - training loss: 0.0015909527376708058 + 0.0779992346962293 + 0.0022017637733370067 + 0.02007517135805554 = 0.10186712261703279, data num: 712 +[2024-01-18 03:29:39,985][train][INFO] - epoch: 136 lr: 0.0006530251921667629 +[2024-01-18 03:31:28,562][train][INFO] - training loss: 0.0016219492199727231 + 0.07805375142229928 + 0.0022829620917845105 + 0.020095039448804326 = 0.1020537022087309, data num: 712 +[2024-01-18 03:31:28,563][train][INFO] - epoch: 137 lr: 0.0006480707394875134 +[2024-01-18 03:33:19,333][train][INFO] - training loss: 0.0016484186932858493 + 0.07894134173790614 + 0.0022529014412106738 + 0.01977170931382312 = 0.10261437164412604, data num: 712 +[2024-01-18 03:33:19,334][train][INFO] - epoch: 138 lr: 0.0006431005974894185 +[2024-01-18 03:35:07,694][train][INFO] - training loss: 0.0016285090526151989 + 0.07694513532850478 + 0.0022705407166439626 + 0.01979854057232539 = 0.1006427268187205, data num: 712 +[2024-01-18 03:35:07,696][train][INFO] - epoch: 139 lr: 0.0006381153112045565 +[2024-01-18 03:37:03,041][train][INFO] - training loss: 0.0016271572767032516 + 0.07694355017609067 + 0.002186153301348289 + 0.0183006063517597 = 0.09905746728181838, data num: 712 +[2024-01-18 03:37:03,043][train][INFO] - epoch: 140 lr: 0.0006331154273257479 +[2024-01-18 03:38:56,599][train][INFO] - training loss: 0.0016015721200447943 + 0.07525500555833181 + 0.002141918280782799 + 0.01824829392135143 = 0.09724678893884023, data num: 712 +[2024-01-18 03:38:56,600][train][INFO] - epoch: 141 lr: 0.000628101494146603 +[2024-01-18 03:40:51,273][train][INFO] - training loss: 0.001554425642825663 + 0.0758385298980607 + 0.002151884467134045 + 0.019316775393154885 = 0.09886161602205701, data num: 712 +[2024-01-18 03:40:51,274][train][INFO] - epoch: 142 lr: 0.0006230740615013976 +[2024-01-18 03:42:51,231][train][INFO] - training loss: 0.0016241964444311128 + 0.07542110333840052 + 0.002157142623845074 + 0.01936104961981376 = 0.09856349180142085, data num: 712 +[2024-01-18 03:42:51,232][train][INFO] - epoch: 143 lr: 0.0006180336807047746 +[2024-01-18 03:44:50,832][train][INFO] - training loss: 0.0015042656359987128 + 0.07672158463133706 + 0.0021125329037507373 + 0.017857950739562513 = 0.09819633348120584, data num: 712 +[2024-01-18 03:44:50,832][train][INFO] - epoch: 144 lr: 0.0006129809044912887 +[2024-01-18 03:46:52,268][train][INFO] - training loss: 0.00158635384351429 + 0.07428921113411585 + 0.0021606144236607683 + 0.018135217970444095 = 0.09617139730188581, data num: 712 +[2024-01-18 03:46:52,269][train][INFO] - epoch: 145 lr: 0.0006079162869547909 +[2024-01-18 03:48:55,241][train][INFO] - training loss: 0.0015529286556152833 + 0.07396680878268348 + 0.0020922062892673745 + 0.01808494780626562 = 0.09569689217540953, data num: 712 +[2024-01-18 03:48:55,243][train][INFO] - epoch: 146 lr: 0.0006028403834876673 +[2024-01-18 03:50:57,448][train][INFO] - training loss: 0.0016114634979102346 + 0.07464134577247832 + 0.002223923303083413 + 0.018026751279830933 = 0.09650348408354653, data num: 712 +[2024-01-18 03:50:57,449][train][INFO] - epoch: 147 lr: 0.0005977537507199337 +[2024-01-18 03:52:52,507][train][INFO] - training loss: 0.0015747808773691455 + 0.07455318710870212 + 0.002310704892604715 + 0.018102450565331513 = 0.09654112292660608, data num: 712 +[2024-01-18 03:52:52,508][train][INFO] - epoch: 148 lr: 0.0005926569464581937 +[2024-01-18 03:54:51,807][train][INFO] - training loss: 0.0017223768893422351 + 0.07437427706188626 + 0.002188478901775347 + 0.017349064515696632 = 0.09563419653309715, data num: 712 +[2024-01-18 03:54:51,808][train][INFO] - epoch: 149 lr: 0.0005875505296244705 +[2024-01-18 03:56:55,111][train][INFO] - training loss: 0.0015592257492244243 + 0.07524130129151874 + 0.0021143232549851137 + 0.017644406006568008 = 0.09655925598409441, data num: 712 +[2024-01-18 03:56:55,113][train][INFO] - epoch: 150 lr: 0.0005824350601949142 +[2024-01-18 03:58:53,910][train][INFO] - training loss: 0.0015122723455230395 + 0.07447651616401142 + 0.0021722021331596706 + 0.016731643097268212 = 0.09489263312684165, data num: 712 +[2024-01-18 03:58:53,923][train][INFO] - Validating training... +[2024-01-18 04:00:02,748][train][INFO] - mean_translation_distance_error = [3.077467] +[2024-01-18 04:00:02,749][train][INFO] - mean_translation_along_error = [0.9667838] +[2024-01-18 04:00:02,749][train][INFO] - mean_translation_perp_error = [2.794581] +[2024-01-18 04:00:02,749][train][INFO] - mean_translation_plane_error = [2.7982812] +[2024-01-18 04:00:02,750][train][INFO] - mean_translation_line_error = [1.6179836] +[2024-01-18 04:00:02,750][train][INFO] - mean_rotation_error = [4.751077] +[2024-01-18 04:00:02,750][train][INFO] - mean_affordance_error = [4.2515965] +[2024-01-18 04:00:02,752][train][INFO] - median_translation_distance_error = [2.5892098] +[2024-01-18 04:00:02,752][train][INFO] - median_translation_along_error = [0.80241275] +[2024-01-18 04:00:02,752][train][INFO] - median_translation_perp_error = [2.387426] +[2024-01-18 04:00:02,753][train][INFO] - median_translation_plane_error = [2.3606305] +[2024-01-18 04:00:02,753][train][INFO] - median_translation_line_error = [1.1839584] +[2024-01-18 04:00:02,753][train][INFO] - median_rotation_error = [4.3699417] +[2024-01-18 04:00:02,754][train][INFO] - median_affordance_error = [3.9276204] +[2024-01-18 04:00:02,754][train][INFO] - max_translation_distance_error = [8.940625] +[2024-01-18 04:00:02,754][train][INFO] - max_translation_along_error = [3.012912] +[2024-01-18 04:00:02,755][train][INFO] - max_translation_perp_error = [8.940614] +[2024-01-18 04:00:02,755][train][INFO] - max_translation_plane_error = [8.942177] +[2024-01-18 04:00:02,755][train][INFO] - max_translation_line_error = [7.175544] +[2024-01-18 04:00:02,756][train][INFO] - max_rotation_error = [12.613868] +[2024-01-18 04:00:02,756][train][INFO] - max_affordance_error = [14.063942] +[2024-01-18 04:00:02,756][train][INFO] - min_translation_distance_error = [0.64621663] +[2024-01-18 04:00:02,757][train][INFO] - min_translation_along_error = [0.01428262] +[2024-01-18 04:00:02,757][train][INFO] - min_translation_perp_error = [0.05066609] +[2024-01-18 04:00:02,757][train][INFO] - min_translation_plane_error = [0.08686761] +[2024-01-18 04:00:02,758][train][INFO] - min_translation_line_error = [0.02560085] +[2024-01-18 04:00:02,758][train][INFO] - min_rotation_error = [0.48738635] +[2024-01-18 04:00:02,758][train][INFO] - min_affordance_error = [0.7985372] +[2024-01-18 04:00:02,759][train][INFO] - std_translation_distance_error = [1.8748797] +[2024-01-18 04:00:02,759][train][INFO] - std_translation_along_error = [0.7036449] +[2024-01-18 04:00:02,760][train][INFO] - std_translation_perp_error = [1.9355899] +[2024-01-18 04:00:02,760][train][INFO] - std_translation_plane_error = [1.9350817] +[2024-01-18 04:00:02,760][train][INFO] - std_translation_line_error = [1.5829865] +[2024-01-18 04:00:02,761][train][INFO] - std_rotation_error = [2.5816348] +[2024-01-18 04:00:02,761][train][INFO] - std_affordance_error = [2.41745] +[2024-01-18 04:00:02,761][train][INFO] - translation_outliers_num = 7 +[2024-01-18 04:00:02,761][train][INFO] - rotation_outliers_num = 24 +[2024-01-18 04:00:02,761][train][INFO] - affordance_outliers_num = 22 +[2024-01-18 04:00:02,761][train][INFO] - translation_outliers_ratio = 0.109375 +[2024-01-18 04:00:02,761][train][INFO] - rotation_outliers_ratio = 0.375 +[2024-01-18 04:00:02,762][train][INFO] - affordance_outliers_ratio = 0.34375 +[2024-01-18 04:00:02,762][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 04:00:02,764][train][INFO] - Validated training. +[2024-01-18 04:00:02,771][train][INFO] - Validating training time: 68.84038305282593 +[2024-01-18 04:00:02,775][train][INFO] - Validating testing... +[2024-01-18 04:00:56,662][train][INFO] - mean_translation_distance_error = [4.646863] +[2024-01-18 04:00:56,662][train][INFO] - mean_translation_along_error = [0.7887287] +[2024-01-18 04:00:56,663][train][INFO] - mean_translation_perp_error = [4.51179] +[2024-01-18 04:00:56,663][train][INFO] - mean_translation_plane_error = [4.497653] +[2024-01-18 04:00:56,664][train][INFO] - mean_translation_line_error = [3.0537624] +[2024-01-18 04:00:56,664][train][INFO] - mean_rotation_error = [5.094467] +[2024-01-18 04:00:56,664][train][INFO] - mean_affordance_error = [5.222098] +[2024-01-18 04:00:56,665][train][INFO] - median_translation_distance_error = [4.271368] +[2024-01-18 04:00:56,665][train][INFO] - median_translation_along_error = [0.60773] +[2024-01-18 04:00:56,665][train][INFO] - median_translation_perp_error = [4.1729] +[2024-01-18 04:00:56,666][train][INFO] - median_translation_plane_error = [4.137026] +[2024-01-18 04:00:56,666][train][INFO] - median_translation_line_error = [2.744441] +[2024-01-18 04:00:56,666][train][INFO] - median_rotation_error = [4.10868] +[2024-01-18 04:00:56,666][train][INFO] - median_affordance_error = [4.860609] +[2024-01-18 04:00:56,666][train][INFO] - max_translation_distance_error = [9.972006] +[2024-01-18 04:00:56,666][train][INFO] - max_translation_along_error = [2.6284592] +[2024-01-18 04:00:56,667][train][INFO] - max_translation_perp_error = [9.9573555] +[2024-01-18 04:00:56,667][train][INFO] - max_translation_plane_error = [9.998609] +[2024-01-18 04:00:56,667][train][INFO] - max_translation_line_error = [7.883427] +[2024-01-18 04:00:56,667][train][INFO] - max_rotation_error = [16.848892] +[2024-01-18 04:00:56,667][train][INFO] - max_affordance_error = [13.623794] +[2024-01-18 04:00:56,667][train][INFO] - min_translation_distance_error = [1.4933354] +[2024-01-18 04:00:56,667][train][INFO] - min_translation_along_error = [0.00106897] +[2024-01-18 04:00:56,668][train][INFO] - min_translation_perp_error = [1.2328049] +[2024-01-18 04:00:56,668][train][INFO] - min_translation_plane_error = [1.2195626] +[2024-01-18 04:00:56,668][train][INFO] - min_translation_line_error = [0.05724226] +[2024-01-18 04:00:56,668][train][INFO] - min_rotation_error = [1.0441772] +[2024-01-18 04:00:56,668][train][INFO] - min_affordance_error = [1.183685] +[2024-01-18 04:00:56,669][train][INFO] - std_translation_distance_error = [1.8197886] +[2024-01-18 04:00:56,669][train][INFO] - std_translation_along_error = [0.60571986] +[2024-01-18 04:00:56,669][train][INFO] - std_translation_perp_error = [1.8867258] +[2024-01-18 04:00:56,669][train][INFO] - std_translation_plane_error = [1.9033575] +[2024-01-18 04:00:56,669][train][INFO] - std_translation_line_error = [1.9468638] +[2024-01-18 04:00:56,669][train][INFO] - std_rotation_error = [3.0759003] +[2024-01-18 04:00:56,669][train][INFO] - std_affordance_error = [2.6724033] +[2024-01-18 04:00:56,669][train][INFO] - translation_outliers_num = 20 +[2024-01-18 04:00:56,670][train][INFO] - rotation_outliers_num = 25 +[2024-01-18 04:00:56,670][train][INFO] - affordance_outliers_num = 30 +[2024-01-18 04:00:56,670][train][INFO] - translation_outliers_ratio = 0.3125 +[2024-01-18 04:00:56,670][train][INFO] - rotation_outliers_ratio = 0.390625 +[2024-01-18 04:00:56,670][train][INFO] - affordance_outliers_ratio = 0.46875 +[2024-01-18 04:00:56,670][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 04:00:56,671][train][INFO] - Validated testing. +[2024-01-18 04:00:56,677][train][INFO] - Validating testing time: 53.8956241607666 +[2024-01-18 04:00:56,678][train][INFO] - epoch: 151 lr: 0.0005773110991383937 +[2024-01-18 04:02:57,962][train][INFO] - training loss: 0.0014950000887943638 + 0.074229510459635 + 0.0020889286753825015 + 0.016979125493930446 = 0.09479256470998128, data num: 712 +[2024-01-18 04:02:57,963][train][INFO] - epoch: 152 lr: 0.0005721792083549806 +[2024-01-18 04:05:00,087][train][INFO] - training loss: 0.0015211232756781909 + 0.0744496298333009 + 0.0021109706334148846 + 0.016811580459276835 = 0.09489330516921149, data num: 712 +[2024-01-18 04:05:00,089][train][INFO] - epoch: 153 lr: 0.0005670399506143306 +[2024-01-18 04:07:01,866][train][INFO] - training loss: 0.0014883174560964107 + 0.07342132379611334 + 0.002063877163972292 + 0.016615137230190966 = 0.09358865585592058, data num: 712 +[2024-01-18 04:07:01,867][train][INFO] - epoch: 154 lr: 0.000561893889493969 +[2024-01-18 04:09:07,519][train][INFO] - training loss: 0.0015193538197005789 + 0.07410296011302206 + 0.0021028015659087236 + 0.016389230307605532 = 0.09411434597439236, data num: 712 +[2024-01-18 04:09:07,520][train][INFO] - epoch: 155 lr: 0.0005567415893174885 +[2024-01-18 04:11:05,170][train][INFO] - training loss: 0.0015175796967620652 + 0.07485015094280242 + 0.002081347083569401 + 0.01714966270244784 = 0.09559874021344715, data num: 712 +[2024-01-18 04:11:05,171][train][INFO] - epoch: 156 lr: 0.0005515836150926646 +[2024-01-18 04:13:04,845][train][INFO] - training loss: 0.0015066843712702393 + 0.07269994997315937 + 0.0020401838830568725 + 0.01660741660743952 = 0.09285423540406756, data num: 712 +[2024-01-18 04:13:04,847][train][INFO] - epoch: 157 lr: 0.0005464205324494961 +[2024-01-18 04:15:05,532][train][INFO] - training loss: 0.0014927819966235095 + 0.07343515306711197 + 0.002058047850409316 + 0.017636647675600317 = 0.09462263070874743, data num: 712 +[2024-01-18 04:15:05,533][train][INFO] - epoch: 158 lr: 0.0005412529075781776 +[2024-01-18 04:17:03,797][train][INFO] - training loss: 0.0014911164115700456 + 0.07188108778662151 + 0.002051936767788397 + 0.016236331106887922 = 0.0916604725850953, data num: 712 +[2024-01-18 04:17:03,798][train][INFO] - epoch: 159 lr: 0.0005360813071670101 +[2024-01-18 04:19:03,835][train][INFO] - training loss: 0.0015245007790832055 + 0.0735817175772455 + 0.0021297214682110483 + 0.016981561212903923 = 0.09421750141514672, data num: 712 +[2024-01-18 04:19:03,837][train][INFO] - epoch: 160 lr: 0.0005309062983402573 +[2024-01-18 04:21:02,478][train][INFO] - training loss: 0.0015307763565538658 + 0.0723386769493421 + 0.0020249179383325907 + 0.016741843480202887 = 0.0926362156867981, data num: 712 +[2024-01-18 04:21:02,479][train][INFO] - epoch: 161 lr: 0.0005257284485959538 +[2024-01-18 04:23:01,084][train][INFO] - training loss: 0.001466669222443468 + 0.07177548590633605 + 0.0020241338863141007 + 0.016528908846278986 = 0.0917951977915234, data num: 712 +[2024-01-18 04:23:01,085][train][INFO] - epoch: 162 lr: 0.0005205483257436734 +[2024-01-18 04:24:51,644][train][INFO] - training loss: 0.0014860282289899057 + 0.0713355905479855 + 0.0020175465020454593 + 0.015308621236019664 = 0.09014778567685021, data num: 712 +[2024-01-18 04:24:51,645][train][INFO] - epoch: 163 lr: 0.0005153664978422616 +[2024-01-18 04:26:42,021][train][INFO] - training loss: 0.0014541748652441633 + 0.07044934779405594 + 0.0020146873417413898 + 0.01558451410382986 = 0.08950272483958138, data num: 712 +[2024-01-18 04:26:42,022][train][INFO] - epoch: 164 lr: 0.0005101835331375416 +[2024-01-18 04:28:31,916][train][INFO] - training loss: 0.001511734046248926 + 0.07162669565942552 + 0.002096571783638663 + 0.015412354427907202 = 0.09064735505315992, data num: 712 +[2024-01-18 04:28:31,917][train][INFO] - epoch: 165 lr: 0.0005049999999999999 +[2024-01-18 04:30:23,262][train][INFO] - training loss: 0.001437530312169757 + 0.0711962694923083 + 0.0019449779763817787 + 0.014727053542931875 = 0.089305832154221, data num: 712 +[2024-01-18 04:30:23,263][train][INFO] - epoch: 166 lr: 0.0004998164668624582 +[2024-01-18 04:32:11,173][train][INFO] - training loss: 0.0014805846899333928 + 0.07146141744322247 + 0.0019932071367899577 + 0.014656306554873785 = 0.08959151572651333, data num: 712 +[2024-01-18 04:32:11,174][train][INFO] - epoch: 167 lr: 0.0004946335021577383 +[2024-01-18 04:34:02,053][train][INFO] - training loss: 0.0014698902274378472 + 0.07091989128126039 + 0.001999001838784251 + 0.014775591467817624 = 0.0891643750998709, data num: 712 +[2024-01-18 04:34:02,055][train][INFO] - epoch: 168 lr: 0.0004894516742563263 +[2024-01-18 04:35:48,838][train][INFO] - training loss: 0.00147032268707537 + 0.06979649513959885 + 0.002065670329870449 + 0.015235304046008322 = 0.08856779221031401, data num: 712 +[2024-01-18 04:35:48,839][train][INFO] - epoch: 169 lr: 0.000484271551404046 +[2024-01-18 04:37:41,657][train][INFO] - training loss: 0.0014470126376383834 + 0.06987523213028908 + 0.001978766954400473 + 0.015556075196299288 = 0.08885708765851127, data num: 712 +[2024-01-18 04:37:41,659][train][INFO] - epoch: 170 lr: 0.0004790937016597426 +[2024-01-18 04:39:37,568][train][INFO] - training loss: 0.0014344772608536813 + 0.06941366311576631 + 0.0019893552280134627 + 0.01448706951406267 = 0.08732456548346414, data num: 712 +[2024-01-18 04:39:37,570][train][INFO] - epoch: 171 lr: 0.0004739186928329898 +[2024-01-18 04:41:29,324][train][INFO] - training loss: 0.0014673540187585684 + 0.0722623537811968 + 0.0020099112789870965 + 0.015461630187928677 = 0.09120124959283404, data num: 712 +[2024-01-18 04:41:29,325][train][INFO] - epoch: 172 lr: 0.0004687470924218222 +[2024-01-18 04:43:20,303][train][INFO] - training loss: 0.0014497162282673848 + 0.07038956632216771 + 0.001970075751240883 + 0.014528112713661459 = 0.08833747092220519, data num: 712 +[2024-01-18 04:43:20,304][train][INFO] - epoch: 173 lr: 0.00046357946755050356 +[2024-01-18 04:45:12,148][train][INFO] - training loss: 0.0014157632896159259 + 0.07030862172444662 + 0.0020044610602781175 + 0.014430448371503089 = 0.08815929392973582, data num: 712 +[2024-01-18 04:45:12,149][train][INFO] - epoch: 174 lr: 0.00045841638490733513 +[2024-01-18 04:46:57,832][train][INFO] - training loss: 0.001469083989246024 + 0.07066139098670747 + 0.0019612710250334607 + 0.015036019372443359 = 0.08912776460250219, data num: 712 +[2024-01-18 04:46:57,833][train][INFO] - epoch: 175 lr: 0.00045325841068251133 +[2024-01-18 04:48:48,088][train][INFO] - training loss: 0.0014290001993584964 + 0.06939131551318699 + 0.0020613374110932154 + 0.015329276915225717 = 0.08821093026134703, data num: 712 +[2024-01-18 04:48:48,089][train][INFO] - epoch: 176 lr: 0.0004481061105060308 +[2024-01-18 04:50:33,511][train][INFO] - training loss: 0.0014833442375270856 + 0.0689007264872392 + 0.0019258351220438877 + 0.01498685638523764 = 0.08729676240020329, data num: 712 +[2024-01-18 04:50:33,512][train][INFO] - epoch: 177 lr: 0.0004429600493856691 +[2024-01-18 04:52:16,888][train][INFO] - training loss: 0.0014167204447504548 + 0.06841734763648775 + 0.0019520947347498603 + 0.01382105534689294 = 0.08560721907350752, data num: 712 +[2024-01-18 04:52:16,890][train][INFO] - epoch: 178 lr: 0.000437820791645019 +[2024-01-18 04:54:04,294][train][INFO] - training loss: 0.001409172036478089 + 0.0686040182908376 + 0.0019064688278983037 + 0.014939976690544022 = 0.0868596366710133, data num: 712 +[2024-01-18 04:54:04,296][train][INFO] - epoch: 179 lr: 0.00043268890086160604 +[2024-01-18 04:55:52,247][train][INFO] - training loss: 0.0014351594210084942 + 0.06867653404672941 + 0.001963756818117367 + 0.01392671964648697 = 0.08600217037730747, data num: 712 +[2024-01-18 04:55:52,248][train][INFO] - epoch: 180 lr: 0.0004275649398050855 +[2024-01-18 04:57:33,958][train][INFO] - training loss: 0.0014083976339962748 + 0.06783566036158138 + 0.0019092846868766678 + 0.013172893909116586 = 0.08432623677783542, data num: 712 +[2024-01-18 04:57:33,971][train][INFO] - Validating training... +[2024-01-18 04:58:32,205][train][INFO] - mean_translation_distance_error = [2.793118] +[2024-01-18 04:58:32,206][train][INFO] - mean_translation_along_error = [1.010324] +[2024-01-18 04:58:32,206][train][INFO] - mean_translation_perp_error = [2.458006] +[2024-01-18 04:58:32,206][train][INFO] - mean_translation_plane_error = [2.4552925] +[2024-01-18 04:58:32,206][train][INFO] - mean_translation_line_error = [1.420644] +[2024-01-18 04:58:32,206][train][INFO] - mean_rotation_error = [4.2388964] +[2024-01-18 04:58:32,207][train][INFO] - mean_affordance_error = [3.6113384] +[2024-01-18 04:58:32,207][train][INFO] - median_translation_distance_error = [2.5951824] +[2024-01-18 04:58:32,208][train][INFO] - median_translation_along_error = [0.85918784] +[2024-01-18 04:58:32,208][train][INFO] - median_translation_perp_error = [2.2055883] +[2024-01-18 04:58:32,208][train][INFO] - median_translation_plane_error = [2.1820836] +[2024-01-18 04:58:32,208][train][INFO] - median_translation_line_error = [1.1715283] +[2024-01-18 04:58:32,208][train][INFO] - median_rotation_error = [3.7692184] +[2024-01-18 04:58:32,208][train][INFO] - median_affordance_error = [3.1868591] +[2024-01-18 04:58:32,208][train][INFO] - max_translation_distance_error = [6.8170466] +[2024-01-18 04:58:32,209][train][INFO] - max_translation_along_error = [3.2577128] +[2024-01-18 04:58:32,209][train][INFO] - max_translation_perp_error = [6.0338902] +[2024-01-18 04:58:32,209][train][INFO] - max_translation_plane_error = [5.9255333] +[2024-01-18 04:58:32,209][train][INFO] - max_translation_line_error = [5.0957074] +[2024-01-18 04:58:32,209][train][INFO] - max_rotation_error = [10.121798] +[2024-01-18 04:58:32,209][train][INFO] - max_affordance_error = [10.455093] +[2024-01-18 04:58:32,209][train][INFO] - min_translation_distance_error = [0.51610667] +[2024-01-18 04:58:32,210][train][INFO] - min_translation_along_error = [0.00149834] +[2024-01-18 04:58:32,210][train][INFO] - min_translation_perp_error = [0.151584] +[2024-01-18 04:58:32,210][train][INFO] - min_translation_plane_error = [0.23659025] +[2024-01-18 04:58:32,210][train][INFO] - min_translation_line_error = [0.08864151] +[2024-01-18 04:58:32,210][train][INFO] - min_rotation_error = [0.25256422] +[2024-01-18 04:58:32,210][train][INFO] - min_affordance_error = [0.36588964] +[2024-01-18 04:58:32,211][train][INFO] - std_translation_distance_error = [1.2258317] +[2024-01-18 04:58:32,211][train][INFO] - std_translation_along_error = [0.83900404] +[2024-01-18 04:58:32,211][train][INFO] - std_translation_perp_error = [1.2400383] +[2024-01-18 04:58:32,211][train][INFO] - std_translation_plane_error = [1.2178718] +[2024-01-18 04:58:32,211][train][INFO] - std_translation_line_error = [1.1256361] +[2024-01-18 04:58:32,211][train][INFO] - std_rotation_error = [1.9216233] +[2024-01-18 04:58:32,211][train][INFO] - std_affordance_error = [2.3111355] +[2024-01-18 04:58:32,211][train][INFO] - translation_outliers_num = 2 +[2024-01-18 04:58:32,211][train][INFO] - rotation_outliers_num = 19 +[2024-01-18 04:58:32,211][train][INFO] - affordance_outliers_num = 13 +[2024-01-18 04:58:32,211][train][INFO] - translation_outliers_ratio = 0.03125 +[2024-01-18 04:58:32,211][train][INFO] - rotation_outliers_ratio = 0.296875 +[2024-01-18 04:58:32,211][train][INFO] - affordance_outliers_ratio = 0.203125 +[2024-01-18 04:58:32,211][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 04:58:32,213][train][INFO] - Validated training. +[2024-01-18 04:58:32,213][train][INFO] - Validating training time: 58.24167275428772 +[2024-01-18 04:58:32,214][train][INFO] - Validating testing... +[2024-01-18 04:59:17,122][train][INFO] - mean_translation_distance_error = [4.26318] +[2024-01-18 04:59:17,123][train][INFO] - mean_translation_along_error = [0.976511] +[2024-01-18 04:59:17,123][train][INFO] - mean_translation_perp_error = [4.0053596] +[2024-01-18 04:59:17,124][train][INFO] - mean_translation_plane_error = [3.9867897] +[2024-01-18 04:59:17,124][train][INFO] - mean_translation_line_error = [2.8537269] +[2024-01-18 04:59:17,125][train][INFO] - mean_rotation_error = [5.3333807] +[2024-01-18 04:59:17,125][train][INFO] - mean_affordance_error = [4.4986258] +[2024-01-18 04:59:17,125][train][INFO] - median_translation_distance_error = [4.157884] +[2024-01-18 04:59:17,126][train][INFO] - median_translation_along_error = [0.7670461] +[2024-01-18 04:59:17,126][train][INFO] - median_translation_perp_error = [3.742413] +[2024-01-18 04:59:17,126][train][INFO] - median_translation_plane_error = [3.765925] +[2024-01-18 04:59:17,126][train][INFO] - median_translation_line_error = [2.3783672] +[2024-01-18 04:59:17,126][train][INFO] - median_rotation_error = [4.5726013] +[2024-01-18 04:59:17,126][train][INFO] - median_affordance_error = [4.292011] +[2024-01-18 04:59:17,126][train][INFO] - max_translation_distance_error = [9.769375] +[2024-01-18 04:59:17,127][train][INFO] - max_translation_along_error = [2.590445] +[2024-01-18 04:59:17,127][train][INFO] - max_translation_perp_error = [9.619828] +[2024-01-18 04:59:17,127][train][INFO] - max_translation_plane_error = [9.6102705] +[2024-01-18 04:59:17,127][train][INFO] - max_translation_line_error = [9.573958] +[2024-01-18 04:59:17,127][train][INFO] - max_rotation_error = [13.262839] +[2024-01-18 04:59:17,127][train][INFO] - max_affordance_error = [12.858317] +[2024-01-18 04:59:17,127][train][INFO] - min_translation_distance_error = [0.47922426] +[2024-01-18 04:59:17,128][train][INFO] - min_translation_along_error = [0.01279465] +[2024-01-18 04:59:17,128][train][INFO] - min_translation_perp_error = [0.13165338] +[2024-01-18 04:59:17,128][train][INFO] - min_translation_plane_error = [0.09867287] +[2024-01-18 04:59:17,128][train][INFO] - min_translation_line_error = [0.0057369] +[2024-01-18 04:59:17,128][train][INFO] - min_rotation_error = [0.4392403] +[2024-01-18 04:59:17,128][train][INFO] - min_affordance_error = [0.9161921] +[2024-01-18 04:59:17,129][train][INFO] - std_translation_distance_error = [2.2706583] +[2024-01-18 04:59:17,129][train][INFO] - std_translation_along_error = [0.7598096] +[2024-01-18 04:59:17,129][train][INFO] - std_translation_perp_error = [2.3993337] +[2024-01-18 04:59:17,129][train][INFO] - std_translation_plane_error = [2.3999243] +[2024-01-18 04:59:17,129][train][INFO] - std_translation_line_error = [2.2274542] +[2024-01-18 04:59:17,129][train][INFO] - std_rotation_error = [3.076596] +[2024-01-18 04:59:17,129][train][INFO] - std_affordance_error = [2.4063537] +[2024-01-18 04:59:17,129][train][INFO] - translation_outliers_num = 19 +[2024-01-18 04:59:17,130][train][INFO] - rotation_outliers_num = 28 +[2024-01-18 04:59:17,130][train][INFO] - affordance_outliers_num = 23 +[2024-01-18 04:59:17,130][train][INFO] - translation_outliers_ratio = 0.296875 +[2024-01-18 04:59:17,130][train][INFO] - rotation_outliers_ratio = 0.4375 +[2024-01-18 04:59:17,130][train][INFO] - affordance_outliers_ratio = 0.359375 +[2024-01-18 04:59:17,130][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 04:59:17,131][train][INFO] - Validated testing. +[2024-01-18 04:59:17,131][train][INFO] - Validating testing time: 44.91712403297424 +[2024-01-18 04:59:17,131][train][INFO] - epoch: 181 lr: 0.0004224494703755289 +[2024-01-18 05:00:56,991][train][INFO] - training loss: 0.0014291315779296888 + 0.06724815203083886 + 0.0019049215622039305 + 0.013458743256827195 = 0.08404094891415702, data num: 712 +[2024-01-18 05:00:56,992][train][INFO] - epoch: 182 lr: 0.00041734305354180595 +[2024-01-18 05:02:36,570][train][INFO] - training loss: 0.0014023141883727577 + 0.06794480681419372 + 0.0018938428851672344 + 0.01397383502788014 = 0.08521479898028904, data num: 712 +[2024-01-18 05:02:36,571][train][INFO] - epoch: 183 lr: 0.000412246249280066 +[2024-01-18 05:04:14,705][train][INFO] - training loss: 0.0014527343705089556 + 0.06788914418882794 + 0.0019066252849168248 + 0.013364569811771313 = 0.08461307370000415, data num: 712 +[2024-01-18 05:04:14,707][train][INFO] - epoch: 184 lr: 0.0004071596165123322 +[2024-01-18 05:05:52,825][train][INFO] - training loss: 0.001410577593681713 + 0.06811021458771493 + 0.001910578079211215 + 0.013779498781594965 = 0.08521086855067148, data num: 712 +[2024-01-18 05:05:52,826][train][INFO] - epoch: 185 lr: 0.0004020837130452088 +[2024-01-18 05:07:34,350][train][INFO] - training loss: 0.001386389594214658 + 0.06730211327473322 + 0.0019183587645077043 + 0.014348445149759451 = 0.08495530684789022, data num: 712 +[2024-01-18 05:07:34,351][train][INFO] - epoch: 186 lr: 0.00039701909550871116 +[2024-01-18 05:09:15,354][train][INFO] - training loss: 0.0014263167744502426 + 0.06650578793552187 + 0.0019081004067427582 + 0.013665517129831843 = 0.0835057223836581, data num: 712 +[2024-01-18 05:09:15,356][train][INFO] - epoch: 187 lr: 0.0003919663192952252 +[2024-01-18 05:10:56,003][train][INFO] - training loss: 0.001405250811431971 + 0.06812960000501739 + 0.0019005139203121266 + 0.013508006040420796 = 0.08494337068663703, data num: 712 +[2024-01-18 05:10:56,004][train][INFO] - epoch: 188 lr: 0.0003869259384986023 +[2024-01-18 05:12:37,201][train][INFO] - training loss: 0.0014393546204600068 + 0.06622176352474425 + 0.001910731664651798 + 0.012678735268612703 = 0.08225058482752906, data num: 712 +[2024-01-18 05:12:37,202][train][INFO] - epoch: 189 lr: 0.0003818985058533967 +[2024-01-18 05:14:17,316][train][INFO] - training loss: 0.0014495084062218667 + 0.06592846868766679 + 0.001917980179294116 + 0.012495948477751678 = 0.08179190572765138, data num: 712 +[2024-01-18 05:14:17,317][train][INFO] - epoch: 190 lr: 0.00037688457267425206 +[2024-01-18 05:15:57,707][train][INFO] - training loss: 0.001411107596423891 + 0.06621684862507714 + 0.0018689471245225933 + 0.013166256476607588 = 0.08266316006580988, data num: 712 +[2024-01-18 05:15:57,709][train][INFO] - epoch: 191 lr: 0.0003718846887954434 +[2024-01-18 05:17:42,341][train][INFO] - training loss: 0.0014334732433781028 + 0.06616168196002642 + 0.0019374137019945515 + 0.01239589314079947 = 0.08192846245235867, data num: 712 +[2024-01-18 05:17:42,342][train][INFO] - epoch: 192 lr: 0.0003668994025105812 +[2024-01-18 05:19:25,086][train][INFO] - training loss: 0.001386565984123283 + 0.06612027477886942 + 0.001862549243701829 + 0.012933074879563517 = 0.08230246437920465, data num: 712 +[2024-01-18 05:19:25,087][train][INFO] - epoch: 193 lr: 0.0003619292605124862 +[2024-01-18 05:21:09,480][train][INFO] - training loss: 0.001381854301628967 + 0.06570227435893483 + 0.0018935387643675009 + 0.012376167997717857 = 0.08135383509927326, data num: 712 +[2024-01-18 05:21:09,482][train][INFO] - epoch: 194 lr: 0.00035697480783323686 +[2024-01-18 05:22:50,604][train][INFO] - training loss: 0.0013819219854970773 + 0.06531034277545081 + 0.0018665488964567582 + 0.012877998666630851 = 0.0814368122153812, data num: 712 +[2024-01-18 05:22:50,605][train][INFO] - epoch: 195 lr: 0.00035203658778440076 +[2024-01-18 05:24:26,053][train][INFO] - training loss: 0.0013742093954028354 + 0.06559918117192057 + 0.0018511899255423082 + 0.012353632474939029 = 0.08117821216583251, data num: 712 +[2024-01-18 05:24:26,054][train][INFO] - epoch: 196 lr: 0.00034711514189745505 +[2024-01-18 05:26:06,612][train][INFO] - training loss: 0.001370229484099481 + 0.06517127702633539 + 0.0018234069381530087 + 0.012057961171699895 = 0.08042287445730634, data num: 712 +[2024-01-18 05:26:06,613][train][INFO] - epoch: 197 lr: 0.00034221100986440094 +[2024-01-18 05:27:46,266][train][INFO] - training loss: 0.0013689129975520903 + 0.0654386760460006 + 0.0018464119561637442 + 0.012394597826318608 = 0.08104859971337848, data num: 712 +[2024-01-18 05:27:46,268][train][INFO] - epoch: 198 lr: 0.0003373247294785804 +[2024-01-18 05:29:25,200][train][INFO] - training loss: 0.0013767528244190746 + 0.0646000991264979 + 0.001875527454022732 + 0.011884458632104926 = 0.07973683791028129, data num: 712 +[2024-01-18 05:29:25,202][train][INFO] - epoch: 199 lr: 0.0003324568365757012 +[2024-01-18 05:31:07,359][train][INFO] - training loss: 0.0013678261169439388 + 0.06451250049802992 + 0.0018528696201327774 + 0.012035143996278445 = 0.07976833995845582, data num: 712 +[2024-01-18 05:31:07,359][train][INFO] - epoch: 200 lr: 0.0003276078649750761 +[2024-01-18 05:32:51,784][train][INFO] - training loss: 0.0013647232424571281 + 0.06569595966074201 + 0.0019786062055370873 + 0.012048818791906038 = 0.08108810832103093, data num: 712 +[2024-01-18 05:32:51,785][train][INFO] - epoch: 201 lr: 0.00032277834642108417 +[2024-01-18 05:34:31,928][train][INFO] - training loss: 0.0014054918558233315 + 0.06515579223632813 + 0.0018792233507459362 + 0.011646950927873453 = 0.08008745825952954, data num: 712 +[2024-01-18 05:34:31,929][train][INFO] - epoch: 202 lr: 0.00031796881052485835 +[2024-01-18 05:36:12,694][train][INFO] - training loss: 0.0013780640386458901 + 0.06429272484448222 + 0.001843088790256944 + 0.011937421022189988 = 0.07945129871368409, data num: 712 +[2024-01-18 05:36:12,695][train][INFO] - epoch: 203 lr: 0.00031317978470620867 +[2024-01-18 05:37:50,460][train][INFO] - training loss: 0.0013620041000346342 + 0.06394642425907983 + 0.0018223371382595764 + 0.011569667648937966 = 0.078700433505906, data num: 712 +[2024-01-18 05:37:50,461][train][INFO] - epoch: 204 lr: 0.00030841179413578315 +[2024-01-18 05:39:28,146][train][INFO] - training loss: 0.001338541230911182 + 0.06394536702169312 + 0.0018272506797479258 + 0.011315545563896497 = 0.07842670480410258, data num: 712 +[2024-01-18 05:39:28,148][train][INFO] - epoch: 205 lr: 0.0003036653616774785 +[2024-01-18 05:41:08,563][train][INFO] - training loss: 0.0013539627892896534 + 0.06345433766643206 + 0.00179563428585728 + 0.01160164572712448 = 0.07820558084381951, data num: 712 +[2024-01-18 05:41:08,565][train][INFO] - epoch: 206 lr: 0.0002989410078311011 +[2024-01-18 05:42:51,875][train][INFO] - training loss: 0.0013471586991929347 + 0.06470554628305965 + 0.0018288438001440631 + 0.01171106467437413 = 0.07959261420700285, data num: 712 +[2024-01-18 05:42:51,876][train][INFO] - epoch: 207 lr: 0.00029423925067528865 +[2024-01-18 05:44:27,265][train][INFO] - training loss: 0.001383285552987622 + 0.06442764467663235 + 0.0018399871782296233 + 0.011273008346971538 = 0.07892392658525044, data num: 712 +[2024-01-18 05:44:27,266][train][INFO] - epoch: 208 lr: 0.0002895606058106975 +[2024-01-18 05:46:07,487][train][INFO] - training loss: 0.0013351310225617555 + 0.06308075239260992 + 0.001808333991923266 + 0.011719086155709293 = 0.07794330368439356, data num: 712 +[2024-01-18 05:46:07,488][train][INFO] - epoch: 209 lr: 0.0002849055863034606 +[2024-01-18 05:47:49,055][train][INFO] - training loss: 0.001352899927749402 + 0.06369072496891022 + 0.0018261938123032451 + 0.011616653141876062 = 0.0784864722026719, data num: 712 +[2024-01-18 05:47:49,057][train][INFO] - epoch: 210 lr: 0.00028027470262892396 +[2024-01-18 05:49:28,428][train][INFO] - training loss: 0.0013596214612738955 + 0.06279981773760583 + 0.0017668902770512634 + 0.010977049492713479 = 0.07690337863233354, data num: 712 +[2024-01-18 05:49:28,441][train][INFO] - Validating training... +[2024-01-18 05:50:42,376][train][INFO] - mean_translation_distance_error = [2.7850752] +[2024-01-18 05:50:42,377][train][INFO] - mean_translation_along_error = [0.9640839] +[2024-01-18 05:50:42,377][train][INFO] - mean_translation_perp_error = [2.5092762] +[2024-01-18 05:50:42,378][train][INFO] - mean_translation_plane_error = [2.5268288] +[2024-01-18 05:50:42,378][train][INFO] - mean_translation_line_error = [1.3064828] +[2024-01-18 05:50:42,378][train][INFO] - mean_rotation_error = [4.1087217] +[2024-01-18 05:50:42,379][train][INFO] - mean_affordance_error = [3.028149] +[2024-01-18 05:50:42,381][train][INFO] - median_translation_distance_error = [2.6092138] +[2024-01-18 05:50:42,381][train][INFO] - median_translation_along_error = [0.7923238] +[2024-01-18 05:50:42,381][train][INFO] - median_translation_perp_error = [2.102582] +[2024-01-18 05:50:42,381][train][INFO] - median_translation_plane_error = [2.1425653] +[2024-01-18 05:50:42,381][train][INFO] - median_translation_line_error = [0.9308685] +[2024-01-18 05:50:42,382][train][INFO] - median_rotation_error = [3.8457744] +[2024-01-18 05:50:42,382][train][INFO] - median_affordance_error = [2.4907622] +[2024-01-18 05:50:42,382][train][INFO] - max_translation_distance_error = [8.124224] +[2024-01-18 05:50:42,382][train][INFO] - max_translation_along_error = [3.3095095] +[2024-01-18 05:50:42,382][train][INFO] - max_translation_perp_error = [7.819072] +[2024-01-18 05:50:42,382][train][INFO] - max_translation_plane_error = [7.810754] +[2024-01-18 05:50:42,383][train][INFO] - max_translation_line_error = [7.809223] +[2024-01-18 05:50:42,383][train][INFO] - max_rotation_error = [10.711713] +[2024-01-18 05:50:42,383][train][INFO] - max_affordance_error = [12.295263] +[2024-01-18 05:50:42,383][train][INFO] - min_translation_distance_error = [0.464288] +[2024-01-18 05:50:42,383][train][INFO] - min_translation_along_error = [0.00086909] +[2024-01-18 05:50:42,384][train][INFO] - min_translation_perp_error = [0.19521146] +[2024-01-18 05:50:42,384][train][INFO] - min_translation_plane_error = [0.22230414] +[2024-01-18 05:50:42,384][train][INFO] - min_translation_line_error = [0.08446408] +[2024-01-18 05:50:42,384][train][INFO] - min_rotation_error = [0.25256422] +[2024-01-18 05:50:42,384][train][INFO] - min_affordance_error = [0.37111157] +[2024-01-18 05:50:42,385][train][INFO] - std_translation_distance_error = [1.4450659] +[2024-01-18 05:50:42,385][train][INFO] - std_translation_along_error = [0.70524144] +[2024-01-18 05:50:42,385][train][INFO] - std_translation_perp_error = [1.4565606] +[2024-01-18 05:50:42,385][train][INFO] - std_translation_plane_error = [1.4606769] +[2024-01-18 05:50:42,385][train][INFO] - std_translation_line_error = [1.279513] +[2024-01-18 05:50:42,386][train][INFO] - std_rotation_error = [2.2832658] +[2024-01-18 05:50:42,386][train][INFO] - std_affordance_error = [2.2923307] +[2024-01-18 05:50:42,386][train][INFO] - translation_outliers_num = 4 +[2024-01-18 05:50:42,386][train][INFO] - rotation_outliers_num = 20 +[2024-01-18 05:50:42,386][train][INFO] - affordance_outliers_num = 9 +[2024-01-18 05:50:42,386][train][INFO] - translation_outliers_ratio = 0.0625 +[2024-01-18 05:50:42,386][train][INFO] - rotation_outliers_ratio = 0.3125 +[2024-01-18 05:50:42,386][train][INFO] - affordance_outliers_ratio = 0.140625 +[2024-01-18 05:50:42,386][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 05:50:42,388][train][INFO] - Validated training. +[2024-01-18 05:50:42,394][train][INFO] - Validating training time: 73.94614815711975 +[2024-01-18 05:50:42,394][train][INFO] - Validating testing... +[2024-01-18 05:51:37,708][train][INFO] - mean_translation_distance_error = [4.244793] +[2024-01-18 05:51:37,709][train][INFO] - mean_translation_along_error = [0.77079195] +[2024-01-18 05:51:37,709][train][INFO] - mean_translation_perp_error = [4.1238813] +[2024-01-18 05:51:37,709][train][INFO] - mean_translation_plane_error = [4.1001472] +[2024-01-18 05:51:37,709][train][INFO] - mean_translation_line_error = [2.6111205] +[2024-01-18 05:51:37,710][train][INFO] - mean_rotation_error = [4.8277383] +[2024-01-18 05:51:37,710][train][INFO] - mean_affordance_error = [4.521004] +[2024-01-18 05:51:37,711][train][INFO] - median_translation_distance_error = [3.9009466] +[2024-01-18 05:51:37,711][train][INFO] - median_translation_along_error = [0.677776] +[2024-01-18 05:51:37,711][train][INFO] - median_translation_perp_error = [3.8644972] +[2024-01-18 05:51:37,711][train][INFO] - median_translation_plane_error = [3.8233366] +[2024-01-18 05:51:37,711][train][INFO] - median_translation_line_error = [1.9499414] +[2024-01-18 05:51:37,711][train][INFO] - median_rotation_error = [4.15852] +[2024-01-18 05:51:37,712][train][INFO] - median_affordance_error = [4.423635] +[2024-01-18 05:51:37,712][train][INFO] - max_translation_distance_error = [11.15952] +[2024-01-18 05:51:37,712][train][INFO] - max_translation_along_error = [2.508167] +[2024-01-18 05:51:37,712][train][INFO] - max_translation_perp_error = [11.102275] +[2024-01-18 05:51:37,712][train][INFO] - max_translation_plane_error = [10.986665] +[2024-01-18 05:51:37,712][train][INFO] - max_translation_line_error = [8.692675] +[2024-01-18 05:51:37,713][train][INFO] - max_rotation_error = [13.262839] +[2024-01-18 05:51:37,713][train][INFO] - max_affordance_error = [15.786664] +[2024-01-18 05:51:37,713][train][INFO] - min_translation_distance_error = [0.57575214] +[2024-01-18 05:51:37,713][train][INFO] - min_translation_along_error = [0.04947325] +[2024-01-18 05:51:37,713][train][INFO] - min_translation_perp_error = [0.45629978] +[2024-01-18 05:51:37,713][train][INFO] - min_translation_plane_error = [0.46113944] +[2024-01-18 05:51:37,714][train][INFO] - min_translation_line_error = [0.0499605] +[2024-01-18 05:51:37,714][train][INFO] - min_rotation_error = [0.20558421] +[2024-01-18 05:51:37,714][train][INFO] - min_affordance_error = [0.6214038] +[2024-01-18 05:51:37,714][train][INFO] - std_translation_distance_error = [2.3745534] +[2024-01-18 05:51:37,715][train][INFO] - std_translation_along_error = [0.5631544] +[2024-01-18 05:51:37,715][train][INFO] - std_translation_perp_error = [2.3956447] +[2024-01-18 05:51:37,715][train][INFO] - std_translation_plane_error = [2.3839588] +[2024-01-18 05:51:37,715][train][INFO] - std_translation_line_error = [2.1133335] +[2024-01-18 05:51:37,715][train][INFO] - std_rotation_error = [2.831225] +[2024-01-18 05:51:37,715][train][INFO] - std_affordance_error = [2.6850426] +[2024-01-18 05:51:37,716][train][INFO] - translation_outliers_num = 22 +[2024-01-18 05:51:37,716][train][INFO] - rotation_outliers_num = 23 +[2024-01-18 05:51:37,716][train][INFO] - affordance_outliers_num = 24 +[2024-01-18 05:51:37,716][train][INFO] - translation_outliers_ratio = 0.34375 +[2024-01-18 05:51:37,716][train][INFO] - rotation_outliers_ratio = 0.359375 +[2024-01-18 05:51:37,716][train][INFO] - affordance_outliers_ratio = 0.375 +[2024-01-18 05:51:37,716][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 05:51:37,717][train][INFO] - Validated testing. +[2024-01-18 05:51:37,723][train][INFO] - Validating testing time: 55.321515798568726 +[2024-01-18 05:51:37,723][train][INFO] - epoch: 211 lr: 0.0002756684626156682 +[2024-01-18 05:53:19,155][train][INFO] - training loss: 0.0013512108837150866 + 0.06309112591875923 + 0.0017896632534555262 + 0.011088200327422883 = 0.07732020020484924, data num: 712 +[2024-01-18 05:53:19,156][train][INFO] - epoch: 212 lr: 0.000271087371389818 +[2024-01-18 05:54:58,486][train][INFO] - training loss: 0.001345175261505776 + 0.06305407658219338 + 0.0018137028078652091 + 0.010799093006385697 = 0.07701204783386655, data num: 712 +[2024-01-18 05:54:58,486][train][INFO] - epoch: 213 lr: 0.0002665319313196505 +[2024-01-18 05:56:37,654][train][INFO] - training loss: 0.0013258970316706432 + 0.06384437854091327 + 0.0017780942350832953 + 0.010912058481739626 = 0.07786042855845557, data num: 712 +[2024-01-18 05:56:37,655][train][INFO] - epoch: 214 lr: 0.00026200264196050494 +[2024-01-18 05:58:18,236][train][INFO] - training loss: 0.0013567309128120542 + 0.06330829262733459 + 0.001838546129874885 + 0.011084056831896305 = 0.07758762670887841, data num: 712 +[2024-01-18 05:58:18,237][train][INFO] - epoch: 215 lr: 0.00025749999999999954 +[2024-01-18 06:00:02,728][train][INFO] - training loss: 0.0013318509820641742 + 0.06240021114548047 + 0.001785322827183538 + 0.010973617475893762 = 0.07649100240733889, data num: 712 +[2024-01-18 06:00:02,729][train][INFO] - epoch: 216 lr: 0.0002530244992035658 +[2024-01-18 06:01:47,665][train][INFO] - training loss: 0.001322808758252197 + 0.061928228702810076 + 0.0017897722414798208 + 0.011126815848466422 = 0.07616762568553288, data num: 712 +[2024-01-18 06:01:47,666][train][INFO] - epoch: 217 lr: 0.0002485766303603003 +[2024-01-18 06:03:31,005][train][INFO] - training loss: 0.0013362835601179136 + 0.06216189977195528 + 0.0017611940701802572 + 0.010738710489951902 = 0.07599808772404988, data num: 712 +[2024-01-18 06:03:31,007][train][INFO] - epoch: 218 lr: 0.0002441568812291443 +[2024-01-18 06:05:10,000][train][INFO] - training loss: 0.0013393028885022634 + 0.06306615877482626 + 0.0017792536359694268 + 0.01078668845196565 = 0.07697140359216266, data num: 712 +[2024-01-18 06:05:10,001][train][INFO] - epoch: 219 lr: 0.00023976573648539645 +[2024-01-18 06:06:51,376][train][INFO] - training loss: 0.001332028065290716 + 0.0625726600488027 + 0.0017819285625591875 + 0.010631590222732887 = 0.07631820638974508, data num: 712 +[2024-01-18 06:06:51,377][train][INFO] - epoch: 220 lr: 0.00023540367766756144 +[2024-01-18 06:08:30,435][train][INFO] - training loss: 0.001339995183257593 + 0.06215412567059199 + 0.0017893235742424925 + 0.01057804963654942 = 0.07586149358087116, data num: 712 +[2024-01-18 06:08:30,437][train][INFO] - epoch: 221 lr: 0.0002310711831245444 +[2024-01-18 06:10:07,268][train][INFO] - training loss: 0.001358574848725564 + 0.0621663232644399 + 0.001769876837109526 + 0.0106244672400256 = 0.07591924170653025, data num: 712 +[2024-01-18 06:10:07,269][train][INFO] - epoch: 222 lr: 0.00022676872796319514 +[2024-01-18 06:11:46,544][train][INFO] - training loss: 0.001336646085191104 + 0.0623411829272906 + 0.001791475607185728 + 0.010725674333257808 = 0.07619497958156797, data num: 712 +[2024-01-18 06:11:46,546][train][INFO] - epoch: 223 lr: 0.00022249678399620604 +[2024-01-18 06:13:24,249][train][INFO] - training loss: 0.001310474671319955 + 0.06219541447030173 + 0.0017576975308151708 + 0.01016507243944539 = 0.07542865855826272, data num: 712 +[2024-01-18 06:13:24,251][train][INFO] - epoch: 224 lr: 0.0002182558196903736 +[2024-01-18 06:15:04,757][train][INFO] - training loss: 0.0013005196427305539 + 0.061534859736760456 + 0.001750048803579476 + 0.010364937937508027 = 0.07495036621888479, data num: 712 +[2024-01-18 06:15:04,758][train][INFO] - epoch: 225 lr: 0.00021404630011522552 +[2024-01-18 06:16:44,237][train][INFO] - training loss: 0.001321402417185406 + 0.06121004737085766 + 0.0017464297849477993 + 0.010469581704172823 = 0.07474746025270886, data num: 712 +[2024-01-18 06:16:44,238][train][INFO] - epoch: 226 lr: 0.0002098686868920198 +[2024-01-18 06:18:21,771][train][INFO] - training loss: 0.0013029635469946597 + 0.06089738069309129 + 0.001760273597513636 + 0.010077245057457024 = 0.07403786281744638, data num: 712 +[2024-01-18 06:18:21,772][train][INFO] - epoch: 227 lr: 0.00020572343814312415 +[2024-01-18 06:20:04,011][train][INFO] - training loss: 0.0012969792096151245 + 0.06117013427946302 + 0.0017462875047284695 + 0.01002839474628369 = 0.07424179630147086, data num: 712 +[2024-01-18 06:20:04,013][train][INFO] - epoch: 228 lr: 0.00020161100844177644 +[2024-01-18 06:21:41,588][train][INFO] - training loss: 0.0013234737613755795 + 0.06149836762083901 + 0.0017555318643442458 + 0.010067034730066855 = 0.07464440812667211, data num: 712 +[2024-01-18 06:21:41,591][train][INFO] - epoch: 229 lr: 0.0001975318487622361 +[2024-01-18 06:23:19,879][train][INFO] - training loss: 0.001320628071617749 + 0.060761022319396334 + 0.0017858888746963607 + 0.0101568131811089 = 0.07402435193459193, data num: 712 +[2024-01-18 06:23:19,881][train][INFO] - epoch: 230 lr: 0.00019348640643033024 +[2024-01-18 06:24:56,529][train][INFO] - training loss: 0.0013088096515275539 + 0.06213630512356758 + 0.0017607089132070542 + 0.009672806629290183 = 0.07487862904866537, data num: 712 +[2024-01-18 06:24:56,530][train][INFO] - epoch: 231 lr: 0.00018947512507439828 +[2024-01-18 06:26:32,853][train][INFO] - training loss: 0.001296887096638481 + 0.061572513812118104 + 0.0017339183069351647 + 0.009847084960589806 = 0.07445040461089876, data num: 712 +[2024-01-18 06:26:32,854][train][INFO] - epoch: 232 lr: 0.00018549844457664425 +[2024-01-18 06:28:11,663][train][INFO] - training loss: 0.001322088809683919 + 0.060953332152631545 + 0.0017612243485119609 + 0.009754644944849941 = 0.07379128949509726, data num: 712 +[2024-01-18 06:28:11,665][train][INFO] - epoch: 233 lr: 0.00018155680102489765 +[2024-01-18 06:29:51,016][train][INFO] - training loss: 0.001297912852735155 + 0.06154991934696833 + 0.0017558199379386174 + 0.010127299423846934 = 0.07473095175292757, data num: 712 +[2024-01-18 06:29:51,017][train][INFO] - epoch: 234 lr: 0.00017765062666479195 +[2024-01-18 06:31:27,700][train][INFO] - training loss: 0.001297108797977368 + 0.06059178999728627 + 0.0017361954734143284 + 0.009473437391635444 = 0.07309853169653151, data num: 712 +[2024-01-18 06:31:27,702][train][INFO] - epoch: 235 lr: 0.00017378034985236489 +[2024-01-18 06:33:04,393][train][INFO] - training loss: 0.0013077364406651922 + 0.06020427627695931 + 0.0017431025134606493 + 0.009636564128514793 = 0.07289167924059761, data num: 712 +[2024-01-18 06:33:04,395][train][INFO] - epoch: 236 lr: 0.0001699463950070827 +[2024-01-18 06:34:42,206][train][INFO] - training loss: 0.0012936562131572928 + 0.060258489433262084 + 0.0017264770602600443 + 0.009693413755546014 = 0.07297203640143077, data num: 712 +[2024-01-18 06:34:42,207][train][INFO] - epoch: 237 lr: 0.0001661491825652988 +[2024-01-18 06:36:19,805][train][INFO] - training loss: 0.0013007156990675463 + 0.060127448952860305 + 0.0017299924640812809 + 0.009563634803311693 = 0.07272179226080576, data num: 712 +[2024-01-18 06:36:19,806][train][INFO] - epoch: 238 lr: 0.0001623891289341484 +[2024-01-18 06:37:58,179][train][INFO] - training loss: 0.0012863337152844501 + 0.060401826020744113 + 0.0017233355721044871 + 0.009349901311927372 = 0.07276139689816369, data num: 712 +[2024-01-18 06:37:58,180][train][INFO] - epoch: 239 lr: 0.0001586666464458838 +[2024-01-18 06:39:35,551][train][INFO] - training loss: 0.0012889856990012858 + 0.06064656269219187 + 0.001725646436938809 + 0.009412630254195796 = 0.07307382532291942, data num: 712 +[2024-01-18 06:39:35,552][train][INFO] - epoch: 240 lr: 0.00015498214331265874 +[2024-01-18 06:41:14,215][train][INFO] - training loss: 0.001306646002922207 + 0.060233523613876766 + 0.0017258030233076877 + 0.009291560658150249 = 0.07255753344959683, data num: 712 +[2024-01-18 06:41:14,227][train][INFO] - Validating training... +[2024-01-18 06:42:15,511][train][INFO] - mean_translation_distance_error = [2.753663] +[2024-01-18 06:42:15,512][train][INFO] - mean_translation_along_error = [0.7866653] +[2024-01-18 06:42:15,512][train][INFO] - mean_translation_perp_error = [2.523889] +[2024-01-18 06:42:15,512][train][INFO] - mean_translation_plane_error = [2.5362096] +[2024-01-18 06:42:15,512][train][INFO] - mean_translation_line_error = [1.4602077] +[2024-01-18 06:42:15,512][train][INFO] - mean_rotation_error = [4.279976] +[2024-01-18 06:42:15,512][train][INFO] - mean_affordance_error = [3.2852168] +[2024-01-18 06:42:15,513][train][INFO] - median_translation_distance_error = [2.5743716] +[2024-01-18 06:42:15,513][train][INFO] - median_translation_along_error = [0.6589202] +[2024-01-18 06:42:15,513][train][INFO] - median_translation_perp_error = [2.3634892] +[2024-01-18 06:42:15,513][train][INFO] - median_translation_plane_error = [2.37466] +[2024-01-18 06:42:15,513][train][INFO] - median_translation_line_error = [1.2804614] +[2024-01-18 06:42:15,514][train][INFO] - median_rotation_error = [3.9297657] +[2024-01-18 06:42:15,514][train][INFO] - median_affordance_error = [3.0440478] +[2024-01-18 06:42:15,514][train][INFO] - max_translation_distance_error = [5.930898] +[2024-01-18 06:42:15,514][train][INFO] - max_translation_along_error = [2.5709944] +[2024-01-18 06:42:15,514][train][INFO] - max_translation_perp_error = [5.862941] +[2024-01-18 06:42:15,514][train][INFO] - max_translation_plane_error = [5.813839] +[2024-01-18 06:42:15,514][train][INFO] - max_translation_line_error = [4.451928] +[2024-01-18 06:42:15,514][train][INFO] - max_rotation_error = [10.926957] +[2024-01-18 06:42:15,514][train][INFO] - max_affordance_error = [8.578261] +[2024-01-18 06:42:15,515][train][INFO] - min_translation_distance_error = [0.5534502] +[2024-01-18 06:42:15,515][train][INFO] - min_translation_along_error = [0.04664338] +[2024-01-18 06:42:15,515][train][INFO] - min_translation_perp_error = [0.05020519] +[2024-01-18 06:42:15,515][train][INFO] - min_translation_plane_error = [0.06772149] +[2024-01-18 06:42:15,515][train][INFO] - min_translation_line_error = [0.02931057] +[2024-01-18 06:42:15,515][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 06:42:15,515][train][INFO] - min_affordance_error = [0.8099706] +[2024-01-18 06:42:15,516][train][INFO] - std_translation_distance_error = [1.2697278] +[2024-01-18 06:42:15,516][train][INFO] - std_translation_along_error = [0.6015597] +[2024-01-18 06:42:15,516][train][INFO] - std_translation_perp_error = [1.3579891] +[2024-01-18 06:42:15,516][train][INFO] - std_translation_plane_error = [1.3581225] +[2024-01-18 06:42:15,516][train][INFO] - std_translation_line_error = [1.0341628] +[2024-01-18 06:42:15,516][train][INFO] - std_rotation_error = [2.393115] +[2024-01-18 06:42:15,516][train][INFO] - std_affordance_error = [1.68275] +[2024-01-18 06:42:15,516][train][INFO] - translation_outliers_num = 2 +[2024-01-18 06:42:15,516][train][INFO] - rotation_outliers_num = 19 +[2024-01-18 06:42:15,517][train][INFO] - affordance_outliers_num = 11 +[2024-01-18 06:42:15,517][train][INFO] - translation_outliers_ratio = 0.03125 +[2024-01-18 06:42:15,517][train][INFO] - rotation_outliers_ratio = 0.296875 +[2024-01-18 06:42:15,517][train][INFO] - affordance_outliers_ratio = 0.171875 +[2024-01-18 06:42:15,517][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 06:42:15,518][train][INFO] - Validated training. +[2024-01-18 06:42:15,521][train][INFO] - Validating training time: 61.290512561798096 +[2024-01-18 06:42:15,523][train][INFO] - Validating testing... +[2024-01-18 06:43:03,001][train][INFO] - mean_translation_distance_error = [3.7299647] +[2024-01-18 06:43:03,002][train][INFO] - mean_translation_along_error = [0.6438362] +[2024-01-18 06:43:03,002][train][INFO] - mean_translation_perp_error = [3.6170127] +[2024-01-18 06:43:03,002][train][INFO] - mean_translation_plane_error = [3.60246] +[2024-01-18 06:43:03,002][train][INFO] - mean_translation_line_error = [2.178667] +[2024-01-18 06:43:03,002][train][INFO] - mean_rotation_error = [5.122712] +[2024-01-18 06:43:03,002][train][INFO] - mean_affordance_error = [4.547408] +[2024-01-18 06:43:03,003][train][INFO] - median_translation_distance_error = [3.297614] +[2024-01-18 06:43:03,003][train][INFO] - median_translation_along_error = [0.5019522] +[2024-01-18 06:43:03,003][train][INFO] - median_translation_perp_error = [3.143715] +[2024-01-18 06:43:03,003][train][INFO] - median_translation_plane_error = [3.0761387] +[2024-01-18 06:43:03,003][train][INFO] - median_translation_line_error = [1.9125371] +[2024-01-18 06:43:03,003][train][INFO] - median_rotation_error = [4.304387] +[2024-01-18 06:43:03,004][train][INFO] - median_affordance_error = [4.207019] +[2024-01-18 06:43:03,004][train][INFO] - max_translation_distance_error = [10.872914] +[2024-01-18 06:43:03,004][train][INFO] - max_translation_along_error = [2.0682023] +[2024-01-18 06:43:03,004][train][INFO] - max_translation_perp_error = [10.676209] +[2024-01-18 06:43:03,004][train][INFO] - max_translation_plane_error = [10.459943] +[2024-01-18 06:43:03,004][train][INFO] - max_translation_line_error = [7.45641] +[2024-01-18 06:43:03,004][train][INFO] - max_rotation_error = [13.262839] +[2024-01-18 06:43:03,005][train][INFO] - max_affordance_error = [13.217868] +[2024-01-18 06:43:03,005][train][INFO] - min_translation_distance_error = [0.53645736] +[2024-01-18 06:43:03,005][train][INFO] - min_translation_along_error = [0.01737447] +[2024-01-18 06:43:03,005][train][INFO] - min_translation_perp_error = [0.3841548] +[2024-01-18 06:43:03,005][train][INFO] - min_translation_plane_error = [0.45891884] +[2024-01-18 06:43:03,005][train][INFO] - min_translation_line_error = [0.0013152] +[2024-01-18 06:43:03,005][train][INFO] - min_rotation_error = [0.20558421] +[2024-01-18 06:43:03,006][train][INFO] - min_affordance_error = [0.18433641] +[2024-01-18 06:43:03,006][train][INFO] - std_translation_distance_error = [2.3219416] +[2024-01-18 06:43:03,006][train][INFO] - std_translation_along_error = [0.47674748] +[2024-01-18 06:43:03,006][train][INFO] - std_translation_perp_error = [2.3620875] +[2024-01-18 06:43:03,006][train][INFO] - std_translation_plane_error = [2.3472705] +[2024-01-18 06:43:03,007][train][INFO] - std_translation_line_error = [1.7201121] +[2024-01-18 06:43:03,007][train][INFO] - std_rotation_error = [3.1513207] +[2024-01-18 06:43:03,007][train][INFO] - std_affordance_error = [2.7751467] +[2024-01-18 06:43:03,007][train][INFO] - translation_outliers_num = 13 +[2024-01-18 06:43:03,007][train][INFO] - rotation_outliers_num = 26 +[2024-01-18 06:43:03,007][train][INFO] - affordance_outliers_num = 24 +[2024-01-18 06:43:03,007][train][INFO] - translation_outliers_ratio = 0.203125 +[2024-01-18 06:43:03,007][train][INFO] - rotation_outliers_ratio = 0.40625 +[2024-01-18 06:43:03,007][train][INFO] - affordance_outliers_ratio = 0.375 +[2024-01-18 06:43:03,007][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 06:43:03,008][train][INFO] - Validated testing. +[2024-01-18 06:43:03,017][train][INFO] - Validating testing time: 47.485496520996094 +[2024-01-18 06:43:03,018][train][INFO] - epoch: 241 lr: 0.00015133602358176218 +[2024-01-18 06:44:41,748][train][INFO] - training loss: 0.0013004415112340616 + 0.060317746549844745 + 0.0017354722988481323 + 0.009397181382195818 = 0.07275084174341626, data num: 712 +[2024-01-18 06:44:41,749][train][INFO] - epoch: 242 lr: 0.00014772868709131046 +[2024-01-18 06:46:17,848][train][INFO] - training loss: 0.001281733932490978 + 0.059797870450549656 + 0.001711718463856313 + 0.009292227640334104 = 0.07208355002933078, data num: 712 +[2024-01-18 06:46:17,849][train][INFO] - epoch: 243 lr: 0.00014416052942640113 +[2024-01-18 06:47:58,190][train][INFO] - training loss: 0.0012931625384630429 + 0.059748038318422104 + 0.0017126449435535404 + 0.009274148382246494 = 0.07202799444397291, data num: 712 +[2024-01-18 06:47:58,191][train][INFO] - epoch: 244 lr: 0.0001406319418757314 +[2024-01-18 06:49:38,974][train][INFO] - training loss: 0.001276247978158709 + 0.05911164606610934 + 0.0017024630111538701 + 0.00916447662230995 = 0.07125483461552196, data num: 712 +[2024-01-18 06:49:38,975][train][INFO] - epoch: 245 lr: 0.00013714331138868954 +[2024-01-18 06:51:19,465][train][INFO] - training loss: 0.0012852839685769544 + 0.05969718736079004 + 0.0017053520694995919 + 0.009026471354688207 = 0.07171429478459888, data num: 712 +[2024-01-18 06:51:19,466][train][INFO] - epoch: 246 lr: 0.00013369502053292226 +[2024-01-18 06:52:58,950][train][INFO] - training loss: 0.001270923574662043 + 0.05955453837911288 + 0.0016973352007981803 + 0.008992165989345975 = 0.0715149640209145, data num: 712 +[2024-01-18 06:52:58,951][train][INFO] - epoch: 247 lr: 0.0001302874474523804 +[2024-01-18 06:54:37,832][train][INFO] - training loss: 0.0012747714114892813 + 0.059799663639730875 + 0.0016961454103390375 + 0.008897682579441204 = 0.07166826311084959, data num: 712 +[2024-01-18 06:54:37,833][train][INFO] - epoch: 248 lr: 0.00012692096582585187 +[2024-01-18 06:56:15,849][train][INFO] - training loss: 0.0012819151200043658 + 0.05929743804865413 + 0.0017082627500510878 + 0.009082654056449731 = 0.07137027026878463, data num: 712 +[2024-01-18 06:56:15,850][train][INFO] - epoch: 249 lr: 0.00012359594482598416 +[2024-01-18 06:57:52,903][train][INFO] - training loss: 0.001284219909252392 + 0.05948691144585609 + 0.0017123613351335129 + 0.009557746981994974 = 0.07204124000337389, data num: 712 +[2024-01-18 06:57:52,905][train][INFO] - epoch: 250 lr: 0.00012031274907879919 +[2024-01-18 06:59:34,337][train][INFO] - training loss: 0.0012724466673615907 + 0.05887657983435525 + 0.0016966428452481826 + 0.009032098379813962 = 0.0708777677681711, data num: 712 +[2024-01-18 06:59:34,338][train][INFO] - epoch: 251 lr: 0.00011707173862370913 +[2024-01-18 07:01:15,607][train][INFO] - training loss: 0.001277552396317737 + 0.05902684173650212 + 0.0016949381731036636 + 0.008916908305966191 = 0.07091624033119943, data num: 712 +[2024-01-18 07:01:15,608][train][INFO] - epoch: 252 lr: 0.00011387326887403316 +[2024-01-18 07:02:58,884][train][INFO] - training loss: 0.001274503632966015 + 0.05907566158307923 + 0.0016978802857920527 + 0.008901263276735941 = 0.07094930907090505, data num: 712 +[2024-01-18 07:02:58,885][train][INFO] - epoch: 253 lr: 0.00011071769057802265 +[2024-01-18 07:04:37,899][train][INFO] - training loss: 0.0012735201433921853 + 0.05931035520301925 + 0.0016932722439782486 + 0.008709891833778885 = 0.07098703939053748, data num: 712 +[2024-01-18 07:04:37,900][train][INFO] - epoch: 254 lr: 0.0001076053497803982 +[2024-01-18 07:06:18,655][train][INFO] - training loss: 0.0012708073533657523 + 0.05889305828346147 + 0.0017007626800073518 + 0.008805807710935672 = 0.07067043623990482, data num: 712 +[2024-01-18 07:06:18,656][train][INFO] - epoch: 255 lr: 0.00010453658778440088 +[2024-01-18 07:07:57,975][train][INFO] - training loss: 0.0012720080364185076 + 0.05901741989784771 + 0.0016805983847007155 + 0.00865484606474638 = 0.07062487262818548, data num: 712 +[2024-01-18 07:07:57,976][train][INFO] - epoch: 256 lr: 0.00010151174111436543 +[2024-01-18 07:09:37,567][train][INFO] - training loss: 0.0012705421696106592 + 0.05869901138875219 + 0.0016873447767769298 + 0.008684265717036194 = 0.07034116321139866, data num: 712 +[2024-01-18 07:09:37,569][train][INFO] - epoch: 257 lr: 9.853114147881633e-05 +[2024-01-18 07:11:15,974][train][INFO] - training loss: 0.0012728045552244617 + 0.05876322711507479 + 0.00167017820963843 + 0.008656338943789402 = 0.07036254919237561, data num: 712 +[2024-01-18 07:11:15,975][train][INFO] - epoch: 258 lr: 9.559511573409167e-05 +[2024-01-18 07:12:52,833][train][INFO] - training loss: 0.0012689100668972564 + 0.05845494055085712 + 0.001688895146879885 + 0.008675152208242151 = 0.070087897280852, data num: 712 +[2024-01-18 07:12:52,834][train][INFO] - epoch: 259 lr: 9.270398584850061e-05 +[2024-01-18 07:14:29,701][train][INFO] - training loss: 0.001267861073008842 + 0.05888894531461927 + 0.0016898935376149086 + 0.008609195705503225 = 0.0704558956126372, data num: 712 +[2024-01-18 07:14:29,703][train][INFO] - epoch: 260 lr: 8.985806886701499e-05 +[2024-01-18 07:16:09,610][train][INFO] - training loss: 0.001273266091528866 + 0.05817666782273186 + 0.0016900980457042654 + 0.008448472546620501 = 0.06958850489722358, data num: 712 +[2024-01-18 07:16:09,611][train][INFO] - epoch: 261 lr: 8.705767687650239e-05 +[2024-01-18 07:17:50,629][train][INFO] - training loss: 0.0012588534892226258 + 0.05816778250866466 + 0.001681395692543851 + 0.008514934622993072 = 0.06962296573652162, data num: 712 +[2024-01-18 07:17:50,630][train][INFO] - epoch: 262 lr: 8.430311697150229e-05 +[2024-01-18 07:19:28,567][train][INFO] - training loss: 0.0012589532261093458 + 0.05863436717126105 + 0.0016815474696664347 + 0.008608986240708166 = 0.07018385347392823, data num: 712 +[2024-01-18 07:19:28,568][train][INFO] - epoch: 263 lr: 8.159469122054909e-05 +[2024-01-18 07:21:07,946][train][INFO] - training loss: 0.0012620289551301136 + 0.05794427576992247 + 0.001678860704931948 + 0.00855124703504973 = 0.06943641263577673, data num: 712 +[2024-01-18 07:21:07,947][train][INFO] - epoch: 264 lr: 7.893269663304782e-05 +[2024-01-18 07:22:49,897][train][INFO] - training loss: 0.0012609962102336188 + 0.058077223350604376 + 0.001664328466479977 + 0.008319971565571096 = 0.06932252008053992, data num: 712 +[2024-01-18 07:22:49,897][train][INFO] - epoch: 265 lr: 7.631742512670282e-05 +[2024-01-18 07:24:28,294][train][INFO] - training loss: 0.0012622081105493838 + 0.058140385482046336 + 0.001667585278240343 + 0.008549538668658999 = 0.06961971819400788, data num: 712 +[2024-01-18 07:24:28,296][train][INFO] - epoch: 266 lr: 7.374916349550603e-05 +[2024-01-18 07:26:07,925][train][INFO] - training loss: 0.0012564137603880631 + 0.058275357716613345 + 0.0016689708585747413 + 0.00840952315678199 = 0.06961026481456227, data num: 712 +[2024-01-18 07:26:07,927][train][INFO] - epoch: 267 lr: 7.122819337828741e-05 +[2024-01-18 07:27:47,132][train][INFO] - training loss: 0.0012577025711329446 + 0.05779022268123097 + 0.0016607469335819284 + 0.008312683831900359 = 0.06902135594023598, data num: 712 +[2024-01-18 07:27:47,134][train][INFO] - epoch: 268 lr: 6.875479122782878e-05 +[2024-01-18 07:29:30,019][train][INFO] - training loss: 0.0012538680780885948 + 0.0579789689845509 + 0.0016736187997998463 + 0.00837470144033432 = 0.06928115718894534, data num: 712 +[2024-01-18 07:29:30,021][train][INFO] - epoch: 269 lr: 6.632922828054862e-05 +[2024-01-18 07:31:06,604][train][INFO] - training loss: 0.0012521345608143342 + 0.05769614179929097 + 0.0016625193387476934 + 0.008377945464518335 = 0.06898874077532026, data num: 712 +[2024-01-18 07:31:06,606][train][INFO] - epoch: 270 lr: 6.395177052675786e-05 +[2024-01-18 07:32:45,967][train][INFO] - training loss: 0.0012549097054741448 + 0.05798988789319992 + 0.0016672976289151442 + 0.008527998336487347 = 0.06944009363651275, data num: 712 +[2024-01-18 07:32:45,980][train][INFO] - Validating training... +[2024-01-18 07:34:16,460][train][INFO] - mean_translation_distance_error = [2.7018619] +[2024-01-18 07:34:16,461][train][INFO] - mean_translation_along_error = [0.8994438] +[2024-01-18 07:34:16,461][train][INFO] - mean_translation_perp_error = [2.3970008] +[2024-01-18 07:34:16,462][train][INFO] - mean_translation_plane_error = [2.3989625] +[2024-01-18 07:34:16,462][train][INFO] - mean_translation_line_error = [1.4183214] +[2024-01-18 07:34:16,463][train][INFO] - mean_rotation_error = [4.1555753] +[2024-01-18 07:34:16,463][train][INFO] - mean_affordance_error = [3.4171157] +[2024-01-18 07:34:16,464][train][INFO] - median_translation_distance_error = [2.3616133] +[2024-01-18 07:34:16,465][train][INFO] - median_translation_along_error = [0.7497623] +[2024-01-18 07:34:16,465][train][INFO] - median_translation_perp_error = [1.8829062] +[2024-01-18 07:34:16,465][train][INFO] - median_translation_plane_error = [1.9229972] +[2024-01-18 07:34:16,465][train][INFO] - median_translation_line_error = [1.0257123] +[2024-01-18 07:34:16,465][train][INFO] - median_rotation_error = [4.0471334] +[2024-01-18 07:34:16,466][train][INFO] - median_affordance_error = [2.6959577] +[2024-01-18 07:34:16,466][train][INFO] - max_translation_distance_error = [6.9049587] +[2024-01-18 07:34:16,466][train][INFO] - max_translation_along_error = [3.3192358] +[2024-01-18 07:34:16,466][train][INFO] - max_translation_perp_error = [6.7752476] +[2024-01-18 07:34:16,466][train][INFO] - max_translation_plane_error = [6.7055874] +[2024-01-18 07:34:16,466][train][INFO] - max_translation_line_error = [5.736089] +[2024-01-18 07:34:16,466][train][INFO] - max_rotation_error = [9.716545] +[2024-01-18 07:34:16,467][train][INFO] - max_affordance_error = [11.450943] +[2024-01-18 07:34:16,467][train][INFO] - min_translation_distance_error = [0.3081935] +[2024-01-18 07:34:16,467][train][INFO] - min_translation_along_error = [0.03877887] +[2024-01-18 07:34:16,467][train][INFO] - min_translation_perp_error = [0.17599922] +[2024-01-18 07:34:16,467][train][INFO] - min_translation_plane_error = [0.14135285] +[2024-01-18 07:34:16,467][train][INFO] - min_translation_line_error = [0.0770565] +[2024-01-18 07:34:16,467][train][INFO] - min_rotation_error = [0.4392403] +[2024-01-18 07:34:16,468][train][INFO] - min_affordance_error = [0.67658967] +[2024-01-18 07:34:16,468][train][INFO] - std_translation_distance_error = [1.5623266] +[2024-01-18 07:34:16,468][train][INFO] - std_translation_along_error = [0.68001115] +[2024-01-18 07:34:16,468][train][INFO] - std_translation_perp_error = [1.6504222] +[2024-01-18 07:34:16,468][train][INFO] - std_translation_plane_error = [1.6565912] +[2024-01-18 07:34:16,469][train][INFO] - std_translation_line_error = [1.367468] +[2024-01-18 07:34:16,469][train][INFO] - std_rotation_error = [2.0474005] +[2024-01-18 07:34:16,469][train][INFO] - std_affordance_error = [2.3550005] +[2024-01-18 07:34:16,469][train][INFO] - translation_outliers_num = 5 +[2024-01-18 07:34:16,469][train][INFO] - rotation_outliers_num = 18 +[2024-01-18 07:34:16,469][train][INFO] - affordance_outliers_num = 10 +[2024-01-18 07:34:16,469][train][INFO] - translation_outliers_ratio = 0.078125 +[2024-01-18 07:34:16,469][train][INFO] - rotation_outliers_ratio = 0.28125 +[2024-01-18 07:34:16,469][train][INFO] - affordance_outliers_ratio = 0.15625 +[2024-01-18 07:34:16,469][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 07:34:16,470][train][INFO] - Validated training. +[2024-01-18 07:34:16,475][train][INFO] - Validating training time: 90.49032044410706 +[2024-01-18 07:34:16,478][train][INFO] - Validating testing... +[2024-01-18 07:35:01,453][train][INFO] - mean_translation_distance_error = [3.219576] +[2024-01-18 07:35:01,453][train][INFO] - mean_translation_along_error = [0.82296455] +[2024-01-18 07:35:01,454][train][INFO] - mean_translation_perp_error = [3.0250988] +[2024-01-18 07:35:01,454][train][INFO] - mean_translation_plane_error = [3.005254] +[2024-01-18 07:35:01,455][train][INFO] - mean_translation_line_error = [1.8771838] +[2024-01-18 07:35:01,455][train][INFO] - mean_rotation_error = [5.279404] +[2024-01-18 07:35:01,455][train][INFO] - mean_affordance_error = [4.1367064] +[2024-01-18 07:35:01,457][train][INFO] - median_translation_distance_error = [2.7545533] +[2024-01-18 07:35:01,457][train][INFO] - median_translation_along_error = [0.76731694] +[2024-01-18 07:35:01,457][train][INFO] - median_translation_perp_error = [2.4824052] +[2024-01-18 07:35:01,457][train][INFO] - median_translation_plane_error = [2.5070362] +[2024-01-18 07:35:01,457][train][INFO] - median_translation_line_error = [1.5827425] +[2024-01-18 07:35:01,458][train][INFO] - median_rotation_error = [5.1987877] +[2024-01-18 07:35:01,458][train][INFO] - median_affordance_error = [3.672791] +[2024-01-18 07:35:01,458][train][INFO] - max_translation_distance_error = [8.840236] +[2024-01-18 07:35:01,458][train][INFO] - max_translation_along_error = [2.627868] +[2024-01-18 07:35:01,458][train][INFO] - max_translation_perp_error = [8.833892] +[2024-01-18 07:35:01,458][train][INFO] - max_translation_plane_error = [8.810485] +[2024-01-18 07:35:01,458][train][INFO] - max_translation_line_error = [8.325721] +[2024-01-18 07:35:01,458][train][INFO] - max_rotation_error = [11.426462] +[2024-01-18 07:35:01,458][train][INFO] - max_affordance_error = [12.772806] +[2024-01-18 07:35:01,459][train][INFO] - min_translation_distance_error = [0.23406443] +[2024-01-18 07:35:01,459][train][INFO] - min_translation_along_error = [0.01882808] +[2024-01-18 07:35:01,459][train][INFO] - min_translation_perp_error = [0.12885804] +[2024-01-18 07:35:01,459][train][INFO] - min_translation_plane_error = [0.12639786] +[2024-01-18 07:35:01,459][train][INFO] - min_translation_line_error = [0.03787486] +[2024-01-18 07:35:01,459][train][INFO] - min_rotation_error = [0.20558421] +[2024-01-18 07:35:01,459][train][INFO] - min_affordance_error = [0.62659645] +[2024-01-18 07:35:01,460][train][INFO] - std_translation_distance_error = [1.9746557] +[2024-01-18 07:35:01,460][train][INFO] - std_translation_along_error = [0.6324985] +[2024-01-18 07:35:01,460][train][INFO] - std_translation_perp_error = [2.009076] +[2024-01-18 07:35:01,460][train][INFO] - std_translation_plane_error = [2.014364] +[2024-01-18 07:35:01,460][train][INFO] - std_translation_line_error = [1.6869003] +[2024-01-18 07:35:01,460][train][INFO] - std_rotation_error = [2.3934786] +[2024-01-18 07:35:01,460][train][INFO] - std_affordance_error = [2.4168499] +[2024-01-18 07:35:01,460][train][INFO] - translation_outliers_num = 10 +[2024-01-18 07:35:01,460][train][INFO] - rotation_outliers_num = 33 +[2024-01-18 07:35:01,460][train][INFO] - affordance_outliers_num = 20 +[2024-01-18 07:35:01,460][train][INFO] - translation_outliers_ratio = 0.15625 +[2024-01-18 07:35:01,460][train][INFO] - rotation_outliers_ratio = 0.515625 +[2024-01-18 07:35:01,461][train][INFO] - affordance_outliers_ratio = 0.3125 +[2024-01-18 07:35:01,461][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 07:35:01,462][train][INFO] - Validated testing. +[2024-01-18 07:35:01,466][train][INFO] - Validating testing time: 44.98230528831482 +[2024-01-18 07:35:01,467][train][INFO] - epoch: 271 lr: 6.162267868149065e-05 +[2024-01-18 07:36:39,539][train][INFO] - training loss: 0.0012446013615570134 + 0.05789505483375655 + 0.0016551527737950285 + 0.008349881124579244 = 0.06914469053347906, data num: 712 +[2024-01-18 07:36:39,540][train][INFO] - epoch: 272 lr: 5.934220815591413e-05 +[2024-01-18 07:38:18,722][train][INFO] - training loss: 0.001260535157699552 + 0.057634393291340937 + 0.0016735649279629192 + 0.00821770564135578 = 0.06878619872861438, data num: 712 +[2024-01-18 07:38:18,724][train][INFO] - epoch: 273 lr: 5.711060902932035e-05 +[2024-01-18 07:40:00,265][train][INFO] - training loss: 0.0012517460570153262 + 0.057882141735818654 + 0.0016654473496600986 + 0.00817373360817631 = 0.06897306831346618, data num: 712 +[2024-01-18 07:40:00,267][train][INFO] - epoch: 274 lr: 5.492812602170101e-05 +[2024-01-18 07:41:38,569][train][INFO] - training loss: 0.0012557567808673615 + 0.05812513306736946 + 0.0016676749180381497 + 0.008195140264514419 = 0.06924370469318496, data num: 712 +[2024-01-18 07:41:38,570][train][INFO] - epoch: 275 lr: 5.279499846691256e-05 +[2024-01-18 07:43:19,364][train][INFO] - training loss: 0.0012432900412629047 + 0.05754457612832387 + 0.0016489060362800956 + 0.008228529731018676 = 0.06866530237926377, data num: 712 +[2024-01-18 07:43:19,365][train][INFO] - epoch: 276 lr: 5.071146028642938e-05 +[2024-01-18 07:44:57,555][train][INFO] - training loss: 0.0012480890947497553 + 0.057771189096901154 + 0.0016590125910523866 + 0.00814771486653222 = 0.0688260056078434, data num: 712 +[2024-01-18 07:44:57,557][train][INFO] - epoch: 277 lr: 4.867773996369213e-05 +[2024-01-18 07:46:36,011][train][INFO] - training loss: 0.0012444467244980236 + 0.057502218335866925 + 0.001649137102584872 + 0.00808177139196131 = 0.06847757365968492, data num: 712 +[2024-01-18 07:46:36,013][train][INFO] - epoch: 278 lr: 4.669406051905255e-05 +[2024-01-18 07:48:14,132][train][INFO] - training loss: 0.0012491974824418624 + 0.057287389950619806 + 0.0016568575132017334 + 0.008161193111704455 = 0.0683546382519934, data num: 712 +[2024-01-18 07:48:14,133][train][INFO] - epoch: 279 lr: 4.476063948531553e-05 +[2024-01-18 07:49:51,963][train][INFO] - training loss: 0.0012499463744461536 + 0.05746484249830246 + 0.0016613035695627332 + 0.008093182701203558 = 0.06846927487187915, data num: 712 +[2024-01-18 07:49:51,964][train][INFO] - epoch: 280 lr: 4.2877688883885086e-05 +[2024-01-18 07:51:34,564][train][INFO] - training loss: 0.0012415733434156411 + 0.05724763257635964 + 0.0016568869481691055 + 0.008139143335736461 = 0.06828523667322264, data num: 712 +[2024-01-18 07:51:34,565][train][INFO] - epoch: 281 lr: 4.1045415201513684e-05 +[2024-01-18 07:53:12,678][train][INFO] - training loss: 0.0012469894433807995 + 0.05722535790668593 + 0.0016515881159446305 + 0.00807333266776469 = 0.06819726766811476, data num: 712 +[2024-01-18 07:53:12,679][train][INFO] - epoch: 282 lr: 3.926401936765836e-05 +[2024-01-18 07:54:53,927][train][INFO] - training loss: 0.001240704080555588 + 0.05715462623371018 + 0.0016500564473163751 + 0.007971324895819028 = 0.06801671120855543, data num: 712 +[2024-01-18 07:54:53,928][train][INFO] - epoch: 283 lr: 3.753369673244687e-05 +[2024-01-18 07:56:35,532][train][INFO] - training loss: 0.0012484818399469886 + 0.057361474053727254 + 0.0016549469101139241 + 0.007912807332144844 = 0.06817771055632167, data num: 712 +[2024-01-18 07:56:35,533][train][INFO] - epoch: 284 lr: 3.5854637045255115e-05 +[2024-01-18 07:58:15,823][train][INFO] - training loss: 0.0012407796923071146 + 0.05718080873290698 + 0.0016474778712209728 + 0.008007193222228023 = 0.06807625947727097, data num: 712 +[2024-01-18 07:58:15,825][train][INFO] - epoch: 285 lr: 3.422702443389897e-05 +[2024-01-18 07:59:57,725][train][INFO] - training loss: 0.0012393989988292258 + 0.05712250760859913 + 0.0016425343359717064 + 0.008017070156832536 = 0.06802151120371289, data num: 712 +[2024-01-18 07:59:57,726][train][INFO] - epoch: 286 lr: 3.265103738444294e-05 +[2024-01-18 08:01:37,221][train][INFO] - training loss: 0.0012383993922008409 + 0.057046955823898314 + 0.001648601452406082 + 0.008073942818575435 = 0.06800789932409922, data num: 712 +[2024-01-18 08:01:37,222][train][INFO] - epoch: 287 lr: 3.112684872162669e-05 +[2024-01-18 08:03:16,582][train][INFO] - training loss: 0.0012403048367963898 + 0.05717959155639012 + 0.0016505797290139728 + 0.007974851400487953 = 0.06804532806078593, data num: 712 +[2024-01-18 08:03:16,583][train][INFO] - epoch: 288 lr: 2.9654625589913163e-05 +[2024-01-18 08:04:57,352][train][INFO] - training loss: 0.001245513943851822 + 0.05723220350013839 + 0.001652316089409093 + 0.008039076667692926 = 0.06816911093062825, data num: 712 +[2024-01-18 08:04:57,354][train][INFO] - epoch: 289 lr: 2.823452943515922e-05 +[2024-01-18 08:06:36,823][train][INFO] - training loss: 0.0012425188544309801 + 0.05708562284708023 + 0.0016511909508456787 + 0.007968350396388107 = 0.06794768273830414, data num: 712 +[2024-01-18 08:06:36,824][train][INFO] - epoch: 290 lr: 2.6866715986911168e-05 +[2024-01-18 08:08:18,915][train][INFO] - training loss: 0.0012469441254830194 + 0.0570258987446626 + 0.0016581817840536435 + 0.007997261205067238 = 0.06792828573120965, data num: 712 +[2024-01-18 08:08:18,916][train][INFO] - epoch: 291 lr: 2.5551335241327604e-05 +[2024-01-18 08:09:57,068][train][INFO] - training loss: 0.0012391347127656141 + 0.05712769263320499 + 0.0016433826156167521 + 0.007941831275820732 = 0.06795204141073757, data num: 712 +[2024-01-18 08:09:57,069][train][INFO] - epoch: 292 lr: 2.4288531444730185e-05 +[2024-01-18 08:11:38,538][train][INFO] - training loss: 0.001245978929930263 + 0.056962255802419454 + 0.0016448661296938857 + 0.007900373316887352 = 0.0677534744143486, data num: 712 +[2024-01-18 08:11:38,539][train][INFO] - epoch: 293 lr: 2.3078443077785645e-05 +[2024-01-18 08:13:19,443][train][INFO] - training loss: 0.0012373448608236181 + 0.05700293787651592 + 0.0016406087489384744 + 0.00774879658387767 = 0.06762968790200022, data num: 712 +[2024-01-18 08:13:19,444][train][INFO] - epoch: 294 lr: 2.1921202840320064e-05 +[2024-01-18 08:14:59,611][train][INFO] - training loss: 0.001238337910682377 + 0.056913521968656115 + 0.0016402228580166896 + 0.00804557234255804 = 0.06783765513035986, data num: 712 +[2024-01-18 08:14:59,612][train][INFO] - epoch: 295 lr: 2.081693763676623e-05 +[2024-01-18 08:16:41,165][train][INFO] - training loss: 0.0012375776293791002 + 0.05684623403681649 + 0.0016411063520030843 + 0.00785094860734211 = 0.06757586606674724, data num: 712 +[2024-01-18 08:16:41,166][train][INFO] - epoch: 296 lr: 1.9765768562247723e-05 +[2024-01-18 08:18:21,079][train][INFO] - training loss: 0.0012338691921387282 + 0.056832647240824166 + 0.0016357805243589812 + 0.007929458965857823 = 0.06763175593482124, data num: 712 +[2024-01-18 08:18:21,080][train][INFO] - epoch: 297 lr: 1.876781088929913e-05 +[2024-01-18 08:19:57,380][train][INFO] - training loss: 0.0012347190666736829 + 0.05705797258350584 + 0.001640060355162455 + 0.007923412643786933 = 0.06785616427659988, data num: 712 +[2024-01-18 08:19:57,382][train][INFO] - epoch: 298 lr: 1.7823174055225262e-05 +[2024-01-18 08:21:35,443][train][INFO] - training loss: 0.0012346836996989117 + 0.056726467692189746 + 0.0016386010166671541 + 0.007832630278749598 = 0.06743238245447476, data num: 712 +[2024-01-18 08:21:35,445][train][INFO] - epoch: 299 lr: 1.693196165010003e-05 +[2024-01-18 08:23:12,024][train][INFO] - training loss: 0.0012358866851880318 + 0.05702646796902021 + 0.0016456236778241064 + 0.007821868991272317 = 0.0677298484577073, data num: 712 +[2024-01-18 08:23:12,025][train][INFO] - Optimized. +[2024-01-18 08:23:12,025][train][INFO] - Training time: 34243.426589012146 +[2024-01-18 08:23:12,025][train][INFO] - Testing training... +[2024-01-18 08:31:30,570][train][INFO] - mean_translation_distance_error = [2.5508728] +[2024-01-18 08:31:30,571][train][INFO] - mean_translation_along_error = [0.7746969] +[2024-01-18 08:31:30,572][train][INFO] - mean_translation_perp_error = [2.3241665] +[2024-01-18 08:31:30,572][train][INFO] - mean_translation_plane_error = [2.3244278] +[2024-01-18 08:31:30,573][train][INFO] - mean_translation_line_error = [1.3625213] +[2024-01-18 08:31:30,574][train][INFO] - mean_rotation_error = [4.5097723] +[2024-01-18 08:31:30,574][train][INFO] - mean_affordance_error = [3.0996556] +[2024-01-18 08:31:30,577][train][INFO] - median_translation_distance_error = [2.218841] +[2024-01-18 08:31:30,578][train][INFO] - median_translation_along_error = [0.64640266] +[2024-01-18 08:31:30,578][train][INFO] - median_translation_perp_error = [1.9202869] +[2024-01-18 08:31:30,578][train][INFO] - median_translation_plane_error = [1.931663] +[2024-01-18 08:31:30,579][train][INFO] - median_translation_line_error = [1.0552151] +[2024-01-18 08:31:30,579][train][INFO] - median_rotation_error = [4.056694] +[2024-01-18 08:31:30,579][train][INFO] - median_affordance_error = [2.5895028] +[2024-01-18 08:31:30,579][train][INFO] - max_translation_distance_error = [18.375786] +[2024-01-18 08:31:30,580][train][INFO] - max_translation_along_error = [4.053556] +[2024-01-18 08:31:30,580][train][INFO] - max_translation_perp_error = [18.265633] +[2024-01-18 08:31:30,580][train][INFO] - max_translation_plane_error = [18.2213] +[2024-01-18 08:31:30,581][train][INFO] - max_translation_line_error = [8.433008] +[2024-01-18 08:31:30,581][train][INFO] - max_rotation_error = [18.656025] +[2024-01-18 08:31:30,581][train][INFO] - max_affordance_error = [15.945051] +[2024-01-18 08:31:30,582][train][INFO] - min_translation_distance_error = [0.1953182] +[2024-01-18 08:31:30,582][train][INFO] - min_translation_along_error = [0.0024579] +[2024-01-18 08:31:30,582][train][INFO] - min_translation_perp_error = [0.06767078] +[2024-01-18 08:31:30,583][train][INFO] - min_translation_plane_error = [0.08299276] +[2024-01-18 08:31:30,583][train][INFO] - min_translation_line_error = [0.00697327] +[2024-01-18 08:31:30,583][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 08:31:30,583][train][INFO] - min_affordance_error = [0.13109355] +[2024-01-18 08:31:30,585][train][INFO] - std_translation_distance_error = [1.6253389] +[2024-01-18 08:31:30,585][train][INFO] - std_translation_along_error = [0.6006071] +[2024-01-18 08:31:30,585][train][INFO] - std_translation_perp_error = [1.6691451] +[2024-01-18 08:31:30,586][train][INFO] - std_translation_plane_error = [1.6654278] +[2024-01-18 08:31:30,586][train][INFO] - std_translation_line_error = [1.2350272] +[2024-01-18 08:31:30,587][train][INFO] - std_rotation_error = [2.50707] +[2024-01-18 08:31:30,587][train][INFO] - std_affordance_error = [2.0663528] +[2024-01-18 08:31:30,587][train][INFO] - translation_outliers_num = 41 +[2024-01-18 08:31:30,587][train][INFO] - rotation_outliers_num = 241 +[2024-01-18 08:31:30,587][train][INFO] - affordance_outliers_num = 93 +[2024-01-18 08:31:30,587][train][INFO] - translation_outliers_ratio = 0.05758426966292135 +[2024-01-18 08:31:30,587][train][INFO] - rotation_outliers_ratio = 0.33848314606741575 +[2024-01-18 08:31:30,587][train][INFO] - affordance_outliers_ratio = 0.1306179775280899 +[2024-01-18 08:31:30,587][train][INFO] - data_num = 712, joint_num = 1 +[2024-01-18 08:31:30,589][train][INFO] - Tested training. +[2024-01-18 08:31:30,595][train][INFO] - Testing training time: 498.56367540359497 +[2024-01-18 08:31:30,595][train][INFO] - Testing testing... +[2024-01-18 08:32:59,874][train][INFO] - mean_translation_distance_error = [3.9354281] +[2024-01-18 08:32:59,874][train][INFO] - mean_translation_along_error = [0.8200328] +[2024-01-18 08:32:59,874][train][INFO] - mean_translation_perp_error = [3.7714388] +[2024-01-18 08:32:59,874][train][INFO] - mean_translation_plane_error = [3.7414153] +[2024-01-18 08:32:59,874][train][INFO] - mean_translation_line_error = [2.2898905] +[2024-01-18 08:32:59,874][train][INFO] - mean_rotation_error = [5.1544557] +[2024-01-18 08:32:59,875][train][INFO] - mean_affordance_error = [4.139299] +[2024-01-18 08:32:59,875][train][INFO] - median_translation_distance_error = [3.4904525] +[2024-01-18 08:32:59,875][train][INFO] - median_translation_along_error = [0.7098662] +[2024-01-18 08:32:59,875][train][INFO] - median_translation_perp_error = [3.2531736] +[2024-01-18 08:32:59,876][train][INFO] - median_translation_plane_error = [3.216853] +[2024-01-18 08:32:59,876][train][INFO] - median_translation_line_error = [1.6452451] +[2024-01-18 08:32:59,876][train][INFO] - median_rotation_error = [4.340545] +[2024-01-18 08:32:59,876][train][INFO] - median_affordance_error = [3.8208394] +[2024-01-18 08:32:59,876][train][INFO] - max_translation_distance_error = [11.664281] +[2024-01-18 08:32:59,876][train][INFO] - max_translation_along_error = [3.7590065] +[2024-01-18 08:32:59,876][train][INFO] - max_translation_perp_error = [11.520303] +[2024-01-18 08:32:59,877][train][INFO] - max_translation_plane_error = [11.32477] +[2024-01-18 08:32:59,877][train][INFO] - max_translation_line_error = [7.9080358] +[2024-01-18 08:32:59,877][train][INFO] - max_rotation_error = [15.111909] +[2024-01-18 08:32:59,877][train][INFO] - max_affordance_error = [13.426868] +[2024-01-18 08:32:59,877][train][INFO] - min_translation_distance_error = [0.31879967] +[2024-01-18 08:32:59,877][train][INFO] - min_translation_along_error = [0.05002907] +[2024-01-18 08:32:59,877][train][INFO] - min_translation_perp_error = [0.30447397] +[2024-01-18 08:32:59,878][train][INFO] - min_translation_plane_error = [0.3111543] +[2024-01-18 08:32:59,878][train][INFO] - min_translation_line_error = [0.02708535] +[2024-01-18 08:32:59,878][train][INFO] - min_rotation_error = [0.17132017] +[2024-01-18 08:32:59,878][train][INFO] - min_affordance_error = [0.6510943] +[2024-01-18 08:32:59,878][train][INFO] - std_translation_distance_error = [2.2162514] +[2024-01-18 08:32:59,878][train][INFO] - std_translation_along_error = [0.6194748] +[2024-01-18 08:32:59,879][train][INFO] - std_translation_perp_error = [2.2626112] +[2024-01-18 08:32:59,879][train][INFO] - std_translation_plane_error = [2.2593575] +[2024-01-18 08:32:59,879][train][INFO] - std_translation_line_error = [1.8096373] +[2024-01-18 08:32:59,879][train][INFO] - std_rotation_error = [3.091884] +[2024-01-18 08:32:59,879][train][INFO] - std_affordance_error = [2.395032] +[2024-01-18 08:32:59,879][train][INFO] - translation_outliers_num = 41 +[2024-01-18 08:32:59,879][train][INFO] - rotation_outliers_num = 75 +[2024-01-18 08:32:59,879][train][INFO] - affordance_outliers_num = 54 +[2024-01-18 08:32:59,879][train][INFO] - translation_outliers_ratio = 0.24260355029585798 +[2024-01-18 08:32:59,879][train][INFO] - rotation_outliers_ratio = 0.4437869822485207 +[2024-01-18 08:32:59,879][train][INFO] - affordance_outliers_ratio = 0.31952662721893493 +[2024-01-18 08:32:59,879][train][INFO] - data_num = 169, joint_num = 1 +[2024-01-18 08:32:59,880][train][INFO] - Tested testing. +[2024-01-18 08:32:59,884][train][INFO] - Testing testing time: 89.27163481712341 diff --git a/formal_refrigerator_2024_01_17_22_52_26/weights/encoder_latest.pth b/formal_refrigerator_2024_01_17_22_52_26/weights/encoder_latest.pth new file mode 100644 index 0000000000000000000000000000000000000000..9b25b0aa5e70748122c1de89c1ac1f54c17e5fd6 --- /dev/null +++ b/formal_refrigerator_2024_01_17_22_52_26/weights/encoder_latest.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e98262daa521e65a8937344700075cec804f122499a27d91996ccf44eaf5089c +size 1021585 diff --git a/formal_refrigerator_2024_01_17_22_52_26/weights/shot_encoder_latest.pth b/formal_refrigerator_2024_01_17_22_52_26/weights/shot_encoder_latest.pth new file mode 100644 index 0000000000000000000000000000000000000000..4680cef2d8b72f4302af6068e7f772bbb92ca2e3 --- /dev/null +++ b/formal_refrigerator_2024_01_17_22_52_26/weights/shot_encoder_latest.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dce5f9fd9b53237067a64973b44efeb5fed8137b80117d0491de8524f6fa4422 +size 1046929 diff --git a/formal_safe_2024_01_17_23_01_44/.hydra/config.yaml b/formal_safe_2024_01_17_23_01_44/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e93f5b0d7a913ed2c33fbfb7429b315f0a21e319 --- /dev/null +++ b/formal_safe_2024_01_17_23_01_44/.hydra/config.yaml @@ -0,0 +1,69 @@ +dataset: + train_path: /data2/junbo/sapien4/train + test_path: /data2/junbo/sapien4/test + train_categories: + - Safe + test_categories: + - Safe + joint_num: 1 + resolution: 0.01 + receptive_field: 10 + normalize: none + sample_points_num: 1024 + rgb: false + denoise: false +algorithm: + sampling: + sample_tuples_num: 100000 + tuple_more_num: 3 + shot_encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + feature_dim: 64 + bn: false + ln: false + dropout: 0 + encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + bn: false + ln: false + dropout: 0 + voting: + rot_bin_num: 36 + voting_num: 120 + angle_tol: 1.5 + translation2pc: false + rotation_cluster: false + multi_candidate: false + candidate_threshold: 0.5 + rotation_multi_neighbor: false + neighbor_threshold: 10 + bmm_size: 100000 +training: + seed: 42 + device: 6 + batch_size: 16 + num_workers: 8 + epoch_num: 120 + lr: 0.001 + weight_decay: 0 + lambda_rot: 0.1 + lambda_afford: 1.0 + lambda_conf: 0.5 + val_training: true + val_training_num: 64 + val_testing: true + val_testing_num: 64 + test_train: true + test_test: true +abbr: formal_safe +debug: false diff --git a/formal_safe_2024_01_17_23_01_44/.hydra/hydra.yaml b/formal_safe_2024_01_17_23_01_44/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..98ca157bf5a9a90d31a73fc2b1d5bbc388abd127 --- /dev/null +++ b/formal_safe_2024_01_17_23_01_44/.hydra/hydra.yaml @@ -0,0 +1,157 @@ +hydra: + run: + dir: ./outputs/train/${abbr}_${now:%Y_%m_%d_%H_%M_%S} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: train + chdir: null + override_dirname: '' + id: ??? + num: ??? + config_name: train_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.2' + cwd: /home/junbo/Codes/rpmart + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/junbo/Codes/rpmart/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/junbo/Codes/rpmart/outputs/train/formal_safe_2024_01_17_23_01_44 + choices: + training: formal + algorithm: formal + dataset: formal_safe + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/formal_safe_2024_01_17_23_01_44/.hydra/overrides.yaml b/formal_safe_2024_01_17_23_01_44/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe51488c7066f6687ef680d6bfaa4f7768ef205c --- /dev/null +++ b/formal_safe_2024_01_17_23_01_44/.hydra/overrides.yaml @@ -0,0 +1 @@ +[] diff --git a/formal_safe_2024_01_17_23_01_44/tb/events.out.tfevents.1705503709.aiadm-PIO-6049GP-TRT1-ZY001.3985685.0 b/formal_safe_2024_01_17_23_01_44/tb/events.out.tfevents.1705503709.aiadm-PIO-6049GP-TRT1-ZY001.3985685.0 new file mode 100644 index 0000000000000000000000000000000000000000..03e9b31b10c7f711c9f7da6d0cdc1047b96a0df8 --- /dev/null +++ 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757 diff --git a/formal_safe_2024_01_17_23_01_44/train.log b/formal_safe_2024_01_17_23_01_44/train.log new file mode 100644 index 0000000000000000000000000000000000000000..536a38206f654f8ec7444645568bd85b70e644a1 --- /dev/null +++ b/formal_safe_2024_01_17_23_01_44/train.log @@ -0,0 +1,1237 @@ +[2024-01-17 23:01:44,546][train][INFO] - Preparing dataset... +[2024-01-17 23:01:44,798][train][INFO] - Prepared dataset. +[2024-01-17 23:01:44,798][train][INFO] - Preparing model... +[2024-01-17 23:01:49,692][train][INFO] - Prepared model. +[2024-01-17 23:01:49,692][train][INFO] - Optimizing... +[2024-01-17 23:01:49,713][train][INFO] - epoch: 0 lr: 0.00016666666666666666 +[2024-01-17 23:07:38,200][train][INFO] - training loss: 0.01125640858663246 + 0.29113952655877384 + 0.020315308971995755 + 0.32694823747234686 = 0.6496594771742821, data num: 1786 +[2024-01-17 23:07:38,213][train][INFO] - Validating training... +[2024-01-17 23:13:03,245][train][INFO] - mean_translation_distance_error = [15.495533] +[2024-01-17 23:13:03,246][train][INFO] - mean_translation_along_error = [4.055] +[2024-01-17 23:13:03,246][train][INFO] - mean_translation_perp_error = [14.718211] +[2024-01-17 23:13:03,246][train][INFO] - mean_translation_plane_error = [24.904821] +[2024-01-17 23:13:03,246][train][INFO] - mean_translation_line_error = [8.685217] +[2024-01-17 23:13:03,247][train][INFO] - mean_rotation_error = [77.663315] +[2024-01-17 23:13:03,247][train][INFO] - mean_affordance_error = [20.71326] +[2024-01-17 23:13:03,248][train][INFO] - median_translation_distance_error = [14.937157] +[2024-01-17 23:13:03,248][train][INFO] - median_translation_along_error = [3.969328] +[2024-01-17 23:13:03,248][train][INFO] - median_translation_perp_error = [14.596476] +[2024-01-17 23:13:03,249][train][INFO] - median_translation_plane_error = [16.102806] +[2024-01-17 23:13:03,249][train][INFO] - median_translation_line_error = [7.7278996] +[2024-01-17 23:13:03,249][train][INFO] - median_rotation_error = [76.03067] +[2024-01-17 23:13:03,249][train][INFO] - median_affordance_error = [18.680513] +[2024-01-17 23:13:03,249][train][INFO] - max_translation_distance_error = [25.317001] +[2024-01-17 23:13:03,249][train][INFO] - max_translation_along_error = [12.082344] +[2024-01-17 23:13:03,250][train][INFO] - max_translation_perp_error = [24.184868] +[2024-01-17 23:13:03,250][train][INFO] - max_translation_plane_error = [192.77875] +[2024-01-17 23:13:03,250][train][INFO] - max_translation_line_error = [21.712914] +[2024-01-17 23:13:03,250][train][INFO] - max_rotation_error = [135.44632] +[2024-01-17 23:13:03,250][train][INFO] - max_affordance_error = [69.39309] +[2024-01-17 23:13:03,250][train][INFO] - min_translation_distance_error = [7.362412] +[2024-01-17 23:13:03,250][train][INFO] - min_translation_along_error = [0.06568134] +[2024-01-17 23:13:03,251][train][INFO] - min_translation_perp_error = [4.8375106] +[2024-01-17 23:13:03,251][train][INFO] - min_translation_plane_error = [2.5006862] +[2024-01-17 23:13:03,251][train][INFO] - min_translation_line_error = [0.00131844] +[2024-01-17 23:13:03,251][train][INFO] - min_rotation_error = [12.386837] +[2024-01-17 23:13:03,251][train][INFO] - min_affordance_error = [5.53686] +[2024-01-17 23:13:03,252][train][INFO] - std_translation_distance_error = [3.9372756] +[2024-01-17 23:13:03,252][train][INFO] - std_translation_along_error = [2.4466462] +[2024-01-17 23:13:03,252][train][INFO] - std_translation_perp_error = [4.069258] +[2024-01-17 23:13:03,252][train][INFO] - std_translation_plane_error = [33.46403] +[2024-01-17 23:13:03,252][train][INFO] - std_translation_line_error = [5.211789] +[2024-01-17 23:13:03,252][train][INFO] - std_rotation_error = [30.937872] +[2024-01-17 23:13:03,253][train][INFO] - std_affordance_error = [9.524974] +[2024-01-17 23:13:03,253][train][INFO] - translation_outliers_num = 64 +[2024-01-17 23:13:03,253][train][INFO] - rotation_outliers_num = 64 +[2024-01-17 23:13:03,253][train][INFO] - affordance_outliers_num = 64 +[2024-01-17 23:13:03,253][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-17 23:13:03,253][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-17 23:13:03,253][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-17 23:13:03,253][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-17 23:13:03,288][train][INFO] - Validated training. +[2024-01-17 23:13:03,288][train][INFO] - Validating training time: 325.07465052604675 +[2024-01-17 23:13:03,289][train][INFO] - Validating testing... +[2024-01-17 23:15:52,934][train][INFO] - mean_translation_distance_error = [15.24909] +[2024-01-17 23:15:52,935][train][INFO] - mean_translation_along_error = [3.6064744] +[2024-01-17 23:15:52,936][train][INFO] - mean_translation_perp_error = [14.5564375] +[2024-01-17 23:15:52,936][train][INFO] - mean_translation_plane_error = [19.70382] +[2024-01-17 23:15:52,937][train][INFO] - mean_translation_line_error = [8.650499] +[2024-01-17 23:15:52,937][train][INFO] - mean_rotation_error = [84.46631] +[2024-01-17 23:15:52,938][train][INFO] - mean_affordance_error = [16.690166] +[2024-01-17 23:15:52,940][train][INFO] - median_translation_distance_error = [15.013468] +[2024-01-17 23:15:52,941][train][INFO] - median_translation_along_error = [3.3361301] +[2024-01-17 23:15:52,941][train][INFO] - median_translation_perp_error = [14.438884] +[2024-01-17 23:15:52,942][train][INFO] - median_translation_plane_error = [16.158264] +[2024-01-17 23:15:52,942][train][INFO] - median_translation_line_error = [7.865871] +[2024-01-17 23:15:52,943][train][INFO] - median_rotation_error = [80.490616] +[2024-01-17 23:15:52,943][train][INFO] - median_affordance_error = [16.470022] +[2024-01-17 23:15:52,944][train][INFO] - max_translation_distance_error = [23.856457] +[2024-01-17 23:15:52,945][train][INFO] - max_translation_along_error = [11.460362] +[2024-01-17 23:15:52,945][train][INFO] - max_translation_perp_error = [23.855602] +[2024-01-17 23:15:52,946][train][INFO] - max_translation_plane_error = [101.01601] +[2024-01-17 23:15:52,947][train][INFO] - max_translation_line_error = [21.027998] +[2024-01-17 23:15:52,947][train][INFO] - max_rotation_error = [171.78267] +[2024-01-17 23:15:52,948][train][INFO] - max_affordance_error = [32.43221] +[2024-01-17 23:15:52,948][train][INFO] - min_translation_distance_error = [6.6006684] +[2024-01-17 23:15:52,949][train][INFO] - min_translation_along_error = [0.20187423] +[2024-01-17 23:15:52,949][train][INFO] - min_translation_perp_error = [5.7130494] +[2024-01-17 23:15:52,950][train][INFO] - min_translation_plane_error = [4.772109] +[2024-01-17 23:15:52,950][train][INFO] - min_translation_line_error = [0.13062921] +[2024-01-17 23:15:52,950][train][INFO] - min_rotation_error = [26.574717] +[2024-01-17 23:15:52,950][train][INFO] - min_affordance_error = [1.8709838] +[2024-01-17 23:15:52,951][train][INFO] - std_translation_distance_error = [3.8918355] +[2024-01-17 23:15:52,952][train][INFO] - std_translation_along_error = [2.4950154] +[2024-01-17 23:15:52,952][train][INFO] - std_translation_perp_error = [4.069335] +[2024-01-17 23:15:52,952][train][INFO] - std_translation_plane_error = [15.402999] +[2024-01-17 23:15:52,952][train][INFO] - std_translation_line_error = [5.552919] +[2024-01-17 23:15:52,953][train][INFO] - std_rotation_error = [34.11377] +[2024-01-17 23:15:52,953][train][INFO] - std_affordance_error = [6.2486286] +[2024-01-17 23:15:52,953][train][INFO] - translation_outliers_num = 64 +[2024-01-17 23:15:52,953][train][INFO] - rotation_outliers_num = 64 +[2024-01-17 23:15:52,953][train][INFO] - affordance_outliers_num = 62 +[2024-01-17 23:15:52,953][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-17 23:15:52,953][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-17 23:15:52,953][train][INFO] - affordance_outliers_ratio = 0.96875 +[2024-01-17 23:15:52,954][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-17 23:15:52,997][train][INFO] - Validated testing. +[2024-01-17 23:15:52,997][train][INFO] - Validating testing time: 169.7076714038849 +[2024-01-17 23:15:52,999][train][INFO] - epoch: 1 lr: 0.0003333333333333333 +[2024-01-17 23:21:45,100][train][INFO] - training loss: 0.008288302853803284 + 0.25166868857507196 + 0.012964757375552185 + 0.27184315943824394 = 0.5447649101593665, data num: 1786 +[2024-01-17 23:21:45,101][train][INFO] - epoch: 2 lr: 0.0005 +[2024-01-17 23:27:26,965][train][INFO] - training loss: 0.007183463250320139 + 0.1924436574003526 + 0.01087084149808756 + 0.21662880812904664 = 0.4271267692425421, data num: 1786 +[2024-01-17 23:27:26,967][train][INFO] - epoch: 3 lr: 0.0006666666666666666 +[2024-01-17 23:33:01,695][train][INFO] - training loss: 0.0063941706570663625 + 0.1743018805448498 + 0.009457713288221774 + 0.1925333941887532 = 0.3826871586165258, data num: 1786 +[2024-01-17 23:33:01,697][train][INFO] - epoch: 4 lr: 0.0008333333333333334 +[2024-01-17 23:38:44,564][train][INFO] - training loss: 0.006382869970236372 + 0.16077346580901317 + 0.008691839674221618 + 0.17160204478672572 = 0.34745022069130627, data num: 1786 +[2024-01-17 23:38:44,565][train][INFO] - epoch: 5 lr: 0.001 +[2024-01-17 23:44:46,232][train][INFO] - training loss: 0.005737273417513019 + 0.15323383613888705 + 0.008419365306118769 + 0.1626848787335413 = 0.33007535258574144, data num: 1786 +[2024-01-17 23:44:46,233][train][INFO] - epoch: 6 lr: 0.001 +[2024-01-17 23:50:30,221][train][INFO] - training loss: 0.005244321628457068 + 0.1466569102236203 + 0.007580509754396709 + 0.15058803957487857 = 0.3100697794663055, data num: 1786 +[2024-01-17 23:50:30,222][train][INFO] - epoch: 7 lr: 0.0009998303758629009 +[2024-01-17 23:56:38,684][train][INFO] - training loss: 0.004976845992912006 + 0.14398972264357976 + 0.007191045638007511 + 0.1389595682599715 = 0.2951171839875834, data num: 1786 +[2024-01-17 23:56:38,686][train][INFO] - epoch: 8 lr: 0.000999321619703514 +[2024-01-18 00:02:38,233][train][INFO] - training loss: 0.004801494844806646 + 0.13989604816638998 + 0.007052432300822277 + 0.1306442501289504 = 0.2823942255760942, data num: 1786 +[2024-01-18 00:02:38,233][train][INFO] - epoch: 9 lr: 0.0009984740801978985 +[2024-01-18 00:08:36,102][train][INFO] - training loss: 0.004380673949656609 + 0.13693637221253344 + 0.006416984064604289 + 0.12613220705783793 = 0.2738662376733763, data num: 1786 +[2024-01-18 00:08:36,104][train][INFO] - epoch: 10 lr: 0.0009972883382072953 +[2024-01-18 00:14:45,168][train][INFO] - training loss: 0.004296395137706506 + 0.13480561392913973 + 0.006267444222300712 + 0.11854099914697665 = 0.2639104525691697, data num: 1786 +[2024-01-18 00:14:45,169][train][INFO] - epoch: 11 lr: 0.0009957652063800363 +[2024-01-18 00:20:44,613][train][INFO] - training loss: 0.0043289577817111945 + 0.13493591766538365 + 0.006128252508850502 + 0.11404646480722087 = 0.2594395935801523, data num: 1786 +[2024-01-18 00:20:44,614][train][INFO] - epoch: 12 lr: 0.0009939057285945933 +[2024-01-18 00:26:31,798][train][INFO] - training loss: 0.004061617283566322 + 0.13119296310469508 + 0.005781772394714478 + 0.10509660094976425 = 0.2461329526933176, data num: 1786 +[2024-01-18 00:26:31,818][train][INFO] - Validating training... +[2024-01-18 00:27:54,022][train][INFO] - mean_translation_distance_error = [7.2255974] +[2024-01-18 00:27:54,022][train][INFO] - mean_translation_along_error = [1.425497] +[2024-01-18 00:27:54,023][train][INFO] - mean_translation_perp_error = [6.955275] +[2024-01-18 00:27:54,023][train][INFO] - mean_translation_plane_error = [6.9481726] +[2024-01-18 00:27:54,023][train][INFO] - mean_translation_line_error = [4.3372297] +[2024-01-18 00:27:54,024][train][INFO] - mean_rotation_error = [7.424623] +[2024-01-18 00:27:54,024][train][INFO] - mean_affordance_error = [8.463972] +[2024-01-18 00:27:54,025][train][INFO] - median_translation_distance_error = [6.6123343] +[2024-01-18 00:27:54,025][train][INFO] - median_translation_along_error = [1.1794913] +[2024-01-18 00:27:54,026][train][INFO] - median_translation_perp_error = [6.444243] +[2024-01-18 00:27:54,026][train][INFO] - median_translation_plane_error = [6.495756] +[2024-01-18 00:27:54,026][train][INFO] - median_translation_line_error = [3.0853868] +[2024-01-18 00:27:54,026][train][INFO] - median_rotation_error = [6.119528] +[2024-01-18 00:27:54,027][train][INFO] - median_affordance_error = [8.249137] +[2024-01-18 00:27:54,027][train][INFO] - max_translation_distance_error = [18.154829] +[2024-01-18 00:27:54,027][train][INFO] - max_translation_along_error = [3.9949856] +[2024-01-18 00:27:54,027][train][INFO] - max_translation_perp_error = [17.716377] +[2024-01-18 00:27:54,028][train][INFO] - max_translation_plane_error = [17.686255] +[2024-01-18 00:27:54,028][train][INFO] - max_translation_line_error = [17.265396] +[2024-01-18 00:27:54,028][train][INFO] - max_rotation_error = [21.907948] +[2024-01-18 00:27:54,029][train][INFO] - max_affordance_error = [18.047472] +[2024-01-18 00:27:54,029][train][INFO] - min_translation_distance_error = [1.1765139] +[2024-01-18 00:27:54,029][train][INFO] - min_translation_along_error = [0.00397805] +[2024-01-18 00:27:54,029][train][INFO] - min_translation_perp_error = [0.73217803] +[2024-01-18 00:27:54,030][train][INFO] - min_translation_plane_error = [0.687675] +[2024-01-18 00:27:54,030][train][INFO] - min_translation_line_error = [0.02477334] +[2024-01-18 00:27:54,030][train][INFO] - min_rotation_error = [1.5807817] +[2024-01-18 00:27:54,030][train][INFO] - min_affordance_error = [0.80192566] +[2024-01-18 00:27:54,031][train][INFO] - std_translation_distance_error = [4.118462] +[2024-01-18 00:27:54,031][train][INFO] - std_translation_along_error = [1.086356] +[2024-01-18 00:27:54,031][train][INFO] - std_translation_perp_error = [4.1932] +[2024-01-18 00:27:54,032][train][INFO] - std_translation_plane_error = [4.2091985] +[2024-01-18 00:27:54,032][train][INFO] - std_translation_line_error = [3.6453772] +[2024-01-18 00:27:54,032][train][INFO] - std_rotation_error = [4.691644] +[2024-01-18 00:27:54,032][train][INFO] - std_affordance_error = [3.640018] +[2024-01-18 00:27:54,032][train][INFO] - translation_outliers_num = 40 +[2024-01-18 00:27:54,032][train][INFO] - rotation_outliers_num = 42 +[2024-01-18 00:27:54,033][train][INFO] - affordance_outliers_num = 53 +[2024-01-18 00:27:54,033][train][INFO] - translation_outliers_ratio = 0.625 +[2024-01-18 00:27:54,033][train][INFO] - rotation_outliers_ratio = 0.65625 +[2024-01-18 00:27:54,033][train][INFO] - affordance_outliers_ratio = 0.828125 +[2024-01-18 00:27:54,033][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 00:27:54,035][train][INFO] - Validated training. +[2024-01-18 00:27:54,041][train][INFO] - Validating training time: 82.2166018486023 +[2024-01-18 00:27:54,043][train][INFO] - Validating testing... +[2024-01-18 00:29:04,092][train][INFO] - mean_translation_distance_error = [7.592405] +[2024-01-18 00:29:04,092][train][INFO] - mean_translation_along_error = [1.7113187] +[2024-01-18 00:29:04,093][train][INFO] - mean_translation_perp_error = [7.169009] +[2024-01-18 00:29:04,093][train][INFO] - mean_translation_plane_error = [7.1335754] +[2024-01-18 00:29:04,093][train][INFO] - mean_translation_line_error = [3.9906044] +[2024-01-18 00:29:04,093][train][INFO] - mean_rotation_error = [8.258039] +[2024-01-18 00:29:04,093][train][INFO] - mean_affordance_error = [8.040752] +[2024-01-18 00:29:04,094][train][INFO] - median_translation_distance_error = [6.631775] +[2024-01-18 00:29:04,094][train][INFO] - median_translation_along_error = [1.470942] +[2024-01-18 00:29:04,095][train][INFO] - median_translation_perp_error = [6.329254] +[2024-01-18 00:29:04,095][train][INFO] - median_translation_plane_error = [6.3000245] +[2024-01-18 00:29:04,095][train][INFO] - median_translation_line_error = [3.353951] +[2024-01-18 00:29:04,095][train][INFO] - median_rotation_error = [7.353627] +[2024-01-18 00:29:04,095][train][INFO] - median_affordance_error = [7.716194] +[2024-01-18 00:29:04,096][train][INFO] - max_translation_distance_error = [15.847283] +[2024-01-18 00:29:04,096][train][INFO] - max_translation_along_error = [4.9678354] +[2024-01-18 00:29:04,096][train][INFO] - max_translation_perp_error = [15.762706] +[2024-01-18 00:29:04,096][train][INFO] - max_translation_plane_error = [16.011816] +[2024-01-18 00:29:04,096][train][INFO] - max_translation_line_error = [12.023214] +[2024-01-18 00:29:04,096][train][INFO] - max_rotation_error = [21.456594] +[2024-01-18 00:29:04,097][train][INFO] - max_affordance_error = [15.157555] +[2024-01-18 00:29:04,097][train][INFO] - min_translation_distance_error = [2.419623] +[2024-01-18 00:29:04,097][train][INFO] - min_translation_along_error = [0.0371648] +[2024-01-18 00:29:04,097][train][INFO] - min_translation_perp_error = [1.544033] +[2024-01-18 00:29:04,097][train][INFO] - min_translation_plane_error = [1.4319068] +[2024-01-18 00:29:04,098][train][INFO] - min_translation_line_error = [0.11789688] +[2024-01-18 00:29:04,098][train][INFO] - min_rotation_error = [0.612617] +[2024-01-18 00:29:04,098][train][INFO] - min_affordance_error = [1.9609177] +[2024-01-18 00:29:04,099][train][INFO] - std_translation_distance_error = [3.6352944] +[2024-01-18 00:29:04,099][train][INFO] - std_translation_along_error = [1.1839851] +[2024-01-18 00:29:04,099][train][INFO] - std_translation_perp_error = [3.8903542] +[2024-01-18 00:29:04,099][train][INFO] - std_translation_plane_error = [3.8884883] +[2024-01-18 00:29:04,099][train][INFO] - std_translation_line_error = [2.9127107] +[2024-01-18 00:29:04,099][train][INFO] - std_rotation_error = [4.7821565] +[2024-01-18 00:29:04,100][train][INFO] - std_affordance_error = [3.3796003] +[2024-01-18 00:29:04,100][train][INFO] - translation_outliers_num = 41 +[2024-01-18 00:29:04,100][train][INFO] - rotation_outliers_num = 45 +[2024-01-18 00:29:04,100][train][INFO] - affordance_outliers_num = 48 +[2024-01-18 00:29:04,100][train][INFO] - translation_outliers_ratio = 0.640625 +[2024-01-18 00:29:04,100][train][INFO] - rotation_outliers_ratio = 0.703125 +[2024-01-18 00:29:04,100][train][INFO] - affordance_outliers_ratio = 0.75 +[2024-01-18 00:29:04,100][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 00:29:04,102][train][INFO] - Validated testing. +[2024-01-18 00:29:04,105][train][INFO] - Validating testing time: 70.05818843841553 +[2024-01-18 00:29:04,105][train][INFO] - epoch: 13 lr: 0.0009917111792441576 +[2024-01-18 00:34:42,257][train][INFO] - training loss: 0.0039635986509633115 + 0.12772787994306004 + 0.005654966151009181 + 0.1018218537127333 = 0.23916829763246433, data num: 1786 +[2024-01-18 00:34:42,258][train][INFO] - epoch: 14 lr: 0.0009891830623632338 +[2024-01-18 00:40:11,139][train][INFO] - training loss: 0.003956236889020407 + 0.1265608301120145 + 0.005493767985691582 + 0.0983012125694326 = 0.23431204804884537, data num: 1786 +[2024-01-18 00:40:11,140][train][INFO] - epoch: 15 lr: 0.0009863231105968497 +[2024-01-18 00:45:42,152][train][INFO] - training loss: 0.003729471585497127 + 0.12523959444037505 + 0.0054481808973443025 + 0.09403568852160658 = 0.22845293541571923, data num: 1786 +[2024-01-18 00:45:42,153][train][INFO] - epoch: 16 lr: 0.0009831332840130884 +[2024-01-18 00:51:29,309][train][INFO] - training loss: 0.003663160711377194 + 0.12324378093970674 + 0.005160044710334789 + 0.09130660491064191 = 0.22337359229901008, data num: 1786 +[2024-01-18 00:51:29,310][train][INFO] - epoch: 17 lr: 0.0009796157687597552 +[2024-01-18 00:57:34,369][train][INFO] - training loss: 0.00360371614390585 + 0.12111599051526614 + 0.00505340493483735 + 0.08802061102219991 = 0.2177937218387212, data num: 1786 +[2024-01-18 00:57:34,370][train][INFO] - epoch: 18 lr: 0.0009757729755661006 +[2024-01-18 01:03:12,373][train][INFO] - training loss: 0.003587356533639 + 0.12035476529438581 + 0.004886456549034587 + 0.08505933635335948 = 0.21388791434999024, data num: 1786 +[2024-01-18 01:03:12,375][train][INFO] - epoch: 19 lr: 0.0009716075380906279 +[2024-01-18 01:09:01,225][train][INFO] - training loss: 0.0035560158513752477 + 0.11766480062423008 + 0.004993932477581049 + 0.08186266365061913 = 0.20807741276387656, data num: 1786 +[2024-01-18 01:09:01,226][train][INFO] - epoch: 20 lr: 0.0009671223111161144 +[2024-01-18 01:15:00,154][train][INFO] - training loss: 0.0033666641725825946 + 0.11599228504512991 + 0.00475461281686356 + 0.07917645530376051 = 0.20329001772084407, data num: 1786 +[2024-01-18 01:15:00,156][train][INFO] - epoch: 21 lr: 0.0009623203685930865 +[2024-01-18 01:21:05,606][train][INFO] - training loss: 0.003422628537269442 + 0.11649747332558036 + 0.004964261114115028 + 0.07874140489314284 = 0.20362576829003437, data num: 1786 +[2024-01-18 01:21:05,608][train][INFO] - epoch: 22 lr: 0.000957205001533087 +[2024-01-18 01:27:07,076][train][INFO] - training loss: 0.0034159717615693808 + 0.11329384720219034 + 0.0046163738630379415 + 0.07554395097706999 = 0.1968701443235789, data num: 1786 +[2024-01-18 01:27:07,077][train][INFO] - epoch: 23 lr: 0.0009517797157531806 +[2024-01-18 01:33:14,237][train][INFO] - training loss: 0.0032595733126592158 + 0.11517810369176525 + 0.004508535259187089 + 0.07491724109942359 = 0.19786345360002347, data num: 1786 +[2024-01-18 01:33:14,239][train][INFO] - epoch: 24 lr: 0.0009460482294732416 +[2024-01-18 01:39:13,231][train][INFO] - training loss: 0.0033007087061248186 + 0.1128387566256736 + 0.004519923945606154 + 0.07040551035398883 = 0.19106490045253718, data num: 1786 +[2024-01-18 01:39:13,245][train][INFO] - Validating training... +[2024-01-18 01:40:32,256][train][INFO] - mean_translation_distance_error = [6.2442403] +[2024-01-18 01:40:32,257][train][INFO] - mean_translation_along_error = [1.7747519] +[2024-01-18 01:40:32,257][train][INFO] - mean_translation_perp_error = [5.713222] +[2024-01-18 01:40:32,257][train][INFO] - mean_translation_plane_error = [5.6289606] +[2024-01-18 01:40:32,257][train][INFO] - mean_translation_line_error = [3.9305706] +[2024-01-18 01:40:32,257][train][INFO] - mean_rotation_error = [5.814209] +[2024-01-18 01:40:32,257][train][INFO] - mean_affordance_error = [6.9026732] +[2024-01-18 01:40:32,258][train][INFO] - median_translation_distance_error = [5.443254] +[2024-01-18 01:40:32,258][train][INFO] - median_translation_along_error = [1.3629179] +[2024-01-18 01:40:32,258][train][INFO] - median_translation_perp_error = [5.0505185] +[2024-01-18 01:40:32,259][train][INFO] - median_translation_plane_error = [5.084422] +[2024-01-18 01:40:32,259][train][INFO] - median_translation_line_error = [3.3949544] +[2024-01-18 01:40:32,259][train][INFO] - median_rotation_error = [5.385605] +[2024-01-18 01:40:32,259][train][INFO] - median_affordance_error = [6.409995] +[2024-01-18 01:40:32,259][train][INFO] - max_translation_distance_error = [26.384026] +[2024-01-18 01:40:32,259][train][INFO] - max_translation_along_error = [5.198223] +[2024-01-18 01:40:32,259][train][INFO] - max_translation_perp_error = [26.096178] +[2024-01-18 01:40:32,259][train][INFO] - max_translation_plane_error = [25.567272] +[2024-01-18 01:40:32,260][train][INFO] - max_translation_line_error = [18.084494] +[2024-01-18 01:40:32,260][train][INFO] - max_rotation_error = [18.473211] +[2024-01-18 01:40:32,260][train][INFO] - max_affordance_error = [14.779976] +[2024-01-18 01:40:32,260][train][INFO] - min_translation_distance_error = [1.7004156] +[2024-01-18 01:40:32,260][train][INFO] - min_translation_along_error = [0.15985686] +[2024-01-18 01:40:32,260][train][INFO] - min_translation_perp_error = [0.2671626] +[2024-01-18 01:40:32,260][train][INFO] - min_translation_plane_error = [0.5007232] +[2024-01-18 01:40:32,261][train][INFO] - min_translation_line_error = [0.07944812] +[2024-01-18 01:40:32,261][train][INFO] - min_rotation_error = [0.12820426] +[2024-01-18 01:40:32,261][train][INFO] - min_affordance_error = [1.9623578] +[2024-01-18 01:40:32,261][train][INFO] - std_translation_distance_error = [3.5908468] +[2024-01-18 01:40:32,261][train][INFO] - std_translation_along_error = [1.2038287] +[2024-01-18 01:40:32,262][train][INFO] - std_translation_perp_error = [3.8268607] +[2024-01-18 01:40:32,262][train][INFO] - std_translation_plane_error = [3.7751472] +[2024-01-18 01:40:32,262][train][INFO] - std_translation_line_error = [3.1390426] +[2024-01-18 01:40:32,262][train][INFO] - std_rotation_error = [3.8218758] +[2024-01-18 01:40:32,262][train][INFO] - std_affordance_error = [3.0073879] +[2024-01-18 01:40:32,262][train][INFO] - translation_outliers_num = 31 +[2024-01-18 01:40:32,262][train][INFO] - rotation_outliers_num = 36 +[2024-01-18 01:40:32,262][train][INFO] - affordance_outliers_num = 43 +[2024-01-18 01:40:32,262][train][INFO] - translation_outliers_ratio = 0.484375 +[2024-01-18 01:40:32,262][train][INFO] - rotation_outliers_ratio = 0.5625 +[2024-01-18 01:40:32,262][train][INFO] - affordance_outliers_ratio = 0.671875 +[2024-01-18 01:40:32,262][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 01:40:32,264][train][INFO] - Validated training. +[2024-01-18 01:40:32,272][train][INFO] - Validating training time: 79.01874303817749 +[2024-01-18 01:40:32,273][train][INFO] - Validating testing... +[2024-01-18 01:41:43,093][train][INFO] - mean_translation_distance_error = [5.755788] +[2024-01-18 01:41:43,094][train][INFO] - mean_translation_along_error = [1.7455881] +[2024-01-18 01:41:43,094][train][INFO] - mean_translation_perp_error = [5.214164] +[2024-01-18 01:41:43,095][train][INFO] - mean_translation_plane_error = [5.225379] +[2024-01-18 01:41:43,095][train][INFO] - mean_translation_line_error = [3.1432273] +[2024-01-18 01:41:43,096][train][INFO] - mean_rotation_error = [6.766856] +[2024-01-18 01:41:43,096][train][INFO] - mean_affordance_error = [7.841982] +[2024-01-18 01:41:43,097][train][INFO] - median_translation_distance_error = [5.0217977] +[2024-01-18 01:41:43,097][train][INFO] - median_translation_along_error = [1.6386352] +[2024-01-18 01:41:43,098][train][INFO] - median_translation_perp_error = [4.4811535] +[2024-01-18 01:41:43,098][train][INFO] - median_translation_plane_error = [4.400318] +[2024-01-18 01:41:43,098][train][INFO] - median_translation_line_error = [1.8086625] +[2024-01-18 01:41:43,098][train][INFO] - median_rotation_error = [6.0828323] +[2024-01-18 01:41:43,098][train][INFO] - median_affordance_error = [7.9587584] +[2024-01-18 01:41:43,098][train][INFO] - max_translation_distance_error = [17.279783] +[2024-01-18 01:41:43,098][train][INFO] - max_translation_along_error = [4.6901507] +[2024-01-18 01:41:43,099][train][INFO] - max_translation_perp_error = [17.198627] +[2024-01-18 01:41:43,099][train][INFO] - max_translation_plane_error = [17.135225] +[2024-01-18 01:41:43,099][train][INFO] - max_translation_line_error = [14.861896] +[2024-01-18 01:41:43,099][train][INFO] - max_rotation_error = [23.318861] +[2024-01-18 01:41:43,100][train][INFO] - max_affordance_error = [20.556778] +[2024-01-18 01:41:43,100][train][INFO] - min_translation_distance_error = [1.4028143] +[2024-01-18 01:41:43,100][train][INFO] - min_translation_along_error = [0.02438705] +[2024-01-18 01:41:43,101][train][INFO] - min_translation_perp_error = [0.48015356] +[2024-01-18 01:41:43,101][train][INFO] - min_translation_plane_error = [0.48741642] +[2024-01-18 01:41:43,101][train][INFO] - min_translation_line_error = [0.00416896] +[2024-01-18 01:41:43,102][train][INFO] - min_rotation_error = [1.3250034] +[2024-01-18 01:41:43,102][train][INFO] - min_affordance_error = [1.0063008] +[2024-01-18 01:41:43,103][train][INFO] - std_translation_distance_error = [3.1653905] +[2024-01-18 01:41:43,103][train][INFO] - std_translation_along_error = [1.1294699] +[2024-01-18 01:41:43,103][train][INFO] - std_translation_perp_error = [3.4115255] +[2024-01-18 01:41:43,104][train][INFO] - std_translation_plane_error = [3.392369] +[2024-01-18 01:41:43,104][train][INFO] - std_translation_line_error = [2.957433] +[2024-01-18 01:41:43,104][train][INFO] - std_rotation_error = [3.9393466] +[2024-01-18 01:41:43,104][train][INFO] - std_affordance_error = [3.5945191] +[2024-01-18 01:41:43,105][train][INFO] - translation_outliers_num = 27 +[2024-01-18 01:41:43,105][train][INFO] - rotation_outliers_num = 39 +[2024-01-18 01:41:43,105][train][INFO] - affordance_outliers_num = 48 +[2024-01-18 01:41:43,105][train][INFO] - translation_outliers_ratio = 0.421875 +[2024-01-18 01:41:43,105][train][INFO] - rotation_outliers_ratio = 0.609375 +[2024-01-18 01:41:43,105][train][INFO] - affordance_outliers_ratio = 0.75 +[2024-01-18 01:41:43,105][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 01:41:43,107][train][INFO] - Validated testing. +[2024-01-18 01:41:43,113][train][INFO] - Validating testing time: 70.83447313308716 +[2024-01-18 01:41:43,115][train][INFO] - epoch: 25 lr: 0.0009400144707676724 +[2024-01-18 01:47:38,735][train][INFO] - training loss: 0.003267933080288848 + 0.11024822441062757 + 0.004341519986545401 + 0.07121669481109295 = 0.18907437167529548, data num: 1786 +[2024-01-18 01:47:38,737][train][INFO] - epoch: 26 lr: 0.0009336825748732968 +[2024-01-18 01:53:30,896][train][INFO] - training loss: 0.0032340976072841193 + 0.1088232736635421 + 0.0043403089948697016 + 0.06762124105755772 = 0.18401892110705376, data num: 1786 +[2024-01-18 01:53:30,897][train][INFO] - epoch: 27 lr: 0.0009270568813552752 +[2024-01-18 01:59:26,782][train][INFO] - training loss: 0.003154220319369675 + 0.10700025322980114 + 0.004213097278677326 + 0.06630697989437197 = 0.18067455092178925, data num: 1786 +[2024-01-18 01:59:26,783][train][INFO] - epoch: 28 lr: 0.0009201419311329845 +[2024-01-18 02:05:04,738][train][INFO] - training loss: 0.003106552631444564 + 0.10687779721670917 + 0.004264381470940342 + 0.06400676414237491 = 0.17825549534921134, data num: 1786 +[2024-01-18 02:05:04,739][train][INFO] - epoch: 29 lr: 0.0009129424633678974 +[2024-01-18 02:11:04,196][train][INFO] - training loss: 0.003130225872155279 + 0.10837983426504902 + 0.004161218736304103 + 0.06474911800718733 = 0.18042039684951305, data num: 1786 +[2024-01-18 02:11:04,198][train][INFO] - epoch: 30 lr: 0.0009054634122155986 +[2024-01-18 02:16:53,727][train][INFO] - training loss: 0.0030834482105482103 + 0.10437671620664853 + 0.00410180255130399 + 0.06310466104852301 = 0.17466662797544683, data num: 1786 +[2024-01-18 02:16:53,730][train][INFO] - epoch: 31 lr: 0.0008977099034441611 +[2024-01-18 02:22:45,255][train][INFO] - training loss: 0.003041849010125069 + 0.10242007400042244 + 0.004059777827933431 + 0.06018777527580304 = 0.16970947571098804, data num: 1786 +[2024-01-18 02:22:45,256][train][INFO] - epoch: 32 lr: 0.0008896872509212003 +[2024-01-18 02:28:41,439][train][INFO] - training loss: 0.00305638751056644 + 0.10245950340426394 + 0.004114428603705684 + 0.06035739612499518 = 0.16998771564768894, data num: 1786 +[2024-01-18 02:28:41,441][train][INFO] - epoch: 33 lr: 0.0008814009529720151 +[2024-01-18 02:34:17,734][train][INFO] - training loss: 0.0029026423206752433 + 0.10195786406153015 + 0.003932744337362237 + 0.05809904834521668 = 0.1668922987633518, data num: 1786 +[2024-01-18 02:34:17,736][train][INFO] - epoch: 34 lr: 0.0008728566886113099 +[2024-01-18 02:39:36,975][train][INFO] - training loss: 0.0029916899324494545 + 0.09940321410873107 + 0.003932931235924896 + 0.05533760519964354 = 0.16166544000485114, data num: 1786 +[2024-01-18 02:39:36,976][train][INFO] - epoch: 35 lr: 0.000864060313651082 +[2024-01-18 02:45:22,164][train][INFO] - training loss: 0.0028464102049058837 + 0.0991532243123012 + 0.003860934282004434 + 0.05495066228987915 = 0.16081123133855207, data num: 1786 +[2024-01-18 02:45:22,165][train][INFO] - epoch: 36 lr: 0.0008550178566873408 +[2024-01-18 02:51:03,571][train][INFO] - training loss: 0.002855227919228907 + 0.09766781356717859 + 0.0038660449894710575 + 0.05459026970701026 = 0.15897935535758734, data num: 1786 +[2024-01-18 02:51:03,584][train][INFO] - Validating training... +[2024-01-18 02:52:18,593][train][INFO] - mean_translation_distance_error = [4.82416] +[2024-01-18 02:52:18,593][train][INFO] - mean_translation_along_error = [1.3905668] +[2024-01-18 02:52:18,594][train][INFO] - mean_translation_perp_error = [4.4650493] +[2024-01-18 02:52:18,594][train][INFO] - mean_translation_plane_error = [4.437542] +[2024-01-18 02:52:18,595][train][INFO] - mean_translation_line_error = [2.7551618] +[2024-01-18 02:52:18,595][train][INFO] - mean_rotation_error = [5.6117535] +[2024-01-18 02:52:18,595][train][INFO] - mean_affordance_error = [5.8768044] +[2024-01-18 02:52:18,597][train][INFO] - median_translation_distance_error = [4.1551666] +[2024-01-18 02:52:18,597][train][INFO] - median_translation_along_error = [1.081819] +[2024-01-18 02:52:18,597][train][INFO] - median_translation_perp_error = [3.7230883] +[2024-01-18 02:52:18,597][train][INFO] - median_translation_plane_error = [3.8581524] +[2024-01-18 02:52:18,597][train][INFO] - median_translation_line_error = [2.0574265] +[2024-01-18 02:52:18,598][train][INFO] - median_rotation_error = [5.231188] +[2024-01-18 02:52:18,598][train][INFO] - median_affordance_error = [5.519459] +[2024-01-18 02:52:18,598][train][INFO] - max_translation_distance_error = [13.4442005] +[2024-01-18 02:52:18,598][train][INFO] - max_translation_along_error = [5.420884] +[2024-01-18 02:52:18,598][train][INFO] - max_translation_perp_error = [13.335204] +[2024-01-18 02:52:18,598][train][INFO] - max_translation_plane_error = [13.142385] +[2024-01-18 02:52:18,598][train][INFO] - max_translation_line_error = [9.382235] +[2024-01-18 02:52:18,599][train][INFO] - max_rotation_error = [12.694853] +[2024-01-18 02:52:18,599][train][INFO] - max_affordance_error = [15.69408] +[2024-01-18 02:52:18,599][train][INFO] - min_translation_distance_error = [0.5760816] +[2024-01-18 02:52:18,599][train][INFO] - min_translation_along_error = [0.06608609] +[2024-01-18 02:52:18,599][train][INFO] - min_translation_perp_error = [0.4429614] +[2024-01-18 02:52:18,599][train][INFO] - min_translation_plane_error = [0.4228606] +[2024-01-18 02:52:18,599][train][INFO] - min_translation_line_error = [0.21226755] +[2024-01-18 02:52:18,600][train][INFO] - min_rotation_error = [0.7748072] +[2024-01-18 02:52:18,600][train][INFO] - min_affordance_error = [1.4256743] +[2024-01-18 02:52:18,600][train][INFO] - std_translation_distance_error = [2.7822082] +[2024-01-18 02:52:18,600][train][INFO] - std_translation_along_error = [1.1569297] +[2024-01-18 02:52:18,601][train][INFO] - std_translation_perp_error = [2.7936316] +[2024-01-18 02:52:18,601][train][INFO] - std_translation_plane_error = [2.7666287] +[2024-01-18 02:52:18,601][train][INFO] - std_translation_line_error = [2.16281] +[2024-01-18 02:52:18,601][train][INFO] - std_rotation_error = [2.9943945] +[2024-01-18 02:52:18,601][train][INFO] - std_affordance_error = [3.1360183] +[2024-01-18 02:52:18,601][train][INFO] - translation_outliers_num = 23 +[2024-01-18 02:52:18,601][train][INFO] - rotation_outliers_num = 35 +[2024-01-18 02:52:18,601][train][INFO] - affordance_outliers_num = 37 +[2024-01-18 02:52:18,601][train][INFO] - translation_outliers_ratio = 0.359375 +[2024-01-18 02:52:18,601][train][INFO] - rotation_outliers_ratio = 0.546875 +[2024-01-18 02:52:18,601][train][INFO] - affordance_outliers_ratio = 0.578125 +[2024-01-18 02:52:18,601][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 02:52:18,603][train][INFO] - Validated training. +[2024-01-18 02:52:18,607][train][INFO] - Validating training time: 75.01858878135681 +[2024-01-18 02:52:18,610][train][INFO] - Validating testing... +[2024-01-18 02:53:24,165][train][INFO] - mean_translation_distance_error = [5.51693] +[2024-01-18 02:53:24,166][train][INFO] - mean_translation_along_error = [1.4876733] +[2024-01-18 02:53:24,166][train][INFO] - mean_translation_perp_error = [5.1194897] +[2024-01-18 02:53:24,166][train][INFO] - mean_translation_plane_error = [5.1514473] +[2024-01-18 02:53:24,166][train][INFO] - mean_translation_line_error = [2.8350308] +[2024-01-18 02:53:24,166][train][INFO] - mean_rotation_error = [5.5088463] +[2024-01-18 02:53:24,167][train][INFO] - mean_affordance_error = [7.273959] +[2024-01-18 02:53:24,167][train][INFO] - median_translation_distance_error = [4.917311] +[2024-01-18 02:53:24,168][train][INFO] - median_translation_along_error = [1.2552212] +[2024-01-18 02:53:24,168][train][INFO] - median_translation_perp_error = [4.115842] +[2024-01-18 02:53:24,168][train][INFO] - median_translation_plane_error = [4.1774936] +[2024-01-18 02:53:24,168][train][INFO] - median_translation_line_error = [1.8612317] +[2024-01-18 02:53:24,168][train][INFO] - median_rotation_error = [5.0524206] +[2024-01-18 02:53:24,168][train][INFO] - median_affordance_error = [6.4538765] +[2024-01-18 02:53:24,169][train][INFO] - max_translation_distance_error = [15.761028] +[2024-01-18 02:53:24,169][train][INFO] - max_translation_along_error = [5.95846] +[2024-01-18 02:53:24,169][train][INFO] - max_translation_perp_error = [15.749837] +[2024-01-18 02:53:24,169][train][INFO] - max_translation_plane_error = [15.721162] +[2024-01-18 02:53:24,169][train][INFO] - max_translation_line_error = [12.12103] +[2024-01-18 02:53:24,169][train][INFO] - max_rotation_error = [13.217749] +[2024-01-18 02:53:24,169][train][INFO] - max_affordance_error = [15.066915] +[2024-01-18 02:53:24,170][train][INFO] - min_translation_distance_error = [0.9950496] +[2024-01-18 02:53:24,170][train][INFO] - min_translation_along_error = [0.02089441] +[2024-01-18 02:53:24,170][train][INFO] - min_translation_perp_error = [0.7884368] +[2024-01-18 02:53:24,170][train][INFO] - min_translation_plane_error = [0.83755225] +[2024-01-18 02:53:24,170][train][INFO] - min_translation_line_error = [0.11141242] +[2024-01-18 02:53:24,170][train][INFO] - min_rotation_error = [0.1701742] +[2024-01-18 02:53:24,171][train][INFO] - min_affordance_error = [1.7677615] +[2024-01-18 02:53:24,171][train][INFO] - std_translation_distance_error = [3.3987136] +[2024-01-18 02:53:24,171][train][INFO] - std_translation_along_error = [1.1894798] +[2024-01-18 02:53:24,171][train][INFO] - std_translation_perp_error = [3.4857657] +[2024-01-18 02:53:24,171][train][INFO] - std_translation_plane_error = [3.4831672] +[2024-01-18 02:53:24,172][train][INFO] - std_translation_line_error = [2.6389067] +[2024-01-18 02:53:24,172][train][INFO] - std_rotation_error = [3.2065408] +[2024-01-18 02:53:24,172][train][INFO] - std_affordance_error = [3.5954568] +[2024-01-18 02:53:24,172][train][INFO] - translation_outliers_num = 29 +[2024-01-18 02:53:24,172][train][INFO] - rotation_outliers_num = 32 +[2024-01-18 02:53:24,172][train][INFO] - affordance_outliers_num = 46 +[2024-01-18 02:53:24,172][train][INFO] - translation_outliers_ratio = 0.453125 +[2024-01-18 02:53:24,172][train][INFO] - rotation_outliers_ratio = 0.5 +[2024-01-18 02:53:24,172][train][INFO] - affordance_outliers_ratio = 0.71875 +[2024-01-18 02:53:24,172][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 02:53:24,174][train][INFO] - Validated testing. +[2024-01-18 02:53:24,177][train][INFO] - Validating testing time: 65.56326484680176 +[2024-01-18 02:53:24,180][train][INFO] - epoch: 37 lr: 0.0008457355149684079 +[2024-01-18 02:59:10,867][train][INFO] - training loss: 0.0028897880859273884 + 0.09637546319780606 + 0.003779078191395716 + 0.053751292904572825 = 0.15679562171655043, data num: 1786 +[2024-01-18 02:59:10,868][train][INFO] - epoch: 38 lr: 0.0008362196501476345 +[2024-01-18 03:05:07,081][train][INFO] - training loss: 0.0028409281096953365 + 0.09644415109817471 + 0.003766964877805939 + 0.052417989753718884 = 0.15547003370842763, data num: 1786 +[2024-01-18 03:05:07,083][train][INFO] - epoch: 39 lr: 0.0008264767839234406 +[2024-01-18 03:10:50,957][train][INFO] - training loss: 0.002875051124387288 + 0.09529322359178748 + 0.0037355097031520146 + 0.051012857883636444 = 0.15291664190590382, data num: 1786 +[2024-01-18 03:10:50,959][train][INFO] - epoch: 40 lr: 0.0008165135935696693 +[2024-01-18 03:16:31,624][train][INFO] - training loss: 0.002840167231624946 + 0.09411471669695207 + 0.003760218950836653 + 0.0489232320105657 = 0.14963833448876226, data num: 1786 +[2024-01-18 03:16:31,625][train][INFO] - epoch: 41 lr: 0.0008063369073593164 +[2024-01-18 03:22:30,100][train][INFO] - training loss: 0.0029159351875672917 + 0.09440004007358636 + 0.0037334558562309083 + 0.05142225817378078 = 0.15247169030564173, data num: 1786 +[2024-01-18 03:22:30,101][train][INFO] - epoch: 42 lr: 0.0007959536998847739 +[2024-01-18 03:28:29,755][train][INFO] - training loss: 0.002801631101257434 + 0.09339486601363335 + 0.003622464114284542 + 0.04943100698957486 = 0.14924996745373523, data num: 1786 +[2024-01-18 03:28:29,756][train][INFO] - epoch: 43 lr: 0.000785371087277792 +[2024-01-18 03:34:24,557][train][INFO] - training loss: 0.002822400665276551 + 0.0910851797754211 + 0.0036244494300003032 + 0.04719420429319143 = 0.14472623382295882, data num: 1786 +[2024-01-18 03:34:24,559][train][INFO] - epoch: 44 lr: 0.0007745963223324382 +[2024-01-18 03:40:08,244][train][INFO] - training loss: 0.002655482555772843 + 0.09126316310305681 + 0.0035136641277599017 + 0.046725273747662346 = 0.14415758375876717, data num: 1786 +[2024-01-18 03:40:08,246][train][INFO] - epoch: 45 lr: 0.0007636367895343944 +[2024-01-18 03:45:57,967][train][INFO] - training loss: 0.002772848872284937 + 0.09110423935843366 + 0.0035906781122321263 + 0.046824228983106356 = 0.1442919953593186, data num: 1786 +[2024-01-18 03:45:57,968][train][INFO] - epoch: 46 lr: 0.0007524999999999997 +[2024-01-18 03:51:57,299][train][INFO] - training loss: 0.0026712965295051356 + 0.08888137520157866 + 0.003525825175789318 + 0.043851153792015145 = 0.1389296515179532, data num: 1786 +[2024-01-18 03:51:57,300][train][INFO] - epoch: 47 lr: 0.000741193586328506 +[2024-01-18 03:57:55,627][train][INFO] - training loss: 0.0026346899311257793 + 0.0890162108199937 + 0.0034216096558208975 + 0.04370930252064552 = 0.13878181297332048, data num: 1786 +[2024-01-18 03:57:55,629][train][INFO] - epoch: 48 lr: 0.0007297252973710753 +[2024-01-18 04:03:45,488][train][INFO] - training loss: 0.0026015372360624106 + 0.08920597936958075 + 0.003391482796619779 + 0.042747696479117234 = 0.13794669681893929, data num: 1786 +[2024-01-18 04:03:45,504][train][INFO] - Validating training... +[2024-01-18 04:05:06,411][train][INFO] - mean_translation_distance_error = [4.0592117] +[2024-01-18 04:05:06,412][train][INFO] - mean_translation_along_error = [1.7038081] +[2024-01-18 04:05:06,412][train][INFO] - mean_translation_perp_error = [3.5148296] +[2024-01-18 04:05:06,412][train][INFO] - mean_translation_plane_error = [3.5115898] +[2024-01-18 04:05:06,412][train][INFO] - mean_translation_line_error = [2.1174836] +[2024-01-18 04:05:06,412][train][INFO] - mean_rotation_error = [5.025355] +[2024-01-18 04:05:06,413][train][INFO] - mean_affordance_error = [5.1691904] +[2024-01-18 04:05:06,413][train][INFO] - median_translation_distance_error = [3.6789129] +[2024-01-18 04:05:06,413][train][INFO] - median_translation_along_error = [1.6933571] +[2024-01-18 04:05:06,414][train][INFO] - median_translation_perp_error = [3.211688] +[2024-01-18 04:05:06,414][train][INFO] - median_translation_plane_error = [3.1743798] +[2024-01-18 04:05:06,414][train][INFO] - median_translation_line_error = [1.7808759] +[2024-01-18 04:05:06,414][train][INFO] - median_rotation_error = [4.620246] +[2024-01-18 04:05:06,414][train][INFO] - median_affordance_error = [4.5871296] +[2024-01-18 04:05:06,414][train][INFO] - max_translation_distance_error = [11.029193] +[2024-01-18 04:05:06,414][train][INFO] - max_translation_along_error = [4.223099] +[2024-01-18 04:05:06,415][train][INFO] - max_translation_perp_error = [10.4012165] +[2024-01-18 04:05:06,415][train][INFO] - max_translation_plane_error = [9.982372] +[2024-01-18 04:05:06,415][train][INFO] - max_translation_line_error = [8.227346] +[2024-01-18 04:05:06,415][train][INFO] - max_rotation_error = [13.9336815] +[2024-01-18 04:05:06,415][train][INFO] - max_affordance_error = [13.606808] +[2024-01-18 04:05:06,415][train][INFO] - min_translation_distance_error = [0.8150344] +[2024-01-18 04:05:06,415][train][INFO] - min_translation_along_error = [0.16092038] +[2024-01-18 04:05:06,415][train][INFO] - min_translation_perp_error = [0.6655085] +[2024-01-18 04:05:06,416][train][INFO] - min_translation_plane_error = [0.7383463] +[2024-01-18 04:05:06,416][train][INFO] - min_translation_line_error = [0.12334802] +[2024-01-18 04:05:06,416][train][INFO] - min_rotation_error = [0.7727842] +[2024-01-18 04:05:06,416][train][INFO] - min_affordance_error = [1.1754087] +[2024-01-18 04:05:06,416][train][INFO] - std_translation_distance_error = [2.0737927] +[2024-01-18 04:05:06,417][train][INFO] - std_translation_along_error = [0.99236256] +[2024-01-18 04:05:06,417][train][INFO] - std_translation_perp_error = [2.1297984] +[2024-01-18 04:05:06,417][train][INFO] - std_translation_plane_error = [2.126588] +[2024-01-18 04:05:06,417][train][INFO] - std_translation_line_error = [1.7494045] +[2024-01-18 04:05:06,417][train][INFO] - std_rotation_error = [3.1662402] +[2024-01-18 04:05:06,417][train][INFO] - std_affordance_error = [2.9690707] +[2024-01-18 04:05:06,417][train][INFO] - translation_outliers_num = 10 +[2024-01-18 04:05:06,417][train][INFO] - rotation_outliers_num = 30 +[2024-01-18 04:05:06,417][train][INFO] - affordance_outliers_num = 29 +[2024-01-18 04:05:06,418][train][INFO] - translation_outliers_ratio = 0.15625 +[2024-01-18 04:05:06,418][train][INFO] - rotation_outliers_ratio = 0.46875 +[2024-01-18 04:05:06,418][train][INFO] - affordance_outliers_ratio = 0.453125 +[2024-01-18 04:05:06,418][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 04:05:06,419][train][INFO] - Validated training. +[2024-01-18 04:05:06,421][train][INFO] - Validating training time: 80.91462349891663 +[2024-01-18 04:05:06,424][train][INFO] - Validating testing... +[2024-01-18 04:06:20,217][train][INFO] - mean_translation_distance_error = [4.755365] +[2024-01-18 04:06:20,217][train][INFO] - mean_translation_along_error = [2.1485813] +[2024-01-18 04:06:20,218][train][INFO] - mean_translation_perp_error = [3.8836517] +[2024-01-18 04:06:20,218][train][INFO] - mean_translation_plane_error = [3.8570971] +[2024-01-18 04:06:20,218][train][INFO] - mean_translation_line_error = [2.1829605] +[2024-01-18 04:06:20,218][train][INFO] - mean_rotation_error = [5.5270605] +[2024-01-18 04:06:20,218][train][INFO] - mean_affordance_error = [6.1082506] +[2024-01-18 04:06:20,219][train][INFO] - median_translation_distance_error = [4.4553003] +[2024-01-18 04:06:20,219][train][INFO] - median_translation_along_error = [2.1103582] +[2024-01-18 04:06:20,219][train][INFO] - median_translation_perp_error = [3.4780307] +[2024-01-18 04:06:20,219][train][INFO] - median_translation_plane_error = [3.4727886] +[2024-01-18 04:06:20,219][train][INFO] - median_translation_line_error = [2.2222962] +[2024-01-18 04:06:20,220][train][INFO] - median_rotation_error = [4.829941] +[2024-01-18 04:06:20,220][train][INFO] - median_affordance_error = [5.500389] +[2024-01-18 04:06:20,220][train][INFO] - max_translation_distance_error = [9.625806] +[2024-01-18 04:06:20,220][train][INFO] - max_translation_along_error = [5.459531] +[2024-01-18 04:06:20,220][train][INFO] - max_translation_perp_error = [9.617655] +[2024-01-18 04:06:20,220][train][INFO] - max_translation_plane_error = [9.588335] +[2024-01-18 04:06:20,221][train][INFO] - max_translation_line_error = [5.8360386] +[2024-01-18 04:06:20,221][train][INFO] - max_rotation_error = [13.404819] +[2024-01-18 04:06:20,221][train][INFO] - max_affordance_error = [15.565799] +[2024-01-18 04:06:20,221][train][INFO] - min_translation_distance_error = [1.2116276] +[2024-01-18 04:06:20,221][train][INFO] - min_translation_along_error = [0.01314413] +[2024-01-18 04:06:20,221][train][INFO] - min_translation_perp_error = [0.73392296] +[2024-01-18 04:06:20,222][train][INFO] - min_translation_plane_error = [0.6390603] +[2024-01-18 04:06:20,222][train][INFO] - min_translation_line_error = [0.00211067] +[2024-01-18 04:06:20,222][train][INFO] - min_rotation_error = [0.12033131] +[2024-01-18 04:06:20,222][train][INFO] - min_affordance_error = [1.4912903] +[2024-01-18 04:06:20,222][train][INFO] - std_translation_distance_error = [1.8751144] +[2024-01-18 04:06:20,222][train][INFO] - std_translation_along_error = [1.4252472] +[2024-01-18 04:06:20,223][train][INFO] - std_translation_perp_error = [2.0973952] +[2024-01-18 04:06:20,223][train][INFO] - std_translation_plane_error = [2.122984] +[2024-01-18 04:06:20,223][train][INFO] - std_translation_line_error = [1.4154575] +[2024-01-18 04:06:20,223][train][INFO] - std_rotation_error = [3.4100332] +[2024-01-18 04:06:20,223][train][INFO] - std_affordance_error = [2.8933508] +[2024-01-18 04:06:20,223][train][INFO] - translation_outliers_num = 22 +[2024-01-18 04:06:20,223][train][INFO] - rotation_outliers_num = 31 +[2024-01-18 04:06:20,223][train][INFO] - affordance_outliers_num = 40 +[2024-01-18 04:06:20,223][train][INFO] - translation_outliers_ratio = 0.34375 +[2024-01-18 04:06:20,223][train][INFO] - rotation_outliers_ratio = 0.484375 +[2024-01-18 04:06:20,223][train][INFO] - affordance_outliers_ratio = 0.625 +[2024-01-18 04:06:20,223][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 04:06:20,225][train][INFO] - Validated testing. +[2024-01-18 04:06:20,228][train][INFO] - Validating testing time: 73.79927730560303 +[2024-01-18 04:06:20,228][train][INFO] - epoch: 49 lr: 0.0007181029929201058 +[2024-01-18 04:12:14,791][train][INFO] - training loss: 0.002621374955716809 + 0.0870597633932318 + 0.003546184706335355 + 0.04358602942167116 = 0.13681335281580687, data num: 1786 +[2024-01-18 04:12:14,793][train][INFO] - epoch: 50 lr: 0.0007063346383225208 +[2024-01-18 04:18:00,751][train][INFO] - training loss: 0.002563309205080649 + 0.08712615059422595 + 0.0034125517330331995 + 0.04127540484270347 = 0.13437741682199494, data num: 1786 +[2024-01-18 04:18:00,752][train][INFO] - epoch: 51 lr: 0.0006944282990207191 +[2024-01-18 04:23:36,600][train][INFO] - training loss: 0.0025857679429464042 + 0.08709806250408292 + 0.003307709131539533 + 0.041935499923835905 = 0.1349270397664181, data num: 1786 +[2024-01-18 04:23:36,602][train][INFO] - epoch: 52 lr: 0.0006823921350249234 +[2024-01-18 04:29:28,745][train][INFO] - training loss: 0.0025850888674280475 + 0.08581899984606675 + 0.0033809305127111395 + 0.040520218816319745 = 0.13230523726503765, data num: 1786 +[2024-01-18 04:29:28,746][train][INFO] - epoch: 53 lr: 0.0006702343953207163 +[2024-01-18 04:35:12,518][train][INFO] - training loss: 0.0025676210758060086 + 0.08697545022836753 + 0.0033386810100637376 + 0.03976631532090583 = 0.1326480679480093, data num: 1786 +[2024-01-18 04:35:12,519][train][INFO] - epoch: 54 lr: 0.0006579634122155987 +[2024-01-18 04:40:57,679][train][INFO] - training loss: 0.0024876730406374137 + 0.08520464126818947 + 0.0032254383071891163 + 0.03955025011340955 = 0.1304680034518242, data num: 1786 +[2024-01-18 04:40:57,680][train][INFO] - epoch: 55 lr: 0.0006455875956284415 +[2024-01-18 04:46:46,844][train][INFO] - training loss: 0.002514292953752114 + 0.08441133211765971 + 0.0032293452719126697 + 0.03976998938846269 = 0.12992495983572944, data num: 1786 +[2024-01-18 04:46:46,845][train][INFO] - epoch: 56 lr: 0.0006331154273257474 +[2024-01-18 04:52:09,178][train][INFO] - training loss: 0.0025103060927774224 + 0.08427670518202442 + 0.003284253180027008 + 0.039081911739361076 = 0.12915317614429764, data num: 1786 +[2024-01-18 04:52:09,180][train][INFO] - epoch: 57 lr: 0.0006205554551086729 +[2024-01-18 04:57:15,834][train][INFO] - training loss: 0.0024816826958807985 + 0.08336467362408127 + 0.003209158422708112 + 0.037338216340036263 = 0.12639373088521616, data num: 1786 +[2024-01-18 04:57:15,835][train][INFO] - epoch: 58 lr: 0.0006079162869547905 +[2024-01-18 05:02:20,014][train][INFO] - training loss: 0.0024183936173877946 + 0.08326520957052708 + 0.003197815570664326 + 0.037040697976148555 = 0.12592211738228798, data num: 1786 +[2024-01-18 05:02:20,015][train][INFO] - epoch: 59 lr: 0.0005952065851186127 +[2024-01-18 05:07:18,066][train][INFO] - training loss: 0.0024244984015240334 + 0.08317606590156044 + 0.0031818064786161165 + 0.03777862333559564 = 0.1265609947565411, data num: 1786 +[2024-01-18 05:07:18,067][train][INFO] - epoch: 60 lr: 0.0005824350601949139 +[2024-01-18 05:12:15,067][train][INFO] - training loss: 0.0024072917336265425 + 0.08178717410191894 + 0.003170295325357334 + 0.03614600238922451 = 0.12351076351478696, data num: 1786 +[2024-01-18 05:12:15,080][train][INFO] - Validating training... +[2024-01-18 05:13:23,924][train][INFO] - mean_translation_distance_error = [4.350603] +[2024-01-18 05:13:23,925][train][INFO] - mean_translation_along_error = [1.4690378] +[2024-01-18 05:13:23,925][train][INFO] - mean_translation_perp_error = [3.918192] +[2024-01-18 05:13:23,925][train][INFO] - mean_translation_plane_error = [3.9056284] +[2024-01-18 05:13:23,925][train][INFO] - mean_translation_line_error = [2.4006996] +[2024-01-18 05:13:23,926][train][INFO] - mean_rotation_error = [4.81741] +[2024-01-18 05:13:23,926][train][INFO] - mean_affordance_error = [4.4854717] +[2024-01-18 05:13:23,927][train][INFO] - median_translation_distance_error = [3.8273768] +[2024-01-18 05:13:23,927][train][INFO] - median_translation_along_error = [1.397645] +[2024-01-18 05:13:23,927][train][INFO] - median_translation_perp_error = [3.4923449] +[2024-01-18 05:13:23,927][train][INFO] - median_translation_plane_error = [3.4965453] +[2024-01-18 05:13:23,927][train][INFO] - median_translation_line_error = [1.8154068] +[2024-01-18 05:13:23,928][train][INFO] - median_rotation_error = [4.035288] +[2024-01-18 05:13:23,928][train][INFO] - median_affordance_error = [4.1624336] +[2024-01-18 05:13:23,928][train][INFO] - max_translation_distance_error = [11.454232] +[2024-01-18 05:13:23,928][train][INFO] - max_translation_along_error = [7.69184] +[2024-01-18 05:13:23,928][train][INFO] - max_translation_perp_error = [11.221804] +[2024-01-18 05:13:23,929][train][INFO] - max_translation_plane_error = [10.999873] +[2024-01-18 05:13:23,929][train][INFO] - max_translation_line_error = [8.132987] +[2024-01-18 05:13:23,929][train][INFO] - max_rotation_error = [13.692189] +[2024-01-18 05:13:23,929][train][INFO] - max_affordance_error = [10.548076] +[2024-01-18 05:13:23,930][train][INFO] - min_translation_distance_error = [0.819527] +[2024-01-18 05:13:23,930][train][INFO] - min_translation_along_error = [0.0284439] +[2024-01-18 05:13:23,930][train][INFO] - min_translation_perp_error = [0.5808052] +[2024-01-18 05:13:23,931][train][INFO] - min_translation_plane_error = [0.5651125] +[2024-01-18 05:13:23,931][train][INFO] - min_translation_line_error = [0.0730467] +[2024-01-18 05:13:23,931][train][INFO] - min_rotation_error = [0.47063816] +[2024-01-18 05:13:23,931][train][INFO] - min_affordance_error = [0.7694588] +[2024-01-18 05:13:23,932][train][INFO] - std_translation_distance_error = [2.2920947] +[2024-01-18 05:13:23,932][train][INFO] - std_translation_along_error = [1.3018061] +[2024-01-18 05:13:23,933][train][INFO] - std_translation_perp_error = [2.2307954] +[2024-01-18 05:13:23,933][train][INFO] - std_translation_plane_error = [2.2195363] +[2024-01-18 05:13:23,933][train][INFO] - std_translation_line_error = [2.0873163] +[2024-01-18 05:13:23,933][train][INFO] - std_rotation_error = [3.2370217] +[2024-01-18 05:13:23,933][train][INFO] - std_affordance_error = [2.0218065] +[2024-01-18 05:13:23,933][train][INFO] - translation_outliers_num = 18 +[2024-01-18 05:13:23,933][train][INFO] - rotation_outliers_num = 22 +[2024-01-18 05:13:23,933][train][INFO] - affordance_outliers_num = 21 +[2024-01-18 05:13:23,934][train][INFO] - translation_outliers_ratio = 0.28125 +[2024-01-18 05:13:23,934][train][INFO] - rotation_outliers_ratio = 0.34375 +[2024-01-18 05:13:23,934][train][INFO] - affordance_outliers_ratio = 0.328125 +[2024-01-18 05:13:23,934][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 05:13:23,935][train][INFO] - Validated training. +[2024-01-18 05:13:23,938][train][INFO] - Validating training time: 68.8546290397644 +[2024-01-18 05:13:23,939][train][INFO] - Validating testing... +[2024-01-18 05:14:27,983][train][INFO] - mean_translation_distance_error = [4.7663393] +[2024-01-18 05:14:27,984][train][INFO] - mean_translation_along_error = [1.3457508] +[2024-01-18 05:14:27,984][train][INFO] - mean_translation_perp_error = [4.425852] +[2024-01-18 05:14:27,984][train][INFO] - mean_translation_plane_error = [4.4242325] +[2024-01-18 05:14:27,984][train][INFO] - mean_translation_line_error = [3.196743] +[2024-01-18 05:14:27,985][train][INFO] - mean_rotation_error = [5.4910145] +[2024-01-18 05:14:27,985][train][INFO] - mean_affordance_error = [5.0675955] +[2024-01-18 05:14:27,986][train][INFO] - median_translation_distance_error = [4.1982927] +[2024-01-18 05:14:27,986][train][INFO] - median_translation_along_error = [0.92272145] +[2024-01-18 05:14:27,986][train][INFO] - median_translation_perp_error = [3.8969584] +[2024-01-18 05:14:27,986][train][INFO] - median_translation_plane_error = [3.9473493] +[2024-01-18 05:14:27,986][train][INFO] - median_translation_line_error = [2.4234257] +[2024-01-18 05:14:27,987][train][INFO] - median_rotation_error = [4.833271] +[2024-01-18 05:14:27,987][train][INFO] - median_affordance_error = [4.074769] +[2024-01-18 05:14:27,987][train][INFO] - max_translation_distance_error = [15.426618] +[2024-01-18 05:14:27,987][train][INFO] - max_translation_along_error = [5.5745463] +[2024-01-18 05:14:27,987][train][INFO] - max_translation_perp_error = [14.519626] +[2024-01-18 05:14:27,987][train][INFO] - max_translation_plane_error = [14.692519] +[2024-01-18 05:14:27,988][train][INFO] - max_translation_line_error = [12.336501] +[2024-01-18 05:14:27,988][train][INFO] - max_rotation_error = [13.214059] +[2024-01-18 05:14:27,988][train][INFO] - max_affordance_error = [14.97102] +[2024-01-18 05:14:27,988][train][INFO] - min_translation_distance_error = [0.8992088] +[2024-01-18 05:14:27,988][train][INFO] - min_translation_along_error = [0.02521286] +[2024-01-18 05:14:27,989][train][INFO] - min_translation_perp_error = [0.40821612] +[2024-01-18 05:14:27,989][train][INFO] - min_translation_plane_error = [0.31494594] +[2024-01-18 05:14:27,989][train][INFO] - min_translation_line_error = [0.02156836] +[2024-01-18 05:14:27,989][train][INFO] - min_rotation_error = [0.22555353] +[2024-01-18 05:14:27,989][train][INFO] - min_affordance_error = [0.28084108] +[2024-01-18 05:14:27,990][train][INFO] - std_translation_distance_error = [3.1168253] +[2024-01-18 05:14:27,990][train][INFO] - std_translation_along_error = [1.1648278] +[2024-01-18 05:14:27,990][train][INFO] - std_translation_perp_error = [3.1107166] +[2024-01-18 05:14:27,990][train][INFO] - std_translation_plane_error = [3.0881205] +[2024-01-18 05:14:27,991][train][INFO] - std_translation_line_error = [2.5880544] +[2024-01-18 05:14:27,991][train][INFO] - std_rotation_error = [3.2495022] +[2024-01-18 05:14:27,991][train][INFO] - std_affordance_error = [2.7879007] +[2024-01-18 05:14:27,991][train][INFO] - translation_outliers_num = 23 +[2024-01-18 05:14:27,991][train][INFO] - rotation_outliers_num = 27 +[2024-01-18 05:14:27,991][train][INFO] - affordance_outliers_num = 27 +[2024-01-18 05:14:27,991][train][INFO] - translation_outliers_ratio = 0.359375 +[2024-01-18 05:14:27,991][train][INFO] - rotation_outliers_ratio = 0.421875 +[2024-01-18 05:14:27,991][train][INFO] - affordance_outliers_ratio = 0.421875 +[2024-01-18 05:14:27,991][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 05:14:27,993][train][INFO] - Validated testing. +[2024-01-18 05:14:27,999][train][INFO] - Validating testing time: 64.05108952522278 +[2024-01-18 05:14:28,003][train][INFO] - epoch: 61 lr: 0.0005696104651489251 +[2024-01-18 05:19:20,514][train][INFO] - training loss: 0.0023926939434854183 + 0.08144201005675963 + 0.0031357013691116925 + 0.035781797603704035 = 0.12275220287431564, data num: 1786 +[2024-01-18 05:19:20,515][train][INFO] - epoch: 62 lr: 0.0005567415893174882 +[2024-01-18 05:24:18,892][train][INFO] - training loss: 0.0024047977432409035 + 0.08079449060772147 + 0.0031354802111828966 + 0.03505310722227607 = 0.1213878755058561, data num: 1786 +[2024-01-18 05:24:18,893][train][INFO] - epoch: 63 lr: 0.000543837252385283 +[2024-01-18 05:29:14,925][train][INFO] - training loss: 0.0023913189590010525 + 0.08076442039704748 + 0.0031004747974553277 + 0.03497151830898864 = 0.1212277328595519, data num: 1786 +[2024-01-18 05:29:14,926][train][INFO] - epoch: 64 lr: 0.0005309062983402568 +[2024-01-18 05:34:10,670][train][INFO] - training loss: 0.002391263446562724 + 0.08013749591607068 + 0.0030800377758818547 + 0.034597974054382315 = 0.12020677128540617, data num: 1786 +[2024-01-18 05:34:10,671][train][INFO] - epoch: 65 lr: 0.0005179575894123969 +[2024-01-18 05:39:08,001][train][INFO] - training loss: 0.002360916976093514 + 0.08059765085844058 + 0.0030247478176274206 + 0.03515583025624177 = 0.12113914545625448, data num: 1786 +[2024-01-18 05:39:08,002][train][INFO] - epoch: 66 lr: 0.0005049999999999998 +[2024-01-18 05:44:07,293][train][INFO] - training loss: 0.002379673199486985 + 0.08038486234311547 + 0.003019200712775013 + 0.03356386789320303 = 0.11934760379205857, data num: 1786 +[2024-01-18 05:44:07,294][train][INFO] - epoch: 67 lr: 0.0004920424105876026 +[2024-01-18 05:49:00,132][train][INFO] - training loss: 0.002363232696162803 + 0.07901080205504384 + 0.003048268554266542 + 0.03297633007501385 = 0.11739863368815609, data num: 1786 +[2024-01-18 05:49:00,133][train][INFO] - epoch: 68 lr: 0.0004790937016597426 +[2024-01-18 05:53:56,961][train][INFO] - training loss: 0.002363511216702006 + 0.07873547147028148 + 0.0029528569076709183 + 0.03246999734879604 = 0.11652183712327055, data num: 1786 +[2024-01-18 05:53:56,963][train][INFO] - epoch: 69 lr: 0.00046616274761471655 +[2024-01-18 05:58:53,454][train][INFO] - training loss: 0.0023056336399999316 + 0.07855135824398271 + 0.002946332440062958 + 0.03236528810313238 = 0.11616861248122794, data num: 1786 +[2024-01-18 05:58:53,455][train][INFO] - epoch: 70 lr: 0.00045325841068251133 +[2024-01-18 06:03:48,657][train][INFO] - training loss: 0.0023112661032688004 + 0.07763537222386471 + 0.0029848428364078116 + 0.031405417955413996 = 0.11433689921562161, data num: 1786 +[2024-01-18 06:03:48,658][train][INFO] - epoch: 71 lr: 0.0004403895348510743 +[2024-01-18 06:08:45,981][train][INFO] - training loss: 0.002336788590972511 + 0.07726671809463628 + 0.0029761906230955253 + 0.031224445256936764 = 0.11380414205736347, data num: 1786 +[2024-01-18 06:08:45,982][train][INFO] - epoch: 72 lr: 0.00042756493980508544 +[2024-01-18 06:13:40,738][train][INFO] - training loss: 0.0023036518094678676 + 0.07698360105444278 + 0.002947072787459807 + 0.030744102467516705 = 0.11297842853569559, data num: 1786 +[2024-01-18 06:13:40,751][train][INFO] - Validating training... +[2024-01-18 06:14:51,940][train][INFO] - mean_translation_distance_error = [3.977963] +[2024-01-18 06:14:51,941][train][INFO] - mean_translation_along_error = [1.417795] +[2024-01-18 06:14:51,941][train][INFO] - mean_translation_perp_error = [3.5505276] +[2024-01-18 06:14:51,941][train][INFO] - mean_translation_plane_error = [3.5421233] +[2024-01-18 06:14:51,941][train][INFO] - mean_translation_line_error = [2.1106644] +[2024-01-18 06:14:51,941][train][INFO] - mean_rotation_error = [5.4830265] +[2024-01-18 06:14:51,942][train][INFO] - mean_affordance_error = [4.218506] +[2024-01-18 06:14:51,942][train][INFO] - median_translation_distance_error = [3.4474216] +[2024-01-18 06:14:51,943][train][INFO] - median_translation_along_error = [1.3197275] +[2024-01-18 06:14:51,943][train][INFO] - median_translation_perp_error = [2.9741006] +[2024-01-18 06:14:51,943][train][INFO] - median_translation_plane_error = [2.9566565] +[2024-01-18 06:14:51,943][train][INFO] - median_translation_line_error = [1.442647] +[2024-01-18 06:14:51,943][train][INFO] - median_rotation_error = [4.180715] +[2024-01-18 06:14:51,944][train][INFO] - median_affordance_error = [4.0875425] +[2024-01-18 06:14:51,944][train][INFO] - max_translation_distance_error = [11.371192] +[2024-01-18 06:14:51,944][train][INFO] - max_translation_along_error = [4.8440194] +[2024-01-18 06:14:51,944][train][INFO] - max_translation_perp_error = [11.265592] +[2024-01-18 06:14:51,944][train][INFO] - max_translation_plane_error = [11.191238] +[2024-01-18 06:14:51,945][train][INFO] - max_translation_line_error = [10.70313] +[2024-01-18 06:14:51,945][train][INFO] - max_rotation_error = [13.882718] +[2024-01-18 06:14:51,945][train][INFO] - max_affordance_error = [9.308994] +[2024-01-18 06:14:51,945][train][INFO] - min_translation_distance_error = [0.979047] +[2024-01-18 06:14:51,945][train][INFO] - min_translation_along_error = [0.04258429] +[2024-01-18 06:14:51,945][train][INFO] - min_translation_perp_error = [0.45483103] +[2024-01-18 06:14:51,946][train][INFO] - min_translation_plane_error = [0.481787] +[2024-01-18 06:14:51,946][train][INFO] - min_translation_line_error = [0.29560575] +[2024-01-18 06:14:51,946][train][INFO] - min_rotation_error = [0.4909863] +[2024-01-18 06:14:51,946][train][INFO] - min_affordance_error = [1.3326147] +[2024-01-18 06:14:51,947][train][INFO] - std_translation_distance_error = [2.3267825] +[2024-01-18 06:14:51,947][train][INFO] - std_translation_along_error = [0.9664753] +[2024-01-18 06:14:51,947][train][INFO] - std_translation_perp_error = [2.3848777] +[2024-01-18 06:14:51,947][train][INFO] - std_translation_plane_error = [2.36278] +[2024-01-18 06:14:51,947][train][INFO] - std_translation_line_error = [2.0047684] +[2024-01-18 06:14:51,948][train][INFO] - std_rotation_error = [3.4210064] +[2024-01-18 06:14:51,948][train][INFO] - std_affordance_error = [1.705145] +[2024-01-18 06:14:51,948][train][INFO] - translation_outliers_num = 15 +[2024-01-18 06:14:51,948][train][INFO] - rotation_outliers_num = 28 +[2024-01-18 06:14:51,948][train][INFO] - affordance_outliers_num = 17 +[2024-01-18 06:14:51,948][train][INFO] - translation_outliers_ratio = 0.234375 +[2024-01-18 06:14:51,948][train][INFO] - rotation_outliers_ratio = 0.4375 +[2024-01-18 06:14:51,948][train][INFO] - affordance_outliers_ratio = 0.265625 +[2024-01-18 06:14:51,948][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 06:14:51,950][train][INFO] - Validated training. +[2024-01-18 06:14:51,957][train][INFO] - Validating training time: 71.19913530349731 +[2024-01-18 06:14:51,960][train][INFO] - Validating testing... +[2024-01-18 06:15:52,604][train][INFO] - mean_translation_distance_error = [4.6223283] +[2024-01-18 06:15:52,604][train][INFO] - mean_translation_along_error = [1.1110722] +[2024-01-18 06:15:52,605][train][INFO] - mean_translation_perp_error = [4.3119946] +[2024-01-18 06:15:52,605][train][INFO] - mean_translation_plane_error = [4.2987986] +[2024-01-18 06:15:52,605][train][INFO] - mean_translation_line_error = [2.2364566] +[2024-01-18 06:15:52,605][train][INFO] - mean_rotation_error = [5.425818] +[2024-01-18 06:15:52,605][train][INFO] - mean_affordance_error = [5.512046] +[2024-01-18 06:15:52,607][train][INFO] - median_translation_distance_error = [3.728372] +[2024-01-18 06:15:52,607][train][INFO] - median_translation_along_error = [1.0729327] +[2024-01-18 06:15:52,608][train][INFO] - median_translation_perp_error = [3.3456688] +[2024-01-18 06:15:52,608][train][INFO] - median_translation_plane_error = [3.361032] +[2024-01-18 06:15:52,608][train][INFO] - median_translation_line_error = [1.7838671] +[2024-01-18 06:15:52,608][train][INFO] - median_rotation_error = [4.6101923] +[2024-01-18 06:15:52,608][train][INFO] - median_affordance_error = [5.6473885] +[2024-01-18 06:15:52,609][train][INFO] - max_translation_distance_error = [16.024286] +[2024-01-18 06:15:52,609][train][INFO] - max_translation_along_error = [3.603011] +[2024-01-18 06:15:52,609][train][INFO] - max_translation_perp_error = [15.945855] +[2024-01-18 06:15:52,609][train][INFO] - max_translation_plane_error = [15.600199] +[2024-01-18 06:15:52,609][train][INFO] - max_translation_line_error = [9.385915] +[2024-01-18 06:15:52,609][train][INFO] - max_rotation_error = [13.217749] +[2024-01-18 06:15:52,610][train][INFO] - max_affordance_error = [10.169444] +[2024-01-18 06:15:52,610][train][INFO] - min_translation_distance_error = [0.6082771] +[2024-01-18 06:15:52,610][train][INFO] - min_translation_along_error = [0.03374745] +[2024-01-18 06:15:52,610][train][INFO] - min_translation_perp_error = [0.6056172] +[2024-01-18 06:15:52,610][train][INFO] - min_translation_plane_error = [0.60650474] +[2024-01-18 06:15:52,610][train][INFO] - min_translation_line_error = [0.07830394] +[2024-01-18 06:15:52,611][train][INFO] - min_rotation_error = [0.43968555] +[2024-01-18 06:15:52,611][train][INFO] - min_affordance_error = [0.644953] +[2024-01-18 06:15:52,611][train][INFO] - std_translation_distance_error = [3.0181506] +[2024-01-18 06:15:52,612][train][INFO] - std_translation_along_error = [0.79894435] +[2024-01-18 06:15:52,612][train][INFO] - std_translation_perp_error = [3.16371] +[2024-01-18 06:15:52,612][train][INFO] - std_translation_plane_error = [3.1414273] +[2024-01-18 06:15:52,612][train][INFO] - std_translation_line_error = [2.0120094] +[2024-01-18 06:15:52,612][train][INFO] - std_rotation_error = [3.0984762] +[2024-01-18 06:15:52,612][train][INFO] - std_affordance_error = [1.984661] +[2024-01-18 06:15:52,613][train][INFO] - translation_outliers_num = 15 +[2024-01-18 06:15:52,613][train][INFO] - rotation_outliers_num = 30 +[2024-01-18 06:15:52,613][train][INFO] - affordance_outliers_num = 39 +[2024-01-18 06:15:52,613][train][INFO] - translation_outliers_ratio = 0.234375 +[2024-01-18 06:15:52,613][train][INFO] - rotation_outliers_ratio = 0.46875 +[2024-01-18 06:15:52,613][train][INFO] - affordance_outliers_ratio = 0.609375 +[2024-01-18 06:15:52,613][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 06:15:52,614][train][INFO] - Validated testing. +[2024-01-18 06:15:52,618][train][INFO] - Validating testing time: 60.653056621551514 +[2024-01-18 06:15:52,619][train][INFO] - epoch: 73 lr: 0.00041479341488138684 +[2024-01-18 06:20:42,975][train][INFO] - training loss: 0.0022555176640578012 + 0.07745442452973553 + 0.0029356567496766467 + 0.03025530090755118 = 0.11290090032187956, data num: 1786 +[2024-01-18 06:20:42,976][train][INFO] - epoch: 74 lr: 0.00040208371304520883 +[2024-01-18 06:25:41,820][train][INFO] - training loss: 0.002269035890224456 + 0.07691315016044038 + 0.00287790377582756 + 0.030025926851002232 = 0.11208601774913925, data num: 1786 +[2024-01-18 06:25:41,821][train][INFO] - epoch: 75 lr: 0.0003894445448913266 +[2024-01-18 06:30:36,862][train][INFO] - training loss: 0.0022844430641271174 + 0.07592615731326598 + 0.002848685280436517 + 0.030200920599911894 = 0.11126020597293973, data num: 1786 +[2024-01-18 06:30:36,863][train][INFO] - epoch: 76 lr: 0.000376884572674252 +[2024-01-18 06:35:31,345][train][INFO] - training loss: 0.002247313952206501 + 0.07642372345019664 + 0.002865988206134976 + 0.029087228467687964 = 0.11062425381637045, data num: 1786 +[2024-01-18 06:35:31,346][train][INFO] - epoch: 77 lr: 0.00036441240437155804 +[2024-01-18 06:40:23,186][train][INFO] - training loss: 0.0022176892598508857 + 0.07509783213026822 + 0.0028233597882457878 + 0.02896179142408073 = 0.10910067268248115, data num: 1786 +[2024-01-18 06:40:23,187][train][INFO] - epoch: 78 lr: 0.00035203658778440087 +[2024-01-18 06:45:14,225][train][INFO] - training loss: 0.0022659603782813065 + 0.07526704243251256 + 0.0028696986784260453 + 0.028993060529631163 = 0.10939576217372503, data num: 1786 +[2024-01-18 06:45:14,226][train][INFO] - epoch: 79 lr: 0.0003397656046792832 +[2024-01-18 06:50:02,927][train][INFO] - training loss: 0.0022132931169055936 + 0.0749353749810585 + 0.0028461657140204416 + 0.028392762411385775 = 0.10838759590738586, data num: 1786 +[2024-01-18 06:50:02,928][train][INFO] - epoch: 80 lr: 0.00032760786497507615 +[2024-01-18 06:54:59,678][train][INFO] - training loss: 0.002214508384765525 + 0.07510589791594871 + 0.0028327792221846592 + 0.028353434072674384 = 0.1085066198637443, data num: 1786 +[2024-01-18 06:54:59,679][train][INFO] - epoch: 81 lr: 0.0003155717009792804 +[2024-01-18 06:59:55,396][train][INFO] - training loss: 0.002218262777855021 + 0.07395150492499981 + 0.002823253715177998 + 0.027786732218893512 = 0.10677975369617343, data num: 1786 +[2024-01-18 06:59:55,397][train][INFO] - epoch: 82 lr: 0.00030366536167747877 +[2024-01-18 07:04:41,070][train][INFO] - training loss: 0.002220417179549778 + 0.07421999910314168 + 0.002771410841627845 + 0.02730061429818826 = 0.10651244156594787, data num: 1786 +[2024-01-18 07:04:41,071][train][INFO] - epoch: 83 lr: 0.0002918970070798938 +[2024-01-18 07:09:28,563][train][INFO] - training loss: 0.0021991193550223087 + 0.07388908685451108 + 0.002774015728001749 + 0.02726454716009487 = 0.10612676924626742, data num: 1786 +[2024-01-18 07:09:28,565][train][INFO] - epoch: 84 lr: 0.0002802747026289241 +[2024-01-18 07:14:21,640][train][INFO] - training loss: 0.0021880559371701175 + 0.07354772480071656 + 0.002764529168156774 + 0.027207436089936112 = 0.1057077465978052, data num: 1786 +[2024-01-18 07:14:21,654][train][INFO] - Validating training... +[2024-01-18 07:15:27,218][train][INFO] - mean_translation_distance_error = [4.234362] +[2024-01-18 07:15:27,219][train][INFO] - mean_translation_along_error = [1.3788445] +[2024-01-18 07:15:27,219][train][INFO] - mean_translation_perp_error = [3.7744222] +[2024-01-18 07:15:27,220][train][INFO] - mean_translation_plane_error = [3.7460723] +[2024-01-18 07:15:27,220][train][INFO] - mean_translation_line_error = [2.3652196] +[2024-01-18 07:15:27,221][train][INFO] - mean_rotation_error = [4.7135463] +[2024-01-18 07:15:27,221][train][INFO] - mean_affordance_error = [5.2770834] +[2024-01-18 07:15:27,221][train][INFO] - median_translation_distance_error = [3.3796415] +[2024-01-18 07:15:27,221][train][INFO] - median_translation_along_error = [1.289055] +[2024-01-18 07:15:27,222][train][INFO] - median_translation_perp_error = [2.8518012] +[2024-01-18 07:15:27,222][train][INFO] - median_translation_plane_error = [2.8116167] +[2024-01-18 07:15:27,222][train][INFO] - median_translation_line_error = [1.6695495] +[2024-01-18 07:15:27,222][train][INFO] - median_rotation_error = [4.2693863] +[2024-01-18 07:15:27,222][train][INFO] - median_affordance_error = [4.389505] +[2024-01-18 07:15:27,222][train][INFO] - max_translation_distance_error = [12.329722] +[2024-01-18 07:15:27,222][train][INFO] - max_translation_along_error = [5.1913986] +[2024-01-18 07:15:27,222][train][INFO] - max_translation_perp_error = [12.325403] +[2024-01-18 07:15:27,222][train][INFO] - max_translation_plane_error = [12.325801] +[2024-01-18 07:15:27,223][train][INFO] - max_translation_line_error = [11.384373] +[2024-01-18 07:15:27,223][train][INFO] - max_rotation_error = [12.833136] +[2024-01-18 07:15:27,223][train][INFO] - max_affordance_error = [16.20101] +[2024-01-18 07:15:27,223][train][INFO] - min_translation_distance_error = [0.9690487] +[2024-01-18 07:15:27,223][train][INFO] - min_translation_along_error = [0.01703789] +[2024-01-18 07:15:27,223][train][INFO] - min_translation_perp_error = [0.3634584] +[2024-01-18 07:15:27,223][train][INFO] - min_translation_plane_error = [0.33609632] +[2024-01-18 07:15:27,223][train][INFO] - min_translation_line_error = [0.04857938] +[2024-01-18 07:15:27,223][train][INFO] - min_rotation_error = [0.18130822] +[2024-01-18 07:15:27,224][train][INFO] - min_affordance_error = [0.45710084] +[2024-01-18 07:15:27,224][train][INFO] - std_translation_distance_error = [2.4829311] +[2024-01-18 07:15:27,224][train][INFO] - std_translation_along_error = [1.0512818] +[2024-01-18 07:15:27,224][train][INFO] - std_translation_perp_error = [2.6157415] +[2024-01-18 07:15:27,224][train][INFO] - std_translation_plane_error = [2.5839849] +[2024-01-18 07:15:27,225][train][INFO] - std_translation_line_error = [2.2225223] +[2024-01-18 07:15:27,225][train][INFO] - std_rotation_error = [2.9364548] +[2024-01-18 07:15:27,225][train][INFO] - std_affordance_error = [3.093422] +[2024-01-18 07:15:27,225][train][INFO] - translation_outliers_num = 17 +[2024-01-18 07:15:27,225][train][INFO] - rotation_outliers_num = 28 +[2024-01-18 07:15:27,225][train][INFO] - affordance_outliers_num = 27 +[2024-01-18 07:15:27,225][train][INFO] - translation_outliers_ratio = 0.265625 +[2024-01-18 07:15:27,225][train][INFO] - rotation_outliers_ratio = 0.4375 +[2024-01-18 07:15:27,225][train][INFO] - affordance_outliers_ratio = 0.421875 +[2024-01-18 07:15:27,225][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 07:15:27,226][train][INFO] - Validated training. +[2024-01-18 07:15:27,229][train][INFO] - Validating training time: 65.5718629360199 +[2024-01-18 07:15:27,230][train][INFO] - Validating testing... +[2024-01-18 07:16:28,197][train][INFO] - mean_translation_distance_error = [4.703729] +[2024-01-18 07:16:28,198][train][INFO] - mean_translation_along_error = [1.453223] +[2024-01-18 07:16:28,199][train][INFO] - mean_translation_perp_error = [4.302894] +[2024-01-18 07:16:28,199][train][INFO] - mean_translation_plane_error = [4.326832] +[2024-01-18 07:16:28,199][train][INFO] - mean_translation_line_error = [2.3995576] +[2024-01-18 07:16:28,200][train][INFO] - mean_rotation_error = [5.0338697] +[2024-01-18 07:16:28,200][train][INFO] - mean_affordance_error = [5.191337] +[2024-01-18 07:16:28,201][train][INFO] - median_translation_distance_error = [4.2674017] +[2024-01-18 07:16:28,202][train][INFO] - median_translation_along_error = [1.37661] +[2024-01-18 07:16:28,202][train][INFO] - median_translation_perp_error = [3.92614] +[2024-01-18 07:16:28,202][train][INFO] - median_translation_plane_error = [3.9134502] +[2024-01-18 07:16:28,202][train][INFO] - median_translation_line_error = [1.946269] +[2024-01-18 07:16:28,202][train][INFO] - median_rotation_error = [4.445499] +[2024-01-18 07:16:28,203][train][INFO] - median_affordance_error = [4.8473415] +[2024-01-18 07:16:28,203][train][INFO] - max_translation_distance_error = [12.142456] +[2024-01-18 07:16:28,203][train][INFO] - max_translation_along_error = [4.489792] +[2024-01-18 07:16:28,203][train][INFO] - max_translation_perp_error = [12.044102] +[2024-01-18 07:16:28,203][train][INFO] - max_translation_plane_error = [12.052747] +[2024-01-18 07:16:28,203][train][INFO] - max_translation_line_error = [11.788144] +[2024-01-18 07:16:28,204][train][INFO] - max_rotation_error = [13.0847] +[2024-01-18 07:16:28,204][train][INFO] - max_affordance_error = [12.783402] +[2024-01-18 07:16:28,204][train][INFO] - min_translation_distance_error = [0.69541013] +[2024-01-18 07:16:28,204][train][INFO] - min_translation_along_error = [0.00353563] +[2024-01-18 07:16:28,204][train][INFO] - min_translation_perp_error = [0.4941162] +[2024-01-18 07:16:28,205][train][INFO] - min_translation_plane_error = [0.5438754] +[2024-01-18 07:16:28,205][train][INFO] - min_translation_line_error = [0.05202911] +[2024-01-18 07:16:28,205][train][INFO] - min_rotation_error = [0.57061225] +[2024-01-18 07:16:28,205][train][INFO] - min_affordance_error = [0.5698463] +[2024-01-18 07:16:28,206][train][INFO] - std_translation_distance_error = [2.3536346] +[2024-01-18 07:16:28,206][train][INFO] - std_translation_along_error = [1.00379] +[2024-01-18 07:16:28,206][train][INFO] - std_translation_perp_error = [2.4556692] +[2024-01-18 07:16:28,206][train][INFO] - std_translation_plane_error = [2.4552448] +[2024-01-18 07:16:28,206][train][INFO] - std_translation_line_error = [2.0524883] +[2024-01-18 07:16:28,207][train][INFO] - std_rotation_error = [3.1082373] +[2024-01-18 07:16:28,207][train][INFO] - std_affordance_error = [2.5317938] +[2024-01-18 07:16:28,207][train][INFO] - translation_outliers_num = 20 +[2024-01-18 07:16:28,207][train][INFO] - rotation_outliers_num = 29 +[2024-01-18 07:16:28,207][train][INFO] - affordance_outliers_num = 30 +[2024-01-18 07:16:28,207][train][INFO] - translation_outliers_ratio = 0.3125 +[2024-01-18 07:16:28,207][train][INFO] - rotation_outliers_ratio = 0.453125 +[2024-01-18 07:16:28,207][train][INFO] - affordance_outliers_ratio = 0.46875 +[2024-01-18 07:16:28,207][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 07:16:28,209][train][INFO] - Validated testing. +[2024-01-18 07:16:28,218][train][INFO] - Validating testing time: 60.97459387779236 +[2024-01-18 07:16:28,220][train][INFO] - epoch: 85 lr: 0.0002688064136714936 +[2024-01-18 07:21:16,582][train][INFO] - training loss: 0.0021799597171983415 + 0.07330846507102251 + 0.002785110563438918 + 0.02671696576622448 = 0.10499050115634288, data num: 1786 +[2024-01-18 07:21:16,583][train][INFO] - epoch: 86 lr: 0.0002574999999999999 +[2024-01-18 07:26:12,434][train][INFO] - training loss: 0.002148553380850769 + 0.0729468770524753 + 0.002721717134201234 + 0.026270885710671012 = 0.10408803348296455, data num: 1786 +[2024-01-18 07:26:12,435][train][INFO] - epoch: 87 lr: 0.00024636321046560516 +[2024-01-18 07:31:01,132][train][INFO] - training loss: 0.0021531531944804427 + 0.07327898615039885 + 0.0027129238296765834 + 0.025953758641013076 = 0.10409882199019194, data num: 1786 +[2024-01-18 07:31:01,133][train][INFO] - epoch: 88 lr: 0.00023540367766756157 +[2024-01-18 07:35:45,412][train][INFO] - training loss: 0.0021546263441060936 + 0.0726900749307658 + 0.0027073196418184254 + 0.026013576932850162 = 0.10356559823932392, data num: 1786 +[2024-01-18 07:35:45,414][train][INFO] - epoch: 89 lr: 0.00022462891272220746 +[2024-01-18 07:40:33,621][train][INFO] - training loss: 0.0021425775485113263 + 0.07218784922068673 + 0.002696960270571123 + 0.025276539705893292 = 0.10230392723211221, data num: 1786 +[2024-01-18 07:40:33,622][train][INFO] - epoch: 90 lr: 0.00021404630011522568 +[2024-01-18 07:45:24,514][train][INFO] - training loss: 0.0021380039532752043 + 0.07206731612261917 + 0.002716072672878259 + 0.025248047538168197 = 0.10216944072661656, data num: 1786 +[2024-01-18 07:45:24,515][train][INFO] - epoch: 91 lr: 0.00020366309264068313 +[2024-01-18 07:50:13,312][train][INFO] - training loss: 0.002124704145119592 + 0.07198751448387546 + 0.0026971223373298664 + 0.02511479491035321 = 0.10192413594839829, data num: 1786 +[2024-01-18 07:50:13,313][train][INFO] - epoch: 92 lr: 0.00019348640643033043 +[2024-01-18 07:54:59,161][train][INFO] - training loss: 0.002128189797596341 + 0.07192317000590265 + 0.002675526584165969 + 0.024952842720917294 = 0.1016797288986189, data num: 1786 +[2024-01-18 07:54:59,162][train][INFO] - epoch: 93 lr: 0.00018352321607655904 +[2024-01-18 07:59:45,217][train][INFO] - training loss: 0.00210288505747615 + 0.0714091656929148 + 0.0026749130255276604 + 0.024427962996664325 = 0.10061492664473397, data num: 1786 +[2024-01-18 07:59:45,218][train][INFO] - epoch: 94 lr: 0.00017378034985236524 +[2024-01-18 08:04:35,794][train][INFO] - training loss: 0.0021300929209766245 + 0.07127976307778486 + 0.0026718900771811604 + 0.02431132675181808 = 0.10039307256894452, data num: 1786 +[2024-01-18 08:04:35,795][train][INFO] - epoch: 95 lr: 0.00016426448503159162 +[2024-01-18 08:09:34,847][train][INFO] - training loss: 0.0021092499924374613 + 0.07066887387606714 + 0.002649164417692061 + 0.02422274022995095 = 0.09965002816170454, data num: 1786 +[2024-01-18 08:09:34,849][train][INFO] - epoch: 96 lr: 0.00015498214331265893 +[2024-01-18 08:14:25,855][train][INFO] - training loss: 0.0020948164799067725 + 0.07086990660588656 + 0.0026314535041040343 + 0.023853149414727732 = 0.09944932595161456, data num: 1786 +[2024-01-18 08:14:25,867][train][INFO] - Validating training... +[2024-01-18 08:15:34,218][train][INFO] - mean_translation_distance_error = [4.048115] +[2024-01-18 08:15:34,219][train][INFO] - mean_translation_along_error = [1.3055215] +[2024-01-18 08:15:34,219][train][INFO] - mean_translation_perp_error = [3.6032357] +[2024-01-18 08:15:34,219][train][INFO] - mean_translation_plane_error = [3.6034813] +[2024-01-18 08:15:34,220][train][INFO] - mean_translation_line_error = [1.9853103] +[2024-01-18 08:15:34,220][train][INFO] - mean_rotation_error = [4.6197615] +[2024-01-18 08:15:34,221][train][INFO] - mean_affordance_error = [4.3179917] +[2024-01-18 08:15:34,221][train][INFO] - median_translation_distance_error = [3.5307984] +[2024-01-18 08:15:34,222][train][INFO] - median_translation_along_error = [1.1082962] +[2024-01-18 08:15:34,222][train][INFO] - median_translation_perp_error = [3.0901518] +[2024-01-18 08:15:34,222][train][INFO] - median_translation_plane_error = [3.1225777] +[2024-01-18 08:15:34,222][train][INFO] - median_translation_line_error = [1.4675336] +[2024-01-18 08:15:34,222][train][INFO] - median_rotation_error = [4.222232] +[2024-01-18 08:15:34,222][train][INFO] - median_affordance_error = [4.1184316] +[2024-01-18 08:15:34,222][train][INFO] - max_translation_distance_error = [11.9342785] +[2024-01-18 08:15:34,223][train][INFO] - max_translation_along_error = [5.4217634] +[2024-01-18 08:15:34,223][train][INFO] - max_translation_perp_error = [11.810955] +[2024-01-18 08:15:34,223][train][INFO] - max_translation_plane_error = [11.925388] +[2024-01-18 08:15:34,223][train][INFO] - max_translation_line_error = [9.487033] +[2024-01-18 08:15:34,223][train][INFO] - max_rotation_error = [12.004459] +[2024-01-18 08:15:34,223][train][INFO] - max_affordance_error = [9.851771] +[2024-01-18 08:15:34,223][train][INFO] - min_translation_distance_error = [1.0031941] +[2024-01-18 08:15:34,223][train][INFO] - min_translation_along_error = [0.02150387] +[2024-01-18 08:15:34,224][train][INFO] - min_translation_perp_error = [0.33043474] +[2024-01-18 08:15:34,224][train][INFO] - min_translation_plane_error = [0.17545022] +[2024-01-18 08:15:34,224][train][INFO] - min_translation_line_error = [0.0252869] +[2024-01-18 08:15:34,224][train][INFO] - min_rotation_error = [0.27482533] +[2024-01-18 08:15:34,224][train][INFO] - min_affordance_error = [0.9170122] +[2024-01-18 08:15:34,224][train][INFO] - std_translation_distance_error = [2.3193529] +[2024-01-18 08:15:34,225][train][INFO] - std_translation_along_error = [1.100223] +[2024-01-18 08:15:34,225][train][INFO] - std_translation_perp_error = [2.4224877] +[2024-01-18 08:15:34,225][train][INFO] - std_translation_plane_error = [2.42451] +[2024-01-18 08:15:34,225][train][INFO] - std_translation_line_error = [1.7578673] +[2024-01-18 08:15:34,225][train][INFO] - std_rotation_error = [2.5351548] +[2024-01-18 08:15:34,225][train][INFO] - std_affordance_error = [2.0455182] +[2024-01-18 08:15:34,225][train][INFO] - translation_outliers_num = 10 +[2024-01-18 08:15:34,226][train][INFO] - rotation_outliers_num = 27 +[2024-01-18 08:15:34,226][train][INFO] - affordance_outliers_num = 21 +[2024-01-18 08:15:34,226][train][INFO] - translation_outliers_ratio = 0.15625 +[2024-01-18 08:15:34,226][train][INFO] - rotation_outliers_ratio = 0.421875 +[2024-01-18 08:15:34,226][train][INFO] - affordance_outliers_ratio = 0.328125 +[2024-01-18 08:15:34,226][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 08:15:34,227][train][INFO] - Validated training. +[2024-01-18 08:15:34,230][train][INFO] - Validating training time: 68.35925126075745 +[2024-01-18 08:15:34,231][train][INFO] - Validating testing... +[2024-01-18 08:16:45,866][train][INFO] - mean_translation_distance_error = [4.3393703] +[2024-01-18 08:16:45,867][train][INFO] - mean_translation_along_error = [1.3905091] +[2024-01-18 08:16:45,867][train][INFO] - mean_translation_perp_error = [3.9203515] +[2024-01-18 08:16:45,867][train][INFO] - mean_translation_plane_error = [3.9386923] +[2024-01-18 08:16:45,867][train][INFO] - mean_translation_line_error = [2.5948777] +[2024-01-18 08:16:45,867][train][INFO] - mean_rotation_error = [5.2953987] +[2024-01-18 08:16:45,867][train][INFO] - mean_affordance_error = [5.619032] +[2024-01-18 08:16:45,868][train][INFO] - median_translation_distance_error = [3.730342] +[2024-01-18 08:16:45,868][train][INFO] - median_translation_along_error = [1.1828566] +[2024-01-18 08:16:45,868][train][INFO] - median_translation_perp_error = [3.1310983] +[2024-01-18 08:16:45,868][train][INFO] - median_translation_plane_error = [3.2319531] +[2024-01-18 08:16:45,869][train][INFO] - median_translation_line_error = [1.9430594] +[2024-01-18 08:16:45,869][train][INFO] - median_rotation_error = [5.014614] +[2024-01-18 08:16:45,869][train][INFO] - median_affordance_error = [5.503891] +[2024-01-18 08:16:45,869][train][INFO] - max_translation_distance_error = [11.618133] +[2024-01-18 08:16:45,869][train][INFO] - max_translation_along_error = [4.1591296] +[2024-01-18 08:16:45,869][train][INFO] - max_translation_perp_error = [11.605757] +[2024-01-18 08:16:45,869][train][INFO] - max_translation_plane_error = [11.6468315] +[2024-01-18 08:16:45,870][train][INFO] - max_translation_line_error = [9.996001] +[2024-01-18 08:16:45,870][train][INFO] - max_rotation_error = [13.404819] +[2024-01-18 08:16:45,870][train][INFO] - max_affordance_error = [11.23267] +[2024-01-18 08:16:45,870][train][INFO] - min_translation_distance_error = [0.7375007] +[2024-01-18 08:16:45,870][train][INFO] - min_translation_along_error = [0.03771004] +[2024-01-18 08:16:45,870][train][INFO] - min_translation_perp_error = [0.2838859] +[2024-01-18 08:16:45,870][train][INFO] - min_translation_plane_error = [0.15210289] +[2024-01-18 08:16:45,870][train][INFO] - min_translation_line_error = [0.0004738] +[2024-01-18 08:16:45,871][train][INFO] - min_rotation_error = [0.57061225] +[2024-01-18 08:16:45,871][train][INFO] - min_affordance_error = [2.1461904] +[2024-01-18 08:16:45,871][train][INFO] - std_translation_distance_error = [2.4540055] +[2024-01-18 08:16:45,871][train][INFO] - std_translation_along_error = [1.0088586] +[2024-01-18 08:16:45,871][train][INFO] - std_translation_perp_error = [2.5557408] +[2024-01-18 08:16:45,871][train][INFO] - std_translation_plane_error = [2.544093] +[2024-01-18 08:16:45,872][train][INFO] - std_translation_line_error = [2.0892742] +[2024-01-18 08:16:45,872][train][INFO] - std_rotation_error = [2.657022] +[2024-01-18 08:16:45,872][train][INFO] - std_affordance_error = [2.0668857] +[2024-01-18 08:16:45,872][train][INFO] - translation_outliers_num = 19 +[2024-01-18 08:16:45,872][train][INFO] - rotation_outliers_num = 32 +[2024-01-18 08:16:45,872][train][INFO] - affordance_outliers_num = 38 +[2024-01-18 08:16:45,872][train][INFO] - translation_outliers_ratio = 0.296875 +[2024-01-18 08:16:45,872][train][INFO] - rotation_outliers_ratio = 0.5 +[2024-01-18 08:16:45,872][train][INFO] - affordance_outliers_ratio = 0.59375 +[2024-01-18 08:16:45,872][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 08:16:45,873][train][INFO] - Validated testing. +[2024-01-18 08:16:45,878][train][INFO] - Validating testing time: 71.64253735542297 +[2024-01-18 08:16:45,878][train][INFO] - epoch: 97 lr: 0.00014593968634891755 +[2024-01-18 08:21:36,378][train][INFO] - training loss: 0.00209071199580129 + 0.07076910913123616 + 0.0026342807146387975 + 0.023749463975296488 = 0.09924356559557575, data num: 1786 +[2024-01-18 08:21:36,379][train][INFO] - epoch: 98 lr: 0.0001371433113886899 +[2024-01-18 08:26:28,468][train][INFO] - training loss: 0.0020798777903629734 + 0.0704671184066683 + 0.0026315312466717194 + 0.023718473717703352 = 0.09889700137344855, data num: 1786 +[2024-01-18 08:26:28,469][train][INFO] - epoch: 99 lr: 0.00012859904702798464 +[2024-01-18 08:31:14,930][train][INFO] - training loss: 0.0020784815642400645 + 0.07010939008822399 + 0.0026260737504344434 + 0.023174255828572705 = 0.09798820090613194, data num: 1786 +[2024-01-18 08:31:14,933][train][INFO] - epoch: 100 lr: 0.00012031274907879935 +[2024-01-18 08:35:50,402][train][INFO] - training loss: 0.0020836125009477007 + 0.06995844717935792 + 0.002600178883377729 + 0.02314185638013961 = 0.09778409504464694, data num: 1786 +[2024-01-18 08:35:50,404][train][INFO] - epoch: 101 lr: 0.00011229009655583849 +[2024-01-18 08:40:29,614][train][INFO] - training loss: 0.0020699427529637304 + 0.06979116218696747 + 0.002606755325229772 + 0.023421358932474896 = 0.09788921941071749, data num: 1786 +[2024-01-18 08:40:29,615][train][INFO] - epoch: 102 lr: 0.00010453658778440102 +[2024-01-18 08:45:04,977][train][INFO] - training loss: 0.002061558010089876 + 0.06963931433191257 + 0.0026074392558907027 + 0.022971148768972074 = 0.09727946090112839, data num: 1786 +[2024-01-18 08:45:04,978][train][INFO] - epoch: 103 lr: 9.70575366321023e-05 +[2024-01-18 08:49:36,456][train][INFO] - training loss: 0.0020569721631805544 + 0.06938479182177357 + 0.002595447136887482 + 0.022820841587547745 = 0.09685805313555258, data num: 1786 +[2024-01-18 08:49:36,458][train][INFO] - epoch: 104 lr: 8.985806886701511e-05 +[2024-01-18 08:54:20,530][train][INFO] - training loss: 0.002066701811729997 + 0.06917248423477369 + 0.0025815566519408356 + 0.022711630311927626 = 0.09653237229213119, data num: 1786 +[2024-01-18 08:54:20,531][train][INFO] - epoch: 105 lr: 8.294311864472434e-05 +[2024-01-18 08:58:50,732][train][INFO] - training loss: 0.0020481668221431653 + 0.06914890999905765 + 0.00258168914712899 + 0.02254865227067577 = 0.09632741819534983, data num: 1786 +[2024-01-18 08:58:50,733][train][INFO] - epoch: 106 lr: 7.631742512670281e-05 +[2024-01-18 09:03:25,709][train][INFO] - training loss: 0.002054275721353146 + 0.06906078815726298 + 0.002577047010293297 + 0.022265237664604292 = 0.09595734865537711, data num: 1786 +[2024-01-18 09:03:25,711][train][INFO] - epoch: 107 lr: 6.998552923232717e-05 +[2024-01-18 09:07:59,900][train][INFO] - training loss: 0.002043542645489132 + 0.06888971501030028 + 0.002566972011533965 + 0.02218466763484425 = 0.09568489801936916, data num: 1786 +[2024-01-18 09:07:59,901][train][INFO] - epoch: 108 lr: 6.395177052675793e-05 +[2024-01-18 09:12:26,959][train][INFO] - training loss: 0.0020399725700761856 + 0.06891426094807684 + 0.002562354468474431 + 0.02212507523030841 = 0.09564166336453386, data num: 1786 +[2024-01-18 09:12:26,972][train][INFO] - Validating training... +[2024-01-18 09:13:29,346][train][INFO] - mean_translation_distance_error = [4.029146] +[2024-01-18 09:13:29,347][train][INFO] - mean_translation_along_error = [1.2192659] +[2024-01-18 09:13:29,347][train][INFO] - mean_translation_perp_error = [3.6625636] +[2024-01-18 09:13:29,348][train][INFO] - mean_translation_plane_error = [3.6662016] +[2024-01-18 09:13:29,348][train][INFO] - mean_translation_line_error = [2.3635497] +[2024-01-18 09:13:29,349][train][INFO] - mean_rotation_error = [4.6388187] +[2024-01-18 09:13:29,349][train][INFO] - mean_affordance_error = [4.3034534] +[2024-01-18 09:13:29,349][train][INFO] - median_translation_distance_error = [3.5181992] +[2024-01-18 09:13:29,350][train][INFO] - median_translation_along_error = [1.0556021] +[2024-01-18 09:13:29,350][train][INFO] - median_translation_perp_error = [3.222672] +[2024-01-18 09:13:29,350][train][INFO] - median_translation_plane_error = [3.2331471] +[2024-01-18 09:13:29,350][train][INFO] - median_translation_line_error = [1.9113743] +[2024-01-18 09:13:29,350][train][INFO] - median_rotation_error = [3.8492737] +[2024-01-18 09:13:29,351][train][INFO] - median_affordance_error = [3.9551673] +[2024-01-18 09:13:29,351][train][INFO] - max_translation_distance_error = [11.257805] +[2024-01-18 09:13:29,351][train][INFO] - max_translation_along_error = [3.3064046] +[2024-01-18 09:13:29,351][train][INFO] - max_translation_perp_error = [11.248534] +[2024-01-18 09:13:29,351][train][INFO] - max_translation_plane_error = [11.219411] +[2024-01-18 09:13:29,352][train][INFO] - max_translation_line_error = [8.070549] +[2024-01-18 09:13:29,352][train][INFO] - max_rotation_error = [16.05897] +[2024-01-18 09:13:29,352][train][INFO] - max_affordance_error = [14.302688] +[2024-01-18 09:13:29,352][train][INFO] - min_translation_distance_error = [0.39983484] +[2024-01-18 09:13:29,352][train][INFO] - min_translation_along_error = [0.0333193] +[2024-01-18 09:13:29,352][train][INFO] - min_translation_perp_error = [0.12844616] +[2024-01-18 09:13:29,353][train][INFO] - min_translation_plane_error = [0.19150102] +[2024-01-18 09:13:29,353][train][INFO] - min_translation_line_error = [0.01751864] +[2024-01-18 09:13:29,353][train][INFO] - min_rotation_error = [0.12820426] +[2024-01-18 09:13:29,353][train][INFO] - min_affordance_error = [0.9054601] +[2024-01-18 09:13:29,354][train][INFO] - std_translation_distance_error = [2.199924] +[2024-01-18 09:13:29,354][train][INFO] - std_translation_along_error = [0.8935814] +[2024-01-18 09:13:29,354][train][INFO] - std_translation_perp_error = [2.3182354] +[2024-01-18 09:13:29,354][train][INFO] - std_translation_plane_error = [2.3081663] +[2024-01-18 09:13:29,354][train][INFO] - std_translation_line_error = [1.8562043] +[2024-01-18 09:13:29,355][train][INFO] - std_rotation_error = [2.7774377] +[2024-01-18 09:13:29,355][train][INFO] - std_affordance_error = [2.4162846] +[2024-01-18 09:13:29,355][train][INFO] - translation_outliers_num = 14 +[2024-01-18 09:13:29,355][train][INFO] - rotation_outliers_num = 22 +[2024-01-18 09:13:29,355][train][INFO] - affordance_outliers_num = 20 +[2024-01-18 09:13:29,355][train][INFO] - translation_outliers_ratio = 0.21875 +[2024-01-18 09:13:29,355][train][INFO] - rotation_outliers_ratio = 0.34375 +[2024-01-18 09:13:29,355][train][INFO] - affordance_outliers_ratio = 0.3125 +[2024-01-18 09:13:29,355][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 09:13:29,356][train][INFO] - Validated training. +[2024-01-18 09:13:29,356][train][INFO] - Validating training time: 62.38406562805176 +[2024-01-18 09:13:29,357][train][INFO] - Validating testing... +[2024-01-18 09:14:27,328][train][INFO] - mean_translation_distance_error = [4.0826592] +[2024-01-18 09:14:27,329][train][INFO] - mean_translation_along_error = [1.4849064] +[2024-01-18 09:14:27,329][train][INFO] - mean_translation_perp_error = [3.6080723] +[2024-01-18 09:14:27,329][train][INFO] - mean_translation_plane_error = [3.6425798] +[2024-01-18 09:14:27,329][train][INFO] - mean_translation_line_error = [2.2422087] +[2024-01-18 09:14:27,329][train][INFO] - mean_rotation_error = [5.2596292] +[2024-01-18 09:14:27,329][train][INFO] - mean_affordance_error = [5.079014] +[2024-01-18 09:14:27,330][train][INFO] - median_translation_distance_error = [3.9183588] +[2024-01-18 09:14:27,330][train][INFO] - median_translation_along_error = [1.3673996] +[2024-01-18 09:14:27,330][train][INFO] - median_translation_perp_error = [3.3984056] +[2024-01-18 09:14:27,330][train][INFO] - median_translation_plane_error = [3.4325058] +[2024-01-18 09:14:27,330][train][INFO] - median_translation_line_error = [1.7387227] +[2024-01-18 09:14:27,331][train][INFO] - median_rotation_error = [4.7896914] +[2024-01-18 09:14:27,331][train][INFO] - median_affordance_error = [4.5293365] +[2024-01-18 09:14:27,331][train][INFO] - max_translation_distance_error = [12.661793] +[2024-01-18 09:14:27,331][train][INFO] - max_translation_along_error = [3.3489256] +[2024-01-18 09:14:27,331][train][INFO] - max_translation_perp_error = [12.434016] +[2024-01-18 09:14:27,331][train][INFO] - max_translation_plane_error = [12.618206] +[2024-01-18 09:14:27,331][train][INFO] - max_translation_line_error = [8.808992] +[2024-01-18 09:14:27,331][train][INFO] - max_rotation_error = [12.871118] +[2024-01-18 09:14:27,331][train][INFO] - max_affordance_error = [11.527306] +[2024-01-18 09:14:27,332][train][INFO] - min_translation_distance_error = [1.1137565] +[2024-01-18 09:14:27,332][train][INFO] - min_translation_along_error = [0.00385644] +[2024-01-18 09:14:27,332][train][INFO] - min_translation_perp_error = [0.69648504] +[2024-01-18 09:14:27,332][train][INFO] - min_translation_plane_error = [0.7622253] +[2024-01-18 09:14:27,332][train][INFO] - min_translation_line_error = [0.03882591] +[2024-01-18 09:14:27,332][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 09:14:27,332][train][INFO] - min_affordance_error = [1.8717356] +[2024-01-18 09:14:27,333][train][INFO] - std_translation_distance_error = [1.9953676] +[2024-01-18 09:14:27,333][train][INFO] - std_translation_along_error = [0.9731306] +[2024-01-18 09:14:27,333][train][INFO] - std_translation_perp_error = [2.1164787] +[2024-01-18 09:14:27,333][train][INFO] - std_translation_plane_error = [2.1127956] +[2024-01-18 09:14:27,333][train][INFO] - std_translation_line_error = [1.9128116] +[2024-01-18 09:14:27,333][train][INFO] - std_rotation_error = [2.9855833] +[2024-01-18 09:14:27,333][train][INFO] - std_affordance_error = [2.0724015] +[2024-01-18 09:14:27,333][train][INFO] - translation_outliers_num = 14 +[2024-01-18 09:14:27,333][train][INFO] - rotation_outliers_num = 28 +[2024-01-18 09:14:27,333][train][INFO] - affordance_outliers_num = 29 +[2024-01-18 09:14:27,333][train][INFO] - translation_outliers_ratio = 0.21875 +[2024-01-18 09:14:27,334][train][INFO] - rotation_outliers_ratio = 0.4375 +[2024-01-18 09:14:27,334][train][INFO] - affordance_outliers_ratio = 0.453125 +[2024-01-18 09:14:27,334][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 09:14:27,335][train][INFO] - Validated testing. +[2024-01-18 09:14:27,340][train][INFO] - Validating testing time: 57.977967500686646 +[2024-01-18 09:14:27,342][train][INFO] - epoch: 109 lr: 5.8220284246819084e-05 +[2024-01-18 09:18:58,887][train][INFO] - training loss: 0.0020391730836958493 + 0.06873425202710289 + 0.002566989033117092 + 0.021946482759501253 = 0.09528689698449203, data num: 1786 +[2024-01-18 09:18:58,888][train][INFO] - epoch: 110 lr: 5.2794998466912506e-05 +[2024-01-18 09:23:36,202][train][INFO] - training loss: 0.0020431014127098024 + 0.06863594870083034 + 0.002559828545989668 + 0.02211180348448189 = 0.09535068246935095, data num: 1786 +[2024-01-18 09:23:36,204][train][INFO] - epoch: 111 lr: 4.767963140691306e-05 +[2024-01-18 09:28:16,742][train][INFO] - training loss: 0.002033658960759307 + 0.06863521947525442 + 0.002554387244994619 + 0.021720476248966798 = 0.09494374173560313, data num: 1786 +[2024-01-18 09:28:16,743][train][INFO] - epoch: 112 lr: 4.2877688883885126e-05 +[2024-01-18 09:32:44,985][train][INFO] - training loss: 0.0020287681950971353 + 0.06843855162151158 + 0.00255050331907114 + 0.021688836335670203 = 0.09470665920525789, data num: 1786 +[2024-01-18 09:32:44,987][train][INFO] - epoch: 113 lr: 3.839246190937172e-05 +[2024-01-18 09:37:23,514][train][INFO] - training loss: 0.0020358640301440445 + 0.0683244617123689 + 0.002545266727143566 + 0.021548667157601033 = 0.0944542596116662, data num: 1786 +[2024-01-18 09:37:23,515][train][INFO] - epoch: 114 lr: 3.422702443389899e-05 +[2024-01-18 09:41:50,111][train][INFO] - training loss: 0.0020281388975230846 + 0.0682761125333075 + 0.002547479710691342 + 0.021540489330488657 = 0.09439222042315773, data num: 1786 +[2024-01-18 09:41:50,113][train][INFO] - epoch: 115 lr: 3.0384231240244488e-05 +[2024-01-18 09:46:24,486][train][INFO] - training loss: 0.0020232680347232546 + 0.06823518679344229 + 0.00254539842093696 + 0.021565029688645154 = 0.0943688830094678, data num: 1786 +[2024-01-18 09:46:24,488][train][INFO] - epoch: 116 lr: 2.686671598691118e-05 +[2024-01-18 09:51:03,089][train][INFO] - training loss: 0.002028004358830263 + 0.06812740310228296 + 0.0025376786382236916 + 0.021384442599290714 = 0.09407752845436335, data num: 1786 +[2024-01-18 09:51:03,090][train][INFO] - epoch: 117 lr: 2.3676889403150102e-05 +[2024-01-18 09:55:29,950][train][INFO] - training loss: 0.0020211313666160485 + 0.06802665438902165 + 0.002538892283545075 + 0.02130788962157177 = 0.09389456807236586, data num: 1786 +[2024-01-18 09:55:29,952][train][INFO] - epoch: 118 lr: 2.081693763676618e-05 +[2024-01-18 10:00:02,776][train][INFO] - training loss: 0.0020284930838637854 + 0.06798365362919867 + 0.002538087209229291 + 0.021325782165929143 = 0.09387601586058736, data num: 1786 +[2024-01-18 10:00:02,777][train][INFO] - epoch: 119 lr: 1.8288820755842517e-05 +[2024-01-18 10:04:29,588][train][INFO] - training loss: 0.0020141000963381623 + 0.06785151927864977 + 0.002527392702177167 + 0.021316131385641972 = 0.09370914327778987, data num: 1786 +[2024-01-18 10:04:29,588][train][INFO] - Optimized. +[2024-01-18 10:04:29,589][train][INFO] - Training time: 39759.89591526985 +[2024-01-18 10:04:29,589][train][INFO] - Testing training... +[2024-01-18 10:16:54,826][train][INFO] - mean_translation_distance_error = [3.7649934] +[2024-01-18 10:16:54,827][train][INFO] - mean_translation_along_error = [1.2773372] +[2024-01-18 10:16:54,827][train][INFO] - mean_translation_perp_error = [3.3480172] +[2024-01-18 10:16:54,827][train][INFO] - mean_translation_plane_error = [3.3479295] +[2024-01-18 10:16:54,827][train][INFO] - mean_translation_line_error = [2.0322773] +[2024-01-18 10:16:54,827][train][INFO] - mean_rotation_error = [4.8758674] +[2024-01-18 10:16:54,827][train][INFO] - mean_affordance_error = [4.126159] +[2024-01-18 10:16:54,828][train][INFO] - median_translation_distance_error = [3.3379235] +[2024-01-18 10:16:54,828][train][INFO] - median_translation_along_error = [1.0113933] +[2024-01-18 10:16:54,828][train][INFO] - median_translation_perp_error = [2.9281025] +[2024-01-18 10:16:54,829][train][INFO] - median_translation_plane_error = [2.9136515] +[2024-01-18 10:16:54,829][train][INFO] - median_translation_line_error = [1.6582592] +[2024-01-18 10:16:54,829][train][INFO] - median_rotation_error = [4.23015] +[2024-01-18 10:16:54,829][train][INFO] - median_affordance_error = [3.571859] +[2024-01-18 10:16:54,829][train][INFO] - max_translation_distance_error = [21.38055] +[2024-01-18 10:16:54,829][train][INFO] - max_translation_along_error = [6.92847] +[2024-01-18 10:16:54,829][train][INFO] - max_translation_perp_error = [21.204231] +[2024-01-18 10:16:54,829][train][INFO] - max_translation_plane_error = [20.817118] +[2024-01-18 10:16:54,829][train][INFO] - max_translation_line_error = [14.102247] +[2024-01-18 10:16:54,830][train][INFO] - max_rotation_error = [18.975676] +[2024-01-18 10:16:54,830][train][INFO] - max_affordance_error = [19.344046] +[2024-01-18 10:16:54,830][train][INFO] - min_translation_distance_error = [0.12478535] +[2024-01-18 10:16:54,830][train][INFO] - min_translation_along_error = [0.00251178] +[2024-01-18 10:16:54,830][train][INFO] - min_translation_perp_error = [0.11844859] +[2024-01-18 10:16:54,830][train][INFO] - min_translation_plane_error = [0.12490582] +[2024-01-18 10:16:54,830][train][INFO] - min_translation_line_error = [0.00019298] +[2024-01-18 10:16:54,830][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 10:16:54,830][train][INFO] - min_affordance_error = [0.2968039] +[2024-01-18 10:16:54,831][train][INFO] - std_translation_distance_error = [2.122375] +[2024-01-18 10:16:54,831][train][INFO] - std_translation_along_error = [1.047867] +[2024-01-18 10:16:54,831][train][INFO] - std_translation_perp_error = [2.1773415] +[2024-01-18 10:16:54,831][train][INFO] - std_translation_plane_error = [2.1686523] +[2024-01-18 10:16:54,831][train][INFO] - std_translation_line_error = [1.6989607] +[2024-01-18 10:16:54,831][train][INFO] - std_rotation_error = [2.91149] +[2024-01-18 10:16:54,832][train][INFO] - std_affordance_error = [2.4701738] +[2024-01-18 10:16:54,832][train][INFO] - translation_outliers_num = 319 +[2024-01-18 10:16:54,832][train][INFO] - rotation_outliers_num = 717 +[2024-01-18 10:16:54,832][train][INFO] - affordance_outliers_num = 470 +[2024-01-18 10:16:54,832][train][INFO] - translation_outliers_ratio = 0.1786114221724524 +[2024-01-18 10:16:54,832][train][INFO] - rotation_outliers_ratio = 0.40145576707726766 +[2024-01-18 10:16:54,832][train][INFO] - affordance_outliers_ratio = 0.2631578947368421 +[2024-01-18 10:16:54,832][train][INFO] - data_num = 1786, joint_num = 1 +[2024-01-18 10:16:54,833][train][INFO] - Tested training. +[2024-01-18 10:16:54,840][train][INFO] - Testing training time: 745.2436451911926 +[2024-01-18 10:16:54,841][train][INFO] - Testing testing... +[2024-01-18 10:22:09,032][train][INFO] - mean_translation_distance_error = [4.317978] +[2024-01-18 10:22:09,033][train][INFO] - mean_translation_along_error = [1.3722314] +[2024-01-18 10:22:09,034][train][INFO] - mean_translation_perp_error = [3.8954031] +[2024-01-18 10:22:09,034][train][INFO] - mean_translation_plane_error = [3.9028478] +[2024-01-18 10:22:09,035][train][INFO] - mean_translation_line_error = [2.4091544] +[2024-01-18 10:22:09,035][train][INFO] - mean_rotation_error = [5.1885734] +[2024-01-18 10:22:09,035][train][INFO] - mean_affordance_error = [4.978508] +[2024-01-18 10:22:09,037][train][INFO] - median_translation_distance_error = [3.9026554] +[2024-01-18 10:22:09,037][train][INFO] - median_translation_along_error = [1.1653231] +[2024-01-18 10:22:09,037][train][INFO] - median_translation_perp_error = [3.459222] +[2024-01-18 10:22:09,037][train][INFO] - median_translation_plane_error = [3.4868255] +[2024-01-18 10:22:09,037][train][INFO] - median_translation_line_error = [1.9900985] +[2024-01-18 10:22:09,038][train][INFO] - median_rotation_error = [4.585437] +[2024-01-18 10:22:09,038][train][INFO] - median_affordance_error = [4.5332885] +[2024-01-18 10:22:09,038][train][INFO] - max_translation_distance_error = [15.067384] +[2024-01-18 10:22:09,038][train][INFO] - max_translation_along_error = [6.3532815] +[2024-01-18 10:22:09,038][train][INFO] - max_translation_perp_error = [15.067293] +[2024-01-18 10:22:09,038][train][INFO] - max_translation_plane_error = [15.057595] +[2024-01-18 10:22:09,038][train][INFO] - max_translation_line_error = [12.295528] +[2024-01-18 10:22:09,038][train][INFO] - max_rotation_error = [19.157402] +[2024-01-18 10:22:09,039][train][INFO] - max_affordance_error = [18.729439] +[2024-01-18 10:22:09,039][train][INFO] - min_translation_distance_error = [0.21267658] +[2024-01-18 10:22:09,039][train][INFO] - min_translation_along_error = [0.00020321] +[2024-01-18 10:22:09,039][train][INFO] - min_translation_perp_error = [0.21246548] +[2024-01-18 10:22:09,039][train][INFO] - min_translation_plane_error = [0.21348572] +[2024-01-18 10:22:09,039][train][INFO] - min_translation_line_error = [0.01580367] +[2024-01-18 10:22:09,039][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 10:22:09,039][train][INFO] - min_affordance_error = [0.53300506] +[2024-01-18 10:22:09,040][train][INFO] - std_translation_distance_error = [2.176304] +[2024-01-18 10:22:09,040][train][INFO] - std_translation_along_error = [1.0538548] +[2024-01-18 10:22:09,040][train][INFO] - std_translation_perp_error = [2.2832952] +[2024-01-18 10:22:09,040][train][INFO] - std_translation_plane_error = [2.2740092] +[2024-01-18 10:22:09,040][train][INFO] - std_translation_line_error = [1.911476] +[2024-01-18 10:22:09,041][train][INFO] - std_rotation_error = [3.0817246] +[2024-01-18 10:22:09,041][train][INFO] - std_affordance_error = [2.4861813] +[2024-01-18 10:22:09,041][train][INFO] - translation_outliers_num = 207 +[2024-01-18 10:22:09,041][train][INFO] - rotation_outliers_num = 336 +[2024-01-18 10:22:09,041][train][INFO] - affordance_outliers_num = 316 +[2024-01-18 10:22:09,041][train][INFO] - translation_outliers_ratio = 0.27417218543046357 +[2024-01-18 10:22:09,041][train][INFO] - rotation_outliers_ratio = 0.44503311258278144 +[2024-01-18 10:22:09,041][train][INFO] - affordance_outliers_ratio = 0.4185430463576159 +[2024-01-18 10:22:09,041][train][INFO] - data_num = 755, joint_num = 1 +[2024-01-18 10:22:09,042][train][INFO] - Tested testing. +[2024-01-18 10:22:09,045][train][INFO] - Testing testing time: 314.20088720321655 diff --git a/formal_safe_2024_01_17_23_01_44/weights/encoder_latest.pth b/formal_safe_2024_01_17_23_01_44/weights/encoder_latest.pth new file mode 100644 index 0000000000000000000000000000000000000000..3a7949159ca4c80ac8122034763b1243fa52cf82 --- /dev/null +++ b/formal_safe_2024_01_17_23_01_44/weights/encoder_latest.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c68a3be08143a1b358dad3fa7864b39fad82b4a91873f37742321bcc65ab888e +size 1021585 diff --git a/formal_safe_2024_01_17_23_01_44/weights/shot_encoder_latest.pth b/formal_safe_2024_01_17_23_01_44/weights/shot_encoder_latest.pth new file mode 100644 index 0000000000000000000000000000000000000000..1ea08e630a5867f124a437bb76403dc210cb0ab8 --- /dev/null +++ b/formal_safe_2024_01_17_23_01_44/weights/shot_encoder_latest.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e11896eefad46287bb1cbef85d286e659d32c55704d156e85021b1530c14eef9 +size 1046929 diff --git a/formal_storagefurniture_2024_01_18_11_13_43/.hydra/config.yaml b/formal_storagefurniture_2024_01_18_11_13_43/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..afc0828d0e066ed5772646b8c75841dd8c658b0b --- /dev/null +++ b/formal_storagefurniture_2024_01_18_11_13_43/.hydra/config.yaml @@ -0,0 +1,69 @@ +dataset: + train_path: /data2/junbo/sapien4/train + test_path: /data2/junbo/sapien4/test + train_categories: + - StorageFurniture + test_categories: + - StorageFurniture + joint_num: 2 + resolution: 0.01 + receptive_field: 10 + normalize: none + sample_points_num: 1024 + rgb: false + denoise: false +algorithm: + sampling: + sample_tuples_num: 100000 + tuple_more_num: 3 + shot_encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + feature_dim: 64 + bn: false + ln: false + dropout: 0 + encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + bn: false + ln: false + dropout: 0 + voting: + rot_bin_num: 36 + voting_num: 120 + angle_tol: 1.5 + translation2pc: false + rotation_cluster: false + multi_candidate: false + candidate_threshold: 0.5 + rotation_multi_neighbor: false + neighbor_threshold: 10 + bmm_size: 100000 +training: + seed: 42 + device: 0 + batch_size: 16 + num_workers: 8 + epoch_num: 200 + lr: 0.001 + weight_decay: 0 + lambda_rot: 0.1 + lambda_afford: 1.0 + lambda_conf: 0.5 + val_training: true + val_training_num: 64 + val_testing: true + val_testing_num: 64 + test_train: true + test_test: true +abbr: formal_storagefurniture +debug: false diff --git a/formal_storagefurniture_2024_01_18_11_13_43/.hydra/hydra.yaml b/formal_storagefurniture_2024_01_18_11_13_43/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d4d15e8481809480476875ce22375e87c5ff7fa --- /dev/null +++ b/formal_storagefurniture_2024_01_18_11_13_43/.hydra/hydra.yaml @@ -0,0 +1,157 @@ +hydra: + run: + dir: ./outputs/train/${abbr}_${now:%Y_%m_%d_%H_%M_%S} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: train + chdir: null + override_dirname: '' + id: ??? + num: ??? + config_name: train_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.2' + cwd: /home/junbo/Codes/rpmart + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/junbo/Codes/rpmart/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/junbo/Codes/rpmart/outputs/train/formal_storagefurniture_2024_01_18_11_13_43 + choices: + training: formal + algorithm: formal + dataset: formal_storagefurniture + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/formal_storagefurniture_2024_01_18_11_13_43/.hydra/overrides.yaml b/formal_storagefurniture_2024_01_18_11_13_43/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe51488c7066f6687ef680d6bfaa4f7768ef205c --- /dev/null +++ b/formal_storagefurniture_2024_01_18_11_13_43/.hydra/overrides.yaml @@ -0,0 +1 @@ +[] diff --git a/formal_storagefurniture_2024_01_18_11_13_43/tb/events.out.tfevents.1705547625.aiadm-PIO-6049GP-TRT1-ZY001.1124958.0 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0000000000000000000000000000000000000000..df17e27290658b8f4067903ee743401e24e179b3 --- /dev/null +++ b/formal_storagefurniture_2024_01_18_11_13_43/tb/training_joint_0_translation_perp_error_max/events.out.tfevents.1705547898.aiadm-PIO-6049GP-TRT1-ZY001.1124958.13 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8838e0a1ec2ab27b448bf69d0103d817524fde69f23e48ec1e464c554892b9d2 +size 937 diff --git a/formal_storagefurniture_2024_01_18_11_13_43/train.log b/formal_storagefurniture_2024_01_18_11_13_43/train.log new file mode 100644 index 0000000000000000000000000000000000000000..c0ea72a6dffcc2d36bac611a51051383fbce519f --- /dev/null +++ b/formal_storagefurniture_2024_01_18_11_13_43/train.log @@ -0,0 +1,1397 @@ +[2024-01-18 11:13:43,308][train][INFO] - Preparing dataset... +[2024-01-18 11:13:43,548][train][INFO] - Prepared dataset. +[2024-01-18 11:13:43,548][train][INFO] - Preparing model... +[2024-01-18 11:13:45,378][train][INFO] - Prepared model. +[2024-01-18 11:13:45,378][train][INFO] - Optimizing... +[2024-01-18 11:13:45,398][train][INFO] - epoch: 0 lr: 0.0001 +[2024-01-18 11:16:43,056][train][INFO] - training loss: 0.01343566574729406 + 0.3042392785732563 + 0.025901716173841405 + 0.27891020958240215 = 0.6224868691884554, data num: 1033 +[2024-01-18 11:16:43,070][train][INFO] - Validating training... +[2024-01-18 11:18:18,857][train][INFO] - mean_translation_distance_error = [149.61609 149.06032] +[2024-01-18 11:18:18,858][train][INFO] - mean_translation_along_error = [100.49154 38.39949] +[2024-01-18 11:18:18,858][train][INFO] - mean_translation_perp_error = [ 95.64581 141.85605] +[2024-01-18 11:18:18,858][train][INFO] - mean_translation_plane_error = [592.26263 101.91744] +[2024-01-18 11:18:18,858][train][INFO] - mean_translation_line_error = [ 60.31917 114.74106] +[2024-01-18 11:18:18,858][train][INFO] - mean_rotation_error = [93.666306 90. ] +[2024-01-18 11:18:18,859][train][INFO] - mean_affordance_error = [145.41733 130.73198] +[2024-01-18 11:18:18,860][train][INFO] - median_translation_distance_error = [147.73965 147.63298] +[2024-01-18 11:18:18,860][train][INFO] - median_translation_along_error = [109.0038 40.091095] +[2024-01-18 11:18:18,860][train][INFO] - median_translation_perp_error = [ 87.71147 143.44307] +[2024-01-18 11:18:18,860][train][INFO] - median_translation_plane_error = [306.15393 100.947105] +[2024-01-18 11:18:18,861][train][INFO] - median_translation_line_error = [ 62.51696 114.75485] +[2024-01-18 11:18:18,861][train][INFO] - median_rotation_error = [95.24807 90. ] +[2024-01-18 11:18:18,861][train][INFO] - median_affordance_error = [143.53992 126.70658] +[2024-01-18 11:18:18,861][train][INFO] - max_translation_distance_error = [197.01472 210.19724] +[2024-01-18 11:18:18,861][train][INFO] - max_translation_along_error = [172.46902 81.99873] +[2024-01-18 11:18:18,862][train][INFO] - max_translation_perp_error = [196.72366 210.13403] +[2024-01-18 11:18:18,862][train][INFO] - max_translation_plane_error = [4512.3384 157.04585] +[2024-01-18 11:18:18,862][train][INFO] - max_translation_line_error = [108.58998 177.71788] +[2024-01-18 11:18:18,862][train][INFO] - max_rotation_error = [146.9579 90. ] +[2024-01-18 11:18:18,862][train][INFO] - max_affordance_error = [198.28795 195.69008] +[2024-01-18 11:18:18,862][train][INFO] - min_translation_distance_error = [99.26684 90.309204] +[2024-01-18 11:18:18,863][train][INFO] - min_translation_along_error = [1.1785612 1.7083526] +[2024-01-18 11:18:18,863][train][INFO] - min_translation_perp_error = [ 9.259075 74.24565 ] +[2024-01-18 11:18:18,863][train][INFO] - min_translation_plane_error = [90.51656 47.950806] +[2024-01-18 11:18:18,863][train][INFO] - min_translation_line_error = [ 7.5043344 33.08608 ] +[2024-01-18 11:18:18,863][train][INFO] - min_rotation_error = [37.875957 90. ] +[2024-01-18 11:18:18,864][train][INFO] - min_affordance_error = [102.704475 87.66674 ] +[2024-01-18 11:18:18,864][train][INFO] - std_translation_distance_error = [21.898611 25.00316 ] +[2024-01-18 11:18:18,864][train][INFO] - std_translation_along_error = [41.923542 21.45682 ] +[2024-01-18 11:18:18,865][train][INFO] - std_translation_perp_error = [43.130833 28.03747 ] +[2024-01-18 11:18:18,865][train][INFO] - std_translation_plane_error = [786.5005 27.804861] +[2024-01-18 11:18:18,865][train][INFO] - std_translation_line_error = [24.05952 26.983936] +[2024-01-18 11:18:18,865][train][INFO] - std_rotation_error = [29.850817 0. ] +[2024-01-18 11:18:18,865][train][INFO] - std_affordance_error = [21.226513 24.865417] +[2024-01-18 11:18:18,865][train][INFO] - translation_outliers_num = 128 +[2024-01-18 11:18:18,865][train][INFO] - rotation_outliers_num = 128 +[2024-01-18 11:18:18,865][train][INFO] - affordance_outliers_num = 128 +[2024-01-18 11:18:18,866][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-18 11:18:18,866][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-18 11:18:18,866][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-18 11:18:18,866][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 11:18:18,936][train][INFO] - Validated training. +[2024-01-18 11:18:18,936][train][INFO] - Validating training time: 95.86548209190369 +[2024-01-18 11:18:18,937][train][INFO] - Validating testing... +[2024-01-18 11:20:45,892][train][INFO] - mean_translation_distance_error = [150.21492 149.8443 ] +[2024-01-18 11:20:45,893][train][INFO] - mean_translation_along_error = [102.9198 34.772976] +[2024-01-18 11:20:45,893][train][INFO] - mean_translation_perp_error = [ 91.65702 143.80034] +[2024-01-18 11:20:45,894][train][INFO] - mean_translation_plane_error = [498.2067 103.54922] +[2024-01-18 11:20:45,894][train][INFO] - mean_translation_line_error = [ 53.658398 119.39284 ] +[2024-01-18 11:20:45,894][train][INFO] - mean_rotation_error = [93.15138 90. ] +[2024-01-18 11:20:45,894][train][INFO] - mean_affordance_error = [144.35545 132.17834] +[2024-01-18 11:20:45,895][train][INFO] - median_translation_distance_error = [149.3895 147.52159] +[2024-01-18 11:20:45,895][train][INFO] - median_translation_along_error = [116.79818 31.314323] +[2024-01-18 11:20:45,895][train][INFO] - median_translation_perp_error = [ 85.35759 140.83728] +[2024-01-18 11:20:45,895][train][INFO] - median_translation_plane_error = [285.40347 101.92673] +[2024-01-18 11:20:45,895][train][INFO] - median_translation_line_error = [ 53.12933 118.1414 ] +[2024-01-18 11:20:45,895][train][INFO] - median_rotation_error = [100.487854 90. ] +[2024-01-18 11:20:45,895][train][INFO] - median_affordance_error = [142.45825 130.14925] +[2024-01-18 11:20:45,896][train][INFO] - max_translation_distance_error = [207.92282 219.42249] +[2024-01-18 11:20:45,896][train][INFO] - max_translation_along_error = [180.24066 71.955345] +[2024-01-18 11:20:45,896][train][INFO] - max_translation_perp_error = [207.8959 219.01509] +[2024-01-18 11:20:45,896][train][INFO] - max_translation_plane_error = [4735.2866 177.76936] +[2024-01-18 11:20:45,896][train][INFO] - max_translation_line_error = [ 98.54264 172.60406] +[2024-01-18 11:20:45,896][train][INFO] - max_rotation_error = [144.56984 90. ] +[2024-01-18 11:20:45,896][train][INFO] - max_affordance_error = [211.17494 212.11353] +[2024-01-18 11:20:45,897][train][INFO] - min_translation_distance_error = [118.4358 110.82382] +[2024-01-18 11:20:45,897][train][INFO] - min_translation_along_error = [0.76672435 0.15459657] +[2024-01-18 11:20:45,897][train][INFO] - min_translation_perp_error = [ 9.494756 96.639946] +[2024-01-18 11:20:45,897][train][INFO] - min_translation_plane_error = [132.56729 44.574657] +[2024-01-18 11:20:45,897][train][INFO] - min_translation_line_error = [ 2.4725108 65.93632 ] +[2024-01-18 11:20:45,897][train][INFO] - min_rotation_error = [30.312065 90. ] +[2024-01-18 11:20:45,897][train][INFO] - min_affordance_error = [114.220604 97.28234 ] +[2024-01-18 11:20:45,898][train][INFO] - std_translation_distance_error = [19.155586 22.748463] +[2024-01-18 11:20:45,898][train][INFO] - std_translation_along_error = [42.177284 20.29521 ] +[2024-01-18 11:20:45,898][train][INFO] - std_translation_perp_error = [46.465477 25.907478] +[2024-01-18 11:20:45,898][train][INFO] - std_translation_plane_error = [683.6054 27.939955] +[2024-01-18 11:20:45,898][train][INFO] - std_translation_line_error = [25.896666 22.312565] +[2024-01-18 11:20:45,898][train][INFO] - std_rotation_error = [31.118935 0. ] +[2024-01-18 11:20:45,899][train][INFO] - std_affordance_error = [19.111523 22.612883] +[2024-01-18 11:20:45,899][train][INFO] - translation_outliers_num = 128 +[2024-01-18 11:20:45,899][train][INFO] - rotation_outliers_num = 128 +[2024-01-18 11:20:45,899][train][INFO] - affordance_outliers_num = 128 +[2024-01-18 11:20:45,899][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-18 11:20:45,899][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-18 11:20:45,899][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-18 11:20:45,899][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 11:20:45,963][train][INFO] - Validated testing. +[2024-01-18 11:20:45,963][train][INFO] - Validating testing time: 147.0263328552246 +[2024-01-18 11:20:45,964][train][INFO] - epoch: 1 lr: 0.0002 +[2024-01-18 11:23:46,980][train][INFO] - training loss: 0.007630403590603517 + 0.2888764120065249 + 0.011741508385882928 + 0.25090846648583043 = 0.5591567892294663, data num: 1033 +[2024-01-18 11:23:46,981][train][INFO] - epoch: 2 lr: 0.0003 +[2024-01-18 11:26:56,981][train][INFO] - training loss: 0.006828709276249775 + 0.26877855635606324 + 0.01040014080130137 + 0.2219521524814459 = 0.5079595579550816, data num: 1033 +[2024-01-18 11:26:56,982][train][INFO] - epoch: 3 lr: 0.0004 +[2024-01-18 11:30:03,447][train][INFO] - training loss: 0.006016621000778217 + 0.22548681016151723 + 0.009822311918609418 + 0.18374138864187095 = 0.4250671313359187, data num: 1033 +[2024-01-18 11:30:03,449][train][INFO] - epoch: 4 lr: 0.0005 +[2024-01-18 11:33:22,238][train][INFO] - training loss: 0.006252519514125127 + 0.1982927652505728 + 0.009370993321331648 + 0.15672782544906322 = 0.3706441058562352, data num: 1033 +[2024-01-18 11:33:22,240][train][INFO] - epoch: 5 lr: 0.0006 +[2024-01-18 11:36:47,798][train][INFO] - training loss: 0.005277986007814224 + 0.18879886613442348 + 0.008710729144513606 + 0.1418225443133941 = 0.3446101252849285, data num: 1033 +[2024-01-18 11:36:47,799][train][INFO] - epoch: 6 lr: 0.0007 +[2024-01-18 11:40:12,389][train][INFO] - training loss: 0.005250280171346206 + 0.18123324605134816 + 0.00795921954111411 + 0.1267686168734844 = 0.32121136280206536, data num: 1033 +[2024-01-18 11:40:12,390][train][INFO] - epoch: 7 lr: 0.0008 +[2024-01-18 11:43:39,172][train][INFO] - training loss: 0.004902294263816797 + 0.17582338406489445 + 0.007555618609946507 + 0.12000700349991138 = 0.3082883004958813, data num: 1033 +[2024-01-18 11:43:39,173][train][INFO] - epoch: 8 lr: 0.0009000000000000001 +[2024-01-18 11:47:02,385][train][INFO] - training loss: 0.005069286186391344 + 0.1698178944679407 + 0.006865553307132079 + 0.10897145351538291 = 0.2907241880893707, data num: 1033 +[2024-01-18 11:47:02,386][train][INFO] - epoch: 9 lr: 0.001 +[2024-01-18 11:50:21,967][train][INFO] - training loss: 0.004314149869605899 + 0.16515811383724213 + 0.0066477343296775454 + 0.1022281981431521 = 0.278348197386815, data num: 1033 +[2024-01-18 11:50:21,969][train][INFO] - epoch: 10 lr: 0.001 +[2024-01-18 11:53:50,212][train][INFO] - training loss: 0.00433765363592941 + 0.16263550772116733 + 0.006155420553225738 + 0.09836585407073681 = 0.27149443351305447, data num: 1033 +[2024-01-18 11:53:50,213][train][INFO] - epoch: 11 lr: 0.000999938933078422 +[2024-01-18 11:57:13,104][train][INFO] - training loss: 0.004317868855566932 + 0.15865465998649597 + 0.006212694025956668 + 0.09396134122059896 = 0.2631465645936819, data num: 1033 +[2024-01-18 11:57:13,104][train][INFO] - epoch: 12 lr: 0.000999755747381037 +[2024-01-18 12:00:31,514][train][INFO] - training loss: 0.003957482237512103 + 0.15698146292796503 + 0.0061167466597488295 + 0.0877409672507873 = 0.2547966594879444, data num: 1033 +[2024-01-18 12:00:31,516][train][INFO] - epoch: 13 lr: 0.000999450488106175 +[2024-01-18 12:03:56,254][train][INFO] - training loss: 0.003976776988173907 + 0.15567441949477562 + 0.00571666076922646 + 0.0837936581327365 = 0.2491615144106058, data num: 1033 +[2024-01-18 12:03:56,255][train][INFO] - epoch: 14 lr: 0.0009990232305719944 +[2024-01-18 12:07:13,344][train][INFO] - training loss: 0.0036378161695141058 + 0.15143188673716326 + 0.005125201081570524 + 0.07816331718976681 = 0.2383582211457766, data num: 1033 +[2024-01-18 12:07:13,346][train][INFO] - epoch: 15 lr: 0.0009984740801978983 +[2024-01-18 12:10:24,523][train][INFO] - training loss: 0.003581374385752357 + 0.15046929992162264 + 0.005357126368639561 + 0.07640701085329056 = 0.23581481186243203, data num: 1033 +[2024-01-18 12:10:24,525][train][INFO] - epoch: 16 lr: 0.0009978031724785245 +[2024-01-18 12:13:33,166][train][INFO] - training loss: 0.00350611934868189 + 0.1489467726303981 + 0.005151608314078588 + 0.07434198397856492 = 0.23194648394217857, data num: 1033 +[2024-01-18 12:13:33,166][train][INFO] - epoch: 17 lr: 0.000997010672950314 +[2024-01-18 12:16:43,768][train][INFO] - training loss: 0.0034907759417994663 + 0.1460629960665336 + 0.0050549203171752965 + 0.07021105661988258 = 0.22481974982298336, data num: 1033 +[2024-01-18 12:16:43,769][train][INFO] - epoch: 18 lr: 0.0009960967771506664 +[2024-01-18 12:19:45,924][train][INFO] - training loss: 0.003419256299877396 + 0.1464313731743739 + 0.00491664197224264 + 0.06842158098633473 = 0.22318885165911453, data num: 1033 +[2024-01-18 12:19:45,926][train][INFO] - epoch: 19 lr: 0.0009950617105696957 +[2024-01-18 12:22:49,583][train][INFO] - training loss: 0.0032798448398422735 + 0.14249559537722514 + 0.004685697815595911 + 0.06770764595040908 = 0.21816878502185527, data num: 1033 +[2024-01-18 12:22:49,584][train][INFO] - epoch: 20 lr: 0.0009939057285945929 +[2024-01-18 12:25:56,682][train][INFO] - training loss: 0.0033447762234852865 + 0.14196202021378737 + 0.004505468904972077 + 0.0644585805443617 = 0.21427084574332603, data num: 1033 +[2024-01-18 12:25:56,697][train][INFO] - Validating training... +[2024-01-18 12:27:50,265][train][INFO] - mean_translation_distance_error = [5.6011286 6.33908 ] +[2024-01-18 12:27:50,266][train][INFO] - mean_translation_along_error = [3.4444792 1.671695 ] +[2024-01-18 12:27:50,266][train][INFO] - mean_translation_perp_error = [3.965681 5.8783755] +[2024-01-18 12:27:50,266][train][INFO] - mean_translation_plane_error = [3.921468 5.884567] +[2024-01-18 12:27:50,267][train][INFO] - mean_translation_line_error = [2.5282204 3.336157 ] +[2024-01-18 12:27:50,267][train][INFO] - mean_rotation_error = [7.683237 7.0450273] +[2024-01-18 12:27:50,267][train][INFO] - mean_affordance_error = [5.8858194 9.051571 ] +[2024-01-18 12:27:50,268][train][INFO] - median_translation_distance_error = [5.47472 5.1032 ] +[2024-01-18 12:27:50,268][train][INFO] - median_translation_along_error = [2.8701153 1.2363348] +[2024-01-18 12:27:50,268][train][INFO] - median_translation_perp_error = [4.1093483 4.7591653] +[2024-01-18 12:27:50,268][train][INFO] - median_translation_plane_error = [4.0531955 4.7707567] +[2024-01-18 12:27:50,269][train][INFO] - median_translation_line_error = [1.9641981 2.4239857] +[2024-01-18 12:27:50,269][train][INFO] - median_rotation_error = [7.538703 6.173719] +[2024-01-18 12:27:50,269][train][INFO] - median_affordance_error = [5.530005 8.800226] +[2024-01-18 12:27:50,269][train][INFO] - max_translation_distance_error = [12.889849 27.887028] +[2024-01-18 12:27:50,269][train][INFO] - max_translation_along_error = [12.038502 5.481006] +[2024-01-18 12:27:50,270][train][INFO] - max_translation_perp_error = [ 7.106987 27.643206] +[2024-01-18 12:27:50,270][train][INFO] - max_translation_plane_error = [ 7.951705 27.462963] +[2024-01-18 12:27:50,270][train][INFO] - max_translation_line_error = [ 6.62459 25.232777] +[2024-01-18 12:27:50,270][train][INFO] - max_rotation_error = [21.203264 25.076733] +[2024-01-18 12:27:50,270][train][INFO] - max_affordance_error = [17.812107 20.710714] +[2024-01-18 12:27:50,271][train][INFO] - min_translation_distance_error = [1.1042789 1.3374958] +[2024-01-18 12:27:50,271][train][INFO] - min_translation_along_error = [0.03074557 0.00633299] +[2024-01-18 12:27:50,271][train][INFO] - min_translation_perp_error = [0.74956554 0.43008807] +[2024-01-18 12:27:50,271][train][INFO] - min_translation_plane_error = [0.75995135 0.2773119 ] +[2024-01-18 12:27:50,271][train][INFO] - min_translation_line_error = [0.3393168 0.00969809] +[2024-01-18 12:27:50,271][train][INFO] - min_rotation_error = [0.34149662 1.0441772 ] +[2024-01-18 12:27:50,272][train][INFO] - min_affordance_error = [1.3955083 0.9929783] +[2024-01-18 12:27:50,272][train][INFO] - std_translation_distance_error = [2.5821161 4.4308887] +[2024-01-18 12:27:50,272][train][INFO] - std_translation_along_error = [2.7914317 1.4105806] +[2024-01-18 12:27:50,272][train][INFO] - std_translation_perp_error = [1.6299735 4.5251646] +[2024-01-18 12:27:50,273][train][INFO] - std_translation_plane_error = [1.6069918 4.5040936] +[2024-01-18 12:27:50,273][train][INFO] - std_translation_line_error = [1.7086283 3.9179168] +[2024-01-18 12:27:50,273][train][INFO] - std_rotation_error = [4.696174 4.7547054] +[2024-01-18 12:27:50,273][train][INFO] - std_affordance_error = [3.1592171 3.9047122] +[2024-01-18 12:27:50,273][train][INFO] - translation_outliers_num = 56 +[2024-01-18 12:27:50,273][train][INFO] - rotation_outliers_num = 83 +[2024-01-18 12:27:50,273][train][INFO] - affordance_outliers_num = 89 +[2024-01-18 12:27:50,273][train][INFO] - translation_outliers_ratio = 0.4375 +[2024-01-18 12:27:50,273][train][INFO] - rotation_outliers_ratio = 0.6484375 +[2024-01-18 12:27:50,274][train][INFO] - affordance_outliers_ratio = 0.6953125 +[2024-01-18 12:27:50,274][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 12:27:50,276][train][INFO] - Validated training. +[2024-01-18 12:27:50,281][train][INFO] - Validating training time: 113.57848644256592 +[2024-01-18 12:27:50,288][train][INFO] - Validating testing... +[2024-01-18 12:29:30,989][train][INFO] - mean_translation_distance_error = [6.2525764 5.583348 ] +[2024-01-18 12:29:30,989][train][INFO] - mean_translation_along_error = [4.0163727 1.6456739] +[2024-01-18 12:29:30,990][train][INFO] - mean_translation_perp_error = [4.3467617 5.1900454] +[2024-01-18 12:29:30,990][train][INFO] - mean_translation_plane_error = [4.3926687 5.230819 ] +[2024-01-18 12:29:30,990][train][INFO] - mean_translation_line_error = [3.137342 2.998271] +[2024-01-18 12:29:30,990][train][INFO] - mean_rotation_error = [6.8591127 5.6172504] +[2024-01-18 12:29:30,990][train][INFO] - mean_affordance_error = [5.0030537 8.097087 ] +[2024-01-18 12:29:30,991][train][INFO] - median_translation_distance_error = [6.2752724 4.9795704] +[2024-01-18 12:29:30,991][train][INFO] - median_translation_along_error = [3.8389363 1.4812924] +[2024-01-18 12:29:30,991][train][INFO] - median_translation_perp_error = [4.552039 4.5001636] +[2024-01-18 12:29:30,991][train][INFO] - median_translation_plane_error = [4.385804 4.6837006] +[2024-01-18 12:29:30,991][train][INFO] - median_translation_line_error = [3.125915 2.501114] +[2024-01-18 12:29:30,991][train][INFO] - median_rotation_error = [5.8829093 4.7484827] +[2024-01-18 12:29:30,991][train][INFO] - median_affordance_error = [4.9296656 7.9518747] +[2024-01-18 12:29:30,992][train][INFO] - max_translation_distance_error = [11.812008 17.230474] +[2024-01-18 12:29:30,992][train][INFO] - max_translation_along_error = [10.742337 5.4508405] +[2024-01-18 12:29:30,992][train][INFO] - max_translation_perp_error = [ 9.116897 17.226667] +[2024-01-18 12:29:30,992][train][INFO] - max_translation_plane_error = [10.457555 17.258907] +[2024-01-18 12:29:30,992][train][INFO] - max_translation_line_error = [ 7.134101 10.080169] +[2024-01-18 12:29:30,992][train][INFO] - max_rotation_error = [16.743027 29.51741 ] +[2024-01-18 12:29:30,992][train][INFO] - max_affordance_error = [13.463828 20.897366] +[2024-01-18 12:29:30,993][train][INFO] - min_translation_distance_error = [0.965714 0.66993934] +[2024-01-18 12:29:30,993][train][INFO] - min_translation_along_error = [0.24315026 0.01756158] +[2024-01-18 12:29:30,993][train][INFO] - min_translation_perp_error = [0.35944796 0.4697884 ] +[2024-01-18 12:29:30,993][train][INFO] - min_translation_plane_error = [0.6633975 0.4601509] +[2024-01-18 12:29:30,993][train][INFO] - min_translation_line_error = [0.06405571 0.04234646] +[2024-01-18 12:29:30,993][train][INFO] - min_rotation_error = [0.7737964 0.52152073] +[2024-01-18 12:29:30,994][train][INFO] - min_affordance_error = [0.78621155 0.9068333 ] +[2024-01-18 12:29:30,994][train][INFO] - std_translation_distance_error = [2.1982536 2.653719 ] +[2024-01-18 12:29:30,994][train][INFO] - std_translation_along_error = [2.345584 1.1560657] +[2024-01-18 12:29:30,994][train][INFO] - std_translation_perp_error = [1.84382 2.6897395] +[2024-01-18 12:29:30,994][train][INFO] - std_translation_plane_error = [1.9330134 2.7304356] +[2024-01-18 12:29:30,994][train][INFO] - std_translation_line_error = [1.8736154 2.4932864] +[2024-01-18 12:29:30,995][train][INFO] - std_rotation_error = [3.8850393 4.1131115] +[2024-01-18 12:29:30,995][train][INFO] - std_affordance_error = [2.2224493 3.9354897] +[2024-01-18 12:29:30,995][train][INFO] - translation_outliers_num = 68 +[2024-01-18 12:29:30,995][train][INFO] - rotation_outliers_num = 69 +[2024-01-18 12:29:30,995][train][INFO] - affordance_outliers_num = 79 +[2024-01-18 12:29:30,995][train][INFO] - translation_outliers_ratio = 0.53125 +[2024-01-18 12:29:30,995][train][INFO] - rotation_outliers_ratio = 0.5390625 +[2024-01-18 12:29:30,995][train][INFO] - affordance_outliers_ratio = 0.6171875 +[2024-01-18 12:29:30,995][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 12:29:30,997][train][INFO] - Validated testing. +[2024-01-18 12:29:31,006][train][INFO] - Validating testing time: 100.70663619041443 +[2024-01-18 12:29:31,012][train][INFO] - epoch: 21 lr: 0.0009926291164466126 +[2024-01-18 12:32:44,042][train][INFO] - training loss: 0.0032032056174312647 + 0.1405689054956803 + 0.004552040195379119 + 0.06278126938984945 = 0.21110541958075305, data num: 1033 +[2024-01-18 12:32:44,044][train][INFO] - epoch: 22 lr: 0.0009912321891107005 +[2024-01-18 12:36:00,003][train][INFO] - training loss: 0.0031090683876894985 + 0.1393327994988515 + 0.004321948227544244 + 0.05941854004676526 = 0.20618235560563894, data num: 1033 +[2024-01-18 12:36:00,005][train][INFO] - epoch: 23 lr: 0.0009897152912577737 +[2024-01-18 12:39:11,339][train][INFO] - training loss: 0.0030897307030570047 + 0.13647500288027983 + 0.004307851216827447 + 0.05821136345083897 = 0.2020839491715798, data num: 1033 +[2024-01-18 12:39:11,340][train][INFO] - epoch: 24 lr: 0.0009880787971596797 +[2024-01-18 12:42:18,548][train][INFO] - training loss: 0.002876649252497233 + 0.13564910670885674 + 0.004087040315453823 + 0.05595701474409837 = 0.19856981016122377, data num: 1033 +[2024-01-18 12:42:18,549][train][INFO] - epoch: 25 lr: 0.0009863231105968495 +[2024-01-18 12:45:26,862][train][INFO] - training loss: 0.003101733677948897 + 0.13526066197798803 + 0.0042004324746533084 + 0.05569127127528191 = 0.1982540990297611, data num: 1033 +[2024-01-18 12:45:26,863][train][INFO] - epoch: 26 lr: 0.000984448664758672 +[2024-01-18 12:48:39,697][train][INFO] - training loss: 0.0028186427536778724 + 0.1328820063517644 + 0.0040472245954263665 + 0.053572873713878484 = 0.19332074958544512, data num: 1033 +[2024-01-18 12:48:39,699][train][INFO] - epoch: 27 lr: 0.0009824559221366096 +[2024-01-18 12:51:45,725][train][INFO] - training loss: 0.002825078174758416 + 0.13130335807800292 + 0.004317865474149585 + 0.05130331292748451 = 0.18974961455051714, data num: 1033 +[2024-01-18 12:51:45,726][train][INFO] - epoch: 28 lr: 0.0009803453744100864 +[2024-01-18 12:54:44,671][train][INFO] - training loss: 0.0029082799616914528 + 0.13075335644758665 + 0.003951047959092718 + 0.05003912139397401 = 0.18765180569428663, data num: 1033 +[2024-01-18 12:54:44,672][train][INFO] - epoch: 29 lr: 0.0009781175423251728 +[2024-01-18 12:58:04,728][train][INFO] - training loss: 0.0027277010958641768 + 0.12925200989613167 + 0.003872451436920808 + 0.04947988964044131 = 0.1853320525242732, data num: 1033 +[2024-01-18 12:58:04,730][train][INFO] - epoch: 30 lr: 0.0009757729755661004 +[2024-01-18 13:01:17,961][train][INFO] - training loss: 0.0027612453398223108 + 0.12784040318085596 + 0.00357356693667288 + 0.04651645886210295 = 0.18069167412244358, data num: 1033 +[2024-01-18 13:01:17,962][train][INFO] - epoch: 31 lr: 0.0009733122526196342 +[2024-01-18 13:04:21,287][train][INFO] - training loss: 0.0027048830551883347 + 0.12819112963401355 + 0.0036189010366797446 + 0.045772367601211256 = 0.18028728297123542, data num: 1033 +[2024-01-18 13:04:21,288][train][INFO] - epoch: 32 lr: 0.000970735980632341 +[2024-01-18 13:07:28,307][train][INFO] - training loss: 0.002650277348808371 + 0.12603293611453129 + 0.003612486391256635 + 0.0456118643283844 = 0.17790756340210254, data num: 1033 +[2024-01-18 13:07:28,307][train][INFO] - epoch: 33 lr: 0.0009680447952607838 +[2024-01-18 13:10:21,892][train][INFO] - training loss: 0.0025200959402494707 + 0.12528359935833858 + 0.003732397726092201 + 0.04396024615718768 = 0.17549633911022774, data num: 1033 +[2024-01-18 13:10:21,893][train][INFO] - epoch: 34 lr: 0.0009652393605146839 +[2024-01-18 13:13:21,157][train][INFO] - training loss: 0.0026608182368083643 + 0.1250701578763815 + 0.0035252848138602882 + 0.0432910690513941 = 0.17454733023276695, data num: 1033 +[2024-01-18 13:13:21,158][train][INFO] - epoch: 35 lr: 0.0009623203685930864 +[2024-01-18 13:16:20,298][train][INFO] - training loss: 0.002471696649892972 + 0.12293983571804487 + 0.0035347890753585558 + 0.04265549647120329 = 0.1716018170118332, data num: 1033 +[2024-01-18 13:16:20,300][train][INFO] - epoch: 36 lr: 0.00095928853971357 +[2024-01-18 13:19:20,551][train][INFO] - training loss: 0.002546107045446451 + 0.12196524085906836 + 0.0035980140790343286 + 0.041502829927664533 = 0.16961219333685362, data num: 1033 +[2024-01-18 13:19:20,553][train][INFO] - epoch: 37 lr: 0.0009561446219345448 +[2024-01-18 13:22:12,312][train][INFO] - training loss: 0.002556273942956558 + 0.12361983244235698 + 0.0034439307816613177 + 0.04257743490430025 = 0.17219747190292065, data num: 1033 +[2024-01-18 13:22:12,313][train][INFO] - epoch: 38 lr: 0.0009528893909706791 +[2024-01-18 13:25:14,407][train][INFO] - training loss: 0.0024588643895605434 + 0.12117807120084763 + 0.003484143320327768 + 0.04029921625669186 = 0.16742029579786155, data num: 1033 +[2024-01-18 13:25:14,408][train][INFO] - epoch: 39 lr: 0.0009495236500015041 +[2024-01-18 13:28:12,977][train][INFO] - training loss: 0.0024191726357317886 + 0.11905440195248677 + 0.003267275019047352 + 0.03897615416118732 = 0.16371700328129987, data num: 1033 +[2024-01-18 13:28:12,979][train][INFO] - epoch: 40 lr: 0.0009460482294732414 +[2024-01-18 13:31:10,168][train][INFO] - training loss: 0.002376405948486466 + 0.11888289531836142 + 0.003278350106512125 + 0.03739053707283277 = 0.16192818788381724, data num: 1033 +[2024-01-18 13:31:10,181][train][INFO] - Validating training... +[2024-01-18 13:32:35,838][train][INFO] - mean_translation_distance_error = [3.9891396 6.6400623] +[2024-01-18 13:32:35,839][train][INFO] - mean_translation_along_error = [3.1950266 2.6954548] +[2024-01-18 13:32:35,839][train][INFO] - mean_translation_perp_error = [1.8767679 5.8401947] +[2024-01-18 13:32:35,839][train][INFO] - mean_translation_plane_error = [2.0035896 5.790706 ] +[2024-01-18 13:32:35,839][train][INFO] - mean_translation_line_error = [1.2346572 3.1867125] +[2024-01-18 13:32:35,839][train][INFO] - mean_rotation_error = [6.1426344 5.9818087] +[2024-01-18 13:32:35,839][train][INFO] - mean_affordance_error = [4.461689 5.830243] +[2024-01-18 13:32:35,840][train][INFO] - median_translation_distance_error = [3.3196042 6.7659497] +[2024-01-18 13:32:35,840][train][INFO] - median_translation_along_error = [2.3088913 2.8205526] +[2024-01-18 13:32:35,840][train][INFO] - median_translation_perp_error = [1.814988 5.7778187] +[2024-01-18 13:32:35,841][train][INFO] - median_translation_plane_error = [1.9566612 5.7948523] +[2024-01-18 13:32:35,841][train][INFO] - median_translation_line_error = [1.0347255 2.6122057] +[2024-01-18 13:32:35,841][train][INFO] - median_rotation_error = [5.4579554 5.648223 ] +[2024-01-18 13:32:35,841][train][INFO] - median_affordance_error = [3.983184 5.3750157] +[2024-01-18 13:32:35,841][train][INFO] - max_translation_distance_error = [13.019729 12.332493] +[2024-01-18 13:32:35,841][train][INFO] - max_translation_along_error = [12.368279 5.247674] +[2024-01-18 13:32:35,841][train][INFO] - max_translation_perp_error = [ 4.509174 11.802923] +[2024-01-18 13:32:35,842][train][INFO] - max_translation_plane_error = [ 5.083564 12.148658] +[2024-01-18 13:32:35,842][train][INFO] - max_translation_line_error = [3.7279572 9.828415 ] +[2024-01-18 13:32:35,842][train][INFO] - max_rotation_error = [15.477586 13.099445] +[2024-01-18 13:32:35,842][train][INFO] - max_affordance_error = [11.933741 12.926213] +[2024-01-18 13:32:35,842][train][INFO] - min_translation_distance_error = [0.9536529 1.5438279] +[2024-01-18 13:32:35,842][train][INFO] - min_translation_along_error = [0.07113945 0.01910827] +[2024-01-18 13:32:35,842][train][INFO] - min_translation_perp_error = [0.18102266 0.42844948] +[2024-01-18 13:32:35,843][train][INFO] - min_translation_plane_error = [0.199765 0.36855766] +[2024-01-18 13:32:35,843][train][INFO] - min_translation_line_error = [0.02882109 0.03314361] +[2024-01-18 13:32:35,843][train][INFO] - min_rotation_error = [1.1524999 0.12033131] +[2024-01-18 13:32:35,843][train][INFO] - min_affordance_error = [1.1336408 0.44918558] +[2024-01-18 13:32:35,843][train][INFO] - std_translation_distance_error = [2.406254 2.7287009] +[2024-01-18 13:32:35,843][train][INFO] - std_translation_along_error = [2.6632857 1.3156351] +[2024-01-18 13:32:35,844][train][INFO] - std_translation_perp_error = [0.9379505 2.9037838] +[2024-01-18 13:32:35,844][train][INFO] - std_translation_plane_error = [1.0477542 2.8635132] +[2024-01-18 13:32:35,844][train][INFO] - std_translation_line_error = [0.82050055 2.3839529 ] +[2024-01-18 13:32:35,844][train][INFO] - std_rotation_error = [3.2237246 3.1637707] +[2024-01-18 13:32:35,844][train][INFO] - std_affordance_error = [2.3284216 3.017736 ] +[2024-01-18 13:32:35,844][train][INFO] - translation_outliers_num = 48 +[2024-01-18 13:32:35,844][train][INFO] - rotation_outliers_num = 73 +[2024-01-18 13:32:35,844][train][INFO] - affordance_outliers_num = 58 +[2024-01-18 13:32:35,844][train][INFO] - translation_outliers_ratio = 0.375 +[2024-01-18 13:32:35,844][train][INFO] - rotation_outliers_ratio = 0.5703125 +[2024-01-18 13:32:35,844][train][INFO] - affordance_outliers_ratio = 0.453125 +[2024-01-18 13:32:35,844][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 13:32:35,846][train][INFO] - Validated training. +[2024-01-18 13:32:35,854][train][INFO] - Validating training time: 85.6645712852478 +[2024-01-18 13:32:35,862][train][INFO] - Validating testing... +[2024-01-18 13:34:01,266][train][INFO] - mean_translation_distance_error = [3.7728615 5.313742 ] +[2024-01-18 13:34:01,267][train][INFO] - mean_translation_along_error = [3.0820649 2.677191 ] +[2024-01-18 13:34:01,267][train][INFO] - mean_translation_perp_error = [1.8099303 4.213594 ] +[2024-01-18 13:34:01,267][train][INFO] - mean_translation_plane_error = [1.878426 4.3028607] +[2024-01-18 13:34:01,267][train][INFO] - mean_translation_line_error = [1.1289127 2.3861775] +[2024-01-18 13:34:01,268][train][INFO] - mean_rotation_error = [5.5278263 6.499262 ] +[2024-01-18 13:34:01,268][train][INFO] - mean_affordance_error = [4.563731 5.5960484] +[2024-01-18 13:34:01,269][train][INFO] - median_translation_distance_error = [3.0752442 4.5929413] +[2024-01-18 13:34:01,269][train][INFO] - median_translation_along_error = [2.292954 2.5198796] +[2024-01-18 13:34:01,270][train][INFO] - median_translation_perp_error = [1.5261787 3.5007877] +[2024-01-18 13:34:01,270][train][INFO] - median_translation_plane_error = [1.6195799 3.5699189] +[2024-01-18 13:34:01,270][train][INFO] - median_translation_line_error = [0.9376324 1.8380437] +[2024-01-18 13:34:01,270][train][INFO] - median_rotation_error = [5.164218 6.0596323] +[2024-01-18 13:34:01,271][train][INFO] - median_affordance_error = [4.6228585 4.8052397] +[2024-01-18 13:34:01,271][train][INFO] - max_translation_distance_error = [10.488342 12.630866] +[2024-01-18 13:34:01,271][train][INFO] - max_translation_along_error = [9.371752 6.166758] +[2024-01-18 13:34:01,272][train][INFO] - max_translation_perp_error = [ 5.6050887 11.7172365] +[2024-01-18 13:34:01,272][train][INFO] - max_translation_plane_error = [ 5.4397116 11.871044 ] +[2024-01-18 13:34:01,272][train][INFO] - max_translation_line_error = [ 3.6031718 10.791589 ] +[2024-01-18 13:34:01,272][train][INFO] - max_rotation_error = [15.590248 14.537381] +[2024-01-18 13:34:01,273][train][INFO] - max_affordance_error = [ 9.410455 14.29259 ] +[2024-01-18 13:34:01,273][train][INFO] - min_translation_distance_error = [0.66456485 1.0048596 ] +[2024-01-18 13:34:01,273][train][INFO] - min_translation_along_error = [0.11985167 0.1255756 ] +[2024-01-18 13:34:01,273][train][INFO] - min_translation_perp_error = [0.2046778 0.37261716] +[2024-01-18 13:34:01,274][train][INFO] - min_translation_plane_error = [0.23645924 0.41826224] +[2024-01-18 13:34:01,274][train][INFO] - min_translation_line_error = [0.01615041 0.03110091] +[2024-01-18 13:34:01,274][train][INFO] - min_rotation_error = [0.7737964 0.3871488] +[2024-01-18 13:34:01,274][train][INFO] - min_affordance_error = [0.6091698 0.289642 ] +[2024-01-18 13:34:01,275][train][INFO] - std_translation_distance_error = [2.2030933 2.4790134] +[2024-01-18 13:34:01,275][train][INFO] - std_translation_along_error = [2.2877936 1.46283 ] +[2024-01-18 13:34:01,276][train][INFO] - std_translation_perp_error = [1.0388095 2.7055078] +[2024-01-18 13:34:01,276][train][INFO] - std_translation_plane_error = [1.0820764 2.7218862] +[2024-01-18 13:34:01,276][train][INFO] - std_translation_line_error = [0.79675573 2.124454 ] +[2024-01-18 13:34:01,276][train][INFO] - std_rotation_error = [3.003234 3.360949] +[2024-01-18 13:34:01,277][train][INFO] - std_affordance_error = [2.2376769 3.2340631] +[2024-01-18 13:34:01,277][train][INFO] - translation_outliers_num = 30 +[2024-01-18 13:34:01,277][train][INFO] - rotation_outliers_num = 78 +[2024-01-18 13:34:01,277][train][INFO] - affordance_outliers_num = 57 +[2024-01-18 13:34:01,277][train][INFO] - translation_outliers_ratio = 0.234375 +[2024-01-18 13:34:01,277][train][INFO] - rotation_outliers_ratio = 0.609375 +[2024-01-18 13:34:01,277][train][INFO] - affordance_outliers_ratio = 0.4453125 +[2024-01-18 13:34:01,277][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 13:34:01,279][train][INFO] - Validated testing. +[2024-01-18 13:34:01,287][train][INFO] - Validating testing time: 85.41458320617676 +[2024-01-18 13:34:01,293][train][INFO] - epoch: 41 lr: 0.0009424639868939027 +[2024-01-18 13:37:01,996][train][INFO] - training loss: 0.0023820525859124387 + 0.11826248742066897 + 0.00334637828816015 + 0.037246511590022305 = 0.16123742919701797, data num: 1033 +[2024-01-18 13:37:01,997][train][INFO] - epoch: 42 lr: 0.0009387718066217117 +[2024-01-18 13:40:12,197][train][INFO] - training loss: 0.002339983358979225 + 0.11769817345417463 + 0.0032286343343842488 + 0.03617681686121684 = 0.15944360746787145, data num: 1033 +[2024-01-18 13:40:12,198][train][INFO] - epoch: 43 lr: 0.000934972599646904 +[2024-01-18 13:43:20,261][train][INFO] - training loss: 0.0023987143425844037 + 0.11647420869423793 + 0.0032034745547347343 + 0.03578568307253031 = 0.1578620807482646, data num: 1033 +[2024-01-18 13:43:20,263][train][INFO] - epoch: 44 lr: 0.0009310673033669515 +[2024-01-18 13:46:35,901][train][INFO] - training loss: 0.002348156332468184 + 0.11407276632694098 + 0.0032147614679370936 + 0.033262094797996376 = 0.15289777815341948, data num: 1033 +[2024-01-18 13:46:35,903][train][INFO] - epoch: 45 lr: 0.0009270568813552751 +[2024-01-18 13:49:42,868][train][INFO] - training loss: 0.0022712066017377833 + 0.11302206481878574 + 0.0031098193059173915 + 0.032929542431464565 = 0.15133263216568874, data num: 1033 +[2024-01-18 13:49:42,869][train][INFO] - epoch: 46 lr: 0.0009229423231234969 +[2024-01-18 13:52:46,437][train][INFO] - training loss: 0.0023531519360123917 + 0.11333070775637259 + 0.0030889669719796915 + 0.03296365457085463 = 0.15173648114387805, data num: 1033 +[2024-01-18 13:52:46,439][train][INFO] - epoch: 47 lr: 0.0009187246438772933 +[2024-01-18 13:55:52,145][train][INFO] - training loss: 0.0021823983442468137 + 0.11307881726668431 + 0.0031506442178327303 + 0.033257773403938 = 0.15166963293002203, data num: 1033 +[2024-01-18 13:55:52,146][train][INFO] - epoch: 48 lr: 0.0009144048842659075 +[2024-01-18 13:58:58,523][train][INFO] - training loss: 0.002173625647376936 + 0.11209554718090937 + 0.002973064128309488 + 0.032294917679750006 = 0.14953715526140654, data num: 1033 +[2024-01-18 13:58:58,524][train][INFO] - epoch: 49 lr: 0.0009099841101253861 +[2024-01-18 14:02:08,865][train][INFO] - training loss: 0.0021741647488222673 + 0.11194261518808511 + 0.0030187653055271275 + 0.03196174350495522 = 0.14909728857187124, data num: 1033 +[2024-01-18 14:02:08,867][train][INFO] - epoch: 50 lr: 0.0009054634122155986 +[2024-01-18 14:05:18,526][train][INFO] - training loss: 0.0022656110778021127 + 0.11062808541151194 + 0.003066228820870702 + 0.03142430512950971 = 0.14738423136564402, data num: 1033 +[2024-01-18 14:05:18,528][train][INFO] - epoch: 51 lr: 0.0009008439059511095 +[2024-01-18 14:08:20,304][train][INFO] - training loss: 0.0021824866389999024 + 0.11102042645215988 + 0.0029230706536999117 + 0.03098014211998536 = 0.14710612709705645, data num: 1033 +[2024-01-18 14:08:20,305][train][INFO] - epoch: 52 lr: 0.0008961267311259662 +[2024-01-18 14:11:27,722][train][INFO] - training loss: 0.00214019174544284 + 0.11299904309786284 + 0.0031081611935335858 + 0.03168863754432935 = 0.14993603389996749, data num: 1033 +[2024-01-18 14:11:27,723][train][INFO] - epoch: 53 lr: 0.0008913130516324728 +[2024-01-18 14:14:32,743][train][INFO] - training loss: 0.0021939830478424063 + 0.10927983499490297 + 0.002964960944910462 + 0.030020604540522283 = 0.14445938307505388, data num: 1033 +[2024-01-18 14:14:32,745][train][INFO] - epoch: 54 lr: 0.0008864040551740152 +[2024-01-18 14:17:40,464][train][INFO] - training loss: 0.002057433884161023 + 0.108776588508716 + 0.0029121436930906316 + 0.028157693491532253 = 0.14190385983540463, data num: 1033 +[2024-01-18 14:17:40,465][train][INFO] - epoch: 55 lr: 0.000881400952972015 +[2024-01-18 14:20:50,653][train][INFO] - training loss: 0.0021036034360384713 + 0.10925131554786975 + 0.003090383789430444 + 0.028871035747803173 = 0.1433163379247372, data num: 1033 +[2024-01-18 14:20:50,654][train][INFO] - epoch: 56 lr: 0.0008763049794670771 +[2024-01-18 14:23:52,229][train][INFO] - training loss: 0.002049617180958963 + 0.10751795596801318 + 0.002908020541788294 + 0.028676836020671403 = 0.14115242958068847, data num: 1033 +[2024-01-18 14:23:52,230][train][INFO] - epoch: 57 lr: 0.0008711173920144113 +[2024-01-18 14:26:56,903][train][INFO] - training loss: 0.0021261717067458307 + 0.1106695389518371 + 0.002887885387127216 + 0.028673679352952883 = 0.14435727573358095, data num: 1033 +[2024-01-18 14:26:56,904][train][INFO] - epoch: 58 lr: 0.0008658394705735983 +[2024-01-18 14:29:56,368][train][INFO] - training loss: 0.0020080247159617454 + 0.1088863187111341 + 0.0029216889112901228 + 0.028731197863817216 = 0.14254723168336428, data num: 1033 +[2024-01-18 14:29:56,370][train][INFO] - epoch: 59 lr: 0.0008604725173927781 +[2024-01-18 14:32:53,471][train][INFO] - training loss: 0.0020023938089322587 + 0.1054289501446944 + 0.002735666289495734 + 0.027522304854713953 = 0.13768931340712767, data num: 1033 +[2024-01-18 14:32:53,473][train][INFO] - epoch: 60 lr: 0.0008550178566873405 +[2024-01-18 14:35:51,514][train][INFO] - training loss: 0.0020637359452218965 + 0.10630821620042508 + 0.002820287877693772 + 0.02790619464447865 = 0.13909843460871624, data num: 1033 +[2024-01-18 14:35:51,532][train][INFO] - Validating training... +[2024-01-18 14:37:31,142][train][INFO] - mean_translation_distance_error = [2.907739 3.542482] +[2024-01-18 14:37:31,143][train][INFO] - mean_translation_along_error = [2.0486517 1.5012408] +[2024-01-18 14:37:31,143][train][INFO] - mean_translation_perp_error = [1.7742882 2.9137678] +[2024-01-18 14:37:31,143][train][INFO] - mean_translation_plane_error = [1.8287545 2.9401233] +[2024-01-18 14:37:31,144][train][INFO] - mean_translation_line_error = [1.1266748 1.6322216] +[2024-01-18 14:37:31,144][train][INFO] - mean_rotation_error = [5.325615 5.294533] +[2024-01-18 14:37:31,144][train][INFO] - mean_affordance_error = [3.4351985 5.4808884] +[2024-01-18 14:37:31,146][train][INFO] - median_translation_distance_error = [2.299137 3.0457294] +[2024-01-18 14:37:31,146][train][INFO] - median_translation_along_error = [1.5235574 1.3572288] +[2024-01-18 14:37:31,147][train][INFO] - median_translation_perp_error = [1.4993559 2.4658403] +[2024-01-18 14:37:31,147][train][INFO] - median_translation_plane_error = [1.5217876 2.4538267] +[2024-01-18 14:37:31,147][train][INFO] - median_translation_line_error = [0.9742549 1.1769695] +[2024-01-18 14:37:31,148][train][INFO] - median_rotation_error = [4.9280415 4.7979317] +[2024-01-18 14:37:31,148][train][INFO] - median_affordance_error = [2.830721 4.9675255] +[2024-01-18 14:37:31,149][train][INFO] - max_translation_distance_error = [ 7.8095264 15.944351 ] +[2024-01-18 14:37:31,149][train][INFO] - max_translation_along_error = [6.1504097 4.3921576] +[2024-01-18 14:37:31,149][train][INFO] - max_translation_perp_error = [ 5.4909606 15.924421 ] +[2024-01-18 14:37:31,150][train][INFO] - max_translation_plane_error = [ 5.9438252 16.010336 ] +[2024-01-18 14:37:31,150][train][INFO] - max_translation_line_error = [3.7753 8.528096] +[2024-01-18 14:37:31,150][train][INFO] - max_rotation_error = [14.136628 12.829352] +[2024-01-18 14:37:31,150][train][INFO] - max_affordance_error = [10.252794 12.359656] +[2024-01-18 14:37:31,151][train][INFO] - min_translation_distance_error = [0.4919603 1.1441902] +[2024-01-18 14:37:31,151][train][INFO] - min_translation_along_error = [0.08073896 0.0392791 ] +[2024-01-18 14:37:31,152][train][INFO] - min_translation_perp_error = [0.13871464 0.25919226] +[2024-01-18 14:37:31,152][train][INFO] - min_translation_plane_error = [0.16948944 0.24539717] +[2024-01-18 14:37:31,152][train][INFO] - min_translation_line_error = [0.00776449 0.04447413] +[2024-01-18 14:37:31,153][train][INFO] - min_rotation_error = [0.59314305 0.5726661 ] +[2024-01-18 14:37:31,153][train][INFO] - min_affordance_error = [0.7594424 0.7908782] +[2024-01-18 14:37:31,154][train][INFO] - std_translation_distance_error = [1.8533987 2.4425495] +[2024-01-18 14:37:31,154][train][INFO] - std_translation_along_error = [1.7616181 1.013241 ] +[2024-01-18 14:37:31,155][train][INFO] - std_translation_perp_error = [1.2006928 2.597076 ] +[2024-01-18 14:37:31,155][train][INFO] - std_translation_plane_error = [1.2751472 2.6036448] +[2024-01-18 14:37:31,155][train][INFO] - std_translation_line_error = [0.86002195 1.5201443 ] +[2024-01-18 14:37:31,156][train][INFO] - std_rotation_error = [2.681027 3.065353] +[2024-01-18 14:37:31,156][train][INFO] - std_affordance_error = [2.0548055 2.5075169] +[2024-01-18 14:37:31,156][train][INFO] - translation_outliers_num = 10 +[2024-01-18 14:37:31,156][train][INFO] - rotation_outliers_num = 63 +[2024-01-18 14:37:31,156][train][INFO] - affordance_outliers_num = 44 +[2024-01-18 14:37:31,156][train][INFO] - translation_outliers_ratio = 0.078125 +[2024-01-18 14:37:31,156][train][INFO] - rotation_outliers_ratio = 0.4921875 +[2024-01-18 14:37:31,156][train][INFO] - affordance_outliers_ratio = 0.34375 +[2024-01-18 14:37:31,157][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 14:37:31,162][train][INFO] - Validated training. +[2024-01-18 14:37:31,170][train][INFO] - Validating training time: 99.63021421432495 +[2024-01-18 14:37:31,173][train][INFO] - Validating testing... +[2024-01-18 14:39:02,100][train][INFO] - mean_translation_distance_error = [2.7633157 3.5326526] +[2024-01-18 14:39:02,101][train][INFO] - mean_translation_along_error = [2.0963063 1.649857 ] +[2024-01-18 14:39:02,101][train][INFO] - mean_translation_perp_error = [1.4821302 2.8405523] +[2024-01-18 14:39:02,101][train][INFO] - mean_translation_plane_error = [1.5245565 2.8234494] +[2024-01-18 14:39:02,102][train][INFO] - mean_translation_line_error = [0.8649182 1.8783708] +[2024-01-18 14:39:02,102][train][INFO] - mean_rotation_error = [5.4692144 5.4650474] +[2024-01-18 14:39:02,102][train][INFO] - mean_affordance_error = [3.562153 5.0704966] +[2024-01-18 14:39:02,103][train][INFO] - median_translation_distance_error = [2.432537 3.1387155] +[2024-01-18 14:39:02,103][train][INFO] - median_translation_along_error = [1.6452167 1.4644117] +[2024-01-18 14:39:02,103][train][INFO] - median_translation_perp_error = [1.2277327 2.4835901] +[2024-01-18 14:39:02,104][train][INFO] - median_translation_plane_error = [1.294419 2.4882689] +[2024-01-18 14:39:02,104][train][INFO] - median_translation_line_error = [0.74277264 1.6129762 ] +[2024-01-18 14:39:02,104][train][INFO] - median_rotation_error = [5.3293047 5.022847 ] +[2024-01-18 14:39:02,104][train][INFO] - median_affordance_error = [3.0152621 4.4673147] +[2024-01-18 14:39:02,104][train][INFO] - max_translation_distance_error = [8.471624 9.078405] +[2024-01-18 14:39:02,105][train][INFO] - max_translation_along_error = [8.333954 4.8940754] +[2024-01-18 14:39:02,105][train][INFO] - max_translation_perp_error = [4.38776 7.780225] +[2024-01-18 14:39:02,105][train][INFO] - max_translation_plane_error = [4.7992315 7.9473825] +[2024-01-18 14:39:02,105][train][INFO] - max_translation_line_error = [3.4091706 6.8535595] +[2024-01-18 14:39:02,105][train][INFO] - max_rotation_error = [15.637779 14.059699] +[2024-01-18 14:39:02,106][train][INFO] - max_affordance_error = [ 8.995683 13.13446 ] +[2024-01-18 14:39:02,106][train][INFO] - min_translation_distance_error = [0.51710624 0.714649 ] +[2024-01-18 14:39:02,106][train][INFO] - min_translation_along_error = [0.09470154 0.06584563] +[2024-01-18 14:39:02,106][train][INFO] - min_translation_perp_error = [0.27439147 0.19580504] +[2024-01-18 14:39:02,106][train][INFO] - min_translation_plane_error = [0.2728221 0.19720532] +[2024-01-18 14:39:02,107][train][INFO] - min_translation_line_error = [0.02225634 0.0352731 ] +[2024-01-18 14:39:02,107][train][INFO] - min_rotation_error = [0.34149662 0.52152073] +[2024-01-18 14:39:02,107][train][INFO] - min_affordance_error = [0.51732796 1.0362813 ] +[2024-01-18 14:39:02,107][train][INFO] - std_translation_distance_error = [1.7438537 1.6101432] +[2024-01-18 14:39:02,108][train][INFO] - std_translation_along_error = [1.8240428 1.2734756] +[2024-01-18 14:39:02,108][train][INFO] - std_translation_perp_error = [0.87097186 1.6308569 ] +[2024-01-18 14:39:02,108][train][INFO] - std_translation_plane_error = [0.9271219 1.629134 ] +[2024-01-18 14:39:02,108][train][INFO] - std_translation_line_error = [0.79769605 1.6510353 ] +[2024-01-18 14:39:02,108][train][INFO] - std_rotation_error = [2.552653 2.891586] +[2024-01-18 14:39:02,109][train][INFO] - std_affordance_error = [2.0307446 2.535883 ] +[2024-01-18 14:39:02,109][train][INFO] - translation_outliers_num = 9 +[2024-01-18 14:39:02,109][train][INFO] - rotation_outliers_num = 69 +[2024-01-18 14:39:02,109][train][INFO] - affordance_outliers_num = 44 +[2024-01-18 14:39:02,109][train][INFO] - translation_outliers_ratio = 0.0703125 +[2024-01-18 14:39:02,109][train][INFO] - rotation_outliers_ratio = 0.5390625 +[2024-01-18 14:39:02,109][train][INFO] - affordance_outliers_ratio = 0.34375 +[2024-01-18 14:39:02,109][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 14:39:02,111][train][INFO] - Validated testing. +[2024-01-18 14:39:02,125][train][INFO] - Validating testing time: 90.93426561355591 +[2024-01-18 14:39:02,129][train][INFO] - epoch: 61 lr: 0.0008494768343131951 +[2024-01-18 14:41:59,830][train][INFO] - training loss: 0.002036648399483126 + 0.10470803047601994 + 0.0029945313106649195 + 0.026581945470892467 = 0.13632115503916373, data num: 1033 +[2024-01-18 14:41:59,831][train][INFO] - epoch: 62 lr: 0.0008438508174347005 +[2024-01-18 14:45:04,723][train][INFO] - training loss: 0.002028723449732822 + 0.10574757674565682 + 0.002891171537339687 + 0.026894735544919966 = 0.13756220650214415, data num: 1033 +[2024-01-18 14:45:04,724][train][INFO] - epoch: 63 lr: 0.0008381411941873374 +[2024-01-18 14:48:05,835][train][INFO] - training loss: 0.0019625505808597574 + 0.10252994803281931 + 0.0027212313340546994 + 0.024796146698869193 = 0.13200987737912398, data num: 1033 +[2024-01-18 14:48:05,836][train][INFO] - epoch: 64 lr: 0.0008323493733352073 +[2024-01-18 14:51:09,508][train][INFO] - training loss: 0.0019977714920129913 + 0.10401470959186554 + 0.002636127521355565 + 0.0248574038537649 = 0.13350601150439337, data num: 1033 +[2024-01-18 14:51:09,509][train][INFO] - epoch: 65 lr: 0.0008264767839234405 +[2024-01-18 14:54:05,037][train][INFO] - training loss: 0.0020283206527193006 + 0.10303433147760538 + 0.0027054950630722137 + 0.02443086994955173 = 0.13219901678653864, data num: 1033 +[2024-01-18 14:54:05,038][train][INFO] - epoch: 66 lr: 0.000820524874925601 +[2024-01-18 14:57:00,723][train][INFO] - training loss: 0.0019948658587124486 + 0.10232519793968935 + 0.0026486061799984714 + 0.023835642607166217 = 0.1308043122291565, data num: 1033 +[2024-01-18 14:57:00,724][train][INFO] - epoch: 67 lr: 0.0008144951148861737 +[2024-01-18 14:59:52,392][train][INFO] - training loss: 0.001923924575273234 + 0.10279241972244703 + 0.002684741705441131 + 0.024335092635681996 = 0.1317361782376583, data num: 1033 +[2024-01-18 14:59:52,393][train][INFO] - epoch: 68 lr: 0.0008083889915582231 +[2024-01-18 15:02:48,546][train][INFO] - training loss: 0.0019278374661763128 + 0.1008868837585816 + 0.002649215290036339 + 0.023611937692532173 = 0.12907587370047202, data num: 1033 +[2024-01-18 15:02:48,547][train][INFO] - epoch: 69 lr: 0.0008022080115363123 +[2024-01-18 15:05:48,616][train][INFO] - training loss: 0.0019525498635350512 + 0.10026913434267044 + 0.002612209989904211 + 0.023584134876728058 = 0.12841803099100407, data num: 1033 +[2024-01-18 15:05:48,617][train][INFO] - epoch: 70 lr: 0.0007959536998847739 +[2024-01-18 15:08:46,036][train][INFO] - training loss: 0.0019436578302142711 + 0.09976217655035166 + 0.00270989985527614 + 0.02294974487561446 = 0.12736547875862855, data num: 1033 +[2024-01-18 15:08:46,037][train][INFO] - epoch: 71 lr: 0.0007896275997614226 +[2024-01-18 15:11:42,451][train][INFO] - training loss: 0.0019430246025037307 + 0.1007507528250034 + 0.0026981715542765765 + 0.023547214498886696 = 0.12893916471646383, data num: 1033 +[2024-01-18 15:11:42,452][train][INFO] - epoch: 72 lr: 0.0007832312720368044 +[2024-01-18 15:14:47,536][train][INFO] - training loss: 0.0018950561401792443 + 0.09971856738512333 + 0.002563200919673993 + 0.022274033123484024 = 0.12645085866634662, data num: 1033 +[2024-01-18 15:14:47,537][train][INFO] - epoch: 73 lr: 0.0007767662949090749 +[2024-01-18 15:17:57,060][train][INFO] - training loss: 0.0018558237701654435 + 0.09926738830713125 + 0.002499748101959435 + 0.022802568456301322 = 0.1264255287555548, data num: 1033 +[2024-01-18 15:17:57,061][train][INFO] - epoch: 74 lr: 0.000770234263514603 +[2024-01-18 15:20:56,938][train][INFO] - training loss: 0.0018494922291630736 + 0.09878689417472253 + 0.0024456971432440557 + 0.021806479818545856 = 0.12488856304150361, data num: 1033 +[2024-01-18 15:20:56,939][train][INFO] - epoch: 75 lr: 0.0007636367895343944 +[2024-01-18 15:23:56,476][train][INFO] - training loss: 0.0017929929595154066 + 0.09754964250784653 + 0.002470873002536022 + 0.021703034897263232 = 0.12351654298030414, data num: 1033 +[2024-01-18 15:23:56,477][train][INFO] - epoch: 76 lr: 0.0007569755007964335 +[2024-01-18 15:26:54,843][train][INFO] - training loss: 0.0018277846205119904 + 0.09801951612417514 + 0.002516170243660991 + 0.021498596840179882 = 0.1238620672088403, data num: 1033 +[2024-01-18 15:26:54,844][train][INFO] - epoch: 77 lr: 0.0007502520408740415 +[2024-01-18 15:30:01,816][train][INFO] - training loss: 0.0018558243898531565 + 0.09833465803128022 + 0.0024873975324086273 + 0.022518103741682494 = 0.12519598442774552, data num: 1033 +[2024-01-18 15:30:01,817][train][INFO] - epoch: 78 lr: 0.0007434680686803488 +[2024-01-18 15:33:02,909][train][INFO] - training loss: 0.0017605235101655126 + 0.09819538329656308 + 0.0024598761228844523 + 0.021589680273945516 = 0.1240054638339923, data num: 1033 +[2024-01-18 15:33:02,910][train][INFO] - epoch: 79 lr: 0.0007366252580589837 +[2024-01-18 15:36:00,525][train][INFO] - training loss: 0.0019088802554716284 + 0.09736412740670718 + 0.002581187649271809 + 0.021225309400604322 = 0.12307950521890934, data num: 1033 +[2024-01-18 15:36:00,527][train][INFO] - epoch: 80 lr: 0.0007297252973710754 +[2024-01-18 15:39:05,175][train][INFO] - training loss: 0.0017446827465811602 + 0.0959855773127996 + 0.0024188871728256347 + 0.020403102742364773 = 0.12055224982591775, data num: 1033 +[2024-01-18 15:39:05,190][train][INFO] - Validating training... +[2024-01-18 15:40:45,685][train][INFO] - mean_translation_distance_error = [3.3346853 3.5609422] +[2024-01-18 15:40:45,686][train][INFO] - mean_translation_along_error = [2.8240137 1.1923641] +[2024-01-18 15:40:45,686][train][INFO] - mean_translation_perp_error = [1.4902434 3.156323 ] +[2024-01-18 15:40:45,687][train][INFO] - mean_translation_plane_error = [1.5068502 3.1647837] +[2024-01-18 15:40:45,687][train][INFO] - mean_translation_line_error = [0.96564204 1.7776712 ] +[2024-01-18 15:40:45,688][train][INFO] - mean_rotation_error = [4.8075724 5.008882 ] +[2024-01-18 15:40:45,688][train][INFO] - mean_affordance_error = [2.9074717 4.9593973] +[2024-01-18 15:40:45,689][train][INFO] - median_translation_distance_error = [3.025075 3.1777258] +[2024-01-18 15:40:45,690][train][INFO] - median_translation_along_error = [2.4370785 1.0751909] +[2024-01-18 15:40:45,690][train][INFO] - median_translation_perp_error = [1.3422084 2.799889 ] +[2024-01-18 15:40:45,690][train][INFO] - median_translation_plane_error = [1.3310397 2.7930946] +[2024-01-18 15:40:45,690][train][INFO] - median_translation_line_error = [0.6534778 1.3252573] +[2024-01-18 15:40:45,690][train][INFO] - median_rotation_error = [4.5780344 4.877944 ] +[2024-01-18 15:40:45,690][train][INFO] - median_affordance_error = [2.7463756 4.4175053] +[2024-01-18 15:40:45,690][train][INFO] - max_translation_distance_error = [8.244454 9.390758] +[2024-01-18 15:40:45,691][train][INFO] - max_translation_along_error = [8.203178 3.2427332] +[2024-01-18 15:40:45,691][train][INFO] - max_translation_perp_error = [3.389987 9.115226] +[2024-01-18 15:40:45,691][train][INFO] - max_translation_plane_error = [3.5114315 9.358652 ] +[2024-01-18 15:40:45,691][train][INFO] - max_translation_line_error = [2.950287 6.8181596] +[2024-01-18 15:40:45,691][train][INFO] - max_rotation_error = [10.085999 14.097606] +[2024-01-18 15:40:45,691][train][INFO] - max_affordance_error = [ 7.118989 13.288097] +[2024-01-18 15:40:45,691][train][INFO] - min_translation_distance_error = [0.4964302 0.6560283] +[2024-01-18 15:40:45,691][train][INFO] - min_translation_along_error = [0.40197676 0.0419721 ] +[2024-01-18 15:40:45,692][train][INFO] - min_translation_perp_error = [0.25224537 0.25657216] +[2024-01-18 15:40:45,692][train][INFO] - min_translation_plane_error = [0.26667124 0.37672597] +[2024-01-18 15:40:45,692][train][INFO] - min_translation_line_error = [0.0159327 0.01066495] +[2024-01-18 15:40:45,692][train][INFO] - min_rotation_error = [0.4743652 0.2839303] +[2024-01-18 15:40:45,692][train][INFO] - min_affordance_error = [0.5802258 1.0250078] +[2024-01-18 15:40:45,693][train][INFO] - std_translation_distance_error = [1.6549935 1.7892954] +[2024-01-18 15:40:45,693][train][INFO] - std_translation_along_error = [1.725155 0.81912893] +[2024-01-18 15:40:45,693][train][INFO] - std_translation_perp_error = [0.82891136 1.9562235 ] +[2024-01-18 15:40:45,693][train][INFO] - std_translation_plane_error = [0.86181426 1.9564172 ] +[2024-01-18 15:40:45,693][train][INFO] - std_translation_line_error = [0.76303065 1.5824318 ] +[2024-01-18 15:40:45,693][train][INFO] - std_rotation_error = [2.4332778 2.758859 ] +[2024-01-18 15:40:45,694][train][INFO] - std_affordance_error = [1.4322569 2.6274323] +[2024-01-18 15:40:45,694][train][INFO] - translation_outliers_num = 11 +[2024-01-18 15:40:45,694][train][INFO] - rotation_outliers_num = 59 +[2024-01-18 15:40:45,694][train][INFO] - affordance_outliers_num = 32 +[2024-01-18 15:40:45,694][train][INFO] - translation_outliers_ratio = 0.0859375 +[2024-01-18 15:40:45,694][train][INFO] - rotation_outliers_ratio = 0.4609375 +[2024-01-18 15:40:45,694][train][INFO] - affordance_outliers_ratio = 0.25 +[2024-01-18 15:40:45,694][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 15:40:45,696][train][INFO] - Validated training. +[2024-01-18 15:40:45,708][train][INFO] - Validating training time: 100.50574898719788 +[2024-01-18 15:40:45,714][train][INFO] - Validating testing... +[2024-01-18 15:42:13,289][train][INFO] - mean_translation_distance_error = [3.4154568 3.4308686] +[2024-01-18 15:42:13,290][train][INFO] - mean_translation_along_error = [2.85077 1.2255514] +[2024-01-18 15:42:13,290][train][INFO] - mean_translation_perp_error = [1.51204 3.0672708] +[2024-01-18 15:42:13,290][train][INFO] - mean_translation_plane_error = [1.4963219 3.0751538] +[2024-01-18 15:42:13,290][train][INFO] - mean_translation_line_error = [0.9451297 1.9794528] +[2024-01-18 15:42:13,291][train][INFO] - mean_rotation_error = [4.6764913 4.78106 ] +[2024-01-18 15:42:13,291][train][INFO] - mean_affordance_error = [3.2934756 4.746756 ] +[2024-01-18 15:42:13,291][train][INFO] - median_translation_distance_error = [3.090838 2.9065435] +[2024-01-18 15:42:13,292][train][INFO] - median_translation_along_error = [2.538454 1.0012956] +[2024-01-18 15:42:13,292][train][INFO] - median_translation_perp_error = [1.3514018 2.7815807] +[2024-01-18 15:42:13,292][train][INFO] - median_translation_plane_error = [1.3710312 2.8086944] +[2024-01-18 15:42:13,292][train][INFO] - median_translation_line_error = [0.6129104 1.631372 ] +[2024-01-18 15:42:13,292][train][INFO] - median_rotation_error = [4.475003 4.5010605] +[2024-01-18 15:42:13,293][train][INFO] - median_affordance_error = [3.0241928 3.6315837] +[2024-01-18 15:42:13,293][train][INFO] - max_translation_distance_error = [ 7.2162857 10.038833 ] +[2024-01-18 15:42:13,293][train][INFO] - max_translation_along_error = [6.580611 4.3640876] +[2024-01-18 15:42:13,293][train][INFO] - max_translation_perp_error = [3.6135979 9.190007 ] +[2024-01-18 15:42:13,293][train][INFO] - max_translation_plane_error = [3.9872594 8.832924 ] +[2024-01-18 15:42:13,294][train][INFO] - max_translation_line_error = [3.1332116 8.042111 ] +[2024-01-18 15:42:13,294][train][INFO] - max_rotation_error = [ 9.864041 12.115298] +[2024-01-18 15:42:13,294][train][INFO] - max_affordance_error = [ 8.482308 15.926366] +[2024-01-18 15:42:13,294][train][INFO] - min_translation_distance_error = [0.8198953 0.82067025] +[2024-01-18 15:42:13,294][train][INFO] - min_translation_along_error = [0.03835594 0.01780208] +[2024-01-18 15:42:13,294][train][INFO] - min_translation_perp_error = [0.03972821 0.4656021 ] +[2024-01-18 15:42:13,295][train][INFO] - min_translation_plane_error = [0.08379117 0.50380105] +[2024-01-18 15:42:13,295][train][INFO] - min_translation_line_error = [0.00203744 0.03379092] +[2024-01-18 15:42:13,295][train][INFO] - min_rotation_error = [1.0166409 0.26906916] +[2024-01-18 15:42:13,295][train][INFO] - min_affordance_error = [0.8724127 0.9037056] +[2024-01-18 15:42:13,296][train][INFO] - std_translation_distance_error = [1.5634667 1.8494706] +[2024-01-18 15:42:13,296][train][INFO] - std_translation_along_error = [1.7355767 0.98069364] +[2024-01-18 15:42:13,296][train][INFO] - std_translation_perp_error = [0.8272846 1.8219529] +[2024-01-18 15:42:13,296][train][INFO] - std_translation_plane_error = [0.8946128 1.8182313] +[2024-01-18 15:42:13,296][train][INFO] - std_translation_line_error = [0.8163022 1.7451909] +[2024-01-18 15:42:13,296][train][INFO] - std_rotation_error = [2.1272366 2.6727226] +[2024-01-18 15:42:13,297][train][INFO] - std_affordance_error = [1.3949655 2.9575648] +[2024-01-18 15:42:13,297][train][INFO] - translation_outliers_num = 10 +[2024-01-18 15:42:13,297][train][INFO] - rotation_outliers_num = 52 +[2024-01-18 15:42:13,297][train][INFO] - affordance_outliers_num = 33 +[2024-01-18 15:42:13,297][train][INFO] - translation_outliers_ratio = 0.078125 +[2024-01-18 15:42:13,297][train][INFO] - rotation_outliers_ratio = 0.40625 +[2024-01-18 15:42:13,297][train][INFO] - affordance_outliers_ratio = 0.2578125 +[2024-01-18 15:42:13,297][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 15:42:13,300][train][INFO] - Validated testing. +[2024-01-18 15:42:13,305][train][INFO] - Validating testing time: 87.58601140975952 +[2024-01-18 15:42:13,309][train][INFO] - epoch: 81 lr: 0.0007227698890786777 +[2024-01-18 15:45:24,204][train][INFO] - training loss: 0.0017237081013333339 + 0.09583054070289318 + 0.002429404636271871 + 0.019908482796297623 = 0.1198921365233568, data num: 1033 +[2024-01-18 15:45:24,205][train][INFO] - epoch: 82 lr: 0.0007157607493247108 +[2024-01-18 15:48:23,302][train][INFO] - training loss: 0.0017634028282303078 + 0.0958104133605957 + 0.0025333936899327313 + 0.019770909616580377 = 0.11987811923027039, data num: 1033 +[2024-01-18 15:48:23,304][train][INFO] - epoch: 83 lr: 0.0007086996075095287 +[2024-01-18 15:51:24,762][train][INFO] - training loss: 0.0018184138444037393 + 0.09564903573347971 + 0.0027626710209565667 + 0.020153182544387305 = 0.12038330298203688, data num: 1033 +[2024-01-18 15:51:24,763][train][INFO] - epoch: 84 lr: 0.0007015882058642161 +[2024-01-18 15:54:23,512][train][INFO] - training loss: 0.001746065765977479 + 0.0957986926803222 + 0.0024034417108990823 + 0.020449038394368613 = 0.12039723843336106, data num: 1033 +[2024-01-18 15:54:23,513][train][INFO] - epoch: 85 lr: 0.0006944282990207193 +[2024-01-18 15:57:23,295][train][INFO] - training loss: 0.0017247323913929555 + 0.09394439401534888 + 0.0024087744979904247 + 0.01972467743146878 = 0.11780257809620637, data num: 1033 +[2024-01-18 15:57:23,296][train][INFO] - epoch: 86 lr: 0.0006872216535789155 +[2024-01-18 16:00:24,125][train][INFO] - training loss: 0.0017987413618427057 + 0.09549365318738497 + 0.002457756769413558 + 0.02070863380168493 = 0.12045878504331295, data num: 1033 +[2024-01-18 16:00:24,126][train][INFO] - epoch: 87 lr: 0.0006799700476707321 +[2024-01-18 16:03:18,498][train][INFO] - training loss: 0.0017228915105358912 + 0.09479244179450548 + 0.002455280251944294 + 0.019210789682200323 = 0.11818140321052992, data num: 1033 +[2024-01-18 16:03:18,500][train][INFO] - epoch: 88 lr: 0.0006726752705214191 +[2024-01-18 16:06:16,351][train][INFO] - training loss: 0.0017547878597934659 + 0.09575027238864164 + 0.0024369114741253166 + 0.02023201471624466 = 0.12017398625612259, data num: 1033 +[2024-01-18 16:06:16,352][train][INFO] - epoch: 89 lr: 0.0006653391220080838 +[2024-01-18 16:09:16,472][train][INFO] - training loss: 0.0017273365054279565 + 0.09369183423427435 + 0.002399563533253968 + 0.01860742189276677 = 0.11642615623199022, data num: 1033 +[2024-01-18 16:09:16,473][train][INFO] - epoch: 90 lr: 0.0006579634122155988 +[2024-01-18 16:12:19,683][train][INFO] - training loss: 0.001643557808935069 + 0.09317462856952961 + 0.0024592412205842826 + 0.019008766286648236 = 0.11628619375137182, data num: 1033 +[2024-01-18 16:12:19,684][train][INFO] - epoch: 91 lr: 0.0006505499609899903 +[2024-01-18 16:15:25,125][train][INFO] - training loss: 0.0016846101659421736 + 0.0942780641409067 + 0.002492890152363823 + 0.018571735460024615 = 0.11702730036698855, data num: 1033 +[2024-01-18 16:15:25,127][train][INFO] - epoch: 92 lr: 0.0006431005974894184 +[2024-01-18 16:18:25,018][train][INFO] - training loss: 0.00172625296892455 + 0.09318239150139002 + 0.0023598188194088065 + 0.01867688255241284 = 0.11594534550721829, data num: 1033 +[2024-01-18 16:18:25,019][train][INFO] - epoch: 93 lr: 0.0006356171597328593 +[2024-01-18 16:21:25,704][train][INFO] - training loss: 0.001628083004974402 + 0.09190921508348905 + 0.0022849811796242228 + 0.01754080060009773 = 0.11336307949744738, data num: 1033 +[2024-01-18 16:21:25,705][train][INFO] - epoch: 94 lr: 0.0006281014941466028 +[2024-01-18 16:24:26,590][train][INFO] - training loss: 0.0016773044382436917 + 0.09219582562263196 + 0.0022807402446722753 + 0.01814199144450518 = 0.11429586215661122, data num: 1033 +[2024-01-18 16:24:26,591][train][INFO] - epoch: 95 lr: 0.000620555455108673 +[2024-01-18 16:27:24,881][train][INFO] - training loss: 0.0016294630190644126 + 0.09060703561856197 + 0.0022857103872900974 + 0.01714785321114155 = 0.11167006240441249, data num: 1033 +[2024-01-18 16:27:24,882][train][INFO] - epoch: 96 lr: 0.0006129809044912885 +[2024-01-18 16:30:28,875][train][INFO] - training loss: 0.001698666365029147 + 0.09093737201048778 + 0.0022404436165323624 + 0.01768029845104768 = 0.11255678030160757, data num: 1033 +[2024-01-18 16:30:28,876][train][INFO] - epoch: 97 lr: 0.0006053797112014735 +[2024-01-18 16:33:26,336][train][INFO] - training loss: 0.0016413252191761366 + 0.09169088235268226 + 0.0022726396259923395 + 0.016954980919567438 = 0.11255982873531488, data num: 1033 +[2024-01-18 16:33:26,337][train][INFO] - epoch: 98 lr: 0.0005977537507199336 +[2024-01-18 16:36:25,346][train][INFO] - training loss: 0.001641231501260056 + 0.0910372352370849 + 0.002255168347619474 + 0.017216107951333888 = 0.11214974316266867, data num: 1033 +[2024-01-18 16:36:25,347][train][INFO] - epoch: 99 lr: 0.0005901049046383074 +[2024-01-18 16:39:20,431][train][INFO] - training loss: 0.0016177524830429599 + 0.09082008141737719 + 0.0022214623168110847 + 0.017128435636942205 = 0.11178773251863626, data num: 1033 +[2024-01-18 16:39:20,432][train][INFO] - epoch: 100 lr: 0.0005824350601949141 +[2024-01-18 16:42:17,873][train][INFO] - training loss: 0.0016551217046351387 + 0.09010280760434958 + 0.0022238086389664274 + 0.017370449737287484 = 0.11135218728047151, data num: 1033 +[2024-01-18 16:42:17,888][train][INFO] - Validating training... +[2024-01-18 16:44:31,471][train][INFO] - mean_translation_distance_error = [2.6387353 3.6002555] +[2024-01-18 16:44:31,472][train][INFO] - mean_translation_along_error = [1.9781259 1.1635414] +[2024-01-18 16:44:31,472][train][INFO] - mean_translation_perp_error = [1.372285 3.2487683] +[2024-01-18 16:44:31,472][train][INFO] - mean_translation_plane_error = [1.4125818 3.2605374] +[2024-01-18 16:44:31,472][train][INFO] - mean_translation_line_error = [0.8498656 1.8532453] +[2024-01-18 16:44:31,473][train][INFO] - mean_rotation_error = [5.0204277 5.0878267] +[2024-01-18 16:44:31,473][train][INFO] - mean_affordance_error = [3.3612442 5.019394 ] +[2024-01-18 16:44:31,473][train][INFO] - median_translation_distance_error = [2.4476166 2.8943872] +[2024-01-18 16:44:31,474][train][INFO] - median_translation_along_error = [1.4204959 0.9361063] +[2024-01-18 16:44:31,474][train][INFO] - median_translation_perp_error = [1.2558769 2.5516462] +[2024-01-18 16:44:31,474][train][INFO] - median_translation_plane_error = [1.2773948 2.6093974] +[2024-01-18 16:44:31,474][train][INFO] - median_translation_line_error = [0.7346617 1.5639281] +[2024-01-18 16:44:31,474][train][INFO] - median_rotation_error = [5.1919737 4.486821 ] +[2024-01-18 16:44:31,474][train][INFO] - median_affordance_error = [2.9152656 4.771736 ] +[2024-01-18 16:44:31,474][train][INFO] - max_translation_distance_error = [ 6.7213864 10.884788 ] +[2024-01-18 16:44:31,475][train][INFO] - max_translation_along_error = [6.584108 4.36625 ] +[2024-01-18 16:44:31,475][train][INFO] - max_translation_perp_error = [ 3.848877 10.722618] +[2024-01-18 16:44:31,475][train][INFO] - max_translation_plane_error = [ 4.0708385 10.739649 ] +[2024-01-18 16:44:31,475][train][INFO] - max_translation_line_error = [ 2.6834195 10.652279 ] +[2024-01-18 16:44:31,475][train][INFO] - max_rotation_error = [ 8.886526 12.354924] +[2024-01-18 16:44:31,475][train][INFO] - max_affordance_error = [ 8.27382 13.154518] +[2024-01-18 16:44:31,475][train][INFO] - min_translation_distance_error = [0.44458142 0.40774894] +[2024-01-18 16:44:31,475][train][INFO] - min_translation_along_error = [0.005587 0.00763442] +[2024-01-18 16:44:31,476][train][INFO] - min_translation_perp_error = [0.18606912 0.40767747] +[2024-01-18 16:44:31,476][train][INFO] - min_translation_plane_error = [0.2283637 0.40769604] +[2024-01-18 16:44:31,476][train][INFO] - min_translation_line_error = [0.00373129 0.07968318] +[2024-01-18 16:44:31,476][train][INFO] - min_rotation_error = [1.1713622 0.2264194] +[2024-01-18 16:44:31,476][train][INFO] - min_affordance_error = [0.4819761 0.9259386] +[2024-01-18 16:44:31,477][train][INFO] - std_translation_distance_error = [1.4224278 2.275169 ] +[2024-01-18 16:44:31,477][train][INFO] - std_translation_along_error = [1.6069095 0.9199586] +[2024-01-18 16:44:31,477][train][INFO] - std_translation_perp_error = [0.77969116 2.320256 ] +[2024-01-18 16:44:31,477][train][INFO] - std_translation_plane_error = [0.80908877 2.3331816 ] +[2024-01-18 16:44:31,477][train][INFO] - std_translation_line_error = [0.6145757 1.6236131] +[2024-01-18 16:44:31,477][train][INFO] - std_rotation_error = [1.953486 2.9461126] +[2024-01-18 16:44:31,478][train][INFO] - std_affordance_error = [1.6489868 2.6233113] +[2024-01-18 16:44:31,478][train][INFO] - translation_outliers_num = 10 +[2024-01-18 16:44:31,478][train][INFO] - rotation_outliers_num = 64 +[2024-01-18 16:44:31,478][train][INFO] - affordance_outliers_num = 41 +[2024-01-18 16:44:31,478][train][INFO] - translation_outliers_ratio = 0.078125 +[2024-01-18 16:44:31,478][train][INFO] - rotation_outliers_ratio = 0.5 +[2024-01-18 16:44:31,478][train][INFO] - affordance_outliers_ratio = 0.3203125 +[2024-01-18 16:44:31,478][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 16:44:31,480][train][INFO] - Validated training. +[2024-01-18 16:44:31,487][train][INFO] - Validating training time: 133.59096312522888 +[2024-01-18 16:44:31,488][train][INFO] - Validating testing... +[2024-01-18 16:46:07,416][train][INFO] - mean_translation_distance_error = [2.4135087 2.7692971] +[2024-01-18 16:46:07,417][train][INFO] - mean_translation_along_error = [1.790032 1.1711065] +[2024-01-18 16:46:07,418][train][INFO] - mean_translation_perp_error = [1.3732362 2.3825881] +[2024-01-18 16:46:07,418][train][INFO] - mean_translation_plane_error = [1.3849925 2.3612761] +[2024-01-18 16:46:07,418][train][INFO] - mean_translation_line_error = [0.8599929 1.56162 ] +[2024-01-18 16:46:07,418][train][INFO] - mean_rotation_error = [4.681627 4.493058] +[2024-01-18 16:46:07,418][train][INFO] - mean_affordance_error = [3.1273575 4.421802 ] +[2024-01-18 16:46:07,419][train][INFO] - median_translation_distance_error = [2.2795675 2.574102 ] +[2024-01-18 16:46:07,419][train][INFO] - median_translation_along_error = [1.7349057 1.0385604] +[2024-01-18 16:46:07,419][train][INFO] - median_translation_perp_error = [1.2795479 2.0826588] +[2024-01-18 16:46:07,420][train][INFO] - median_translation_plane_error = [1.2519071 2.1207745] +[2024-01-18 16:46:07,420][train][INFO] - median_translation_line_error = [0.61817175 1.3878844 ] +[2024-01-18 16:46:07,420][train][INFO] - median_rotation_error = [4.294911 3.6833587] +[2024-01-18 16:46:07,420][train][INFO] - median_affordance_error = [2.6911535 3.9978552] +[2024-01-18 16:46:07,420][train][INFO] - max_translation_distance_error = [6.0653267 9.021005 ] +[2024-01-18 16:46:07,420][train][INFO] - max_translation_along_error = [5.5493493 3.437929 ] +[2024-01-18 16:46:07,421][train][INFO] - max_translation_perp_error = [4.0062146 8.98801 ] +[2024-01-18 16:46:07,421][train][INFO] - max_translation_plane_error = [4.161369 8.927529] +[2024-01-18 16:46:07,421][train][INFO] - max_translation_line_error = [3.78342 4.057658] +[2024-01-18 16:46:07,421][train][INFO] - max_rotation_error = [11.564101 12.601321] +[2024-01-18 16:46:07,421][train][INFO] - max_affordance_error = [11.4878845 12.2804985] +[2024-01-18 16:46:07,421][train][INFO] - min_translation_distance_error = [0.5815865 0.8621762] +[2024-01-18 16:46:07,421][train][INFO] - min_translation_along_error = [0.29116803 0.01700297] +[2024-01-18 16:46:07,422][train][INFO] - min_translation_perp_error = [0.1781852 0.5729569] +[2024-01-18 16:46:07,422][train][INFO] - min_translation_plane_error = [0.22887637 0.6246075 ] +[2024-01-18 16:46:07,422][train][INFO] - min_translation_line_error = [0.0536001 0.03136905] +[2024-01-18 16:46:07,422][train][INFO] - min_rotation_error = [0.95695305 0.1866263 ] +[2024-01-18 16:46:07,422][train][INFO] - min_affordance_error = [0.6084696 1.0960739] +[2024-01-18 16:46:07,423][train][INFO] - std_translation_distance_error = [1.1228459 1.288251 ] +[2024-01-18 16:46:07,423][train][INFO] - std_translation_along_error = [1.1875848 0.8361807] +[2024-01-18 16:46:07,423][train][INFO] - std_translation_perp_error = [0.7651522 1.2574502] +[2024-01-18 16:46:07,423][train][INFO] - std_translation_plane_error = [0.7800335 1.2440872] +[2024-01-18 16:46:07,423][train][INFO] - std_translation_line_error = [0.7833552 0.9930497] +[2024-01-18 16:46:07,423][train][INFO] - std_rotation_error = [1.9644845 2.717846 ] +[2024-01-18 16:46:07,423][train][INFO] - std_affordance_error = [1.9934665 2.1129909] +[2024-01-18 16:46:07,423][train][INFO] - translation_outliers_num = 1 +[2024-01-18 16:46:07,423][train][INFO] - rotation_outliers_num = 45 +[2024-01-18 16:46:07,423][train][INFO] - affordance_outliers_num = 26 +[2024-01-18 16:46:07,424][train][INFO] - translation_outliers_ratio = 0.0078125 +[2024-01-18 16:46:07,424][train][INFO] - rotation_outliers_ratio = 0.3515625 +[2024-01-18 16:46:07,424][train][INFO] - affordance_outliers_ratio = 0.203125 +[2024-01-18 16:46:07,424][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 16:46:07,426][train][INFO] - Validated testing. +[2024-01-18 16:46:07,426][train][INFO] - Validating testing time: 95.9332492351532 +[2024-01-18 16:46:07,431][train][INFO] - epoch: 101 lr: 0.0005747461098091033 +[2024-01-18 16:49:08,425][train][INFO] - training loss: 0.0016367963694322567 + 0.08955038247200159 + 0.0022635260632691474 + 0.016741875014626064 = 0.11019257994798513, data num: 1033 +[2024-01-18 16:49:08,427][train][INFO] - epoch: 102 lr: 0.0005670399506143305 +[2024-01-18 16:52:07,392][train][INFO] - training loss: 0.0016213029246920575 + 0.09030522669737155 + 0.002271911851130426 + 0.016936759708019403 = 0.11113520104151506, data num: 1033 +[2024-01-18 16:52:07,394][train][INFO] - epoch: 103 lr: 0.0005593184839900673 +[2024-01-18 16:55:10,271][train][INFO] - training loss: 0.001606922628931128 + 0.08996817160111208 + 0.002188054957570365 + 0.0167920533567667 = 0.11055520257124533, data num: 1033 +[2024-01-18 16:55:10,272][train][INFO] - epoch: 104 lr: 0.0005515836150926644 +[2024-01-18 16:58:08,835][train][INFO] - training loss: 0.001572854363789352 + 0.08910334362433507 + 0.0022207463822829037 + 0.016207501120292223 = 0.10910444465967326, data num: 1033 +[2024-01-18 16:58:08,836][train][INFO] - epoch: 105 lr: 0.0005438372523852832 +[2024-01-18 17:01:07,275][train][INFO] - training loss: 0.0015694898965123755 + 0.08883692003213442 + 0.002152125069943185 + 0.016059860615776134 = 0.10861839525974713, data num: 1033 +[2024-01-18 17:01:07,277][train][INFO] - epoch: 106 lr: 0.00053608130716701 +[2024-01-18 17:03:59,464][train][INFO] - training loss: 0.0016074410138221887 + 0.08944242069354424 + 0.0021767704353596157 + 0.01650117230243408 = 0.10972780459202253, data num: 1033 +[2024-01-18 17:03:59,467][train][INFO] - epoch: 107 lr: 0.0005283176931012729 +[2024-01-18 17:07:00,761][train][INFO] - training loss: 0.0015684349516120095 + 0.08747271379599204 + 0.0021360198555227658 + 0.015821375640539023 = 0.1069985447021631, data num: 1033 +[2024-01-18 17:07:00,763][train][INFO] - epoch: 108 lr: 0.0005205483257436734 +[2024-01-18 17:09:53,840][train][INFO] - training loss: 0.0015885011704925161 + 0.08840808524535253 + 0.0021707952667314274 + 0.015487665167221656 = 0.10765504665099658, data num: 1033 +[2024-01-18 17:09:53,842][train][INFO] - epoch: 109 lr: 0.0005127751220693511 +[2024-01-18 17:12:55,198][train][INFO] - training loss: 0.0015878340121931755 + 0.08804880541104537 + 0.002217968633899895 + 0.01576760750837051 = 0.10762221538103543, data num: 1033 +[2024-01-18 17:12:55,200][train][INFO] - epoch: 110 lr: 0.0005049999999999998 +[2024-01-18 17:15:53,699][train][INFO] - training loss: 0.001576131938670117 + 0.08828151363592882 + 0.002179935076632179 + 0.01545309998954718 = 0.10749068053869101, data num: 1033 +[2024-01-18 17:15:53,700][train][INFO] - epoch: 111 lr: 0.0004972248779306486 +[2024-01-18 17:18:52,481][train][INFO] - training loss: 0.001564093455314063 + 0.08688684002711222 + 0.0021485108971739044 + 0.015206095404349841 = 0.10580554008483886, data num: 1033 +[2024-01-18 17:18:52,483][train][INFO] - epoch: 112 lr: 0.0004894516742563262 +[2024-01-18 17:21:53,231][train][INFO] - training loss: 0.001553968723433522 + 0.08822321456212263 + 0.002191998360033792 + 0.015218236727210191 = 0.1071874187542842, data num: 1033 +[2024-01-18 17:21:53,231][train][INFO] - epoch: 113 lr: 0.00048168230689872663 +[2024-01-18 17:24:53,542][train][INFO] - training loss: 0.0015723464222481619 + 0.08637293347945581 + 0.0021497527352319313 + 0.014451678784993979 = 0.1045467109634326, data num: 1033 +[2024-01-18 17:24:53,543][train][INFO] - epoch: 114 lr: 0.0004739186928329896 +[2024-01-18 17:27:51,370][train][INFO] - training loss: 0.0015600636476077712 + 0.08619606357354384 + 0.0021359729294020396 + 0.014487601673373809 = 0.10437970149975556, data num: 1033 +[2024-01-18 17:27:51,372][train][INFO] - epoch: 115 lr: 0.00046616274761471655 +[2024-01-18 17:30:49,319][train][INFO] - training loss: 0.0015534728120725888 + 0.08701674399467615 + 0.0021443819698805993 + 0.01469782477674576 = 0.10541242441305747, data num: 1033 +[2024-01-18 17:30:49,321][train][INFO] - epoch: 116 lr: 0.0004584163849073352 +[2024-01-18 17:33:43,640][train][INFO] - training loss: 0.0015221186841909702 + 0.08662564720098789 + 0.002149919687340466 + 0.014827200211584568 = 0.10512488587544515, data num: 1033 +[2024-01-18 17:33:43,642][train][INFO] - epoch: 117 lr: 0.0004506815160099324 +[2024-01-18 17:36:38,750][train][INFO] - training loss: 0.0014990726808229318 + 0.08555276176104179 + 0.0020919692953332114 + 0.014497962765968764 = 0.10364176573661657, data num: 1033 +[2024-01-18 17:36:38,751][train][INFO] - epoch: 118 lr: 0.0004429600493856693 +[2024-01-18 17:39:39,228][train][INFO] - training loss: 0.0015395369900103944 + 0.08609265455832849 + 0.002074485710965326 + 0.01470148081962879 = 0.10440815870578472, data num: 1033 +[2024-01-18 17:39:39,229][train][INFO] - epoch: 119 lr: 0.00043525389019089656 +[2024-01-18 17:42:35,794][train][INFO] - training loss: 0.0015797844102892738 + 0.08544306193406766 + 0.002046672892398559 + 0.014766902519533267 = 0.1038364215539052, data num: 1033 +[2024-01-18 17:42:35,796][train][INFO] - epoch: 120 lr: 0.0004275649398050856 +[2024-01-18 17:45:33,492][train][INFO] - training loss: 0.0014932735232063212 + 0.08636020078108861 + 0.0020926508855504487 + 0.01494731461772552 = 0.10489343954966618, data num: 1033 +[2024-01-18 17:45:33,506][train][INFO] - Validating training... +[2024-01-18 17:47:08,360][train][INFO] - mean_translation_distance_error = [2.880735 3.3545566] +[2024-01-18 17:47:08,360][train][INFO] - mean_translation_along_error = [2.00212 1.1303718] +[2024-01-18 17:47:08,361][train][INFO] - mean_translation_perp_error = [1.6669178 2.9797213] +[2024-01-18 17:47:08,361][train][INFO] - mean_translation_plane_error = [1.6786474 2.9908855] +[2024-01-18 17:47:08,361][train][INFO] - mean_translation_line_error = [0.9557129 1.7849472] +[2024-01-18 17:47:08,361][train][INFO] - mean_rotation_error = [4.538909 4.714927] +[2024-01-18 17:47:08,361][train][INFO] - mean_affordance_error = [3.7731824 4.003552 ] +[2024-01-18 17:47:08,362][train][INFO] - median_translation_distance_error = [2.5955353 2.6859045] +[2024-01-18 17:47:08,362][train][INFO] - median_translation_along_error = [1.6251116 0.8181187] +[2024-01-18 17:47:08,362][train][INFO] - median_translation_perp_error = [1.3724308 2.5162125] +[2024-01-18 17:47:08,362][train][INFO] - median_translation_plane_error = [1.4231987 2.5952597] +[2024-01-18 17:47:08,362][train][INFO] - median_translation_line_error = [0.6853658 1.3806269] +[2024-01-18 17:47:08,362][train][INFO] - median_rotation_error = [4.5591965 3.8949757] +[2024-01-18 17:47:08,363][train][INFO] - median_affordance_error = [3.2528057 3.4408567] +[2024-01-18 17:47:08,363][train][INFO] - max_translation_distance_error = [ 9.165693 10.845679] +[2024-01-18 17:47:08,363][train][INFO] - max_translation_along_error = [8.431207 7.4867 ] +[2024-01-18 17:47:08,363][train][INFO] - max_translation_perp_error = [ 5.168711 10.811017] +[2024-01-18 17:47:08,363][train][INFO] - max_translation_plane_error = [ 5.4093904 10.783364 ] +[2024-01-18 17:47:08,363][train][INFO] - max_translation_line_error = [2.8798003 7.207156 ] +[2024-01-18 17:47:08,363][train][INFO] - max_rotation_error = [12.388699 12.05061 ] +[2024-01-18 17:47:08,363][train][INFO] - max_affordance_error = [ 9.430577 11.661775] +[2024-01-18 17:47:08,364][train][INFO] - min_translation_distance_error = [0.48308298 0.54966897] +[2024-01-18 17:47:08,364][train][INFO] - min_translation_along_error = [0.0072347 0.00827415] +[2024-01-18 17:47:08,364][train][INFO] - min_translation_perp_error = [0.11316754 0.1069726 ] +[2024-01-18 17:47:08,364][train][INFO] - min_translation_plane_error = [0.14679395 0.12544234] +[2024-01-18 17:47:08,364][train][INFO] - min_translation_line_error = [0.00143228 0.0112918 ] +[2024-01-18 17:47:08,364][train][INFO] - min_rotation_error = [0.48658267 0.2264194 ] +[2024-01-18 17:47:08,364][train][INFO] - min_affordance_error = [1.2023368 0.6699053] +[2024-01-18 17:47:08,365][train][INFO] - std_translation_distance_error = [1.5698193 2.0515323] +[2024-01-18 17:47:08,365][train][INFO] - std_translation_along_error = [1.6512685 1.1920043] +[2024-01-18 17:47:08,365][train][INFO] - std_translation_perp_error = [1.1176672 1.9709107] +[2024-01-18 17:47:08,365][train][INFO] - std_translation_plane_error = [1.1252506 1.9892396] +[2024-01-18 17:47:08,365][train][INFO] - std_translation_line_error = [0.7990156 1.4374821] +[2024-01-18 17:47:08,366][train][INFO] - std_rotation_error = [2.4591267 2.7681642] +[2024-01-18 17:47:08,366][train][INFO] - std_affordance_error = [1.823138 2.3649023] +[2024-01-18 17:47:08,366][train][INFO] - translation_outliers_num = 8 +[2024-01-18 17:47:08,366][train][INFO] - rotation_outliers_num = 47 +[2024-01-18 17:47:08,366][train][INFO] - affordance_outliers_num = 30 +[2024-01-18 17:47:08,366][train][INFO] - translation_outliers_ratio = 0.0625 +[2024-01-18 17:47:08,366][train][INFO] - rotation_outliers_ratio = 0.3671875 +[2024-01-18 17:47:08,366][train][INFO] - affordance_outliers_ratio = 0.234375 +[2024-01-18 17:47:08,366][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 17:47:08,368][train][INFO] - Validated training. +[2024-01-18 17:47:08,373][train][INFO] - Validating training time: 94.86239719390869 +[2024-01-18 17:47:08,374][train][INFO] - Validating testing... +[2024-01-18 17:48:35,589][train][INFO] - mean_translation_distance_error = [2.4634886 2.5381963] +[2024-01-18 17:48:35,590][train][INFO] - mean_translation_along_error = [1.9769391 0.9347477] +[2024-01-18 17:48:35,590][train][INFO] - mean_translation_perp_error = [1.1885474 2.2464693] +[2024-01-18 17:48:35,590][train][INFO] - mean_translation_plane_error = [1.1487224 2.2285182] +[2024-01-18 17:48:35,591][train][INFO] - mean_translation_line_error = [0.71818084 1.3387485 ] +[2024-01-18 17:48:35,591][train][INFO] - mean_rotation_error = [4.8727493 4.3134723] +[2024-01-18 17:48:35,591][train][INFO] - mean_affordance_error = [3.3467011 3.5687714] +[2024-01-18 17:48:35,592][train][INFO] - median_translation_distance_error = [2.0485635 2.0762672] +[2024-01-18 17:48:35,593][train][INFO] - median_translation_along_error = [1.5502654 0.7485323] +[2024-01-18 17:48:35,593][train][INFO] - median_translation_perp_error = [1.052567 1.8435423] +[2024-01-18 17:48:35,593][train][INFO] - median_translation_plane_error = [1.0256032 1.8686969] +[2024-01-18 17:48:35,593][train][INFO] - median_translation_line_error = [0.56314844 1.087705 ] +[2024-01-18 17:48:35,594][train][INFO] - median_rotation_error = [4.671781 4.0624685] +[2024-01-18 17:48:35,594][train][INFO] - median_affordance_error = [3.0656228 2.9765549] +[2024-01-18 17:48:35,594][train][INFO] - max_translation_distance_error = [6.7254066 9.825367 ] +[2024-01-18 17:48:35,595][train][INFO] - max_translation_along_error = [6.5750055 3.475678 ] +[2024-01-18 17:48:35,595][train][INFO] - max_translation_perp_error = [3.3655188 9.751462 ] +[2024-01-18 17:48:35,595][train][INFO] - max_translation_plane_error = [3.7162707 9.668472 ] +[2024-01-18 17:48:35,595][train][INFO] - max_translation_line_error = [2.4621665 6.3537436] +[2024-01-18 17:48:35,596][train][INFO] - max_rotation_error = [10.543331 12.354924] +[2024-01-18 17:48:35,596][train][INFO] - max_affordance_error = [ 8.368973 14.518314] +[2024-01-18 17:48:35,596][train][INFO] - min_translation_distance_error = [0.23972169 0.39187813] +[2024-01-18 17:48:35,597][train][INFO] - min_translation_along_error = [0.04529195 0.1366174 ] +[2024-01-18 17:48:35,597][train][INFO] - min_translation_perp_error = [0.18549782 0.23394686] +[2024-01-18 17:48:35,597][train][INFO] - min_translation_plane_error = [0.15742473 0.20067638] +[2024-01-18 17:48:35,597][train][INFO] - min_translation_line_error = [0.00486919 0.03704374] +[2024-01-18 17:48:35,598][train][INFO] - min_rotation_error = [0.6003568 0.12033131] +[2024-01-18 17:48:35,598][train][INFO] - min_affordance_error = [0.8452414 0.72842085] +[2024-01-18 17:48:35,599][train][INFO] - std_translation_distance_error = [1.5058953 1.7020062] +[2024-01-18 17:48:35,599][train][INFO] - std_translation_along_error = [1.579251 0.7072068] +[2024-01-18 17:48:35,599][train][INFO] - std_translation_perp_error = [0.72217095 1.7084336 ] +[2024-01-18 17:48:35,600][train][INFO] - std_translation_plane_error = [0.77795976 1.6837591 ] +[2024-01-18 17:48:35,600][train][INFO] - std_translation_line_error = [0.6222403 1.1153659] +[2024-01-18 17:48:35,600][train][INFO] - std_rotation_error = [1.9803277 2.4218261] +[2024-01-18 17:48:35,601][train][INFO] - std_affordance_error = [1.6504437 2.3783839] +[2024-01-18 17:48:35,601][train][INFO] - translation_outliers_num = 3 +[2024-01-18 17:48:35,601][train][INFO] - rotation_outliers_num = 52 +[2024-01-18 17:48:35,601][train][INFO] - affordance_outliers_num = 21 +[2024-01-18 17:48:35,601][train][INFO] - translation_outliers_ratio = 0.0234375 +[2024-01-18 17:48:35,601][train][INFO] - rotation_outliers_ratio = 0.40625 +[2024-01-18 17:48:35,601][train][INFO] - affordance_outliers_ratio = 0.1640625 +[2024-01-18 17:48:35,601][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 17:48:35,604][train][INFO] - Validated testing. +[2024-01-18 17:48:35,604][train][INFO] - Validating testing time: 87.23016309738159 +[2024-01-18 17:48:35,605][train][INFO] - epoch: 121 lr: 0.0004198950953616921 +[2024-01-18 17:51:27,048][train][INFO] - training loss: 0.0015025992143469361 + 0.08576108606962057 + 0.0020735187294821326 + 0.014414145296009687 = 0.10375134864678749, data num: 1033 +[2024-01-18 17:51:27,049][train][INFO] - epoch: 122 lr: 0.0004122462492800662 +[2024-01-18 17:54:22,043][train][INFO] - training loss: 0.0015064171587045377 + 0.08438512786076618 + 0.0020795089944910545 + 0.014002786189890825 = 0.10197384013579441, data num: 1033 +[2024-01-18 17:54:22,046][train][INFO] - epoch: 123 lr: 0.0004046202887985263 +[2024-01-18 17:57:24,104][train][INFO] - training loss: 0.0014805539475324062 + 0.08367556287692143 + 0.0020367490253053035 + 0.013867735060361715 = 0.10106060046416063, data num: 1033 +[2024-01-18 17:57:24,105][train][INFO] - epoch: 124 lr: 0.0003970190955087115 +[2024-01-18 18:00:23,458][train][INFO] - training loss: 0.0015018691004325564 + 0.08397197322203563 + 0.0020827655501377126 + 0.013789142696903301 = 0.10134575080413084, data num: 1033 +[2024-01-18 18:00:23,459][train][INFO] - epoch: 125 lr: 0.0003894445448913267 +[2024-01-18 18:03:18,486][train][INFO] - training loss: 0.0014909680771569792 + 0.08485643989764727 + 0.0020477452619860953 + 0.013669987309437531 = 0.10206514069667229, data num: 1033 +[2024-01-18 18:03:18,488][train][INFO] - epoch: 126 lr: 0.00038189850585339675 +[2024-01-18 18:06:13,205][train][INFO] - training loss: 0.001466976417801701 + 0.0834767902126679 + 0.002014264462587352 + 0.013438982989352482 = 0.10039701370092538, data num: 1033 +[2024-01-18 18:06:13,207][train][INFO] - epoch: 127 lr: 0.0003743828402671403 +[2024-01-18 18:09:13,915][train][INFO] - training loss: 0.0014856189095343534 + 0.08353273731011611 + 0.0020268421548490343 + 0.013142118688959342 = 0.10018731711002496, data num: 1033 +[2024-01-18 18:09:13,916][train][INFO] - epoch: 128 lr: 0.0003668994025105814 +[2024-01-18 18:12:10,478][train][INFO] - training loss: 0.0014772134116635873 + 0.08368831460292522 + 0.002029499366807823 + 0.013298339769244194 = 0.10049336701631546, data num: 1033 +[2024-01-18 18:12:10,480][train][INFO] - epoch: 129 lr: 0.00035945003901000945 +[2024-01-18 18:15:08,185][train][INFO] - training loss: 0.001470378410214415 + 0.08381039408537058 + 0.0020402568177534984 + 0.013170730494535886 = 0.10049176067113877, data num: 1033 +[2024-01-18 18:15:08,186][train][INFO] - epoch: 130 lr: 0.00035203658778440103 +[2024-01-18 18:18:06,680][train][INFO] - training loss: 0.001447459804610564 + 0.08287024314586933 + 0.0019714353444914407 + 0.012896787317899557 = 0.09918592583674651, data num: 1033 +[2024-01-18 18:18:06,681][train][INFO] - epoch: 131 lr: 0.0003446608779919159 +[2024-01-18 18:21:05,430][train][INFO] - training loss: 0.0014388565618831377 + 0.08352230351704817 + 0.0019832245736884383 + 0.013183569392332664 = 0.1001279544371825, data num: 1033 +[2024-01-18 18:21:05,430][train][INFO] - epoch: 132 lr: 0.00033732472947858063 +[2024-01-18 18:24:04,736][train][INFO] - training loss: 0.0014694255078211427 + 0.08338725876349669 + 0.0020007344965751353 + 0.013306414149701596 = 0.10016383299460778, data num: 1033 +[2024-01-18 18:24:04,737][train][INFO] - epoch: 133 lr: 0.00033002995232926766 +[2024-01-18 18:27:05,823][train][INFO] - training loss: 0.0014427814113262755 + 0.08242877870798111 + 0.001978190699950434 + 0.012833459460391447 = 0.09868321132201414, data num: 1033 +[2024-01-18 18:27:05,823][train][INFO] - epoch: 134 lr: 0.0003227783464210844 +[2024-01-18 18:30:04,726][train][INFO] - training loss: 0.0014385303500323342 + 0.0827037866298969 + 0.0019843962150984085 + 0.012806849568509138 = 0.09893356286562406, data num: 1033 +[2024-01-18 18:30:04,727][train][INFO] - epoch: 135 lr: 0.00031557170097928054 +[2024-01-18 18:33:07,109][train][INFO] - training loss: 0.0014369571653123085 + 0.08212905801259554 + 0.002002318640454457 + 0.012711030115874914 = 0.09827936440706253, data num: 1033 +[2024-01-18 18:33:07,110][train][INFO] - epoch: 136 lr: 0.0003084117941357834 +[2024-01-18 18:36:12,601][train][INFO] - training loss: 0.0014277317364198656 + 0.08221249419909257 + 0.0019499333252987036 + 0.012452038964973046 = 0.09804219844249579, data num: 1033 +[2024-01-18 18:36:12,602][train][INFO] - epoch: 137 lr: 0.00030130039249047106 +[2024-01-18 18:39:12,206][train][INFO] - training loss: 0.001430071799012904 + 0.08184144519842589 + 0.001963890868668946 + 0.012541054103236932 = 0.09777646248157208, data num: 1033 +[2024-01-18 18:39:12,207][train][INFO] - epoch: 138 lr: 0.00029423925067528897 +[2024-01-18 18:42:15,178][train][INFO] - training loss: 0.0014601643895730376 + 0.0825118233378117 + 0.001963071793747636 + 0.012713329236094768 = 0.09864838868379593, data num: 1033 +[2024-01-18 18:42:15,181][train][INFO] - epoch: 139 lr: 0.0002872301109213219 +[2024-01-18 18:45:11,947][train][INFO] - training loss: 0.0014247473436765946 + 0.08154035061597824 + 0.0019414470262395648 + 0.012372325059886162 = 0.09727887064218521, data num: 1033 +[2024-01-18 18:45:11,948][train][INFO] - epoch: 140 lr: 0.0002802747026289243 +[2024-01-18 18:48:06,807][train][INFO] - training loss: 0.0014491250738501548 + 0.08217789484904363 + 0.00194206723334411 + 0.012224593386054038 = 0.09779368134645315, data num: 1033 +[2024-01-18 18:48:06,820][train][INFO] - Validating training... +[2024-01-18 18:50:38,867][train][INFO] - mean_translation_distance_error = [2.3422768 2.847402 ] +[2024-01-18 18:50:38,868][train][INFO] - mean_translation_along_error = [1.5790187 0.8818641] +[2024-01-18 18:50:38,868][train][INFO] - mean_translation_perp_error = [1.4317541 2.5862668] +[2024-01-18 18:50:38,868][train][INFO] - mean_translation_plane_error = [1.4428122 2.604103 ] +[2024-01-18 18:50:38,868][train][INFO] - mean_translation_line_error = [0.872437 1.6128006] +[2024-01-18 18:50:38,868][train][INFO] - mean_rotation_error = [4.543145 4.7887955] +[2024-01-18 18:50:38,868][train][INFO] - mean_affordance_error = [2.760027 4.2752495] +[2024-01-18 18:50:38,869][train][INFO] - median_translation_distance_error = [2.0503457 2.3001485] +[2024-01-18 18:50:38,869][train][INFO] - median_translation_along_error = [1.2890334 0.5715612] +[2024-01-18 18:50:38,869][train][INFO] - median_translation_perp_error = [1.364948 1.9370735] +[2024-01-18 18:50:38,870][train][INFO] - median_translation_plane_error = [1.3760786 1.9296131] +[2024-01-18 18:50:38,870][train][INFO] - median_translation_line_error = [0.6746149 1.2708858] +[2024-01-18 18:50:38,870][train][INFO] - median_rotation_error = [4.310104 4.20571 ] +[2024-01-18 18:50:38,870][train][INFO] - median_affordance_error = [2.5618985 3.9215727] +[2024-01-18 18:50:38,870][train][INFO] - max_translation_distance_error = [6.6676283 9.677721 ] +[2024-01-18 18:50:38,870][train][INFO] - max_translation_along_error = [6.361877 3.1436949] +[2024-01-18 18:50:38,870][train][INFO] - max_translation_perp_error = [4.000707 9.654353] +[2024-01-18 18:50:38,870][train][INFO] - max_translation_plane_error = [3.9334488 9.687398 ] +[2024-01-18 18:50:38,871][train][INFO] - max_translation_line_error = [3.63828 7.6498876] +[2024-01-18 18:50:38,871][train][INFO] - max_rotation_error = [15.116847 15.446151] +[2024-01-18 18:50:38,871][train][INFO] - max_affordance_error = [ 8.928604 11.662386] +[2024-01-18 18:50:38,871][train][INFO] - min_translation_distance_error = [0.34308395 0.54064184] +[2024-01-18 18:50:38,871][train][INFO] - min_translation_along_error = [0.02256394 0.0089984 ] +[2024-01-18 18:50:38,871][train][INFO] - min_translation_perp_error = [0.09975258 0.17487441] +[2024-01-18 18:50:38,871][train][INFO] - min_translation_plane_error = [0.12397773 0.24347964] +[2024-01-18 18:50:38,871][train][INFO] - min_translation_line_error = [0.00236869 0.0023553 ] +[2024-01-18 18:50:38,872][train][INFO] - min_rotation_error = [0.35772744 0.2264194 ] +[2024-01-18 18:50:38,872][train][INFO] - min_affordance_error = [0.56821936 1.4746504 ] +[2024-01-18 18:50:38,872][train][INFO] - std_translation_distance_error = [1.2987187 1.9214848] +[2024-01-18 18:50:38,872][train][INFO] - std_translation_along_error = [1.3880062 0.78125334] +[2024-01-18 18:50:38,872][train][INFO] - std_translation_perp_error = [0.8385391 1.9295038] +[2024-01-18 18:50:38,872][train][INFO] - std_translation_plane_error = [0.82090133 1.9330872 ] +[2024-01-18 18:50:38,873][train][INFO] - std_translation_line_error = [0.7305502 1.5628374] +[2024-01-18 18:50:38,873][train][INFO] - std_rotation_error = [2.550088 2.966732] +[2024-01-18 18:50:38,873][train][INFO] - std_affordance_error = [1.5387697 1.672845 ] +[2024-01-18 18:50:38,873][train][INFO] - translation_outliers_num = 6 +[2024-01-18 18:50:38,873][train][INFO] - rotation_outliers_num = 52 +[2024-01-18 18:50:38,873][train][INFO] - affordance_outliers_num = 25 +[2024-01-18 18:50:38,873][train][INFO] - translation_outliers_ratio = 0.046875 +[2024-01-18 18:50:38,873][train][INFO] - rotation_outliers_ratio = 0.40625 +[2024-01-18 18:50:38,873][train][INFO] - affordance_outliers_ratio = 0.1953125 +[2024-01-18 18:50:38,873][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 18:50:38,886][train][INFO] - Validated training. +[2024-01-18 18:50:38,886][train][INFO] - Validating training time: 152.06529259681702 +[2024-01-18 18:50:38,886][train][INFO] - Validating testing... +[2024-01-18 18:52:29,017][train][INFO] - mean_translation_distance_error = [2.6531117 2.5167148] +[2024-01-18 18:52:29,017][train][INFO] - mean_translation_along_error = [2.0796542 0.745663 ] +[2024-01-18 18:52:29,018][train][INFO] - mean_translation_perp_error = [1.3194214 2.2930634] +[2024-01-18 18:52:29,018][train][INFO] - mean_translation_plane_error = [1.377569 2.3022702] +[2024-01-18 18:52:29,018][train][INFO] - mean_translation_line_error = [0.90999025 1.2471226 ] +[2024-01-18 18:52:29,018][train][INFO] - mean_rotation_error = [5.1243668 4.206726 ] +[2024-01-18 18:52:29,018][train][INFO] - mean_affordance_error = [2.4522707 4.32481 ] +[2024-01-18 18:52:29,019][train][INFO] - median_translation_distance_error = [2.2706485 2.0608172] +[2024-01-18 18:52:29,019][train][INFO] - median_translation_along_error = [1.7072518 0.5949355] +[2024-01-18 18:52:29,019][train][INFO] - median_translation_perp_error = [1.1913129 1.9832911] +[2024-01-18 18:52:29,019][train][INFO] - median_translation_plane_error = [1.24911 1.9730952] +[2024-01-18 18:52:29,019][train][INFO] - median_translation_line_error = [0.7815172 1.0396812] +[2024-01-18 18:52:29,019][train][INFO] - median_rotation_error = [5.135286 3.6139379] +[2024-01-18 18:52:29,020][train][INFO] - median_affordance_error = [2.1870265 3.8101096] +[2024-01-18 18:52:29,020][train][INFO] - max_translation_distance_error = [ 7.0216427 10.098279 ] +[2024-01-18 18:52:29,020][train][INFO] - max_translation_along_error = [6.2733502 3.0329018] +[2024-01-18 18:52:29,020][train][INFO] - max_translation_perp_error = [ 4.534449 10.031612] +[2024-01-18 18:52:29,020][train][INFO] - max_translation_plane_error = [4.733101 9.944332] +[2024-01-18 18:52:29,020][train][INFO] - max_translation_line_error = [2.3927872 5.633289 ] +[2024-01-18 18:52:29,020][train][INFO] - max_rotation_error = [ 9.73365 12.680876] +[2024-01-18 18:52:29,021][train][INFO] - max_affordance_error = [ 7.1848273 15.026608 ] +[2024-01-18 18:52:29,021][train][INFO] - min_translation_distance_error = [0.5366676 0.57153815] +[2024-01-18 18:52:29,021][train][INFO] - min_translation_along_error = [0.00319364 0.00713656] +[2024-01-18 18:52:29,021][train][INFO] - min_translation_perp_error = [0.14573376 0.3654122 ] +[2024-01-18 18:52:29,021][train][INFO] - min_translation_plane_error = [0.22109318 0.43148655] +[2024-01-18 18:52:29,022][train][INFO] - min_translation_line_error = [0.07459164 0.01715615] +[2024-01-18 18:52:29,022][train][INFO] - min_rotation_error = [0.98297745 0.12033131] +[2024-01-18 18:52:29,022][train][INFO] - min_affordance_error = [0.32780322 1.0034158 ] +[2024-01-18 18:52:29,022][train][INFO] - std_translation_distance_error = [1.4263239 1.680077 ] +[2024-01-18 18:52:29,022][train][INFO] - std_translation_along_error = [1.5782803 0.6351306] +[2024-01-18 18:52:29,022][train][INFO] - std_translation_perp_error = [0.7187453 1.7143422] +[2024-01-18 18:52:29,023][train][INFO] - std_translation_plane_error = [0.78982514 1.7215466 ] +[2024-01-18 18:52:29,023][train][INFO] - std_translation_line_error = [0.5791178 1.0805379] +[2024-01-18 18:52:29,023][train][INFO] - std_rotation_error = [2.11702 2.6158042] +[2024-01-18 18:52:29,023][train][INFO] - std_affordance_error = [1.4031514 2.5229836] +[2024-01-18 18:52:29,023][train][INFO] - translation_outliers_num = 5 +[2024-01-18 18:52:29,023][train][INFO] - rotation_outliers_num = 57 +[2024-01-18 18:52:29,023][train][INFO] - affordance_outliers_num = 17 +[2024-01-18 18:52:29,023][train][INFO] - translation_outliers_ratio = 0.0390625 +[2024-01-18 18:52:29,023][train][INFO] - rotation_outliers_ratio = 0.4453125 +[2024-01-18 18:52:29,023][train][INFO] - affordance_outliers_ratio = 0.1328125 +[2024-01-18 18:52:29,023][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 18:52:29,026][train][INFO] - Validated testing. +[2024-01-18 18:52:29,032][train][INFO] - Validating testing time: 110.13927483558655 +[2024-01-18 18:52:29,033][train][INFO] - epoch: 141 lr: 0.00027337474194101617 +[2024-01-18 18:55:31,554][train][INFO] - training loss: 0.001411722104351681 + 0.08093337416648864 + 0.001972621650649951 + 0.012134587263258605 = 0.09645230517937586, data num: 1033 +[2024-01-18 18:55:31,555][train][INFO] - epoch: 142 lr: 0.00026653193131965077 +[2024-01-18 18:58:42,116][train][INFO] - training loss: 0.001409086103264529 + 0.0810825614975049 + 0.0019278767876900159 + 0.012163101795774239 = 0.0965826248893371, data num: 1033 +[2024-01-18 18:58:42,117][train][INFO] - epoch: 143 lr: 0.00025974795912595813 +[2024-01-18 19:01:56,766][train][INFO] - training loss: 0.001401981718551654 + 0.08064352044692406 + 0.001914341774625847 + 0.011990992194758012 = 0.09595083674559227, data num: 1033 +[2024-01-18 19:01:56,766][train][INFO] - epoch: 144 lr: 0.0002530244992035661 +[2024-01-18 19:05:06,050][train][INFO] - training loss: 0.0014127739937976002 + 0.08153045681806712 + 0.0019326695688785269 + 0.011984706261696725 = 0.09686060662452992, data num: 1033 +[2024-01-18 19:05:06,050][train][INFO] - epoch: 145 lr: 0.00024636321046560527 +[2024-01-18 19:08:11,789][train][INFO] - training loss: 0.0013910382663687834 + 0.08092248474176113 + 0.0019175289270396416 + 0.012006621542744912 = 0.0962376729800151, data num: 1033 +[2024-01-18 19:08:11,790][train][INFO] - epoch: 146 lr: 0.00023976573648539645 +[2024-01-18 19:11:11,051][train][INFO] - training loss: 0.0014238257534228839 + 0.08145030163801634 + 0.0019056106613089259 + 0.011845520289184956 = 0.09662525883087746, data num: 1033 +[2024-01-18 19:11:11,052][train][INFO] - epoch: 147 lr: 0.00023323370509092462 +[2024-01-18 19:14:06,992][train][INFO] - training loss: 0.0013888845972430247 + 0.08047953454347757 + 0.001934726362546476 + 0.011836169086969816 = 0.09563931467441412, data num: 1033 +[2024-01-18 19:14:06,994][train][INFO] - epoch: 148 lr: 0.00022676872796319523 +[2024-01-18 19:17:06,035][train][INFO] - training loss: 0.001398991014306935 + 0.08014588161156727 + 0.0019172482407436922 + 0.0116100944721928 = 0.09507221510777107, data num: 1033 +[2024-01-18 19:17:06,037][train][INFO] - epoch: 149 lr: 0.00022037240023857702 +[2024-01-18 19:20:02,832][train][INFO] - training loss: 0.0013934558132090247 + 0.08013232751534535 + 0.0018868142953858925 + 0.01165850327994961 = 0.0950711007301624, data num: 1033 +[2024-01-18 19:20:02,833][train][INFO] - epoch: 150 lr: 0.00021404630011522577 +[2024-01-18 19:23:00,753][train][INFO] - training loss: 0.0013815171067388012 + 0.07951926554624851 + 0.0018718955268223697 + 0.011383979860693217 = 0.09415665715932846, data num: 1033 +[2024-01-18 19:23:00,754][train][INFO] - epoch: 151 lr: 0.00020779198846368737 +[2024-01-18 19:25:56,777][train][INFO] - training loss: 0.0013807232348391643 + 0.07988056781200262 + 0.0018964130288133254 + 0.011303274218852704 = 0.09446097795779888, data num: 1033 +[2024-01-18 19:25:56,779][train][INFO] - epoch: 152 lr: 0.0002016110084417765 +[2024-01-18 19:28:55,862][train][INFO] - training loss: 0.0013776117667125968 + 0.07955312293309431 + 0.0018785403289187414 + 0.011299224004435999 = 0.09410849924270924, data num: 1033 +[2024-01-18 19:28:55,863][train][INFO] - epoch: 153 lr: 0.00019550488511382584 +[2024-01-18 19:31:50,810][train][INFO] - training loss: 0.0013728708028793335 + 0.07926961664970104 + 0.0018953882121982484 + 0.01118351984052704 = 0.0937213950432264, data num: 1033 +[2024-01-18 19:31:50,811][train][INFO] - epoch: 154 lr: 0.00018947512507439847 +[2024-01-18 19:34:49,922][train][INFO] - training loss: 0.0013711648008141381 + 0.0795150936796115 + 0.0018521976836312277 + 0.011134055063415032 = 0.09387251081374975, data num: 1033 +[2024-01-18 19:34:49,923][train][INFO] - epoch: 155 lr: 0.00018352321607655904 +[2024-01-18 19:37:45,788][train][INFO] - training loss: 0.001369621207077916 + 0.08013187601016118 + 0.0018709144787862897 + 0.011250707156096513 = 0.09462311909748958, data num: 1033 +[2024-01-18 19:37:45,789][train][INFO] - epoch: 156 lr: 0.0001776506266647923 +[2024-01-18 19:40:41,349][train][INFO] - training loss: 0.0013705368279121244 + 0.07888742352907474 + 0.0018649878087811744 + 0.011053074953647761 = 0.0931760229743444, data num: 1033 +[2024-01-18 19:40:41,351][train][INFO] - epoch: 157 lr: 0.00017185880581266206 +[2024-01-18 19:43:35,498][train][INFO] - training loss: 0.0013601959665090991 + 0.07909780316627943 + 0.001870104423365914 + 0.010980958541711936 = 0.0933090627193451, data num: 1033 +[2024-01-18 19:43:35,500][train][INFO] - epoch: 158 lr: 0.000166149182565299 +[2024-01-18 19:46:33,293][train][INFO] - training loss: 0.0013647145323025492 + 0.07889491869853094 + 0.0018625128065020992 + 0.011007046814148243 = 0.09312919298043618, data num: 1033 +[2024-01-18 19:46:33,295][train][INFO] - epoch: 159 lr: 0.00016052316568680435 +[2024-01-18 19:49:29,851][train][INFO] - training loss: 0.001367101795040071 + 0.07870109516840715 + 0.001858115395029577 + 0.011053120366369303 = 0.09297943252783555, data num: 1033 +[2024-01-18 19:49:29,853][train][INFO] - epoch: 160 lr: 0.00015498214331265893 +[2024-01-18 19:52:31,732][train][INFO] - training loss: 0.0013594908030846943 + 0.07887140283217797 + 0.001845245586278347 + 0.010976620935476744 = 0.09305275999582731, data num: 1033 +[2024-01-18 19:52:31,744][train][INFO] - Validating training... +[2024-01-18 19:54:32,006][train][INFO] - mean_translation_distance_error = [2.8662245 3.021783 ] +[2024-01-18 19:54:32,006][train][INFO] - mean_translation_along_error = [1.9117199 1.3365862] +[2024-01-18 19:54:32,007][train][INFO] - mean_translation_perp_error = [1.896111 2.5293884] +[2024-01-18 19:54:32,007][train][INFO] - mean_translation_plane_error = [1.9365547 2.5223327] +[2024-01-18 19:54:32,007][train][INFO] - mean_translation_line_error = [1.1390325 1.6073403] +[2024-01-18 19:54:32,007][train][INFO] - mean_rotation_error = [4.299975 4.6291494] +[2024-01-18 19:54:32,007][train][INFO] - mean_affordance_error = [2.628516 3.5243955] +[2024-01-18 19:54:32,008][train][INFO] - median_translation_distance_error = [2.7443342 2.7984786] +[2024-01-18 19:54:32,008][train][INFO] - median_translation_along_error = [1.6461475 1.1361625] +[2024-01-18 19:54:32,008][train][INFO] - median_translation_perp_error = [1.8966359 2.418487 ] +[2024-01-18 19:54:32,008][train][INFO] - median_translation_plane_error = [1.9366455 2.3267703] +[2024-01-18 19:54:32,008][train][INFO] - median_translation_line_error = [1.003217 1.5493438] +[2024-01-18 19:54:32,008][train][INFO] - median_rotation_error = [3.8757744 4.1060915] +[2024-01-18 19:54:32,008][train][INFO] - median_affordance_error = [2.351354 3.1331282] +[2024-01-18 19:54:32,009][train][INFO] - max_translation_distance_error = [8.463926 6.326615] +[2024-01-18 19:54:32,009][train][INFO] - max_translation_along_error = [7.907645 3.8334682] +[2024-01-18 19:54:32,009][train][INFO] - max_translation_perp_error = [3.7033596 6.3218193] +[2024-01-18 19:54:32,009][train][INFO] - max_translation_plane_error = [3.7851725 6.3073955] +[2024-01-18 19:54:32,009][train][INFO] - max_translation_line_error = [2.978688 5.192129] +[2024-01-18 19:54:32,009][train][INFO] - max_rotation_error = [ 9.346977 11.535651] +[2024-01-18 19:54:32,010][train][INFO] - max_affordance_error = [7.711593 8.636193] +[2024-01-18 19:54:32,010][train][INFO] - min_translation_distance_error = [0.479407 0.76789314] +[2024-01-18 19:54:32,010][train][INFO] - min_translation_along_error = [0.02184201 0.0614557 ] +[2024-01-18 19:54:32,010][train][INFO] - min_translation_perp_error = [0.2345417 0.40948585] +[2024-01-18 19:54:32,010][train][INFO] - min_translation_plane_error = [0.19753866 0.34590456] +[2024-01-18 19:54:32,010][train][INFO] - min_translation_line_error = [0.06814759 0.00702837] +[2024-01-18 19:54:32,010][train][INFO] - min_rotation_error = [1.2075555 0.12033131] +[2024-01-18 19:54:32,010][train][INFO] - min_affordance_error = [0.53038675 0.90435416] +[2024-01-18 19:54:32,011][train][INFO] - std_translation_distance_error = [1.3742045 1.287435 ] +[2024-01-18 19:54:32,011][train][INFO] - std_translation_along_error = [1.4298162 0.94887006] +[2024-01-18 19:54:32,011][train][INFO] - std_translation_perp_error = [0.89966744 1.3053888 ] +[2024-01-18 19:54:32,011][train][INFO] - std_translation_plane_error = [0.9332188 1.2954293] +[2024-01-18 19:54:32,011][train][INFO] - std_translation_line_error = [0.8175155 1.1215026] +[2024-01-18 19:54:32,011][train][INFO] - std_rotation_error = [1.9823445 2.3459327] +[2024-01-18 19:54:32,011][train][INFO] - std_affordance_error = [1.4432967 1.8209294] +[2024-01-18 19:54:32,011][train][INFO] - translation_outliers_num = 5 +[2024-01-18 19:54:32,012][train][INFO] - rotation_outliers_num = 46 +[2024-01-18 19:54:32,012][train][INFO] - affordance_outliers_num = 16 +[2024-01-18 19:54:32,012][train][INFO] - translation_outliers_ratio = 0.0390625 +[2024-01-18 19:54:32,012][train][INFO] - rotation_outliers_ratio = 0.359375 +[2024-01-18 19:54:32,012][train][INFO] - affordance_outliers_ratio = 0.125 +[2024-01-18 19:54:32,012][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 19:54:32,014][train][INFO] - Validated training. +[2024-01-18 19:54:32,030][train][INFO] - Validating training time: 120.26960325241089 +[2024-01-18 19:54:32,031][train][INFO] - Validating testing... +[2024-01-18 19:56:01,469][train][INFO] - mean_translation_distance_error = [2.7459989 2.709857 ] +[2024-01-18 19:56:01,470][train][INFO] - mean_translation_along_error = [1.768703 1.0717018] +[2024-01-18 19:56:01,470][train][INFO] - mean_translation_perp_error = [1.8525103 2.325801 ] +[2024-01-18 19:56:01,470][train][INFO] - mean_translation_plane_error = [1.8896519 2.3316495] +[2024-01-18 19:56:01,470][train][INFO] - mean_translation_line_error = [1.1880981 1.3446045] +[2024-01-18 19:56:01,470][train][INFO] - mean_rotation_error = [4.2924304 4.3001466] +[2024-01-18 19:56:01,471][train][INFO] - mean_affordance_error = [2.7593575 3.3458672] +[2024-01-18 19:56:01,471][train][INFO] - median_translation_distance_error = [2.512509 2.651683] +[2024-01-18 19:56:01,471][train][INFO] - median_translation_along_error = [1.4086933 1.0138602] +[2024-01-18 19:56:01,472][train][INFO] - median_translation_perp_error = [1.7447604 2.1603632] +[2024-01-18 19:56:01,472][train][INFO] - median_translation_plane_error = [1.7166181 2.1397889] +[2024-01-18 19:56:01,472][train][INFO] - median_translation_line_error = [1.0154719 1.1094303] +[2024-01-18 19:56:01,472][train][INFO] - median_rotation_error = [4.068693 3.8764372] +[2024-01-18 19:56:01,472][train][INFO] - median_affordance_error = [2.3230891 2.8411908] +[2024-01-18 19:56:01,472][train][INFO] - max_translation_distance_error = [7.0805125 7.196213 ] +[2024-01-18 19:56:01,473][train][INFO] - max_translation_along_error = [6.4944873 3.5872538] +[2024-01-18 19:56:01,473][train][INFO] - max_translation_perp_error = [4.1193943 7.195165 ] +[2024-01-18 19:56:01,473][train][INFO] - max_translation_plane_error = [4.5846405 7.206146 ] +[2024-01-18 19:56:01,473][train][INFO] - max_translation_line_error = [3.9845665 3.7316787] +[2024-01-18 19:56:01,473][train][INFO] - max_rotation_error = [ 9.615766 12.106166] +[2024-01-18 19:56:01,473][train][INFO] - max_affordance_error = [10.127546 12.997462] +[2024-01-18 19:56:01,474][train][INFO] - min_translation_distance_error = [0.5968342 0.7422079] +[2024-01-18 19:56:01,474][train][INFO] - min_translation_along_error = [0.05318563 0.09137157] +[2024-01-18 19:56:01,474][train][INFO] - min_translation_perp_error = [0.35411534 0.00468343] +[2024-01-18 19:56:01,474][train][INFO] - min_translation_plane_error = [0.37064868 0.07465692] +[2024-01-18 19:56:01,474][train][INFO] - min_translation_line_error = [0.09115029 0.00311835] +[2024-01-18 19:56:01,474][train][INFO] - min_rotation_error = [0.34149662 0.12033131] +[2024-01-18 19:56:01,475][train][INFO] - min_affordance_error = [0.17360115 0.5708078 ] +[2024-01-18 19:56:01,475][train][INFO] - std_translation_distance_error = [1.3219037 1.2042154] +[2024-01-18 19:56:01,475][train][INFO] - std_translation_along_error = [1.3535762 0.71021307] +[2024-01-18 19:56:01,475][train][INFO] - std_translation_perp_error = [0.9463975 1.3157358] +[2024-01-18 19:56:01,475][train][INFO] - std_translation_plane_error = [0.98680794 1.3228424 ] +[2024-01-18 19:56:01,476][train][INFO] - std_translation_line_error = [0.83764374 1.0099795 ] +[2024-01-18 19:56:01,476][train][INFO] - std_rotation_error = [2.1494563 2.2810762] +[2024-01-18 19:56:01,476][train][INFO] - std_affordance_error = [2.0554938 2.0188293] +[2024-01-18 19:56:01,476][train][INFO] - translation_outliers_num = 4 +[2024-01-18 19:56:01,476][train][INFO] - rotation_outliers_num = 47 +[2024-01-18 19:56:01,476][train][INFO] - affordance_outliers_num = 16 +[2024-01-18 19:56:01,476][train][INFO] - translation_outliers_ratio = 0.03125 +[2024-01-18 19:56:01,476][train][INFO] - rotation_outliers_ratio = 0.3671875 +[2024-01-18 19:56:01,476][train][INFO] - affordance_outliers_ratio = 0.125 +[2024-01-18 19:56:01,476][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 19:56:01,478][train][INFO] - Validated testing. +[2024-01-18 19:56:01,478][train][INFO] - Validating testing time: 89.44618725776672 +[2024-01-18 19:56:01,479][train][INFO] - epoch: 161 lr: 0.0001495274826072215 +[2024-01-18 19:58:54,039][train][INFO] - training loss: 0.001366886433858711 + 0.07896305402884117 + 0.0018429158309188026 + 0.010865711685843193 = 0.09303856835915492, data num: 1033 +[2024-01-18 19:58:54,041][train][INFO] - epoch: 162 lr: 0.00014416052942640132 +[2024-01-18 20:01:49,625][train][INFO] - training loss: 0.0013552115871929206 + 0.0784829536309609 + 0.001848699372763244 + 0.01080477861687541 = 0.0924916433600279, data num: 1033 +[2024-01-18 20:01:49,626][train][INFO] - epoch: 163 lr: 0.0001388826079855881 +[2024-01-18 20:04:53,494][train][INFO] - training loss: 0.0013457731397535939 + 0.07839647233486176 + 0.0018413534047655188 + 0.010698930317392717 = 0.0922825297484031, data num: 1033 +[2024-01-18 20:04:53,496][train][INFO] - epoch: 164 lr: 0.00013369502053292245 +[2024-01-18 20:07:46,917][train][INFO] - training loss: 0.001343835240158324 + 0.07822730334905478 + 0.0018361745778327952 + 0.010883920783033739 = 0.09229123363128075, data num: 1033 +[2024-01-18 20:07:46,918][train][INFO] - epoch: 165 lr: 0.00012859904702798464 +[2024-01-18 20:10:50,668][train][INFO] - training loss: 0.0013543497036712674 + 0.07803253061496294 + 0.0018648772249714686 + 0.010794505111586588 = 0.09204626232385635, data num: 1033 +[2024-01-18 20:10:50,669][train][INFO] - epoch: 166 lr: 0.00012359594482598432 +[2024-01-18 20:13:43,209][train][INFO] - training loss: 0.0013550571022698512 + 0.07823144862285027 + 0.0018435909556081662 + 0.010557078211926496 = 0.09198717566636892, data num: 1033 +[2024-01-18 20:13:43,210][train][INFO] - epoch: 167 lr: 0.00011868694836752681 +[2024-01-18 20:16:38,836][train][INFO] - training loss: 0.0013465980658880793 + 0.07827778160572052 + 0.0018422294228982467 + 0.010589139249462347 = 0.092055748632321, data num: 1033 +[2024-01-18 20:16:38,837][train][INFO] - epoch: 168 lr: 0.0001138732688740332 +[2024-01-18 20:19:37,915][train][INFO] - training loss: 0.0013418623819374121 + 0.07770653080481749 + 0.0018336877961141558 + 0.010556155464683588 = 0.09143823637412145, data num: 1033 +[2024-01-18 20:19:37,917][train][INFO] - epoch: 169 lr: 0.00010915609404889012 +[2024-01-18 20:22:40,665][train][INFO] - training loss: 0.0013341343495994807 + 0.07787756094565758 + 0.0018500743971134608 + 0.010456960003536481 = 0.09151873003977995, data num: 1033 +[2024-01-18 20:22:40,666][train][INFO] - epoch: 170 lr: 0.00010453658778440103 +[2024-01-18 20:25:40,742][train][INFO] - training loss: 0.001338057922056088 + 0.07757203556024111 + 0.0018135098453897697 + 0.010336944969514242 = 0.09106054856226994, data num: 1033 +[2024-01-18 20:25:40,743][train][INFO] - epoch: 171 lr: 0.00010001588987461343 +[2024-01-18 20:28:42,806][train][INFO] - training loss: 0.0013322280648236091 + 0.07751150119763155 + 0.001818744272280198 + 0.010396398131090862 = 0.09105887172313837, data num: 1033 +[2024-01-18 20:28:42,808][train][INFO] - epoch: 172 lr: 9.559511573409192e-05 +[2024-01-18 20:31:37,293][train][INFO] - training loss: 0.0013365317547980409 + 0.07731153048001803 + 0.0018406849712706529 + 0.010315146748549664 = 0.09080389348360209, data num: 1033 +[2024-01-18 20:31:37,295][train][INFO] - epoch: 173 lr: 9.12753561227063e-05 +[2024-01-18 20:34:31,308][train][INFO] - training loss: 0.0013392826900459254 + 0.07739204237094292 + 0.0018187690347146528 + 0.010371791979727837 = 0.09092188615065355, data num: 1033 +[2024-01-18 20:34:31,309][train][INFO] - epoch: 174 lr: 8.705767687650262e-05 +[2024-01-18 20:37:30,789][train][INFO] - training loss: 0.0013334594792328203 + 0.07763483982819777 + 0.0018120560920439088 + 0.010247752715188723 = 0.09102810873435094, data num: 1033 +[2024-01-18 20:37:30,791][train][INFO] - epoch: 175 lr: 8.294311864472445e-05 +[2024-01-18 20:40:29,556][train][INFO] - training loss: 0.001323598730736054 + 0.07736784655314226 + 0.001809690581061519 + 0.010159855178342416 = 0.09066099169162603, data num: 1033 +[2024-01-18 20:40:29,557][train][INFO] - epoch: 176 lr: 7.89326966330478e-05 +[2024-01-18 20:43:34,302][train][INFO] - training loss: 0.001324950817685861 + 0.07711373865604401 + 0.001808025252718765 + 0.010235050370773444 = 0.09048176545363207, data num: 1033 +[2024-01-18 20:43:34,303][train][INFO] - epoch: 177 lr: 7.502740035309526e-05 +[2024-01-18 20:46:32,842][train][INFO] - training loss: 0.0013231685098547203 + 0.0771385574570069 + 0.001800425947070695 + 0.0101059403986885 = 0.09036809263321069, data num: 1033 +[2024-01-18 20:46:32,844][train][INFO] - epoch: 178 lr: 7.12281933782875e-05 +[2024-01-18 20:49:34,743][train][INFO] - training loss: 0.001321901673845087 + 0.07708207391775572 + 0.0017958097034492173 + 0.010101479607132764 = 0.09030126516635602, data num: 1033 +[2024-01-18 20:49:34,745][train][INFO] - epoch: 179 lr: 6.75360131060967e-05 +[2024-01-18 20:52:32,520][train][INFO] - training loss: 0.0013272509247494431 + 0.07709584293457178 + 0.0018019983992696954 + 0.010148346789467794 = 0.09037343871134979, data num: 1033 +[2024-01-18 20:52:32,521][train][INFO] - epoch: 180 lr: 6.395177052675792e-05 +[2024-01-18 20:55:29,213][train][INFO] - training loss: 0.0013213494434379614 + 0.07690614989170662 + 0.001793777709826827 + 0.010124883621644515 = 0.0901461612719756, data num: 1033 +[2024-01-18 20:55:29,226][train][INFO] - Validating training... +[2024-01-18 20:57:10,227][train][INFO] - mean_translation_distance_error = [2.3260837 2.9330344] +[2024-01-18 20:57:10,228][train][INFO] - mean_translation_along_error = [1.7387124 0.971745 ] +[2024-01-18 20:57:10,228][train][INFO] - mean_translation_perp_error = [1.2557112 2.6412458] +[2024-01-18 20:57:10,229][train][INFO] - mean_translation_plane_error = [1.2437526 2.6531844] +[2024-01-18 20:57:10,229][train][INFO] - mean_translation_line_error = [0.71841747 1.3832946 ] +[2024-01-18 20:57:10,229][train][INFO] - mean_rotation_error = [4.367756 4.603523] +[2024-01-18 20:57:10,229][train][INFO] - mean_affordance_error = [2.128672 3.4678314] +[2024-01-18 20:57:10,230][train][INFO] - median_translation_distance_error = [2.114911 2.984812] +[2024-01-18 20:57:10,230][train][INFO] - median_translation_along_error = [1.4657068 0.96041256] +[2024-01-18 20:57:10,230][train][INFO] - median_translation_perp_error = [1.1732836 2.564584 ] +[2024-01-18 20:57:10,230][train][INFO] - median_translation_plane_error = [1.1521912 2.5907207] +[2024-01-18 20:57:10,230][train][INFO] - median_translation_line_error = [0.55908823 1.2041795 ] +[2024-01-18 20:57:10,230][train][INFO] - median_rotation_error = [3.9457955 4.3875546] +[2024-01-18 20:57:10,231][train][INFO] - median_affordance_error = [1.7374268 3.3180676] +[2024-01-18 20:57:10,231][train][INFO] - max_translation_distance_error = [7.432779 9.786448] +[2024-01-18 20:57:10,231][train][INFO] - max_translation_along_error = [7.2363353 3.0172813] +[2024-01-18 20:57:10,231][train][INFO] - max_translation_perp_error = [3.7893095 9.782447 ] +[2024-01-18 20:57:10,231][train][INFO] - max_translation_plane_error = [3.884756 9.794046] +[2024-01-18 20:57:10,231][train][INFO] - max_translation_line_error = [2.1997216 4.059882 ] +[2024-01-18 20:57:10,231][train][INFO] - max_rotation_error = [10.354326 13.099445] +[2024-01-18 20:57:10,231][train][INFO] - max_affordance_error = [ 6.274145 10.965107] +[2024-01-18 20:57:10,232][train][INFO] - min_translation_distance_error = [0.2923486 0.6371415] +[2024-01-18 20:57:10,232][train][INFO] - min_translation_along_error = [0.02582124 0.04824038] +[2024-01-18 20:57:10,232][train][INFO] - min_translation_perp_error = [0.12099133 0.3598568 ] +[2024-01-18 20:57:10,232][train][INFO] - min_translation_plane_error = [0.1914883 0.33230653] +[2024-01-18 20:57:10,232][train][INFO] - min_translation_line_error = [0.0091939 0.02757443] +[2024-01-18 20:57:10,232][train][INFO] - min_rotation_error = [0.41495875 0.26906916] +[2024-01-18 20:57:10,232][train][INFO] - min_affordance_error = [0.44239062 0.38114914] +[2024-01-18 20:57:10,233][train][INFO] - std_translation_distance_error = [1.2849524 1.6532562] +[2024-01-18 20:57:10,233][train][INFO] - std_translation_along_error = [1.3835039 0.6619583] +[2024-01-18 20:57:10,233][train][INFO] - std_translation_perp_error = [0.74010473 1.7254832 ] +[2024-01-18 20:57:10,233][train][INFO] - std_translation_plane_error = [0.74546885 1.7199914 ] +[2024-01-18 20:57:10,233][train][INFO] - std_translation_line_error = [0.5797549 1.0042826] +[2024-01-18 20:57:10,234][train][INFO] - std_rotation_error = [2.209984 2.1505907] +[2024-01-18 20:57:10,234][train][INFO] - std_affordance_error = [1.3343998 2.166282 ] +[2024-01-18 20:57:10,234][train][INFO] - translation_outliers_num = 3 +[2024-01-18 20:57:10,234][train][INFO] - rotation_outliers_num = 45 +[2024-01-18 20:57:10,234][train][INFO] - affordance_outliers_num = 12 +[2024-01-18 20:57:10,234][train][INFO] - translation_outliers_ratio = 0.0234375 +[2024-01-18 20:57:10,234][train][INFO] - rotation_outliers_ratio = 0.3515625 +[2024-01-18 20:57:10,234][train][INFO] - affordance_outliers_ratio = 0.09375 +[2024-01-18 20:57:10,234][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 20:57:10,236][train][INFO] - Validated training. +[2024-01-18 20:57:10,236][train][INFO] - Validating training time: 101.00937223434448 +[2024-01-18 20:57:10,236][train][INFO] - Validating testing... +[2024-01-18 20:58:37,546][train][INFO] - mean_translation_distance_error = [2.2432303 3.1175354] +[2024-01-18 20:58:37,547][train][INFO] - mean_translation_along_error = [1.6407311 1.063027 ] +[2024-01-18 20:58:37,548][train][INFO] - mean_translation_perp_error = [1.270976 2.7699082] +[2024-01-18 20:58:37,548][train][INFO] - mean_translation_plane_error = [1.2950084 2.7685564] +[2024-01-18 20:58:37,549][train][INFO] - mean_translation_line_error = [0.8465832 1.7174156] +[2024-01-18 20:58:37,549][train][INFO] - mean_rotation_error = [4.2039504 4.2214274] +[2024-01-18 20:58:37,549][train][INFO] - mean_affordance_error = [2.4561133 3.9271195] +[2024-01-18 20:58:37,550][train][INFO] - median_translation_distance_error = [2.0365818 2.4802432] +[2024-01-18 20:58:37,550][train][INFO] - median_translation_along_error = [1.4446211 0.8756051] +[2024-01-18 20:58:37,550][train][INFO] - median_translation_perp_error = [1.226114 2.2822466] +[2024-01-18 20:58:37,551][train][INFO] - median_translation_plane_error = [1.2391877 2.206553 ] +[2024-01-18 20:58:37,551][train][INFO] - median_translation_line_error = [0.69977105 1.0255771 ] +[2024-01-18 20:58:37,551][train][INFO] - median_rotation_error = [4.0210953 3.607942 ] +[2024-01-18 20:58:37,551][train][INFO] - median_affordance_error = [1.9017949 3.1965554] +[2024-01-18 20:58:37,551][train][INFO] - max_translation_distance_error = [5.9834337 9.428813 ] +[2024-01-18 20:58:37,552][train][INFO] - max_translation_along_error = [5.5353394 4.2371774] +[2024-01-18 20:58:37,552][train][INFO] - max_translation_perp_error = [3.868436 9.411935] +[2024-01-18 20:58:37,552][train][INFO] - max_translation_plane_error = [3.771323 9.380792] +[2024-01-18 20:58:37,552][train][INFO] - max_translation_line_error = [3.5174136 8.250745 ] +[2024-01-18 20:58:37,552][train][INFO] - max_rotation_error = [ 9.73365 12.680876] +[2024-01-18 20:58:37,552][train][INFO] - max_affordance_error = [ 8.947824 13.047108] +[2024-01-18 20:58:37,553][train][INFO] - min_translation_distance_error = [0.4504583 0.6678887] +[2024-01-18 20:58:37,553][train][INFO] - min_translation_along_error = [0.00376722 0.00331942] +[2024-01-18 20:58:37,553][train][INFO] - min_translation_perp_error = [0.09049421 0.05526753] +[2024-01-18 20:58:37,553][train][INFO] - min_translation_plane_error = [0.09595855 0.08237278] +[2024-01-18 20:58:37,553][train][INFO] - min_translation_line_error = [0.00122832 0.02282552] +[2024-01-18 20:58:37,554][train][INFO] - min_rotation_error = [0.59314305 0.26392958] +[2024-01-18 20:58:37,554][train][INFO] - min_affordance_error = [0.59832567 0.85385007] +[2024-01-18 20:58:37,554][train][INFO] - std_translation_distance_error = [1.2380233 2.0345976] +[2024-01-18 20:58:37,554][train][INFO] - std_translation_along_error = [1.2682096 0.8679109] +[2024-01-18 20:58:37,555][train][INFO] - std_translation_perp_error = [0.8056376 2.074349 ] +[2024-01-18 20:58:37,555][train][INFO] - std_translation_plane_error = [0.80885017 2.0854094 ] +[2024-01-18 20:58:37,555][train][INFO] - std_translation_line_error = [0.6739326 1.7899467] +[2024-01-18 20:58:37,555][train][INFO] - std_rotation_error = [2.053926 2.354716] +[2024-01-18 20:58:37,555][train][INFO] - std_affordance_error = [1.9040285 2.655771 ] +[2024-01-18 20:58:37,555][train][INFO] - translation_outliers_num = 9 +[2024-01-18 20:58:37,555][train][INFO] - rotation_outliers_num = 46 +[2024-01-18 20:58:37,555][train][INFO] - affordance_outliers_num = 21 +[2024-01-18 20:58:37,556][train][INFO] - translation_outliers_ratio = 0.0703125 +[2024-01-18 20:58:37,556][train][INFO] - rotation_outliers_ratio = 0.359375 +[2024-01-18 20:58:37,556][train][INFO] - affordance_outliers_ratio = 0.1640625 +[2024-01-18 20:58:37,556][train][INFO] - data_num = 64, joint_num = 2 +[2024-01-18 20:58:37,559][train][INFO] - Validated testing. +[2024-01-18 20:58:37,559][train][INFO] - Validating testing time: 87.32239007949829 +[2024-01-18 20:58:37,570][train][INFO] - epoch: 181 lr: 6.047634999849528e-05 +[2024-01-18 21:01:40,359][train][INFO] - training loss: 0.0013179339898320346 + 0.07667950219832934 + 0.0017884001547757249 + 0.009959585842891382 = 0.08974542239537606, data num: 1033 +[2024-01-18 21:01:40,360][train][INFO] - epoch: 182 lr: 5.711060902932039e-05 +[2024-01-18 21:05:01,458][train][INFO] - training loss: 0.0013149576745210931 + 0.07683220414014963 + 0.001789713681388933 + 0.01001551288108413 = 0.08995238794730259, data num: 1033 +[2024-01-18 21:05:01,460][train][INFO] - epoch: 183 lr: 5.385537806545467e-05 +[2024-01-18 21:07:56,696][train][INFO] - training loss: 0.0013142892661002967 + 0.07660454110457347 + 0.0017905852811124462 + 0.009926866782972445 = 0.0896362827374385, data num: 1033 +[2024-01-18 21:07:56,697][train][INFO] - epoch: 184 lr: 5.0711460286429424e-05 +[2024-01-18 21:10:59,659][train][INFO] - training loss: 0.0013149744293724115 + 0.07654228290686241 + 0.0017911202883204589 + 0.009953449114870566 = 0.08960182666778564, data num: 1033 +[2024-01-18 21:10:59,661][train][INFO] - epoch: 185 lr: 4.767963140691315e-05 +[2024-01-18 21:14:06,114][train][INFO] - training loss: 0.0013151990804964532 + 0.07646828236488196 + 0.001790645349627504 + 0.009944844238746624 = 0.0895189718558238, data num: 1033 +[2024-01-18 21:14:06,115][train][INFO] - epoch: 186 lr: 4.4760639485315563e-05 +[2024-01-18 21:17:29,301][train][INFO] - training loss: 0.0013151039691785206 + 0.0765822179042376 + 0.0017851285493144622 + 0.010034468003477041 = 0.08971691853724993, data num: 1033 +[2024-01-18 21:17:29,302][train][INFO] - epoch: 187 lr: 4.195520473921563e-05 +[2024-01-18 21:20:33,050][train][INFO] - training loss: 0.001314483738790911 + 0.07641433087679056 + 0.0017857754029906713 + 0.009927095128939701 = 0.08944168537855149, data num: 1033 +[2024-01-18 21:20:33,052][train][INFO] - epoch: 188 lr: 3.9264019367658385e-05 +[2024-01-18 21:23:41,273][train][INFO] - training loss: 0.0013148232416894574 + 0.07630386490088242 + 0.0017836750843203985 + 0.009834360374281039 = 0.08923672368893257, data num: 1033 +[2024-01-18 21:23:41,274][train][INFO] - epoch: 189 lr: 3.6687747380365064e-05 +[2024-01-18 21:26:43,194][train][INFO] - training loss: 0.0013145329609799844 + 0.07645295503047797 + 0.0017842140639773927 + 0.00990612181619956 = 0.08945782356537306, data num: 1033 +[2024-01-18 21:26:43,195][train][INFO] - epoch: 190 lr: 3.422702443389899e-05 +[2024-01-18 21:29:41,509][train][INFO] - training loss: 0.0013141228799493268 + 0.07626966971617478 + 0.0017815524407734091 + 0.00981459035179936 = 0.08917993559287145, data num: 1033 +[2024-01-18 21:29:41,511][train][INFO] - epoch: 191 lr: 3.188245767482658e-05 +[2024-01-18 21:32:40,764][train][INFO] - training loss: 0.0013115655344266158 + 0.076087168776072 + 0.0017813889202303612 + 0.009815256670117378 = 0.08899537932414275, data num: 1033 +[2024-01-18 21:32:40,765][train][INFO] - epoch: 192 lr: 2.965462558991323e-05 +[2024-01-18 21:35:44,231][train][INFO] - training loss: 0.001306858965052435 + 0.07616452758128826 + 0.0017785318912221836 + 0.009868270294884076 = 0.08911818907811092, data num: 1033 +[2024-01-18 21:35:44,232][train][INFO] - epoch: 193 lr: 2.7544077863390004e-05 +[2024-01-18 21:38:38,229][train][INFO] - training loss: 0.001306188701150509 + 0.07611650136800913 + 0.0017761309792359288 + 0.009729393019985695 = 0.0889282145179235, data num: 1033 +[2024-01-18 21:38:38,230][train][INFO] - epoch: 194 lr: 2.5551335241327672e-05 +[2024-01-18 21:41:42,630][train][INFO] - training loss: 0.0013060911200367487 + 0.07598704604002146 + 0.0017740479115253458 + 0.009688661268983895 = 0.0887558455650623, data num: 1033 +[2024-01-18 21:41:42,631][train][INFO] - epoch: 195 lr: 2.367688940315011e-05 +[2024-01-18 21:44:46,829][train][INFO] - training loss: 0.0013078566479425018 + 0.07598984069549121 + 0.0017730732896150305 + 0.009700928821873206 = 0.08877169913970508, data num: 1033 +[2024-01-18 21:44:46,832][train][INFO] - epoch: 196 lr: 2.1921202840320077e-05 +[2024-01-18 21:47:38,437][train][INFO] - training loss: 0.0013029507397172542 + 0.0761202247096942 + 0.0017719749683657517 + 0.00980964393999714 = 0.08900479410703366, data num: 1033 +[2024-01-18 21:47:38,438][train][INFO] - epoch: 197 lr: 2.0284708742225903e-05 +[2024-01-18 21:50:41,558][train][INFO] - training loss: 0.00130127074304395 + 0.07602195900220138 + 0.0017757602430020388 + 0.009705739719076798 = 0.08880473054372347, data num: 1033 +[2024-01-18 21:50:41,560][train][INFO] - epoch: 198 lr: 1.8767810889299086e-05 +[2024-01-18 21:53:39,982][train][INFO] - training loss: 0.0013053981461920417 + 0.07609718625362102 + 0.0017720267140808013 + 0.009710126513471971 = 0.08888473694141094, data num: 1033 +[2024-01-18 21:53:39,983][train][INFO] - epoch: 199 lr: 1.7370883553386936e-05 +[2024-01-18 21:56:40,855][train][INFO] - training loss: 0.0012995189270721033 + 0.07580095655643022 + 0.0017723664390639617 + 0.009634700288566259 = 0.08850754235799496, data num: 1033 +[2024-01-18 21:56:40,856][train][INFO] - Optimized. +[2024-01-18 21:56:40,857][train][INFO] - Training time: 38575.478425741196 +[2024-01-18 21:56:40,857][train][INFO] - Testing training... +[2024-01-18 22:11:27,247][train][INFO] - mean_translation_distance_error = [2.3065114 2.8383079] +[2024-01-18 22:11:27,248][train][INFO] - mean_translation_along_error = [1.725739 0.8845156] +[2024-01-18 22:11:27,248][train][INFO] - mean_translation_perp_error = [1.2514342 2.5717022] +[2024-01-18 22:11:27,248][train][INFO] - mean_translation_plane_error = [1.2622991 2.566734 ] +[2024-01-18 22:11:27,248][train][INFO] - mean_translation_line_error = [0.7758797 1.5162015] +[2024-01-18 22:11:27,248][train][INFO] - mean_rotation_error = [4.3393307 4.6271896] +[2024-01-18 22:11:27,248][train][INFO] - mean_affordance_error = [2.429916 3.4597793] +[2024-01-18 22:11:27,249][train][INFO] - median_translation_distance_error = [2.0115051 2.3964963] +[2024-01-18 22:11:27,249][train][INFO] - median_translation_along_error = [1.3791611 0.7037451] +[2024-01-18 22:11:27,249][train][INFO] - median_translation_perp_error = [1.0632664 2.0731611] +[2024-01-18 22:11:27,250][train][INFO] - median_translation_plane_error = [1.0696332 2.0635538] +[2024-01-18 22:11:27,250][train][INFO] - median_translation_line_error = [0.60221213 1.1176512 ] +[2024-01-18 22:11:27,250][train][INFO] - median_rotation_error = [4.192084 4.2355866] +[2024-01-18 22:11:27,250][train][INFO] - median_affordance_error = [2.0467303 2.9290278] +[2024-01-18 22:11:27,250][train][INFO] - max_translation_distance_error = [ 9.382008 20.500866] +[2024-01-18 22:11:27,250][train][INFO] - max_translation_along_error = [8.983503 4.046492] +[2024-01-18 22:11:27,250][train][INFO] - max_translation_perp_error = [ 5.50807 20.162245] +[2024-01-18 22:11:27,251][train][INFO] - max_translation_plane_error = [ 5.5357585 19.800789 ] +[2024-01-18 22:11:27,251][train][INFO] - max_translation_line_error = [ 4.550539 12.205937] +[2024-01-18 22:11:27,251][train][INFO] - max_rotation_error = [19.52559 16.423338] +[2024-01-18 22:11:27,251][train][INFO] - max_affordance_error = [14.014162 16.077549] +[2024-01-18 22:11:27,251][train][INFO] - min_translation_distance_error = [0.17015217 0.21150827] +[2024-01-18 22:11:27,251][train][INFO] - min_translation_along_error = [0.00118506 0.00012517] +[2024-01-18 22:11:27,251][train][INFO] - min_translation_perp_error = [0.03007987 0.06380127] +[2024-01-18 22:11:27,252][train][INFO] - min_translation_plane_error = [0.00151317 0.02981696] +[2024-01-18 22:11:27,252][train][INFO] - min_translation_line_error = [0.00066508 0.00203537] +[2024-01-18 22:11:27,252][train][INFO] - min_rotation_error = [0.07912937 0.11869407] +[2024-01-18 22:11:27,252][train][INFO] - min_affordance_error = [0.14939593 0.20994908] +[2024-01-18 22:11:27,253][train][INFO] - std_translation_distance_error = [1.369709 1.9374355] +[2024-01-18 22:11:27,253][train][INFO] - std_translation_along_error = [1.3896116 0.7409686] +[2024-01-18 22:11:27,253][train][INFO] - std_translation_perp_error = [0.84900504 1.9658611 ] +[2024-01-18 22:11:27,253][train][INFO] - std_translation_plane_error = [0.85000443 1.9605813 ] +[2024-01-18 22:11:27,253][train][INFO] - std_translation_line_error = [0.68531775 1.4971218 ] +[2024-01-18 22:11:27,253][train][INFO] - std_rotation_error = [2.1733322 2.6554024] +[2024-01-18 22:11:27,253][train][INFO] - std_affordance_error = [1.7108856 2.1855175] +[2024-01-18 22:11:27,254][train][INFO] - translation_outliers_num = 102 +[2024-01-18 22:11:27,254][train][INFO] - rotation_outliers_num = 775 +[2024-01-18 22:11:27,254][train][INFO] - affordance_outliers_num = 276 +[2024-01-18 22:11:27,254][train][INFO] - translation_outliers_ratio = 0.049370764762826716 +[2024-01-18 22:11:27,254][train][INFO] - rotation_outliers_ratio = 0.3751210067763795 +[2024-01-18 22:11:27,254][train][INFO] - affordance_outliers_ratio = 0.1335914811229429 +[2024-01-18 22:11:27,254][train][INFO] - data_num = 1033, joint_num = 2 +[2024-01-18 22:11:27,269][train][INFO] - Tested training. +[2024-01-18 22:11:27,270][train][INFO] - Testing training time: 886.4121222496033 +[2024-01-18 22:11:27,278][train][INFO] - Testing testing... +[2024-01-18 22:17:13,600][train][INFO] - mean_translation_distance_error = [2.1027424 2.453812 ] +[2024-01-18 22:17:13,601][train][INFO] - mean_translation_along_error = [1.5814035 0.8381264] +[2024-01-18 22:17:13,601][train][INFO] - mean_translation_perp_error = [1.1624067 2.1986353] +[2024-01-18 22:17:13,601][train][INFO] - mean_translation_plane_error = [1.1763403 2.1942637] +[2024-01-18 22:17:13,601][train][INFO] - mean_translation_line_error = [0.756615 1.3024653] +[2024-01-18 22:17:13,601][train][INFO] - mean_rotation_error = [4.4522543 4.3303037] +[2024-01-18 22:17:13,602][train][INFO] - mean_affordance_error = [2.4487739 3.2993248] +[2024-01-18 22:17:13,602][train][INFO] - median_translation_distance_error = [1.8207865 2.1564608] +[2024-01-18 22:17:13,602][train][INFO] - median_translation_along_error = [1.2763257 0.64943427] +[2024-01-18 22:17:13,603][train][INFO] - median_translation_perp_error = [1.0558215 1.8820052] +[2024-01-18 22:17:13,603][train][INFO] - median_translation_plane_error = [1.0494045 1.8614564] +[2024-01-18 22:17:13,603][train][INFO] - median_translation_line_error = [0.61854297 1.0916245 ] +[2024-01-18 22:17:13,603][train][INFO] - median_rotation_error = [4.385392 3.900735] +[2024-01-18 22:17:13,603][train][INFO] - median_affordance_error = [1.9173007 2.8099704] +[2024-01-18 22:17:13,603][train][INFO] - max_translation_distance_error = [7.7987103 8.98862 ] +[2024-01-18 22:17:13,603][train][INFO] - max_translation_along_error = [7.6987586 4.3835654] +[2024-01-18 22:17:13,604][train][INFO] - max_translation_perp_error = [4.5786643 8.957209 ] +[2024-01-18 22:17:13,604][train][INFO] - max_translation_plane_error = [4.3603377 9.021466 ] +[2024-01-18 22:17:13,604][train][INFO] - max_translation_line_error = [3.254094 6.408134] +[2024-01-18 22:17:13,604][train][INFO] - max_rotation_error = [12.729152 14.059699] +[2024-01-18 22:17:13,604][train][INFO] - max_affordance_error = [ 9.992342 13.703368] +[2024-01-18 22:17:13,604][train][INFO] - min_translation_distance_error = [0.25102812 0.21893336] +[2024-01-18 22:17:13,605][train][INFO] - min_translation_along_error = [0.00014799 0.00015919] +[2024-01-18 22:17:13,605][train][INFO] - min_translation_perp_error = [0.07163271 0.14209299] +[2024-01-18 22:17:13,605][train][INFO] - min_translation_plane_error = [0.14038691 0.18323189] +[2024-01-18 22:17:13,605][train][INFO] - min_translation_line_error = [0.00129472 0.00049877] +[2024-01-18 22:17:13,605][train][INFO] - min_rotation_error = [0.34149662 0.12033131] +[2024-01-18 22:17:13,605][train][INFO] - min_affordance_error = [0.24255209 0.43997848] +[2024-01-18 22:17:13,606][train][INFO] - std_translation_distance_error = [1.2223985 1.4051487] +[2024-01-18 22:17:13,606][train][INFO] - std_translation_along_error = [1.2783914 0.7042303] +[2024-01-18 22:17:13,606][train][INFO] - std_translation_perp_error = [0.6553443 1.4011582] +[2024-01-18 22:17:13,606][train][INFO] - std_translation_plane_error = [0.6681106 1.4020344] +[2024-01-18 22:17:13,606][train][INFO] - std_translation_line_error = [0.61459756 1.1132146 ] +[2024-01-18 22:17:13,607][train][INFO] - std_rotation_error = [2.0265844 2.4434326] +[2024-01-18 22:17:13,607][train][INFO] - std_affordance_error = [1.7816515 2.092639 ] +[2024-01-18 22:17:13,607][train][INFO] - translation_outliers_num = 16 +[2024-01-18 22:17:13,607][train][INFO] - rotation_outliers_num = 292 +[2024-01-18 22:17:13,607][train][INFO] - affordance_outliers_num = 96 +[2024-01-18 22:17:13,607][train][INFO] - translation_outliers_ratio = 0.020253164556962026 +[2024-01-18 22:17:13,607][train][INFO] - rotation_outliers_ratio = 0.369620253164557 +[2024-01-18 22:17:13,607][train][INFO] - affordance_outliers_ratio = 0.12151898734177215 +[2024-01-18 22:17:13,607][train][INFO] - data_num = 395, joint_num = 2 +[2024-01-18 22:17:13,609][train][INFO] - Tested testing. +[2024-01-18 22:17:13,620][train][INFO] - Testing testing time: 346.3313944339752 diff --git a/formal_storagefurniture_2024_01_18_11_13_43/weights/encoder_latest.pth b/formal_storagefurniture_2024_01_18_11_13_43/weights/encoder_latest.pth new file mode 100644 index 0000000000000000000000000000000000000000..cc7967b6ed104b8f16867b1b56446f360f7b49da --- /dev/null +++ b/formal_storagefurniture_2024_01_18_11_13_43/weights/encoder_latest.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92eee22a9a344afce7e821db374f0eaee26e86a8039770bb1e6616c11337f645 +size 1084305 diff --git a/formal_storagefurniture_2024_01_18_11_13_43/weights/shot_encoder_latest.pth b/formal_storagefurniture_2024_01_18_11_13_43/weights/shot_encoder_latest.pth new file mode 100644 index 0000000000000000000000000000000000000000..c9533177b3312a3594464ce613b82ab9de3bdb6b --- /dev/null +++ b/formal_storagefurniture_2024_01_18_11_13_43/weights/shot_encoder_latest.pth @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63c38b4324d19e282bd1c31efdf5e095659a889aae91897cd1a73b8f24ab3b6f +size 1046929 diff --git a/formal_washingmachine_2024_01_17_23_07_14/.hydra/config.yaml b/formal_washingmachine_2024_01_17_23_07_14/.hydra/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e1359618b60775f6422a3ec1031d203c6e309694 --- /dev/null +++ b/formal_washingmachine_2024_01_17_23_07_14/.hydra/config.yaml @@ -0,0 +1,69 @@ +dataset: + train_path: /data2/junbo/sapien4/train + test_path: /data2/junbo/sapien4/test + train_categories: + - WashingMachine + test_categories: + - WashingMachine + joint_num: 1 + resolution: 0.01 + receptive_field: 10 + normalize: none + sample_points_num: 1024 + rgb: false + denoise: false +algorithm: + sampling: + sample_tuples_num: 100000 + tuple_more_num: 3 + shot_encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + feature_dim: 64 + bn: false + ln: false + dropout: 0 + encoder: + hidden_dims: + - 128 + - 128 + - 128 + - 128 + - 128 + bn: false + ln: false + dropout: 0 + voting: + rot_bin_num: 36 + voting_num: 120 + angle_tol: 1.5 + translation2pc: false + rotation_cluster: false + multi_candidate: false + candidate_threshold: 0.5 + rotation_multi_neighbor: false + neighbor_threshold: 10 + bmm_size: 100000 +training: + seed: 42 + device: 7 + batch_size: 16 + num_workers: 8 + epoch_num: 200 + lr: 0.001 + weight_decay: 0 + lambda_rot: 0.1 + lambda_afford: 1.0 + lambda_conf: 0.5 + val_training: true + val_training_num: 64 + val_testing: true + val_testing_num: 64 + test_train: true + test_test: true +abbr: formal_washingmachine +debug: false diff --git a/formal_washingmachine_2024_01_17_23_07_14/.hydra/hydra.yaml b/formal_washingmachine_2024_01_17_23_07_14/.hydra/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cb32a42f0e7e339c72bbd581f0677bdfd9bcfaae --- /dev/null +++ b/formal_washingmachine_2024_01_17_23_07_14/.hydra/hydra.yaml @@ -0,0 +1,157 @@ +hydra: + run: + dir: ./outputs/train/${abbr}_${now:%Y_%m_%d_%H_%M_%S} + sweep: + dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S} + subdir: ${hydra.job.num} + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: .hydra + overrides: + hydra: + - hydra.mode=RUN + task: [] + job: + name: train + chdir: null + override_dirname: '' + id: ??? + num: ??? + config_name: train_config + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.2' + cwd: /home/junbo/Codes/rpmart + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /home/junbo/Codes/rpmart/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /home/junbo/Codes/rpmart/outputs/train/formal_washingmachine_2024_01_17_23_07_14 + choices: + training: formal + algorithm: formal + dataset: formal_washingmachine + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/formal_washingmachine_2024_01_17_23_07_14/.hydra/overrides.yaml b/formal_washingmachine_2024_01_17_23_07_14/.hydra/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fe51488c7066f6687ef680d6bfaa4f7768ef205c --- /dev/null +++ b/formal_washingmachine_2024_01_17_23_07_14/.hydra/overrides.yaml @@ -0,0 +1 @@ +[] diff --git a/formal_washingmachine_2024_01_17_23_07_14/tb/events.out.tfevents.1705504038.aiadm-PIO-6049GP-TRT1-ZY001.3996900.0 b/formal_washingmachine_2024_01_17_23_07_14/tb/events.out.tfevents.1705504038.aiadm-PIO-6049GP-TRT1-ZY001.3996900.0 new file mode 100644 index 0000000000000000000000000000000000000000..875cdc1c71c0eb20669ff4e4ff3b944523da0884 --- /dev/null +++ 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b/formal_washingmachine_2024_01_17_23_07_14/tb/training_outliers_ratio_translation/events.out.tfevents.1705504388.aiadm-PIO-6049GP-TRT1-ZY001.3996900.36 new file mode 100644 index 0000000000000000000000000000000000000000..f1ef975ca45fbf35323dcc3cba7423ce6e6536f1 --- /dev/null +++ b/formal_washingmachine_2024_01_17_23_07_14/tb/training_outliers_ratio_translation/events.out.tfevents.1705504388.aiadm-PIO-6049GP-TRT1-ZY001.3996900.36 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0b50d39a5942698aee194c84d6ebdf664d210ccc763bbe73fbbb43e5228d32a +size 761 diff --git a/formal_washingmachine_2024_01_17_23_07_14/train.log b/formal_washingmachine_2024_01_17_23_07_14/train.log new file mode 100644 index 0000000000000000000000000000000000000000..f78607edc96a46401f37ab95db04c48a2daf0850 --- /dev/null +++ b/formal_washingmachine_2024_01_17_23_07_14/train.log @@ -0,0 +1,1397 @@ +[2024-01-17 23:07:14,675][train][INFO] - Preparing dataset... +[2024-01-17 23:07:14,941][train][INFO] - Prepared dataset. +[2024-01-17 23:07:14,941][train][INFO] - Preparing model... +[2024-01-17 23:07:18,729][train][INFO] - Prepared model. +[2024-01-17 23:07:18,729][train][INFO] - Optimizing... +[2024-01-17 23:07:18,744][train][INFO] - epoch: 0 lr: 0.0001 +[2024-01-17 23:08:58,756][train][INFO] - training loss: 0.003499021106916997 + 0.3041244720419248 + 0.008069041278860014 + 0.28696850107775795 = 0.6026610367827945, data num: 1137 +[2024-01-17 23:08:58,771][train][INFO] - Validating training... +[2024-01-17 23:13:08,623][train][INFO] - mean_translation_distance_error = [73.58696] +[2024-01-17 23:13:08,623][train][INFO] - mean_translation_along_error = [23.257135] +[2024-01-17 23:13:08,623][train][INFO] - mean_translation_perp_error = [67.80406] +[2024-01-17 23:13:08,624][train][INFO] - mean_translation_plane_error = [53.317074] +[2024-01-17 23:13:08,624][train][INFO] - mean_translation_line_error = [50.845345] +[2024-01-17 23:13:08,624][train][INFO] - mean_rotation_error = [89.999985] +[2024-01-17 23:13:08,624][train][INFO] - mean_affordance_error = [65.4348] +[2024-01-17 23:13:08,625][train][INFO] - median_translation_distance_error = [73.051056] +[2024-01-17 23:13:08,626][train][INFO] - median_translation_along_error = [21.89082] +[2024-01-17 23:13:08,626][train][INFO] - median_translation_perp_error = [68.23807] +[2024-01-17 23:13:08,626][train][INFO] - median_translation_plane_error = [52.13871] +[2024-01-17 23:13:08,626][train][INFO] - median_translation_line_error = [55.21264] +[2024-01-17 23:13:08,626][train][INFO] - median_rotation_error = [89.99996] +[2024-01-17 23:13:08,627][train][INFO] - median_affordance_error = [64.036156] +[2024-01-17 23:13:08,627][train][INFO] - max_translation_distance_error = [109.351326] +[2024-01-17 23:13:08,627][train][INFO] - max_translation_along_error = [49.101746] +[2024-01-17 23:13:08,627][train][INFO] - max_translation_perp_error = [109.28674] +[2024-01-17 23:13:08,628][train][INFO] - max_translation_plane_error = [107.1285] +[2024-01-17 23:13:08,628][train][INFO] - max_translation_line_error = [85.43582] +[2024-01-17 23:13:08,628][train][INFO] - max_rotation_error = [90.000175] +[2024-01-17 23:13:08,628][train][INFO] - max_affordance_error = [107.553566] +[2024-01-17 23:13:08,628][train][INFO] - min_translation_distance_error = [52.893555] +[2024-01-17 23:13:08,629][train][INFO] - min_translation_along_error = [0.70153177] +[2024-01-17 23:13:08,629][train][INFO] - min_translation_perp_error = [39.076557] +[2024-01-17 23:13:08,629][train][INFO] - min_translation_plane_error = [30.564558] +[2024-01-17 23:13:08,629][train][INFO] - min_translation_line_error = [16.976967] +[2024-01-17 23:13:08,629][train][INFO] - min_rotation_error = [89.999825] +[2024-01-17 23:13:08,630][train][INFO] - min_affordance_error = [44.12129] +[2024-01-17 23:13:08,630][train][INFO] - std_translation_distance_error = [10.405367] +[2024-01-17 23:13:08,631][train][INFO] - std_translation_along_error = [14.772841] +[2024-01-17 23:13:08,631][train][INFO] - std_translation_perp_error = [12.914731] +[2024-01-17 23:13:08,631][train][INFO] - std_translation_plane_error = [14.849425] +[2024-01-17 23:13:08,631][train][INFO] - std_translation_line_error = [14.228796] +[2024-01-17 23:13:08,631][train][INFO] - std_rotation_error = [0.00010752] +[2024-01-17 23:13:08,631][train][INFO] - std_affordance_error = [11.881919] +[2024-01-17 23:13:08,632][train][INFO] - translation_outliers_num = 64 +[2024-01-17 23:13:08,632][train][INFO] - rotation_outliers_num = 64 +[2024-01-17 23:13:08,632][train][INFO] - affordance_outliers_num = 64 +[2024-01-17 23:13:08,632][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-17 23:13:08,632][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-17 23:13:08,632][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-17 23:13:08,632][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-17 23:13:08,666][train][INFO] - Validated training. +[2024-01-17 23:13:08,667][train][INFO] - Validating training time: 249.8957269191742 +[2024-01-17 23:13:08,667][train][INFO] - Validating testing... +[2024-01-17 23:15:02,371][train][INFO] - mean_translation_distance_error = [69.91641] +[2024-01-17 23:15:02,371][train][INFO] - mean_translation_along_error = [19.517172] +[2024-01-17 23:15:02,371][train][INFO] - mean_translation_perp_error = [66.141624] +[2024-01-17 23:15:02,372][train][INFO] - mean_translation_plane_error = [50.53572] +[2024-01-17 23:15:02,372][train][INFO] - mean_translation_line_error = [48.557106] +[2024-01-17 23:15:02,372][train][INFO] - mean_rotation_error = [89.999985] +[2024-01-17 23:15:02,372][train][INFO] - mean_affordance_error = [60.326786] +[2024-01-17 23:15:02,373][train][INFO] - median_translation_distance_error = [68.91139] +[2024-01-17 23:15:02,373][train][INFO] - median_translation_along_error = [20.022678] +[2024-01-17 23:15:02,373][train][INFO] - median_translation_perp_error = [66.86837] +[2024-01-17 23:15:02,373][train][INFO] - median_translation_plane_error = [48.131348] +[2024-01-17 23:15:02,373][train][INFO] - median_translation_line_error = [50.693695] +[2024-01-17 23:15:02,374][train][INFO] - median_rotation_error = [89.99998] +[2024-01-17 23:15:02,374][train][INFO] - median_affordance_error = [58.31759] +[2024-01-17 23:15:02,374][train][INFO] - max_translation_distance_error = [110.918236] +[2024-01-17 23:15:02,374][train][INFO] - max_translation_along_error = [39.503185] +[2024-01-17 23:15:02,374][train][INFO] - max_translation_perp_error = [104.704384] +[2024-01-17 23:15:02,374][train][INFO] - max_translation_plane_error = [97.33885] +[2024-01-17 23:15:02,374][train][INFO] - max_translation_line_error = [65.77915] +[2024-01-17 23:15:02,375][train][INFO] - max_rotation_error = [90.000175] +[2024-01-17 23:15:02,375][train][INFO] - max_affordance_error = [110.09937] +[2024-01-17 23:15:02,375][train][INFO] - min_translation_distance_error = [45.95489] +[2024-01-17 23:15:02,375][train][INFO] - min_translation_along_error = [0.23172796] +[2024-01-17 23:15:02,375][train][INFO] - min_translation_perp_error = [32.796333] +[2024-01-17 23:15:02,375][train][INFO] - min_translation_plane_error = [23.101646] +[2024-01-17 23:15:02,375][train][INFO] - min_translation_line_error = [8.795628] +[2024-01-17 23:15:02,375][train][INFO] - min_rotation_error = [89.999825] +[2024-01-17 23:15:02,376][train][INFO] - min_affordance_error = [37.491276] +[2024-01-17 23:15:02,376][train][INFO] - std_translation_distance_error = [11.772307] +[2024-01-17 23:15:02,376][train][INFO] - std_translation_along_error = [10.331192] +[2024-01-17 23:15:02,376][train][INFO] - std_translation_perp_error = [12.826739] +[2024-01-17 23:15:02,376][train][INFO] - std_translation_plane_error = [15.770331] +[2024-01-17 23:15:02,377][train][INFO] - std_translation_line_error = [10.636286] +[2024-01-17 23:15:02,377][train][INFO] - std_rotation_error = [0.00010105] +[2024-01-17 23:15:02,377][train][INFO] - std_affordance_error = [13.438196] +[2024-01-17 23:15:02,377][train][INFO] - translation_outliers_num = 64 +[2024-01-17 23:15:02,377][train][INFO] - rotation_outliers_num = 64 +[2024-01-17 23:15:02,377][train][INFO] - affordance_outliers_num = 64 +[2024-01-17 23:15:02,377][train][INFO] - translation_outliers_ratio = 1.0 +[2024-01-17 23:15:02,377][train][INFO] - rotation_outliers_ratio = 1.0 +[2024-01-17 23:15:02,377][train][INFO] - affordance_outliers_ratio = 1.0 +[2024-01-17 23:15:02,377][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-17 23:15:02,436][train][INFO] - Validated testing. +[2024-01-17 23:15:02,436][train][INFO] - Validating testing time: 113.7681815624237 +[2024-01-17 23:15:02,437][train][INFO] - epoch: 1 lr: 0.0002 +[2024-01-17 23:16:36,364][train][INFO] - training loss: 0.0021167535370396865 + 0.2916083758076032 + 0.003531100865479352 + 0.2564641506307655 = 0.5537203790413009, data num: 1137 +[2024-01-17 23:16:36,366][train][INFO] - epoch: 2 lr: 0.0003 +[2024-01-17 23:18:16,240][train][INFO] - training loss: 0.0019905274885887695 + 0.2779990329096715 + 0.0030910053594400072 + 0.19381856732070446 = 0.4768991358578205, data num: 1137 +[2024-01-17 23:18:16,241][train][INFO] - epoch: 3 lr: 0.0004 +[2024-01-17 23:19:56,306][train][INFO] - training loss: 0.002839586184968034 + 0.21714530367818144 + 0.0031862407664044034 + 0.13963061715993616 = 0.36280175091491806, data num: 1137 +[2024-01-17 23:19:56,306][train][INFO] - epoch: 4 lr: 0.0005 +[2024-01-17 23:21:33,986][train][INFO] - training loss: 0.002137236356955125 + 0.19835549282530943 + 0.0028385760864087692 + 0.10688151977956295 = 0.3102128244936466, data num: 1137 +[2024-01-17 23:21:33,988][train][INFO] - epoch: 5 lr: 0.0006 +[2024-01-17 23:23:09,400][train][INFO] - training loss: 0.002144359301180682 + 0.19113397846619287 + 0.0026426325865840125 + 0.0881473990674648 = 0.2840683677544196, data num: 1137 +[2024-01-17 23:23:09,401][train][INFO] - epoch: 6 lr: 0.0007 +[2024-01-17 23:24:48,566][train][INFO] - training loss: 0.0018076227279379964 + 0.18388361173371473 + 0.0026128035323280427 + 0.08605476701632142 = 0.27435880671772694, data num: 1137 +[2024-01-17 23:24:48,567][train][INFO] - epoch: 7 lr: 0.0008 +[2024-01-17 23:26:29,718][train][INFO] - training loss: 0.0019896514616751424 + 0.17901858190695444 + 0.002771960097662587 + 0.07273899939739042 = 0.2565191965550184, data num: 1137 +[2024-01-17 23:26:29,719][train][INFO] - epoch: 8 lr: 0.0009000000000000001 +[2024-01-17 23:28:06,673][train][INFO] - training loss: 0.0021228175464784727 + 0.17245809899436104 + 0.0026086703906508368 + 0.059463246104617916 = 0.23665283309916654, data num: 1137 +[2024-01-17 23:28:06,674][train][INFO] - epoch: 9 lr: 0.001 +[2024-01-17 23:29:45,931][train][INFO] - training loss: 0.004082226947907152 + 0.15382955016361344 + 0.0035670058973159436 + 0.05317721557286051 = 0.21465599598983923, data num: 1137 +[2024-01-17 23:29:45,933][train][INFO] - epoch: 10 lr: 0.001 +[2024-01-17 23:31:24,472][train][INFO] - training loss: 0.0014816094480920583 + 0.13857547297245926 + 0.0019859483484954885 + 0.04987690856473313 = 0.19191994042032295, data num: 1137 +[2024-01-17 23:31:24,474][train][INFO] - epoch: 11 lr: 0.000999938933078422 +[2024-01-17 23:33:01,567][train][INFO] - training loss: 0.0012795550646842457 + 0.13594570766306585 + 0.001663994634226482 + 0.04645923241817703 = 0.1853484898391697, data num: 1137 +[2024-01-17 23:33:01,568][train][INFO] - epoch: 12 lr: 0.000999755747381037 +[2024-01-17 23:34:37,378][train][INFO] - training loss: 0.001310790092651991 + 0.12814857707255417 + 0.0019301591528346762 + 0.03876537997792992 = 0.17015490618844828, data num: 1137 +[2024-01-17 23:34:37,379][train][INFO] - epoch: 13 lr: 0.000999450488106175 +[2024-01-17 23:36:11,873][train][INFO] - training loss: 0.0013342023206253846 + 0.12805303268962437 + 0.001693687733172232 + 0.04514377693542176 = 0.1762246990369426, data num: 1137 +[2024-01-17 23:36:11,874][train][INFO] - epoch: 14 lr: 0.0009990232305719944 +[2024-01-17 23:37:53,147][train][INFO] - training loss: 0.0012608638919320786 + 0.1208414337080386 + 0.0015874845929728407 + 0.033954940296502575 = 0.15764472178286976, data num: 1137 +[2024-01-17 23:37:53,148][train][INFO] - epoch: 15 lr: 0.0009984740801978983 +[2024-01-17 23:39:23,693][train][INFO] - training loss: 0.0017151246785134491 + 0.11570708681311873 + 0.002908860797308282 + 0.027809395053837862 = 0.148140466461579, data num: 1137 +[2024-01-17 23:39:23,695][train][INFO] - epoch: 16 lr: 0.0009978031724785245 +[2024-01-17 23:41:04,815][train][INFO] - training loss: 0.0012579871496806543 + 0.11263202503323555 + 0.001467086694901809 + 0.029913462517369125 = 0.14527056138548586, data num: 1137 +[2024-01-17 23:41:04,817][train][INFO] - epoch: 17 lr: 0.000997010672950314 +[2024-01-17 23:42:43,852][train][INFO] - training loss: 0.001328734499111306 + 0.11100214336895281 + 0.0013997896724807408 + 0.02586514295803176 = 0.13959580928915077, data num: 1137 +[2024-01-17 23:42:43,853][train][INFO] - epoch: 18 lr: 0.0009960967771506664 +[2024-01-17 23:44:22,727][train][INFO] - training loss: 0.0013643293576832446 + 0.109572088242405 + 0.0014592085903536321 + 0.023657277795589633 = 0.1360529036157661, data num: 1137 +[2024-01-17 23:44:22,728][train][INFO] - epoch: 19 lr: 0.0009950617105696957 +[2024-01-17 23:46:00,398][train][INFO] - training loss: 0.001629255267390464 + 0.10725296754390001 + 0.001541061855580968 + 0.025485680128137272 = 0.13590896553877327, data num: 1137 +[2024-01-17 23:46:00,399][train][INFO] - epoch: 20 lr: 0.0009939057285945929 +[2024-01-17 23:47:38,151][train][INFO] - training loss: 0.0010873404971789569 + 0.10392286638832754 + 0.0019353898921205352 + 0.022134943328435637 = 0.12908053987969956, data num: 1137 +[2024-01-17 23:47:38,168][train][INFO] - Validating training... +[2024-01-17 23:48:27,950][train][INFO] - mean_translation_distance_error = [5.1301455] +[2024-01-17 23:48:27,950][train][INFO] - mean_translation_along_error = [1.2248647] +[2024-01-17 23:48:27,951][train][INFO] - mean_translation_perp_error = [4.8867865] +[2024-01-17 23:48:27,951][train][INFO] - mean_translation_plane_error = [4.877763] +[2024-01-17 23:48:27,951][train][INFO] - mean_translation_line_error = [3.1108654] +[2024-01-17 23:48:27,951][train][INFO] - mean_rotation_error = [4.906603] +[2024-01-17 23:48:27,952][train][INFO] - mean_affordance_error = [7.253863] +[2024-01-17 23:48:27,953][train][INFO] - median_translation_distance_error = [5.152804] +[2024-01-17 23:48:27,953][train][INFO] - median_translation_along_error = [0.99503464] +[2024-01-17 23:48:27,953][train][INFO] - median_translation_perp_error = [4.83415] +[2024-01-17 23:48:27,954][train][INFO] - median_translation_plane_error = [4.8900943] +[2024-01-17 23:48:27,954][train][INFO] - median_translation_line_error = [2.9056687] +[2024-01-17 23:48:27,954][train][INFO] - median_rotation_error = [4.0040145] +[2024-01-17 23:48:27,954][train][INFO] - median_affordance_error = [7.4877796] +[2024-01-17 23:48:27,955][train][INFO] - max_translation_distance_error = [8.911286] +[2024-01-17 23:48:27,955][train][INFO] - max_translation_along_error = [3.8136683] +[2024-01-17 23:48:27,955][train][INFO] - max_translation_perp_error = [8.635875] +[2024-01-17 23:48:27,955][train][INFO] - max_translation_plane_error = [8.723771] +[2024-01-17 23:48:27,956][train][INFO] - max_translation_line_error = [8.191984] +[2024-01-17 23:48:27,956][train][INFO] - max_rotation_error = [14.12541] +[2024-01-17 23:48:27,956][train][INFO] - max_affordance_error = [13.118474] +[2024-01-17 23:48:27,956][train][INFO] - min_translation_distance_error = [0.8795106] +[2024-01-17 23:48:27,957][train][INFO] - min_translation_along_error = [0.02997015] +[2024-01-17 23:48:27,957][train][INFO] - min_translation_perp_error = [0.8789998] +[2024-01-17 23:48:27,957][train][INFO] - min_translation_plane_error = [0.87625813] +[2024-01-17 23:48:27,957][train][INFO] - min_translation_line_error = [0.07418116] +[2024-01-17 23:48:27,957][train][INFO] - min_rotation_error = [0.39663547] +[2024-01-17 23:48:27,958][train][INFO] - min_affordance_error = [0.9541724] +[2024-01-17 23:48:27,958][train][INFO] - std_translation_distance_error = [1.8083148] +[2024-01-17 23:48:27,959][train][INFO] - std_translation_along_error = [0.99215716] +[2024-01-17 23:48:27,959][train][INFO] - std_translation_perp_error = [1.7952836] +[2024-01-17 23:48:27,959][train][INFO] - std_translation_plane_error = [1.8065711] +[2024-01-17 23:48:27,959][train][INFO] - std_translation_line_error = [1.9857098] +[2024-01-17 23:48:27,959][train][INFO] - std_rotation_error = [3.0738854] +[2024-01-17 23:48:27,960][train][INFO] - std_affordance_error = [2.5699918] +[2024-01-17 23:48:27,960][train][INFO] - translation_outliers_num = 27 +[2024-01-17 23:48:27,960][train][INFO] - rotation_outliers_num = 25 +[2024-01-17 23:48:27,960][train][INFO] - affordance_outliers_num = 53 +[2024-01-17 23:48:27,960][train][INFO] - translation_outliers_ratio = 0.421875 +[2024-01-17 23:48:27,960][train][INFO] - rotation_outliers_ratio = 0.390625 +[2024-01-17 23:48:27,960][train][INFO] - affordance_outliers_ratio = 0.828125 +[2024-01-17 23:48:27,960][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-17 23:48:27,963][train][INFO] - Validated training. +[2024-01-17 23:48:27,969][train][INFO] - Validating training time: 49.794979095458984 +[2024-01-17 23:48:27,971][train][INFO] - Validating testing... +[2024-01-17 23:49:18,329][train][INFO] - mean_translation_distance_error = [5.09453] +[2024-01-17 23:49:18,330][train][INFO] - mean_translation_along_error = [1.4637742] +[2024-01-17 23:49:18,330][train][INFO] - mean_translation_perp_error = [4.7609663] +[2024-01-17 23:49:18,330][train][INFO] - mean_translation_plane_error = [4.741665] +[2024-01-17 23:49:18,330][train][INFO] - mean_translation_line_error = [3.5870385] +[2024-01-17 23:49:18,330][train][INFO] - mean_rotation_error = [7.747925] +[2024-01-17 23:49:18,330][train][INFO] - mean_affordance_error = [7.8221903] +[2024-01-17 23:49:18,331][train][INFO] - median_translation_distance_error = [4.7400484] +[2024-01-17 23:49:18,331][train][INFO] - median_translation_along_error = [1.1817315] +[2024-01-17 23:49:18,331][train][INFO] - median_translation_perp_error = [4.3374166] +[2024-01-17 23:49:18,331][train][INFO] - median_translation_plane_error = [4.2455893] +[2024-01-17 23:49:18,332][train][INFO] - median_translation_line_error = [3.4829357] +[2024-01-17 23:49:18,332][train][INFO] - median_rotation_error = [6.4923964] +[2024-01-17 23:49:18,332][train][INFO] - median_affordance_error = [7.5094805] +[2024-01-17 23:49:18,332][train][INFO] - max_translation_distance_error = [10.486237] +[2024-01-17 23:49:18,332][train][INFO] - max_translation_along_error = [6.2643995] +[2024-01-17 23:49:18,332][train][INFO] - max_translation_perp_error = [10.002208] +[2024-01-17 23:49:18,332][train][INFO] - max_translation_plane_error = [9.965475] +[2024-01-17 23:49:18,333][train][INFO] - max_translation_line_error = [8.628452] +[2024-01-17 23:49:18,333][train][INFO] - max_rotation_error = [27.443562] +[2024-01-17 23:49:18,333][train][INFO] - max_affordance_error = [20.51505] +[2024-01-17 23:49:18,333][train][INFO] - min_translation_distance_error = [1.8984126] +[2024-01-17 23:49:18,333][train][INFO] - min_translation_along_error = [0.03256174] +[2024-01-17 23:49:18,333][train][INFO] - min_translation_perp_error = [1.8977028] +[2024-01-17 23:49:18,333][train][INFO] - min_translation_plane_error = [1.9086716] +[2024-01-17 23:49:18,334][train][INFO] - min_translation_line_error = [0.19391859] +[2024-01-17 23:49:18,334][train][INFO] - min_rotation_error = [1.3282486] +[2024-01-17 23:49:18,334][train][INFO] - min_affordance_error = [2.5863235] +[2024-01-17 23:49:18,334][train][INFO] - std_translation_distance_error = [1.6655539] +[2024-01-17 23:49:18,334][train][INFO] - std_translation_along_error = [1.1504805] +[2024-01-17 23:49:18,335][train][INFO] - std_translation_perp_error = [1.6109811] +[2024-01-17 23:49:18,335][train][INFO] - std_translation_plane_error = [1.6392512] +[2024-01-17 23:49:18,335][train][INFO] - std_translation_line_error = [2.0082188] +[2024-01-17 23:49:18,335][train][INFO] - std_rotation_error = [5.0729804] +[2024-01-17 23:49:18,335][train][INFO] - std_affordance_error = [2.8802428] +[2024-01-17 23:49:18,335][train][INFO] - translation_outliers_num = 28 +[2024-01-17 23:49:18,335][train][INFO] - rotation_outliers_num = 39 +[2024-01-17 23:49:18,335][train][INFO] - affordance_outliers_num = 57 +[2024-01-17 23:49:18,335][train][INFO] - translation_outliers_ratio = 0.4375 +[2024-01-17 23:49:18,335][train][INFO] - rotation_outliers_ratio = 0.609375 +[2024-01-17 23:49:18,335][train][INFO] - affordance_outliers_ratio = 0.890625 +[2024-01-17 23:49:18,335][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-17 23:49:18,337][train][INFO] - Validated testing. +[2024-01-17 23:49:18,337][train][INFO] - Validating testing time: 50.36500406265259 +[2024-01-17 23:49:18,337][train][INFO] - epoch: 21 lr: 0.0009926291164466126 +[2024-01-17 23:50:52,995][train][INFO] - training loss: 0.0012659664320785345 + 0.09884097561654118 + 0.002074173251457978 + 0.01836961974752032 = 0.120550735336211, data num: 1137 +[2024-01-17 23:50:52,996][train][INFO] - epoch: 22 lr: 0.0009912321891107005 +[2024-01-17 23:52:33,333][train][INFO] - training loss: 0.0009291089275696626 + 0.09869659402304226 + 0.0014473965566139668 + 0.020974852649184566 = 0.12204795216934548, data num: 1137 +[2024-01-17 23:52:33,334][train][INFO] - epoch: 23 lr: 0.0009897152912577737 +[2024-01-17 23:54:13,187][train][INFO] - training loss: 0.0010208754683844745 + 0.10565395849860376 + 0.0012293862762615187 + 0.0181276499448965 = 0.12603187074677813, data num: 1137 +[2024-01-17 23:54:13,188][train][INFO] - epoch: 24 lr: 0.0009880787971596797 +[2024-01-17 23:55:51,476][train][INFO] - training loss: 0.0018635614016804742 + 0.09376654629078177 + 0.001295229733740497 + 0.019454245300342638 = 0.11637958284053537, data num: 1137 +[2024-01-17 23:55:51,478][train][INFO] - epoch: 25 lr: 0.0009863231105968495 +[2024-01-17 23:57:31,554][train][INFO] - training loss: 0.0011378138927587618 + 0.09151911901103126 + 0.0015021469856340748 + 0.01560794565335123 = 0.10976702523314291, data num: 1137 +[2024-01-17 23:57:31,556][train][INFO] - epoch: 26 lr: 0.000984448664758672 +[2024-01-17 23:59:11,353][train][INFO] - training loss: 0.001133118687398059 + 0.09047872407568826 + 0.0013806610481373759 + 0.014967563157875298 = 0.10796006717201737, data num: 1137 +[2024-01-17 23:59:11,355][train][INFO] - epoch: 27 lr: 0.0009824559221366096 +[2024-01-18 00:00:43,381][train][INFO] - training loss: 0.0017519386132739277 + 0.08765729102823469 + 0.0014522477722493932 + 0.013949368944546828 = 0.104810846866005, data num: 1137 +[2024-01-18 00:00:43,382][train][INFO] - epoch: 28 lr: 0.0009803453744100864 +[2024-01-18 00:02:15,443][train][INFO] - training loss: 0.0010376843387752564 + 0.09611949014166991 + 0.0011690713985848965 + 0.015499778783931915 = 0.11382602372517188, data num: 1137 +[2024-01-18 00:02:15,445][train][INFO] - epoch: 29 lr: 0.0009781175423251728 +[2024-01-18 00:03:47,002][train][INFO] - training loss: 0.0013552905099156003 + 0.08732438361686137 + 0.0012077560580413167 + 0.01437921600881964 = 0.10426664580073622, data num: 1137 +[2024-01-18 00:03:47,003][train][INFO] - epoch: 30 lr: 0.0009757729755661004 +[2024-01-18 00:05:19,375][train][INFO] - training loss: 0.0013761893909152907 + 0.0843722764402628 + 0.0017340179126929594 + 0.014731147074295828 = 0.10221363065971269, data num: 1137 +[2024-01-18 00:05:19,377][train][INFO] - epoch: 31 lr: 0.0009733122526196342 +[2024-01-18 00:06:50,320][train][INFO] - training loss: 0.000853562510100245 + 0.08071123120478457 + 0.0011329249828122556 + 0.014556001037514458 = 0.09725372006909715, data num: 1137 +[2024-01-18 00:06:50,322][train][INFO] - epoch: 32 lr: 0.000970735980632341 +[2024-01-18 00:08:24,638][train][INFO] - training loss: 0.0012687893823668775 + 0.08011320285085174 + 0.0012890113163545418 + 0.013738807070896857 = 0.0964098112243745, data num: 1137 +[2024-01-18 00:08:24,640][train][INFO] - epoch: 33 lr: 0.0009680447952607838 +[2024-01-18 00:09:58,334][train][INFO] - training loss: 0.0009976508299587294 + 0.07889732558073269 + 0.0013083854743551153 + 0.014925893950728804 = 0.09612925650758876, data num: 1137 +[2024-01-18 00:09:58,335][train][INFO] - epoch: 34 lr: 0.0009652393605146839 +[2024-01-18 00:11:29,249][train][INFO] - training loss: 0.001135485465056263 + 0.07664277906426126 + 0.0012280264523320107 + 0.010952813130441226 = 0.08995910464889473, data num: 1137 +[2024-01-18 00:11:29,250][train][INFO] - epoch: 35 lr: 0.0009623203685930864 +[2024-01-18 00:13:02,007][train][INFO] - training loss: 0.0013159032431657477 + 0.07911892028318511 + 0.0011503391498182383 + 0.010665107731862614 = 0.09225027076900005, data num: 1137 +[2024-01-18 00:13:02,008][train][INFO] - epoch: 36 lr: 0.00095928853971357 +[2024-01-18 00:14:37,568][train][INFO] - training loss: 0.0009911823120395031 + 0.07372622409214576 + 0.0011660799629882807 + 0.014206694658949144 = 0.0900901805402504, data num: 1137 +[2024-01-18 00:14:37,570][train][INFO] - epoch: 37 lr: 0.0009561446219345448 +[2024-01-18 00:16:09,938][train][INFO] - training loss: 0.0019102403869813618 + 0.07112697563651535 + 0.001869931440321832 + 0.011017022793465812 = 0.08592417060087125, data num: 1137 +[2024-01-18 00:16:09,939][train][INFO] - epoch: 38 lr: 0.0009528893909706791 +[2024-01-18 00:17:44,356][train][INFO] - training loss: 0.0008668769425841876 + 0.07635356998071074 + 0.0010419461525291102 + 0.009839102677587006 = 0.08810149609214729, data num: 1137 +[2024-01-18 00:17:44,358][train][INFO] - epoch: 39 lr: 0.0009495236500015041 +[2024-01-18 00:19:16,323][train][INFO] - training loss: 0.0009095407383736327 + 0.07077455292973253 + 0.00109916086269853 + 0.009266161718793834 = 0.08204941627466017, data num: 1137 +[2024-01-18 00:19:16,324][train][INFO] - epoch: 40 lr: 0.0009460482294732414 +[2024-01-18 00:20:47,205][train][INFO] - training loss: 0.0008339724615022229 + 0.06971827713358733 + 0.0012347177705830997 + 0.014074114384129643 = 0.08586108156790336, data num: 1137 +[2024-01-18 00:20:47,217][train][INFO] - Validating training... +[2024-01-18 00:22:08,692][train][INFO] - mean_translation_distance_error = [3.7877235] +[2024-01-18 00:22:08,693][train][INFO] - mean_translation_along_error = [1.3177366] +[2024-01-18 00:22:08,693][train][INFO] - mean_translation_perp_error = [3.3880289] +[2024-01-18 00:22:08,693][train][INFO] - mean_translation_plane_error = [3.3589215] +[2024-01-18 00:22:08,693][train][INFO] - mean_translation_line_error = [1.8470831] +[2024-01-18 00:22:08,694][train][INFO] - mean_rotation_error = [4.4877706] +[2024-01-18 00:22:08,694][train][INFO] - mean_affordance_error = [3.6370173] +[2024-01-18 00:22:08,696][train][INFO] - median_translation_distance_error = [3.5788736] +[2024-01-18 00:22:08,696][train][INFO] - median_translation_along_error = [1.0889792] +[2024-01-18 00:22:08,696][train][INFO] - median_translation_perp_error = [3.4139674] +[2024-01-18 00:22:08,697][train][INFO] - median_translation_plane_error = [3.3731742] +[2024-01-18 00:22:08,697][train][INFO] - median_translation_line_error = [1.6459119] +[2024-01-18 00:22:08,697][train][INFO] - median_rotation_error = [3.7625775] +[2024-01-18 00:22:08,697][train][INFO] - median_affordance_error = [3.441679] +[2024-01-18 00:22:08,698][train][INFO] - max_translation_distance_error = [8.85183] +[2024-01-18 00:22:08,698][train][INFO] - max_translation_along_error = [4.780292] +[2024-01-18 00:22:08,698][train][INFO] - max_translation_perp_error = [8.785902] +[2024-01-18 00:22:08,698][train][INFO] - max_translation_plane_error = [8.617774] +[2024-01-18 00:22:08,698][train][INFO] - max_translation_line_error = [5.7935143] +[2024-01-18 00:22:08,698][train][INFO] - max_rotation_error = [10.941737] +[2024-01-18 00:22:08,699][train][INFO] - max_affordance_error = [9.657494] +[2024-01-18 00:22:08,699][train][INFO] - min_translation_distance_error = [0.5958335] +[2024-01-18 00:22:08,699][train][INFO] - min_translation_along_error = [0.00353511] +[2024-01-18 00:22:08,700][train][INFO] - min_translation_perp_error = [0.24220935] +[2024-01-18 00:22:08,700][train][INFO] - min_translation_plane_error = [0.24749243] +[2024-01-18 00:22:08,700][train][INFO] - min_translation_line_error = [0.11222537] +[2024-01-18 00:22:08,700][train][INFO] - min_rotation_error = [0.2517883] +[2024-01-18 00:22:08,700][train][INFO] - min_affordance_error = [0.53640634] +[2024-01-18 00:22:08,701][train][INFO] - std_translation_distance_error = [1.6443563] +[2024-01-18 00:22:08,701][train][INFO] - std_translation_along_error = [1.0685288] +[2024-01-18 00:22:08,701][train][INFO] - std_translation_perp_error = [1.6412894] +[2024-01-18 00:22:08,702][train][INFO] - std_translation_plane_error = [1.63102] +[2024-01-18 00:22:08,702][train][INFO] - std_translation_line_error = [1.3043184] +[2024-01-18 00:22:08,702][train][INFO] - std_rotation_error = [2.4060545] +[2024-01-18 00:22:08,702][train][INFO] - std_affordance_error = [1.565615] +[2024-01-18 00:22:08,702][train][INFO] - translation_outliers_num = 12 +[2024-01-18 00:22:08,702][train][INFO] - rotation_outliers_num = 22 +[2024-01-18 00:22:08,702][train][INFO] - affordance_outliers_num = 10 +[2024-01-18 00:22:08,702][train][INFO] - translation_outliers_ratio = 0.1875 +[2024-01-18 00:22:08,702][train][INFO] - rotation_outliers_ratio = 0.34375 +[2024-01-18 00:22:08,702][train][INFO] - affordance_outliers_ratio = 0.15625 +[2024-01-18 00:22:08,702][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 00:22:08,704][train][INFO] - Validated training. +[2024-01-18 00:22:08,710][train][INFO] - Validating training time: 81.48695421218872 +[2024-01-18 00:22:08,711][train][INFO] - Validating testing... +[2024-01-18 00:23:05,217][train][INFO] - mean_translation_distance_error = [4.119814] +[2024-01-18 00:23:05,218][train][INFO] - mean_translation_along_error = [1.7311394] +[2024-01-18 00:23:05,218][train][INFO] - mean_translation_perp_error = [3.4809926] +[2024-01-18 00:23:05,218][train][INFO] - mean_translation_plane_error = [3.4842334] +[2024-01-18 00:23:05,218][train][INFO] - mean_translation_line_error = [2.1185555] +[2024-01-18 00:23:05,219][train][INFO] - mean_rotation_error = [7.664319] +[2024-01-18 00:23:05,219][train][INFO] - mean_affordance_error = [4.425065] +[2024-01-18 00:23:05,220][train][INFO] - median_translation_distance_error = [3.762775] +[2024-01-18 00:23:05,220][train][INFO] - median_translation_along_error = [1.7254286] +[2024-01-18 00:23:05,222][train][INFO] - median_translation_perp_error = [3.1819983] +[2024-01-18 00:23:05,223][train][INFO] - median_translation_plane_error = [3.1629682] +[2024-01-18 00:23:05,223][train][INFO] - median_translation_line_error = [1.824363] +[2024-01-18 00:23:05,223][train][INFO] - median_rotation_error = [6.2222853] +[2024-01-18 00:23:05,223][train][INFO] - median_affordance_error = [3.5168142] +[2024-01-18 00:23:05,224][train][INFO] - max_translation_distance_error = [9.610262] +[2024-01-18 00:23:05,224][train][INFO] - max_translation_along_error = [3.9759326] +[2024-01-18 00:23:05,224][train][INFO] - max_translation_perp_error = [9.503855] +[2024-01-18 00:23:05,225][train][INFO] - max_translation_plane_error = [9.480719] +[2024-01-18 00:23:05,225][train][INFO] - max_translation_line_error = [6.877703] +[2024-01-18 00:23:05,225][train][INFO] - max_rotation_error = [23.04797] +[2024-01-18 00:23:05,225][train][INFO] - max_affordance_error = [32.02917] +[2024-01-18 00:23:05,226][train][INFO] - min_translation_distance_error = [0.7457613] +[2024-01-18 00:23:05,226][train][INFO] - min_translation_along_error = [0.03373495] +[2024-01-18 00:23:05,226][train][INFO] - min_translation_perp_error = [0.23102877] +[2024-01-18 00:23:05,226][train][INFO] - min_translation_plane_error = [0.22776407] +[2024-01-18 00:23:05,226][train][INFO] - min_translation_line_error = [0.00893145] +[2024-01-18 00:23:05,227][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 00:23:05,227][train][INFO] - min_affordance_error = [0.9567648] +[2024-01-18 00:23:05,228][train][INFO] - std_translation_distance_error = [1.9576852] +[2024-01-18 00:23:05,228][train][INFO] - std_translation_along_error = [1.0036405] +[2024-01-18 00:23:05,228][train][INFO] - std_translation_perp_error = [2.1642432] +[2024-01-18 00:23:05,229][train][INFO] - std_translation_plane_error = [2.1409044] +[2024-01-18 00:23:05,229][train][INFO] - std_translation_line_error = [1.650863] +[2024-01-18 00:23:05,229][train][INFO] - std_rotation_error = [5.355852] +[2024-01-18 00:23:05,229][train][INFO] - std_affordance_error = [4.2186794] +[2024-01-18 00:23:05,229][train][INFO] - translation_outliers_num = 12 +[2024-01-18 00:23:05,229][train][INFO] - rotation_outliers_num = 37 +[2024-01-18 00:23:05,230][train][INFO] - affordance_outliers_num = 17 +[2024-01-18 00:23:05,230][train][INFO] - translation_outliers_ratio = 0.1875 +[2024-01-18 00:23:05,230][train][INFO] - rotation_outliers_ratio = 0.578125 +[2024-01-18 00:23:05,230][train][INFO] - affordance_outliers_ratio = 0.265625 +[2024-01-18 00:23:05,230][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 00:23:05,231][train][INFO] - Validated testing. +[2024-01-18 00:23:05,235][train][INFO] - Validating testing time: 56.518420457839966 +[2024-01-18 00:23:05,238][train][INFO] - epoch: 41 lr: 0.0009424639868939027 +[2024-01-18 00:24:41,723][train][INFO] - training loss: 0.0009201188173998768 + 0.07698430384819706 + 0.0011794617320346232 + 0.02237693699943419 = 0.10146082120223178, data num: 1137 +[2024-01-18 00:24:41,725][train][INFO] - epoch: 42 lr: 0.0009387718066217117 +[2024-01-18 00:26:19,327][train][INFO] - training loss: 0.0009457816267968155 + 0.07043333900057608 + 0.00107992386862558 + 0.010115704039991315 = 0.08257474781324466, data num: 1137 +[2024-01-18 00:26:19,329][train][INFO] - epoch: 43 lr: 0.000934972599646904 +[2024-01-18 00:27:55,570][train][INFO] - training loss: 0.000905298131531001 + 0.06743352089284195 + 0.0012949489601952438 + 0.009721271496447217 = 0.07935504025469224, data num: 1137 +[2024-01-18 00:27:55,572][train][INFO] - epoch: 44 lr: 0.0009310673033669515 +[2024-01-18 00:29:30,619][train][INFO] - training loss: 0.0009140129817145256 + 0.06644601142033935 + 0.0011879387271215415 + 0.008269713761466038 = 0.07681767642498016, data num: 1137 +[2024-01-18 00:29:30,620][train][INFO] - epoch: 45 lr: 0.0009270568813552751 +[2024-01-18 00:31:09,646][train][INFO] - training loss: 0.0009307354727449516 + 0.06488026807912523 + 0.0013923685554699558 + 0.0072346371048802715 = 0.07443800915239586, data num: 1137 +[2024-01-18 00:31:09,647][train][INFO] - epoch: 46 lr: 0.0009229423231234969 +[2024-01-18 00:32:50,611][train][INFO] - training loss: 0.0012175870376975378 + 0.06319766584783792 + 0.00177215924163142 + 0.008431127708819177 = 0.07461854008336861, data num: 1137 +[2024-01-18 00:32:50,612][train][INFO] - epoch: 47 lr: 0.0009187246438772933 +[2024-01-18 00:34:30,507][train][INFO] - training loss: 0.0007266547028039996 + 0.06346970574102467 + 0.0009155549543922663 + 0.009891168343731098 = 0.0750030838470492, data num: 1137 +[2024-01-18 00:34:30,508][train][INFO] - epoch: 48 lr: 0.0009144048842659075 +[2024-01-18 00:36:10,562][train][INFO] - training loss: 0.000828149979093319 + 0.0633273992377023 + 0.0009431167652817547 + 0.008138950581067346 = 0.07323761641358335, data num: 1137 +[2024-01-18 00:36:10,563][train][INFO] - epoch: 49 lr: 0.0009099841101253861 +[2024-01-18 00:37:50,198][train][INFO] - training loss: 0.0008079061986386983 + 0.06046015055229267 + 0.0010012000558264037 + 0.008776928272305263 = 0.07104618542103304, data num: 1137 +[2024-01-18 00:37:50,199][train][INFO] - epoch: 50 lr: 0.0009054634122155986 +[2024-01-18 00:39:28,682][train][INFO] - training loss: 0.000761851741925865 + 0.0608257127718793 + 0.0008613800164312124 + 0.006462186044599447 = 0.06891113069529335, data num: 1137 +[2024-01-18 00:39:28,684][train][INFO] - epoch: 51 lr: 0.0009008439059511095 +[2024-01-18 00:41:02,811][train][INFO] - training loss: 0.0008600021634871761 + 0.05990794808086422 + 0.0009519922112101793 + 0.006739368109265342 = 0.06845931046538883, data num: 1137 +[2024-01-18 00:41:02,812][train][INFO] - epoch: 52 lr: 0.0008961267311259662 +[2024-01-18 00:42:39,358][train][INFO] - training loss: 0.0012333460132746648 + 0.057289328477862805 + 0.0011364171263671273 + 0.006717931864032935 = 0.06637702354540427, data num: 1137 +[2024-01-18 00:42:39,359][train][INFO] - epoch: 53 lr: 0.0008913130516324728 +[2024-01-18 00:44:19,986][train][INFO] - training loss: 0.0007496088829712891 + 0.05887285050832563 + 0.0008683374156438125 + 0.009830147225228656 = 0.07032094383612275, data num: 1137 +[2024-01-18 00:44:19,988][train][INFO] - epoch: 54 lr: 0.0008864040551740152 +[2024-01-18 00:45:57,611][train][INFO] - training loss: 0.0013261225111717875 + 0.05685068491018481 + 0.0010221896510403086 + 0.00640514292818908 = 0.06560413984374867, data num: 1137 +[2024-01-18 00:45:57,613][train][INFO] - epoch: 55 lr: 0.000881400952972015 +[2024-01-18 00:47:36,552][train][INFO] - training loss: 0.000938036199739953 + 0.05716888218497237 + 0.0008957851411347898 + 0.005993847796667574 = 0.06499655125662684, data num: 1137 +[2024-01-18 00:47:36,553][train][INFO] - epoch: 56 lr: 0.0008763049794670771 +[2024-01-18 00:49:11,038][train][INFO] - training loss: 0.0009357500158431423 + 0.05428376695555118 + 0.0012758269201892996 + 0.005824499828223553 = 0.06231984340896209, data num: 1137 +[2024-01-18 00:49:11,039][train][INFO] - epoch: 57 lr: 0.0008711173920144113 +[2024-01-18 00:50:42,211][train][INFO] - training loss: 0.0006549760518181655 + 0.055977364950295955 + 0.000878777892568097 + 0.005986541254161339 = 0.06349766000898348, data num: 1137 +[2024-01-18 00:50:42,213][train][INFO] - epoch: 58 lr: 0.0008658394705735983 +[2024-01-18 00:52:18,761][train][INFO] - training loss: 0.0009539642249162878 + 0.05353418861826261 + 0.0008950967765283874 + 0.006828137589359863 = 0.062211387480298676, data num: 1137 +[2024-01-18 00:52:18,762][train][INFO] - epoch: 59 lr: 0.0008604725173927781 +[2024-01-18 00:53:51,178][train][INFO] - training loss: 0.0007993087670507117 + 0.054706976335081786 + 0.0008961147525244289 + 0.0060735822949532624 = 0.06247598227734367, data num: 1137 +[2024-01-18 00:53:51,179][train][INFO] - epoch: 60 lr: 0.0008550178566873405 +[2024-01-18 00:55:23,508][train][INFO] - training loss: 0.0007003470729816601 + 0.05372483247063226 + 0.0009263194968096084 + 0.0049927467512639444 = 0.06034424606089791, data num: 1137 +[2024-01-18 00:55:23,521][train][INFO] - Validating training... +[2024-01-18 00:56:09,744][train][INFO] - mean_translation_distance_error = [2.8353753] +[2024-01-18 00:56:09,745][train][INFO] - mean_translation_along_error = [0.77886844] +[2024-01-18 00:56:09,745][train][INFO] - mean_translation_perp_error = [2.6241615] +[2024-01-18 00:56:09,746][train][INFO] - mean_translation_plane_error = [2.6351364] +[2024-01-18 00:56:09,746][train][INFO] - mean_translation_line_error = [1.6134685] +[2024-01-18 00:56:09,746][train][INFO] - mean_rotation_error = [4.5372705] +[2024-01-18 00:56:09,747][train][INFO] - mean_affordance_error = [2.9006357] +[2024-01-18 00:56:09,749][train][INFO] - median_translation_distance_error = [2.441572] +[2024-01-18 00:56:09,749][train][INFO] - median_translation_along_error = [0.65159553] +[2024-01-18 00:56:09,749][train][INFO] - median_translation_perp_error = [2.1416593] +[2024-01-18 00:56:09,749][train][INFO] - median_translation_plane_error = [2.137583] +[2024-01-18 00:56:09,749][train][INFO] - median_translation_line_error = [1.2881908] +[2024-01-18 00:56:09,750][train][INFO] - median_rotation_error = [4.4625826] +[2024-01-18 00:56:09,750][train][INFO] - median_affordance_error = [2.5207906] +[2024-01-18 00:56:09,750][train][INFO] - max_translation_distance_error = [8.057221] +[2024-01-18 00:56:09,750][train][INFO] - max_translation_along_error = [2.070574] +[2024-01-18 00:56:09,750][train][INFO] - max_translation_perp_error = [7.9657245] +[2024-01-18 00:56:09,751][train][INFO] - max_translation_plane_error = [8.059441] +[2024-01-18 00:56:09,751][train][INFO] - max_translation_line_error = [5.8214946] +[2024-01-18 00:56:09,751][train][INFO] - max_rotation_error = [9.4022] +[2024-01-18 00:56:09,751][train][INFO] - max_affordance_error = [7.4912014] +[2024-01-18 00:56:09,751][train][INFO] - min_translation_distance_error = [0.54980505] +[2024-01-18 00:56:09,751][train][INFO] - min_translation_along_error = [0.01068451] +[2024-01-18 00:56:09,752][train][INFO] - min_translation_perp_error = [0.18381211] +[2024-01-18 00:56:09,752][train][INFO] - min_translation_plane_error = [0.23515904] +[2024-01-18 00:56:09,752][train][INFO] - min_translation_line_error = [0.00364575] +[2024-01-18 00:56:09,752][train][INFO] - min_rotation_error = [0.1701742] +[2024-01-18 00:56:09,752][train][INFO] - min_affordance_error = [0.6769] +[2024-01-18 00:56:09,753][train][INFO] - std_translation_distance_error = [1.6387982] +[2024-01-18 00:56:09,753][train][INFO] - std_translation_along_error = [0.5270857] +[2024-01-18 00:56:09,753][train][INFO] - std_translation_perp_error = [1.7188174] +[2024-01-18 00:56:09,754][train][INFO] - std_translation_plane_error = [1.7347606] +[2024-01-18 00:56:09,754][train][INFO] - std_translation_line_error = [1.38031] +[2024-01-18 00:56:09,754][train][INFO] - std_rotation_error = [2.2209885] +[2024-01-18 00:56:09,754][train][INFO] - std_affordance_error = [1.4688269] +[2024-01-18 00:56:09,754][train][INFO] - translation_outliers_num = 6 +[2024-01-18 00:56:09,754][train][INFO] - rotation_outliers_num = 25 +[2024-01-18 00:56:09,754][train][INFO] - affordance_outliers_num = 8 +[2024-01-18 00:56:09,754][train][INFO] - translation_outliers_ratio = 0.09375 +[2024-01-18 00:56:09,755][train][INFO] - rotation_outliers_ratio = 0.390625 +[2024-01-18 00:56:09,755][train][INFO] - affordance_outliers_ratio = 0.125 +[2024-01-18 00:56:09,755][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 00:56:09,757][train][INFO] - Validated training. +[2024-01-18 00:56:09,760][train][INFO] - Validating training time: 46.23613262176514 +[2024-01-18 00:56:09,763][train][INFO] - Validating testing... +[2024-01-18 00:56:56,118][train][INFO] - mean_translation_distance_error = [3.5061877] +[2024-01-18 00:56:56,119][train][INFO] - mean_translation_along_error = [1.2054287] +[2024-01-18 00:56:56,119][train][INFO] - mean_translation_perp_error = [3.1514897] +[2024-01-18 00:56:56,119][train][INFO] - mean_translation_plane_error = [3.1432617] +[2024-01-18 00:56:56,120][train][INFO] - mean_translation_line_error = [1.9983275] +[2024-01-18 00:56:56,120][train][INFO] - mean_rotation_error = [7.4992414] +[2024-01-18 00:56:56,120][train][INFO] - mean_affordance_error = [3.8545036] +[2024-01-18 00:56:56,122][train][INFO] - median_translation_distance_error = [3.2734828] +[2024-01-18 00:56:56,122][train][INFO] - median_translation_along_error = [1.0702251] +[2024-01-18 00:56:56,122][train][INFO] - median_translation_perp_error = [3.058954] +[2024-01-18 00:56:56,122][train][INFO] - median_translation_plane_error = [2.960031] +[2024-01-18 00:56:56,123][train][INFO] - median_translation_line_error = [1.9218899] +[2024-01-18 00:56:56,123][train][INFO] - median_rotation_error = [6.4437475] +[2024-01-18 00:56:56,123][train][INFO] - median_affordance_error = [3.7260118] +[2024-01-18 00:56:56,124][train][INFO] - max_translation_distance_error = [10.703415] +[2024-01-18 00:56:56,124][train][INFO] - max_translation_along_error = [3.668478] +[2024-01-18 00:56:56,124][train][INFO] - max_translation_perp_error = [10.3402405] +[2024-01-18 00:56:56,124][train][INFO] - max_translation_plane_error = [10.212286] +[2024-01-18 00:56:56,125][train][INFO] - max_translation_line_error = [7.253071] +[2024-01-18 00:56:56,125][train][INFO] - max_rotation_error = [27.979002] +[2024-01-18 00:56:56,125][train][INFO] - max_affordance_error = [8.014549] +[2024-01-18 00:56:56,125][train][INFO] - min_translation_distance_error = [1.0502251] +[2024-01-18 00:56:56,126][train][INFO] - min_translation_along_error = [0.04589078] +[2024-01-18 00:56:56,126][train][INFO] - min_translation_perp_error = [0.9595405] +[2024-01-18 00:56:56,126][train][INFO] - min_translation_plane_error = [0.92252165] +[2024-01-18 00:56:56,126][train][INFO] - min_translation_line_error = [0.00536746] +[2024-01-18 00:56:56,127][train][INFO] - min_rotation_error = [1.3954958] +[2024-01-18 00:56:56,127][train][INFO] - min_affordance_error = [1.1459072] +[2024-01-18 00:56:56,128][train][INFO] - std_translation_distance_error = [1.5280322] +[2024-01-18 00:56:56,128][train][INFO] - std_translation_along_error = [0.9760155] +[2024-01-18 00:56:56,128][train][INFO] - std_translation_perp_error = [1.5134996] +[2024-01-18 00:56:56,129][train][INFO] - std_translation_plane_error = [1.5187225] +[2024-01-18 00:56:56,129][train][INFO] - std_translation_line_error = [1.4513423] +[2024-01-18 00:56:56,129][train][INFO] - std_rotation_error = [5.066627] +[2024-01-18 00:56:56,130][train][INFO] - std_affordance_error = [1.5598458] +[2024-01-18 00:56:56,130][train][INFO] - translation_outliers_num = 4 +[2024-01-18 00:56:56,130][train][INFO] - rotation_outliers_num = 38 +[2024-01-18 00:56:56,130][train][INFO] - affordance_outliers_num = 14 +[2024-01-18 00:56:56,130][train][INFO] - translation_outliers_ratio = 0.0625 +[2024-01-18 00:56:56,130][train][INFO] - rotation_outliers_ratio = 0.59375 +[2024-01-18 00:56:56,130][train][INFO] - affordance_outliers_ratio = 0.21875 +[2024-01-18 00:56:56,130][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 00:56:56,133][train][INFO] - Validated testing. +[2024-01-18 00:56:56,135][train][INFO] - Validating testing time: 46.36962556838989 +[2024-01-18 00:56:56,137][train][INFO] - epoch: 61 lr: 0.0008494768343131951 +[2024-01-18 00:58:25,482][train][INFO] - training loss: 0.0006402581792725767 + 0.06298078979469007 + 0.0008136874587055192 + 0.007076612015629912 = 0.07151134741596049, data num: 1137 +[2024-01-18 00:58:25,483][train][INFO] - epoch: 62 lr: 0.0008438508174347005 +[2024-01-18 01:00:00,023][train][INFO] - training loss: 0.0007207977695442322 + 0.05418391965536608 + 0.0009541923969259693 + 0.006272575626907282 = 0.06213148512567083, data num: 1137 +[2024-01-18 01:00:00,024][train][INFO] - epoch: 63 lr: 0.0008381411941873374 +[2024-01-18 01:01:39,381][train][INFO] - training loss: 0.0008489101059644276 + 0.05041957491387924 + 0.0009049804377557141 + 0.004808548924403213 = 0.05698201396606035, data num: 1137 +[2024-01-18 01:01:39,382][train][INFO] - epoch: 64 lr: 0.0008323493733352073 +[2024-01-18 01:03:15,698][train][INFO] - training loss: 0.0007586802453766318 + 0.051932552001542516 + 0.001011903948286393 + 0.004955458087756092 = 0.05865859452428089, data num: 1137 +[2024-01-18 01:03:15,699][train][INFO] - epoch: 65 lr: 0.0008264767839234405 +[2024-01-18 01:04:51,008][train][INFO] - training loss: 0.0006948572453337773 + 0.0499607240781188 + 0.0008834940203491391 + 0.005902215434212444 = 0.0574412913993001, data num: 1137 +[2024-01-18 01:04:51,009][train][INFO] - epoch: 66 lr: 0.000820524874925601 +[2024-01-18 01:06:21,977][train][INFO] - training loss: 0.0008006733340961444 + 0.04963639363025626 + 0.0008326011965335864 + 0.005591648753680702 = 0.05686131714739733, data num: 1137 +[2024-01-18 01:06:21,978][train][INFO] - epoch: 67 lr: 0.0008144951148861737 +[2024-01-18 01:07:56,051][train][INFO] - training loss: 0.000706824295775732 + 0.05335019715130329 + 0.000840937945112172 + 0.005695942255543842 = 0.06059390202992492, data num: 1137 +[2024-01-18 01:07:56,052][train][INFO] - epoch: 68 lr: 0.0008083889915582231 +[2024-01-18 01:09:28,284][train][INFO] - training loss: 0.0006832035740242443 + 0.049324361607432365 + 0.0008321754802535805 + 0.004209047041513259 = 0.05504878812159101, data num: 1137 +[2024-01-18 01:09:28,285][train][INFO] - epoch: 69 lr: 0.0008022080115363123 +[2024-01-18 01:11:01,266][train][INFO] - training loss: 0.0007761483866488561 + 0.048418795172539025 + 0.0009002540722980888 + 0.00532700863873793 = 0.05542220651275582, data num: 1137 +[2024-01-18 01:11:01,268][train][INFO] - epoch: 70 lr: 0.0007959536998847739 +[2024-01-18 01:12:38,177][train][INFO] - training loss: 0.0009011973852466326 + 0.05126240011304617 + 0.0008330290551788898 + 0.004348831311088159 = 0.05734545820289188, data num: 1137 +[2024-01-18 01:12:38,179][train][INFO] - epoch: 71 lr: 0.0007896275997614226 +[2024-01-18 01:14:19,653][train][INFO] - training loss: 0.0006413021934956001 + 0.05124795095374187 + 0.000793106794945844 + 0.005277547594030491 = 0.05795990779168076, data num: 1137 +[2024-01-18 01:14:19,654][train][INFO] - epoch: 72 lr: 0.0007832312720368044 +[2024-01-18 01:15:50,081][train][INFO] - training loss: 0.0006411706268004815 + 0.04926350609295898 + 0.0008213653135397988 + 0.006290249057605656 = 0.057016291138198644, data num: 1137 +[2024-01-18 01:15:50,082][train][INFO] - epoch: 73 lr: 0.0007767662949090749 +[2024-01-18 01:17:21,894][train][INFO] - training loss: 0.0006335802273598448 + 0.04652285141249498 + 0.0007849029069701727 + 0.004492472540328486 = 0.052433807144148484, data num: 1137 +[2024-01-18 01:17:21,895][train][INFO] - epoch: 74 lr: 0.000770234263514603 +[2024-01-18 01:18:54,214][train][INFO] - training loss: 0.0006882879364032609 + 0.04558068343127767 + 0.0010882009559686088 + 0.003876616481445833 = 0.05123378879701098, data num: 1137 +[2024-01-18 01:18:54,215][train][INFO] - epoch: 75 lr: 0.0007636367895343944 +[2024-01-18 01:20:29,139][train][INFO] - training loss: 0.0007307981193460162 + 0.04680207252709402 + 0.0007338044734852803 + 0.0038372987150473315 = 0.05210397387337354, data num: 1137 +[2024-01-18 01:20:29,141][train][INFO] - epoch: 76 lr: 0.0007569755007964335 +[2024-01-18 01:22:05,102][train][INFO] - training loss: 0.0006177031342910292 + 0.04961566673591733 + 0.0009292064625899204 + 0.005199646447888679 = 0.056362222931865186, data num: 1137 +[2024-01-18 01:22:05,103][train][INFO] - epoch: 77 lr: 0.0007502520408740415 +[2024-01-18 01:23:40,712][train][INFO] - training loss: 0.0007552668632544939 + 0.05136294362859593 + 0.0008038284395297524 + 0.005644933294711841 = 0.05856697235463394, data num: 1137 +[2024-01-18 01:23:40,714][train][INFO] - epoch: 78 lr: 0.0007434680686803488 +[2024-01-18 01:25:15,416][train][INFO] - training loss: 0.0007180131611271969 + 0.044240512936893434 + 0.0007152149725394944 + 0.003832369598159049 = 0.04950611060485244, data num: 1137 +[2024-01-18 01:25:15,418][train][INFO] - epoch: 79 lr: 0.0007366252580589837 +[2024-01-18 01:26:49,706][train][INFO] - training loss: 0.0006659221132091867 + 0.045890874384591974 + 0.0007301874858159055 + 0.0057159450233383625 = 0.053002929108010396, data num: 1137 +[2024-01-18 01:26:49,707][train][INFO] - epoch: 80 lr: 0.0007297252973710754 +[2024-01-18 01:28:20,790][train][INFO] - training loss: 0.0006170763598573911 + 0.043824089949743614 + 0.0006842739708695768 + 0.0033811646264641443 = 0.048506605283667646, data num: 1137 +[2024-01-18 01:28:20,801][train][INFO] - Validating training... +[2024-01-18 01:29:38,068][train][INFO] - mean_translation_distance_error = [2.4567769] +[2024-01-18 01:29:38,069][train][INFO] - mean_translation_along_error = [0.7673167] +[2024-01-18 01:29:38,070][train][INFO] - mean_translation_perp_error = [2.1937416] +[2024-01-18 01:29:38,070][train][INFO] - mean_translation_plane_error = [2.194867] +[2024-01-18 01:29:38,070][train][INFO] - mean_translation_line_error = [1.1114793] +[2024-01-18 01:29:38,071][train][INFO] - mean_rotation_error = [4.4919243] +[2024-01-18 01:29:38,071][train][INFO] - mean_affordance_error = [4.0531645] +[2024-01-18 01:29:38,072][train][INFO] - median_translation_distance_error = [2.2985506] +[2024-01-18 01:29:38,073][train][INFO] - median_translation_along_error = [0.48185873] +[2024-01-18 01:29:38,073][train][INFO] - median_translation_perp_error = [1.7453442] +[2024-01-18 01:29:38,073][train][INFO] - median_translation_plane_error = [1.7724934] +[2024-01-18 01:29:38,074][train][INFO] - median_translation_line_error = [0.6875193] +[2024-01-18 01:29:38,074][train][INFO] - median_rotation_error = [3.8523583] +[2024-01-18 01:29:38,074][train][INFO] - median_affordance_error = [3.8459454] +[2024-01-18 01:29:38,075][train][INFO] - max_translation_distance_error = [6.449783] +[2024-01-18 01:29:38,075][train][INFO] - max_translation_along_error = [2.7202148] +[2024-01-18 01:29:38,076][train][INFO] - max_translation_perp_error = [6.4491515] +[2024-01-18 01:29:38,076][train][INFO] - max_translation_plane_error = [6.443001] +[2024-01-18 01:29:38,076][train][INFO] - max_translation_line_error = [5.631555] +[2024-01-18 01:29:38,077][train][INFO] - max_rotation_error = [9.715735] +[2024-01-18 01:29:38,077][train][INFO] - max_affordance_error = [8.676091] +[2024-01-18 01:29:38,077][train][INFO] - min_translation_distance_error = [0.43579388] +[2024-01-18 01:29:38,078][train][INFO] - min_translation_along_error = [0.01063393] +[2024-01-18 01:29:38,078][train][INFO] - min_translation_perp_error = [0.14833306] +[2024-01-18 01:29:38,078][train][INFO] - min_translation_plane_error = [0.18750405] +[2024-01-18 01:29:38,078][train][INFO] - min_translation_line_error = [0.00048758] +[2024-01-18 01:29:38,079][train][INFO] - min_rotation_error = [0.17804113] +[2024-01-18 01:29:38,079][train][INFO] - min_affordance_error = [1.4945523] +[2024-01-18 01:29:38,080][train][INFO] - std_translation_distance_error = [1.4568433] +[2024-01-18 01:29:38,080][train][INFO] - std_translation_along_error = [0.6682234] +[2024-01-18 01:29:38,081][train][INFO] - std_translation_perp_error = [1.5199816] +[2024-01-18 01:29:38,081][train][INFO] - std_translation_plane_error = [1.5173941] +[2024-01-18 01:29:38,081][train][INFO] - std_translation_line_error = [1.1327705] +[2024-01-18 01:29:38,082][train][INFO] - std_rotation_error = [2.3798435] +[2024-01-18 01:29:38,082][train][INFO] - std_affordance_error = [1.5283669] +[2024-01-18 01:29:38,082][train][INFO] - translation_outliers_num = 3 +[2024-01-18 01:29:38,082][train][INFO] - rotation_outliers_num = 24 +[2024-01-18 01:29:38,082][train][INFO] - affordance_outliers_num = 16 +[2024-01-18 01:29:38,082][train][INFO] - translation_outliers_ratio = 0.046875 +[2024-01-18 01:29:38,083][train][INFO] - rotation_outliers_ratio = 0.375 +[2024-01-18 01:29:38,083][train][INFO] - affordance_outliers_ratio = 0.25 +[2024-01-18 01:29:38,083][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 01:29:38,085][train][INFO] - Validated training. +[2024-01-18 01:29:38,093][train][INFO] - Validating training time: 77.28363871574402 +[2024-01-18 01:29:38,094][train][INFO] - Validating testing... +[2024-01-18 01:30:37,504][train][INFO] - mean_translation_distance_error = [3.0543995] +[2024-01-18 01:30:37,505][train][INFO] - mean_translation_along_error = [1.2929733] +[2024-01-18 01:30:37,505][train][INFO] - mean_translation_perp_error = [2.6124806] +[2024-01-18 01:30:37,505][train][INFO] - mean_translation_plane_error = [2.6237128] +[2024-01-18 01:30:37,505][train][INFO] - mean_translation_line_error = [1.6822687] +[2024-01-18 01:30:37,505][train][INFO] - mean_rotation_error = [5.8921714] +[2024-01-18 01:30:37,506][train][INFO] - mean_affordance_error = [3.92674] +[2024-01-18 01:30:37,506][train][INFO] - median_translation_distance_error = [3.070735] +[2024-01-18 01:30:37,506][train][INFO] - median_translation_along_error = [1.0207709] +[2024-01-18 01:30:37,507][train][INFO] - median_translation_perp_error = [2.4536664] +[2024-01-18 01:30:37,507][train][INFO] - median_translation_plane_error = [2.5759308] +[2024-01-18 01:30:37,507][train][INFO] - median_translation_line_error = [1.5643868] +[2024-01-18 01:30:37,507][train][INFO] - median_rotation_error = [4.6271505] +[2024-01-18 01:30:37,507][train][INFO] - median_affordance_error = [3.596561] +[2024-01-18 01:30:37,507][train][INFO] - max_translation_distance_error = [6.248254] +[2024-01-18 01:30:37,507][train][INFO] - max_translation_along_error = [3.8054671] +[2024-01-18 01:30:37,508][train][INFO] - max_translation_perp_error = [4.9557137] +[2024-01-18 01:30:37,508][train][INFO] - max_translation_plane_error = [5.0603337] +[2024-01-18 01:30:37,508][train][INFO] - max_translation_line_error = [4.462366] +[2024-01-18 01:30:37,508][train][INFO] - max_rotation_error = [20.737186] +[2024-01-18 01:30:37,508][train][INFO] - max_affordance_error = [9.47713] +[2024-01-18 01:30:37,508][train][INFO] - min_translation_distance_error = [0.9083155] +[2024-01-18 01:30:37,508][train][INFO] - min_translation_along_error = [0.00357106] +[2024-01-18 01:30:37,509][train][INFO] - min_translation_perp_error = [0.6682385] +[2024-01-18 01:30:37,509][train][INFO] - min_translation_plane_error = [0.6331775] +[2024-01-18 01:30:37,509][train][INFO] - min_translation_line_error = [0.11266927] +[2024-01-18 01:30:37,509][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 01:30:37,509][train][INFO] - min_affordance_error = [0.7841183] +[2024-01-18 01:30:37,510][train][INFO] - std_translation_distance_error = [1.0843874] +[2024-01-18 01:30:37,510][train][INFO] - std_translation_along_error = [0.96147317] +[2024-01-18 01:30:37,510][train][INFO] - std_translation_perp_error = [1.0411466] +[2024-01-18 01:30:37,510][train][INFO] - std_translation_plane_error = [1.0495254] +[2024-01-18 01:30:37,510][train][INFO] - std_translation_line_error = [0.9821973] +[2024-01-18 01:30:37,510][train][INFO] - std_rotation_error = [3.9966881] +[2024-01-18 01:30:37,510][train][INFO] - std_affordance_error = [1.941157] +[2024-01-18 01:30:37,510][train][INFO] - translation_outliers_num = 2 +[2024-01-18 01:30:37,511][train][INFO] - rotation_outliers_num = 28 +[2024-01-18 01:30:37,511][train][INFO] - affordance_outliers_num = 15 +[2024-01-18 01:30:37,511][train][INFO] - translation_outliers_ratio = 0.03125 +[2024-01-18 01:30:37,511][train][INFO] - rotation_outliers_ratio = 0.4375 +[2024-01-18 01:30:37,511][train][INFO] - affordance_outliers_ratio = 0.234375 +[2024-01-18 01:30:37,511][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 01:30:37,512][train][INFO] - Validated testing. +[2024-01-18 01:30:37,515][train][INFO] - Validating testing time: 59.41703224182129 +[2024-01-18 01:30:37,515][train][INFO] - epoch: 81 lr: 0.0007227698890786777 +[2024-01-18 01:32:13,504][train][INFO] - training loss: 0.0006272815007832833 + 0.04526444472786453 + 0.0007385510357885829 + 0.0044941664948257515 = 0.051124443765729666, data num: 1137 +[2024-01-18 01:32:13,507][train][INFO] - epoch: 82 lr: 0.0007157607493247108 +[2024-01-18 01:33:45,868][train][INFO] - training loss: 0.000633247669207372 + 0.04658037098124623 + 0.0007615883094129256 + 0.003811602406737317 = 0.05178680943532123, data num: 1137 +[2024-01-18 01:33:45,869][train][INFO] - epoch: 83 lr: 0.0007086996075095287 +[2024-01-18 01:35:18,655][train][INFO] - training loss: 0.0006393285451243477 + 0.041418112685076065 + 0.0007509833901874825 + 0.0029495710332412273 = 0.04575799547860192, data num: 1137 +[2024-01-18 01:35:18,656][train][INFO] - epoch: 84 lr: 0.0007015882058642161 +[2024-01-18 01:36:50,109][train][INFO] - training loss: 0.0008090938164160536 + 0.043539160293423466 + 0.0011014500972426806 + 0.003627301386182403 = 0.049077005280802645, data num: 1137 +[2024-01-18 01:36:50,110][train][INFO] - epoch: 85 lr: 0.0006944282990207193 +[2024-01-18 01:38:22,352][train][INFO] - training loss: 0.0006540018002851866 + 0.04189322689651615 + 0.0007555063315925912 + 0.003312852861805974 = 0.04661558816830317, data num: 1137 +[2024-01-18 01:38:22,354][train][INFO] - epoch: 86 lr: 0.0006872216535789155 +[2024-01-18 01:39:54,988][train][INFO] - training loss: 0.000692175596567621 + 0.04262145688860781 + 0.0008478890004981724 + 0.0029326063280071444 = 0.047094127628952265, data num: 1137 +[2024-01-18 01:39:54,990][train][INFO] - epoch: 87 lr: 0.0006799700476707321 +[2024-01-18 01:41:26,689][train][INFO] - training loss: 0.0006260093691202605 + 0.041117641091760665 + 0.0007203822117137153 + 0.0034765498623730512 = 0.04594058248524865, data num: 1137 +[2024-01-18 01:41:26,691][train][INFO] - epoch: 88 lr: 0.0006726752705214191 +[2024-01-18 01:42:59,216][train][INFO] - training loss: 0.0005825802767907993 + 0.0425193116793202 + 0.0006398196718590851 + 0.003839107028195738 = 0.04758081854217582, data num: 1137 +[2024-01-18 01:42:59,217][train][INFO] - epoch: 89 lr: 0.0006653391220080838 +[2024-01-18 01:44:31,454][train][INFO] - training loss: 0.0005892879041008806 + 0.041734619117859334 + 0.0006713869394540476 + 0.007318790164491575 = 0.05031408436803354, data num: 1137 +[2024-01-18 01:44:31,455][train][INFO] - epoch: 90 lr: 0.0006579634122155988 +[2024-01-18 01:46:03,160][train][INFO] - training loss: 0.0005743957840928084 + 0.04008859256282449 + 0.0006670514772445636 + 0.0032838852971003186 = 0.04461392480880022, data num: 1137 +[2024-01-18 01:46:03,161][train][INFO] - epoch: 91 lr: 0.0006505499609899903 +[2024-01-18 01:47:36,111][train][INFO] - training loss: 0.0005370778481948138 + 0.04033484788508051 + 0.0006697017848232968 + 0.004151278036361974 = 0.04569290575778319, data num: 1137 +[2024-01-18 01:47:36,113][train][INFO] - epoch: 92 lr: 0.0006431005974894184 +[2024-01-18 01:49:09,383][train][INFO] - training loss: 0.0007296447596066477 + 0.04035419091168377 + 0.000786796105482305 + 0.0027569994250976984 = 0.0446276310313907, data num: 1137 +[2024-01-18 01:49:09,385][train][INFO] - epoch: 93 lr: 0.0006356171597328593 +[2024-01-18 01:50:46,860][train][INFO] - training loss: 0.0005992878670642514 + 0.041171441372070045 + 0.0007153618037894679 + 0.002635621105178466 = 0.04512171222207447, data num: 1137 +[2024-01-18 01:50:46,862][train][INFO] - epoch: 94 lr: 0.0006281014941466028 +[2024-01-18 01:52:21,007][train][INFO] - training loss: 0.0007370247605851748 + 0.03809658262050814 + 0.0007508202284548639 + 0.003461026746663265 = 0.04304545421877669, data num: 1137 +[2024-01-18 01:52:21,008][train][INFO] - epoch: 95 lr: 0.000620555455108673 +[2024-01-18 01:53:55,543][train][INFO] - training loss: 0.0008060085339012505 + 0.03847966262967222 + 0.0007323322424781509 + 0.0029266805779318223 = 0.04294468410727051, data num: 1137 +[2024-01-18 01:53:55,544][train][INFO] - epoch: 96 lr: 0.0006129809044912885 +[2024-01-18 01:55:26,475][train][INFO] - training loss: 0.0005991393740664029 + 0.039608237514686256 + 0.0006854441053292248 + 0.004414126096485739 = 0.04530694713402125, data num: 1137 +[2024-01-18 01:55:26,476][train][INFO] - epoch: 97 lr: 0.0006053797112014735 +[2024-01-18 01:57:04,169][train][INFO] - training loss: 0.0005402494231627012 + 0.03759134177946382 + 0.0005970955466586424 + 0.0024566363944258126 = 0.041185323148965836, data num: 1137 +[2024-01-18 01:57:04,170][train][INFO] - epoch: 98 lr: 0.0005977537507199336 +[2024-01-18 01:58:35,823][train][INFO] - training loss: 0.0005652227211814736 + 0.039247449306357235 + 0.0006485347467888561 + 0.003439432960931299 = 0.04390063969832328, data num: 1137 +[2024-01-18 01:58:35,824][train][INFO] - epoch: 99 lr: 0.0005901049046383074 +[2024-01-18 02:00:09,646][train][INFO] - training loss: 0.000546811387418226 + 0.03904706175025138 + 0.0007280447276166847 + 0.0024686067768521346 = 0.042790524609800845, data num: 1137 +[2024-01-18 02:00:09,647][train][INFO] - epoch: 100 lr: 0.0005824350601949141 +[2024-01-18 02:01:48,143][train][INFO] - training loss: 0.0005503929727031694 + 0.03733651089068088 + 0.0006222046391081272 + 0.002059912710845108 = 0.040569021470016904, data num: 1137 +[2024-01-18 02:01:48,156][train][INFO] - Validating training... +[2024-01-18 02:02:42,041][train][INFO] - mean_translation_distance_error = [2.6751866] +[2024-01-18 02:02:42,041][train][INFO] - mean_translation_along_error = [0.698684] +[2024-01-18 02:02:42,042][train][INFO] - mean_translation_perp_error = [2.5174954] +[2024-01-18 02:02:42,042][train][INFO] - mean_translation_plane_error = [2.506216] +[2024-01-18 02:02:42,043][train][INFO] - mean_translation_line_error = [1.5918069] +[2024-01-18 02:02:42,043][train][INFO] - mean_rotation_error = [4.1410294] +[2024-01-18 02:02:42,043][train][INFO] - mean_affordance_error = [2.8291652] +[2024-01-18 02:02:42,045][train][INFO] - median_translation_distance_error = [2.4146004] +[2024-01-18 02:02:42,045][train][INFO] - median_translation_along_error = [0.51111925] +[2024-01-18 02:02:42,045][train][INFO] - median_translation_perp_error = [2.1762505] +[2024-01-18 02:02:42,045][train][INFO] - median_translation_plane_error = [2.1397946] +[2024-01-18 02:02:42,045][train][INFO] - median_translation_line_error = [1.1729281] +[2024-01-18 02:02:42,046][train][INFO] - median_rotation_error = [3.7352548] +[2024-01-18 02:02:42,046][train][INFO] - median_affordance_error = [2.5180788] +[2024-01-18 02:02:42,046][train][INFO] - max_translation_distance_error = [6.1770344] +[2024-01-18 02:02:42,046][train][INFO] - max_translation_along_error = [3.5851877] +[2024-01-18 02:02:42,046][train][INFO] - max_translation_perp_error = [6.1713924] +[2024-01-18 02:02:42,046][train][INFO] - max_translation_plane_error = [6.1946435] +[2024-01-18 02:02:42,046][train][INFO] - max_translation_line_error = [5.7131004] +[2024-01-18 02:02:42,046][train][INFO] - max_rotation_error = [10.877971] +[2024-01-18 02:02:42,047][train][INFO] - max_affordance_error = [6.7745023] +[2024-01-18 02:02:42,047][train][INFO] - min_translation_distance_error = [0.5929103] +[2024-01-18 02:02:42,047][train][INFO] - min_translation_along_error = [0.02057661] +[2024-01-18 02:02:42,047][train][INFO] - min_translation_perp_error = [0.50336146] +[2024-01-18 02:02:42,047][train][INFO] - min_translation_plane_error = [0.5186635] +[2024-01-18 02:02:42,047][train][INFO] - min_translation_line_error = [0.00470354] +[2024-01-18 02:02:42,047][train][INFO] - min_rotation_error = [1.3183407] +[2024-01-18 02:02:42,048][train][INFO] - min_affordance_error = [0.67325133] +[2024-01-18 02:02:42,048][train][INFO] - std_translation_distance_error = [1.4898636] +[2024-01-18 02:02:42,048][train][INFO] - std_translation_along_error = [0.60834676] +[2024-01-18 02:02:42,048][train][INFO] - std_translation_perp_error = [1.4765803] +[2024-01-18 02:02:42,049][train][INFO] - std_translation_plane_error = [1.4706776] +[2024-01-18 02:02:42,049][train][INFO] - std_translation_line_error = [1.3559461] +[2024-01-18 02:02:42,049][train][INFO] - std_rotation_error = [1.9739923] +[2024-01-18 02:02:42,049][train][INFO] - std_affordance_error = [1.2278626] +[2024-01-18 02:02:42,049][train][INFO] - translation_outliers_num = 4 +[2024-01-18 02:02:42,049][train][INFO] - rotation_outliers_num = 19 +[2024-01-18 02:02:42,049][train][INFO] - affordance_outliers_num = 4 +[2024-01-18 02:02:42,049][train][INFO] - translation_outliers_ratio = 0.0625 +[2024-01-18 02:02:42,049][train][INFO] - rotation_outliers_ratio = 0.296875 +[2024-01-18 02:02:42,049][train][INFO] - affordance_outliers_ratio = 0.0625 +[2024-01-18 02:02:42,049][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 02:02:42,051][train][INFO] - Validated training. +[2024-01-18 02:02:42,051][train][INFO] - Validating training time: 53.89430546760559 +[2024-01-18 02:02:42,057][train][INFO] - Validating testing... +[2024-01-18 02:03:32,456][train][INFO] - mean_translation_distance_error = [3.5371215] +[2024-01-18 02:03:32,457][train][INFO] - mean_translation_along_error = [1.3252189] +[2024-01-18 02:03:32,457][train][INFO] - mean_translation_perp_error = [3.1481051] +[2024-01-18 02:03:32,457][train][INFO] - mean_translation_plane_error = [3.1443658] +[2024-01-18 02:03:32,458][train][INFO] - mean_translation_line_error = [1.8894758] +[2024-01-18 02:03:32,458][train][INFO] - mean_rotation_error = [6.734473] +[2024-01-18 02:03:32,458][train][INFO] - mean_affordance_error = [4.3284984] +[2024-01-18 02:03:32,459][train][INFO] - median_translation_distance_error = [3.530949] +[2024-01-18 02:03:32,459][train][INFO] - median_translation_along_error = [1.1170098] +[2024-01-18 02:03:32,459][train][INFO] - median_translation_perp_error = [3.2274804] +[2024-01-18 02:03:32,459][train][INFO] - median_translation_plane_error = [3.2269654] +[2024-01-18 02:03:32,460][train][INFO] - median_translation_line_error = [1.9493105] +[2024-01-18 02:03:32,460][train][INFO] - median_rotation_error = [5.680034] +[2024-01-18 02:03:32,460][train][INFO] - median_affordance_error = [4.2386694] +[2024-01-18 02:03:32,460][train][INFO] - max_translation_distance_error = [8.571402] +[2024-01-18 02:03:32,460][train][INFO] - max_translation_along_error = [4.2828336] +[2024-01-18 02:03:32,461][train][INFO] - max_translation_perp_error = [7.6924477] +[2024-01-18 02:03:32,461][train][INFO] - max_translation_plane_error = [7.216885] +[2024-01-18 02:03:32,461][train][INFO] - max_translation_line_error = [4.3464756] +[2024-01-18 02:03:32,461][train][INFO] - max_rotation_error = [30.232063] +[2024-01-18 02:03:32,461][train][INFO] - max_affordance_error = [8.6296] +[2024-01-18 02:03:32,461][train][INFO] - min_translation_distance_error = [1.1411077] +[2024-01-18 02:03:32,462][train][INFO] - min_translation_along_error = [0.06717303] +[2024-01-18 02:03:32,462][train][INFO] - min_translation_perp_error = [0.51280224] +[2024-01-18 02:03:32,462][train][INFO] - min_translation_plane_error = [0.5169516] +[2024-01-18 02:03:32,462][train][INFO] - min_translation_line_error = [0.15149918] +[2024-01-18 02:03:32,462][train][INFO] - min_rotation_error = [0.1701742] +[2024-01-18 02:03:32,462][train][INFO] - min_affordance_error = [0.7669174] +[2024-01-18 02:03:32,463][train][INFO] - std_translation_distance_error = [1.2876084] +[2024-01-18 02:03:32,463][train][INFO] - std_translation_along_error = [0.8799293] +[2024-01-18 02:03:32,463][train][INFO] - std_translation_perp_error = [1.3145787] +[2024-01-18 02:03:32,463][train][INFO] - std_translation_plane_error = [1.2611002] +[2024-01-18 02:03:32,463][train][INFO] - std_translation_line_error = [1.0982506] +[2024-01-18 02:03:32,464][train][INFO] - std_rotation_error = [4.831629] +[2024-01-18 02:03:32,464][train][INFO] - std_affordance_error = [1.6765363] +[2024-01-18 02:03:32,464][train][INFO] - translation_outliers_num = 2 +[2024-01-18 02:03:32,464][train][INFO] - rotation_outliers_num = 35 +[2024-01-18 02:03:32,464][train][INFO] - affordance_outliers_num = 21 +[2024-01-18 02:03:32,464][train][INFO] - translation_outliers_ratio = 0.03125 +[2024-01-18 02:03:32,464][train][INFO] - rotation_outliers_ratio = 0.546875 +[2024-01-18 02:03:32,464][train][INFO] - affordance_outliers_ratio = 0.328125 +[2024-01-18 02:03:32,464][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 02:03:32,466][train][INFO] - Validated testing. +[2024-01-18 02:03:32,469][train][INFO] - Validating testing time: 50.405372858047485 +[2024-01-18 02:03:32,472][train][INFO] - epoch: 101 lr: 0.0005747461098091033 +[2024-01-18 02:05:09,454][train][INFO] - training loss: 0.0005878242065793731 + 0.03738128730199403 + 0.0006314301422713066 + 0.0029341642342236205 = 0.04153470555320382, data num: 1137 +[2024-01-18 02:05:09,456][train][INFO] - epoch: 102 lr: 0.0005670399506143305 +[2024-01-18 02:06:50,477][train][INFO] - training loss: 0.0005247338663644365 + 0.037211665857790246 + 0.0006229756286807565 + 0.0024327827858441095 = 0.04079215802873174, data num: 1137 +[2024-01-18 02:06:50,478][train][INFO] - epoch: 103 lr: 0.0005593184839900673 +[2024-01-18 02:08:31,850][train][INFO] - training loss: 0.0005108951954753138 + 0.036795084080141455 + 0.0006179329745161036 + 0.003185569877031311 = 0.041109481929904886, data num: 1137 +[2024-01-18 02:08:31,851][train][INFO] - epoch: 104 lr: 0.0005515836150926644 +[2024-01-18 02:10:15,215][train][INFO] - training loss: 0.0005415582203972412 + 0.03695569862611592 + 0.0006651696324600683 + 0.001973419784917496 = 0.0401358465767569, data num: 1137 +[2024-01-18 02:10:15,217][train][INFO] - epoch: 105 lr: 0.0005438372523852832 +[2024-01-18 02:11:51,300][train][INFO] - training loss: 0.000535555771623169 + 0.035439172500951424 + 0.0006882429063100264 + 0.0021526073905988596 = 0.03881557834231191, data num: 1137 +[2024-01-18 02:11:51,301][train][INFO] - epoch: 106 lr: 0.00053608130716701 +[2024-01-18 02:13:30,227][train][INFO] - training loss: 0.0005749625318761294 + 0.036139739936010704 + 0.0006669421992329364 + 0.0019233989377324986 = 0.039305043458524674, data num: 1137 +[2024-01-18 02:13:30,228][train][INFO] - epoch: 107 lr: 0.0005283176931012729 +[2024-01-18 02:15:10,065][train][INFO] - training loss: 0.0006112939522103665 + 0.03647847900477549 + 0.0006375188467144552 + 0.0032475254605136192 = 0.04097481734222836, data num: 1137 +[2024-01-18 02:15:10,067][train][INFO] - epoch: 108 lr: 0.0005205483257436734 +[2024-01-18 02:16:49,616][train][INFO] - training loss: 0.0005351005242523064 + 0.03667462787901362 + 0.0006156016065182888 + 0.004225710919450244 = 0.04205104118833939, data num: 1137 +[2024-01-18 02:16:49,619][train][INFO] - epoch: 109 lr: 0.0005127751220693511 +[2024-01-18 02:18:20,588][train][INFO] - training loss: 0.000527194102081315 + 0.03543265686473913 + 0.0006544632148385668 + 0.002182868981132439 = 0.03879718353143997, data num: 1137 +[2024-01-18 02:18:20,589][train][INFO] - epoch: 110 lr: 0.0005049999999999998 +[2024-01-18 02:19:52,854][train][INFO] - training loss: 0.0005422562062449288 + 0.03693176857713196 + 0.0006057447301120394 + 0.002757147503467018 = 0.04083691744340791, data num: 1137 +[2024-01-18 02:19:52,857][train][INFO] - epoch: 111 lr: 0.0004972248779306486 +[2024-01-18 02:21:25,591][train][INFO] - training loss: 0.0004916394916815787 + 0.03694650432508853 + 0.0005863290878349087 + 0.0022958136926010614 = 0.040320286604886256, data num: 1137 +[2024-01-18 02:21:25,593][train][INFO] - epoch: 112 lr: 0.0004894516742563262 +[2024-01-18 02:22:59,624][train][INFO] - training loss: 0.0004929948008793872 + 0.03722470075202485 + 0.0006005727223560421 + 0.002186438774919629 = 0.04050470692002111, data num: 1137 +[2024-01-18 02:22:59,625][train][INFO] - epoch: 113 lr: 0.00048168230689872663 +[2024-01-18 02:24:33,317][train][INFO] - training loss: 0.00048088167063219263 + 0.03399140830151737 + 0.0006100240663929273 + 0.001577349602484901 = 0.0366596633878847, data num: 1137 +[2024-01-18 02:24:33,318][train][INFO] - epoch: 114 lr: 0.0004739186928329896 +[2024-01-18 02:26:07,628][train][INFO] - training loss: 0.0005456275050366659 + 0.03398014051425788 + 0.0005818779298149619 + 0.0017394984077125425 = 0.03684714423596031, data num: 1137 +[2024-01-18 02:26:07,630][train][INFO] - epoch: 115 lr: 0.00046616274761471655 +[2024-01-18 02:27:48,205][train][INFO] - training loss: 0.0006227076652673228 + 0.03366639589269956 + 0.0007558741926914081 + 0.0023662495898153996 = 0.037411227718823485, data num: 1137 +[2024-01-18 02:27:48,207][train][INFO] - epoch: 116 lr: 0.0004584163849073352 +[2024-01-18 02:29:21,740][train][INFO] - training loss: 0.0005133792284242292 + 0.032933031415773764 + 0.000611593102399234 + 0.0015336484793806449 = 0.035591652151197195, data num: 1137 +[2024-01-18 02:29:21,741][train][INFO] - epoch: 117 lr: 0.0004506815160099324 +[2024-01-18 02:30:54,065][train][INFO] - training loss: 0.000510687384424576 + 0.03330385700489084 + 0.0005816503572633439 + 0.0014301841078526599 = 0.03582637873478234, data num: 1137 +[2024-01-18 02:30:54,066][train][INFO] - epoch: 118 lr: 0.0004429600493856693 +[2024-01-18 02:32:27,621][train][INFO] - training loss: 0.0005019115560571663 + 0.03384157254671057 + 0.0005910978490848922 + 0.0016854902880570283 = 0.03662007183043493, data num: 1137 +[2024-01-18 02:32:27,623][train][INFO] - epoch: 119 lr: 0.00043525389019089656 +[2024-01-18 02:34:02,543][train][INFO] - training loss: 0.0005343061796641754 + 0.032802834123786956 + 0.0006835524335555318 + 0.001443254873164632 = 0.03546394780278206, data num: 1137 +[2024-01-18 02:34:02,544][train][INFO] - epoch: 120 lr: 0.0004275649398050856 +[2024-01-18 02:35:41,000][train][INFO] - training loss: 0.0004929558255955473 + 0.033526441987810865 + 0.0006070875974223276 + 0.0015229659374098345 = 0.03614945150911808, data num: 1137 +[2024-01-18 02:35:41,014][train][INFO] - Validating training... +[2024-01-18 02:36:27,740][train][INFO] - mean_translation_distance_error = [3.4258895] +[2024-01-18 02:36:27,741][train][INFO] - mean_translation_along_error = [2.2758727] +[2024-01-18 02:36:27,741][train][INFO] - mean_translation_perp_error = [2.2559512] +[2024-01-18 02:36:27,741][train][INFO] - mean_translation_plane_error = [2.2607827] +[2024-01-18 02:36:27,742][train][INFO] - mean_translation_line_error = [1.316333] +[2024-01-18 02:36:27,742][train][INFO] - mean_rotation_error = [4.1000867] +[2024-01-18 02:36:27,742][train][INFO] - mean_affordance_error = [3.270937] +[2024-01-18 02:36:27,744][train][INFO] - median_translation_distance_error = [3.4592323] +[2024-01-18 02:36:27,744][train][INFO] - median_translation_along_error = [2.1922688] +[2024-01-18 02:36:27,744][train][INFO] - median_translation_perp_error = [2.2071722] +[2024-01-18 02:36:27,745][train][INFO] - median_translation_plane_error = [2.188206] +[2024-01-18 02:36:27,745][train][INFO] - median_translation_line_error = [1.1071436] +[2024-01-18 02:36:27,745][train][INFO] - median_rotation_error = [3.7424922] +[2024-01-18 02:36:27,746][train][INFO] - median_affordance_error = [2.9313352] +[2024-01-18 02:36:27,746][train][INFO] - max_translation_distance_error = [7.117218] +[2024-01-18 02:36:27,746][train][INFO] - max_translation_along_error = [5.51159] +[2024-01-18 02:36:27,747][train][INFO] - max_translation_perp_error = [7.0357733] +[2024-01-18 02:36:27,747][train][INFO] - max_translation_plane_error = [7.0144453] +[2024-01-18 02:36:27,747][train][INFO] - max_translation_line_error = [6.644151] +[2024-01-18 02:36:27,748][train][INFO] - max_rotation_error = [10.689696] +[2024-01-18 02:36:27,748][train][INFO] - max_affordance_error = [7.0025473] +[2024-01-18 02:36:27,748][train][INFO] - min_translation_distance_error = [1.1762499] +[2024-01-18 02:36:27,749][train][INFO] - min_translation_along_error = [0.31298614] +[2024-01-18 02:36:27,749][train][INFO] - min_translation_perp_error = [0.31333354] +[2024-01-18 02:36:27,749][train][INFO] - min_translation_plane_error = [0.32437468] +[2024-01-18 02:36:27,750][train][INFO] - min_translation_line_error = [0.04366145] +[2024-01-18 02:36:27,750][train][INFO] - min_rotation_error = [1.1296922] +[2024-01-18 02:36:27,750][train][INFO] - min_affordance_error = [1.4332547] +[2024-01-18 02:36:27,751][train][INFO] - std_translation_distance_error = [1.2037867] +[2024-01-18 02:36:27,752][train][INFO] - std_translation_along_error = [1.1557596] +[2024-01-18 02:36:27,752][train][INFO] - std_translation_perp_error = [1.2574286] +[2024-01-18 02:36:27,752][train][INFO] - std_translation_plane_error = [1.2375946] +[2024-01-18 02:36:27,753][train][INFO] - std_translation_line_error = [1.170186] +[2024-01-18 02:36:27,753][train][INFO] - std_rotation_error = [2.087588] +[2024-01-18 02:36:27,753][train][INFO] - std_affordance_error = [1.3755778] +[2024-01-18 02:36:27,753][train][INFO] - translation_outliers_num = 2 +[2024-01-18 02:36:27,753][train][INFO] - rotation_outliers_num = 17 +[2024-01-18 02:36:27,754][train][INFO] - affordance_outliers_num = 8 +[2024-01-18 02:36:27,754][train][INFO] - translation_outliers_ratio = 0.03125 +[2024-01-18 02:36:27,754][train][INFO] - rotation_outliers_ratio = 0.265625 +[2024-01-18 02:36:27,754][train][INFO] - affordance_outliers_ratio = 0.125 +[2024-01-18 02:36:27,754][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 02:36:27,757][train][INFO] - Validated training. +[2024-01-18 02:36:27,761][train][INFO] - Validating training time: 46.742424964904785 +[2024-01-18 02:36:27,763][train][INFO] - Validating testing... +[2024-01-18 02:37:16,210][train][INFO] - mean_translation_distance_error = [3.7836623] +[2024-01-18 02:37:16,211][train][INFO] - mean_translation_along_error = [2.4607317] +[2024-01-18 02:37:16,211][train][INFO] - mean_translation_perp_error = [2.6229715] +[2024-01-18 02:37:16,212][train][INFO] - mean_translation_plane_error = [2.5591872] +[2024-01-18 02:37:16,212][train][INFO] - mean_translation_line_error = [1.7121872] +[2024-01-18 02:37:16,213][train][INFO] - mean_rotation_error = [5.931551] +[2024-01-18 02:37:16,213][train][INFO] - mean_affordance_error = [3.7681272] +[2024-01-18 02:37:16,214][train][INFO] - median_translation_distance_error = [3.6052382] +[2024-01-18 02:37:16,214][train][INFO] - median_translation_along_error = [2.1613445] +[2024-01-18 02:37:16,215][train][INFO] - median_translation_perp_error = [2.494886] +[2024-01-18 02:37:16,215][train][INFO] - median_translation_plane_error = [2.3524108] +[2024-01-18 02:37:16,215][train][INFO] - median_translation_line_error = [1.7282474] +[2024-01-18 02:37:16,215][train][INFO] - median_rotation_error = [5.147821] +[2024-01-18 02:37:16,216][train][INFO] - median_affordance_error = [3.2892764] +[2024-01-18 02:37:16,216][train][INFO] - max_translation_distance_error = [9.150796] +[2024-01-18 02:37:16,216][train][INFO] - max_translation_along_error = [7.4947357] +[2024-01-18 02:37:16,216][train][INFO] - max_translation_perp_error = [6.869257] +[2024-01-18 02:37:16,217][train][INFO] - max_translation_plane_error = [6.6953] +[2024-01-18 02:37:16,217][train][INFO] - max_translation_line_error = [5.215994] +[2024-01-18 02:37:16,217][train][INFO] - max_rotation_error = [13.939183] +[2024-01-18 02:37:16,217][train][INFO] - max_affordance_error = [10.380491] +[2024-01-18 02:37:16,217][train][INFO] - min_translation_distance_error = [1.3377388] +[2024-01-18 02:37:16,217][train][INFO] - min_translation_along_error = [0.04352564] +[2024-01-18 02:37:16,218][train][INFO] - min_translation_perp_error = [0.16689864] +[2024-01-18 02:37:16,218][train][INFO] - min_translation_plane_error = [0.2558933] +[2024-01-18 02:37:16,218][train][INFO] - min_translation_line_error = [0.1190649] +[2024-01-18 02:37:16,218][train][INFO] - min_rotation_error = [0.1701742] +[2024-01-18 02:37:16,218][train][INFO] - min_affordance_error = [0.42370063] +[2024-01-18 02:37:16,219][train][INFO] - std_translation_distance_error = [1.6525156] +[2024-01-18 02:37:16,219][train][INFO] - std_translation_along_error = [1.5443727] +[2024-01-18 02:37:16,219][train][INFO] - std_translation_perp_error = [1.3140167] +[2024-01-18 02:37:16,219][train][INFO] - std_translation_plane_error = [1.2707349] +[2024-01-18 02:37:16,219][train][INFO] - std_translation_line_error = [1.0582201] +[2024-01-18 02:37:16,219][train][INFO] - std_rotation_error = [3.4696202] +[2024-01-18 02:37:16,220][train][INFO] - std_affordance_error = [2.02201] +[2024-01-18 02:37:16,220][train][INFO] - translation_outliers_num = 5 +[2024-01-18 02:37:16,220][train][INFO] - rotation_outliers_num = 34 +[2024-01-18 02:37:16,220][train][INFO] - affordance_outliers_num = 15 +[2024-01-18 02:37:16,220][train][INFO] - translation_outliers_ratio = 0.078125 +[2024-01-18 02:37:16,220][train][INFO] - rotation_outliers_ratio = 0.53125 +[2024-01-18 02:37:16,220][train][INFO] - affordance_outliers_ratio = 0.234375 +[2024-01-18 02:37:16,220][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 02:37:16,221][train][INFO] - Validated testing. +[2024-01-18 02:37:16,226][train][INFO] - Validating testing time: 48.457212686538696 +[2024-01-18 02:37:16,226][train][INFO] - epoch: 121 lr: 0.0004198950953616921 +[2024-01-18 02:38:54,064][train][INFO] - training loss: 0.000511782454446398 + 0.03259435039944947 + 0.0005810748411426579 + 0.002312074518866009 = 0.03599928241843978, data num: 1137 +[2024-01-18 02:38:54,066][train][INFO] - epoch: 122 lr: 0.0004122462492800662 +[2024-01-18 02:40:32,380][train][INFO] - training loss: 0.0005210712859277717 + 0.03324688971042633 + 0.0006190588691323581 + 0.0020035052109758705 = 0.0363905250819193, data num: 1137 +[2024-01-18 02:40:32,381][train][INFO] - epoch: 123 lr: 0.0004046202887985263 +[2024-01-18 02:42:10,689][train][INFO] - training loss: 0.0004932716114530598 + 0.03228174239241829 + 0.0005970273280884916 + 0.0014230497848378338 = 0.03479509099593593, data num: 1137 +[2024-01-18 02:42:10,690][train][INFO] - epoch: 124 lr: 0.0003970190955087115 +[2024-01-18 02:43:48,682][train][INFO] - training loss: 0.0004896176227096779 + 0.0322781037280543 + 0.0005923040431904761 + 0.0013384326314028134 = 0.03469845812974705, data num: 1137 +[2024-01-18 02:43:48,684][train][INFO] - epoch: 125 lr: 0.0003894445448913267 +[2024-01-18 02:45:27,172][train][INFO] - training loss: 0.00047150472245347273 + 0.03288679207778639 + 0.0005610235162344503 + 0.0014331455357831954 = 0.03535246621403429, data num: 1137 +[2024-01-18 02:45:27,174][train][INFO] - epoch: 126 lr: 0.00038189850585339675 +[2024-01-18 02:47:00,241][train][INFO] - training loss: 0.0004960283897364408 + 0.03421518108290103 + 0.0005777358633673026 + 0.0030250974385934467 = 0.03831404297509127, data num: 1137 +[2024-01-18 02:47:00,243][train][INFO] - epoch: 127 lr: 0.0003743828402671403 +[2024-01-18 02:48:34,819][train][INFO] - training loss: 0.00045446371506032947 + 0.032364385254267186 + 0.0005832321156857587 + 0.0029808034871368566 = 0.03638288479608794, data num: 1137 +[2024-01-18 02:48:34,821][train][INFO] - epoch: 128 lr: 0.0003668994025105814 +[2024-01-18 02:50:04,995][train][INFO] - training loss: 0.000478825596170888 + 0.032259157186167106 + 0.0005709539828886692 + 0.0016324038068407593 = 0.03494134020163781, data num: 1137 +[2024-01-18 02:50:04,995][train][INFO] - epoch: 129 lr: 0.00035945003901000945 +[2024-01-18 02:51:42,782][train][INFO] - training loss: 0.0004852315372166534 + 0.030483663987575307 + 0.0005470054598441089 + 0.0011027193185226577 = 0.03261862038117316, data num: 1137 +[2024-01-18 02:51:42,783][train][INFO] - epoch: 130 lr: 0.00035203658778440103 +[2024-01-18 02:53:17,130][train][INFO] - training loss: 0.00045664765396698687 + 0.03625827062771552 + 0.0005583367419603746 + 0.0018328225204540002 = 0.03910607756632897, data num: 1137 +[2024-01-18 02:53:17,131][train][INFO] - epoch: 131 lr: 0.0003446608779919159 +[2024-01-18 02:54:46,247][train][INFO] - training loss: 0.00047849685870460235 + 0.03211109640283717 + 0.0005447508940253303 + 0.0016256751296168659 = 0.03476001932803127, data num: 1137 +[2024-01-18 02:54:46,247][train][INFO] - epoch: 132 lr: 0.00033732472947858063 +[2024-01-18 02:56:17,696][train][INFO] - training loss: 0.00046326114049103734 + 0.030016585097958643 + 0.0005374927317865917 + 0.001055901789691739 = 0.03207324083066649, data num: 1137 +[2024-01-18 02:56:17,698][train][INFO] - epoch: 133 lr: 0.00033002995232926766 +[2024-01-18 02:57:48,266][train][INFO] - training loss: 0.000453753777239601 + 0.029483538405555818 + 0.0005494803392341257 + 0.0010581778470724304 = 0.031544950428522296, data num: 1137 +[2024-01-18 02:57:48,267][train][INFO] - epoch: 134 lr: 0.0003227783464210844 +[2024-01-18 02:59:20,882][train][INFO] - training loss: 0.00046798397023748193 + 0.03052897709939215 + 0.000542817564564757 + 0.0012699977728011112 = 0.032809776072907776, data num: 1137 +[2024-01-18 02:59:20,884][train][INFO] - epoch: 135 lr: 0.00031557170097928054 +[2024-01-18 03:00:51,064][train][INFO] - training loss: 0.000464148275770842 + 0.029446795479291014 + 0.0005591394870457912 + 0.001141873161031981 = 0.03161195639727844, data num: 1137 +[2024-01-18 03:00:51,065][train][INFO] - epoch: 136 lr: 0.0003084117941357834 +[2024-01-18 03:02:22,365][train][INFO] - training loss: 0.0004381594739647375 + 0.02999232308421698 + 0.0005461915853730817 + 0.0011197301672736001 = 0.03209640419421097, data num: 1137 +[2024-01-18 03:02:22,366][train][INFO] - epoch: 137 lr: 0.00030130039249047106 +[2024-01-18 03:03:51,334][train][INFO] - training loss: 0.0004513679058517381 + 0.030423779790807102 + 0.0005506740300107696 + 0.0010494047366794096 = 0.032475226377654404, data num: 1137 +[2024-01-18 03:03:51,335][train][INFO] - epoch: 138 lr: 0.00029423925067528897 +[2024-01-18 03:05:21,820][train][INFO] - training loss: 0.0004467086222979964 + 0.02894488614725156 + 0.0005201520329541785 + 0.0009776363385248664 = 0.030889383336115215, data num: 1137 +[2024-01-18 03:05:21,821][train][INFO] - epoch: 139 lr: 0.0002872301109213219 +[2024-01-18 03:06:52,647][train][INFO] - training loss: 0.0004697426872250314 + 0.02935132570564747 + 0.0005396937259421167 + 0.0008906730446243375 = 0.03125143519395755, data num: 1137 +[2024-01-18 03:06:52,649][train][INFO] - epoch: 140 lr: 0.0002802747026289243 +[2024-01-18 03:08:21,941][train][INFO] - training loss: 0.00043848350671598583 + 0.028967911713860102 + 0.0005308797990437597 + 0.0009265745282189326 = 0.03086384954965777, data num: 1137 +[2024-01-18 03:08:21,953][train][INFO] - Validating training... +[2024-01-18 03:09:51,987][train][INFO] - mean_translation_distance_error = [2.4546146] +[2024-01-18 03:09:51,988][train][INFO] - mean_translation_along_error = [1.2451553] +[2024-01-18 03:09:51,988][train][INFO] - mean_translation_perp_error = [1.9525058] +[2024-01-18 03:09:51,988][train][INFO] - mean_translation_plane_error = [1.9485712] +[2024-01-18 03:09:51,989][train][INFO] - mean_translation_line_error = [1.1773412] +[2024-01-18 03:09:51,989][train][INFO] - mean_rotation_error = [4.1431966] +[2024-01-18 03:09:51,989][train][INFO] - mean_affordance_error = [2.5522609] +[2024-01-18 03:09:51,991][train][INFO] - median_translation_distance_error = [2.242182] +[2024-01-18 03:09:51,991][train][INFO] - median_translation_along_error = [1.0421473] +[2024-01-18 03:09:51,991][train][INFO] - median_translation_perp_error = [1.8006889] +[2024-01-18 03:09:51,992][train][INFO] - median_translation_plane_error = [1.831115] +[2024-01-18 03:09:51,992][train][INFO] - median_translation_line_error = [0.8581452] +[2024-01-18 03:09:51,992][train][INFO] - median_rotation_error = [3.582593] +[2024-01-18 03:09:51,993][train][INFO] - median_affordance_error = [2.3289459] +[2024-01-18 03:09:51,993][train][INFO] - max_translation_distance_error = [6.99833] +[2024-01-18 03:09:51,993][train][INFO] - max_translation_along_error = [3.8762693] +[2024-01-18 03:09:51,994][train][INFO] - max_translation_perp_error = [6.8672976] +[2024-01-18 03:09:51,994][train][INFO] - max_translation_plane_error = [6.9177732] +[2024-01-18 03:09:51,994][train][INFO] - max_translation_line_error = [5.9944816] +[2024-01-18 03:09:51,995][train][INFO] - max_rotation_error = [13.812273] +[2024-01-18 03:09:51,995][train][INFO] - max_affordance_error = [5.3048186] +[2024-01-18 03:09:51,995][train][INFO] - min_translation_distance_error = [0.77004826] +[2024-01-18 03:09:51,996][train][INFO] - min_translation_along_error = [0.01906836] +[2024-01-18 03:09:51,996][train][INFO] - min_translation_perp_error = [0.14286211] +[2024-01-18 03:09:51,996][train][INFO] - min_translation_plane_error = [0.2195393] +[2024-01-18 03:09:51,997][train][INFO] - min_translation_line_error = [0.02387519] +[2024-01-18 03:09:51,997][train][INFO] - min_rotation_error = [0.92535007] +[2024-01-18 03:09:51,997][train][INFO] - min_affordance_error = [0.96972615] +[2024-01-18 03:09:51,998][train][INFO] - std_translation_distance_error = [1.202661] +[2024-01-18 03:09:51,998][train][INFO] - std_translation_along_error = [0.82986593] +[2024-01-18 03:09:51,999][train][INFO] - std_translation_perp_error = [1.1917043] +[2024-01-18 03:09:51,999][train][INFO] - std_translation_plane_error = [1.1681867] +[2024-01-18 03:09:51,999][train][INFO] - std_translation_line_error = [1.0848294] +[2024-01-18 03:09:52,000][train][INFO] - std_rotation_error = [2.4325783] +[2024-01-18 03:09:52,000][train][INFO] - std_affordance_error = [0.98535657] +[2024-01-18 03:09:52,000][train][INFO] - translation_outliers_num = 3 +[2024-01-18 03:09:52,000][train][INFO] - rotation_outliers_num = 17 +[2024-01-18 03:09:52,000][train][INFO] - affordance_outliers_num = 2 +[2024-01-18 03:09:52,000][train][INFO] - translation_outliers_ratio = 0.046875 +[2024-01-18 03:09:52,001][train][INFO] - rotation_outliers_ratio = 0.265625 +[2024-01-18 03:09:52,001][train][INFO] - affordance_outliers_ratio = 0.03125 +[2024-01-18 03:09:52,001][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 03:09:52,003][train][INFO] - Validated training. +[2024-01-18 03:09:52,007][train][INFO] - Validating training time: 90.04989194869995 +[2024-01-18 03:09:52,009][train][INFO] - Validating testing... +[2024-01-18 03:10:41,525][train][INFO] - mean_translation_distance_error = [3.1999273] +[2024-01-18 03:10:41,526][train][INFO] - mean_translation_along_error = [1.7854056] +[2024-01-18 03:10:41,526][train][INFO] - mean_translation_perp_error = [2.4105947] +[2024-01-18 03:10:41,526][train][INFO] - mean_translation_plane_error = [2.4161] +[2024-01-18 03:10:41,527][train][INFO] - mean_translation_line_error = [1.4919815] +[2024-01-18 03:10:41,527][train][INFO] - mean_rotation_error = [5.5774164] +[2024-01-18 03:10:41,527][train][INFO] - mean_affordance_error = [3.3702462] +[2024-01-18 03:10:41,529][train][INFO] - median_translation_distance_error = [3.0168347] +[2024-01-18 03:10:41,529][train][INFO] - median_translation_along_error = [1.6456032] +[2024-01-18 03:10:41,529][train][INFO] - median_translation_perp_error = [2.2384613] +[2024-01-18 03:10:41,529][train][INFO] - median_translation_plane_error = [2.1848316] +[2024-01-18 03:10:41,530][train][INFO] - median_translation_line_error = [0.95739067] +[2024-01-18 03:10:41,530][train][INFO] - median_rotation_error = [4.4415665] +[2024-01-18 03:10:41,530][train][INFO] - median_affordance_error = [3.1759787] +[2024-01-18 03:10:41,530][train][INFO] - max_translation_distance_error = [6.071261] +[2024-01-18 03:10:41,530][train][INFO] - max_translation_along_error = [4.480893] +[2024-01-18 03:10:41,530][train][INFO] - max_translation_perp_error = [5.8109193] +[2024-01-18 03:10:41,531][train][INFO] - max_translation_plane_error = [5.834737] +[2024-01-18 03:10:41,531][train][INFO] - max_translation_line_error = [5.8002806] +[2024-01-18 03:10:41,531][train][INFO] - max_rotation_error = [13.388664] +[2024-01-18 03:10:41,531][train][INFO] - max_affordance_error = [10.081125] +[2024-01-18 03:10:41,531][train][INFO] - min_translation_distance_error = [0.69927925] +[2024-01-18 03:10:41,532][train][INFO] - min_translation_along_error = [0.03257911] +[2024-01-18 03:10:41,532][train][INFO] - min_translation_perp_error = [0.5307687] +[2024-01-18 03:10:41,532][train][INFO] - min_translation_plane_error = [0.67675275] +[2024-01-18 03:10:41,532][train][INFO] - min_translation_line_error = [0.0590593] +[2024-01-18 03:10:41,532][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 03:10:41,532][train][INFO] - min_affordance_error = [1.1052812] +[2024-01-18 03:10:41,533][train][INFO] - std_translation_distance_error = [1.1780566] +[2024-01-18 03:10:41,533][train][INFO] - std_translation_along_error = [1.0815248] +[2024-01-18 03:10:41,533][train][INFO] - std_translation_perp_error = [1.2078977] +[2024-01-18 03:10:41,534][train][INFO] - std_translation_plane_error = [1.2279594] +[2024-01-18 03:10:41,534][train][INFO] - std_translation_line_error = [1.2111079] +[2024-01-18 03:10:41,534][train][INFO] - std_rotation_error = [3.4084475] +[2024-01-18 03:10:41,534][train][INFO] - std_affordance_error = [1.6884859] +[2024-01-18 03:10:41,534][train][INFO] - translation_outliers_num = 4 +[2024-01-18 03:10:41,534][train][INFO] - rotation_outliers_num = 28 +[2024-01-18 03:10:41,534][train][INFO] - affordance_outliers_num = 8 +[2024-01-18 03:10:41,534][train][INFO] - translation_outliers_ratio = 0.0625 +[2024-01-18 03:10:41,534][train][INFO] - rotation_outliers_ratio = 0.4375 +[2024-01-18 03:10:41,534][train][INFO] - affordance_outliers_ratio = 0.125 +[2024-01-18 03:10:41,534][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 03:10:41,536][train][INFO] - Validated testing. +[2024-01-18 03:10:41,543][train][INFO] - Validating testing time: 49.527363300323486 +[2024-01-18 03:10:41,547][train][INFO] - epoch: 141 lr: 0.00027337474194101617 +[2024-01-18 03:12:18,648][train][INFO] - training loss: 0.00045104840117144503 + 0.029001998870323103 + 0.0005311829708160884 + 0.0015723309411441733 = 0.031556560994229384, data num: 1137 +[2024-01-18 03:12:18,650][train][INFO] - epoch: 142 lr: 0.00026653193131965077 +[2024-01-18 03:13:55,349][train][INFO] - training loss: 0.0004414240627536654 + 0.0285113459556467 + 0.0005390622678128744 + 0.000810861133181283 = 0.030302693446477253, data num: 1137 +[2024-01-18 03:13:55,350][train][INFO] - epoch: 143 lr: 0.00025974795912595813 +[2024-01-18 03:15:29,427][train][INFO] - training loss: 0.00048158029312617145 + 0.029528316472553544 + 0.0005589227015055561 + 0.001171575375944182 = 0.031740394627882376, data num: 1137 +[2024-01-18 03:15:29,429][train][INFO] - epoch: 144 lr: 0.0002530244992035661 +[2024-01-18 03:17:05,178][train][INFO] - training loss: 0.0005130510386758639 + 0.029818034161710076 + 0.0005479488289792142 + 0.002666729841924583 = 0.033545763749215335, data num: 1137 +[2024-01-18 03:17:05,179][train][INFO] - epoch: 145 lr: 0.00024636321046560527 +[2024-01-18 03:18:43,186][train][INFO] - training loss: 0.00043257685158298246 + 0.028845431490076914 + 0.0005188995516315723 + 0.0009241233567283618 = 0.03072103097413977, data num: 1137 +[2024-01-18 03:18:43,188][train][INFO] - epoch: 146 lr: 0.00023976573648539645 +[2024-01-18 03:20:19,802][train][INFO] - training loss: 0.0004215799231638408 + 0.027989673686938152 + 0.0005187344734925622 + 0.0008200869249574478 = 0.02975007511364917, data num: 1137 +[2024-01-18 03:20:19,803][train][INFO] - epoch: 147 lr: 0.00023323370509092462 +[2024-01-18 03:22:00,123][train][INFO] - training loss: 0.000441109252278693 + 0.028277601167145703 + 0.0005127679012528259 + 0.0009135836365506597 = 0.030145061952579353, data num: 1137 +[2024-01-18 03:22:00,125][train][INFO] - epoch: 148 lr: 0.00022676872796319523 +[2024-01-18 03:23:33,866][train][INFO] - training loss: 0.000433463237034933 + 0.027929865884491138 + 0.00050984935256161 + 0.0011603318048906254 = 0.03003351051463849, data num: 1137 +[2024-01-18 03:23:33,867][train][INFO] - epoch: 149 lr: 0.00022037240023857702 +[2024-01-18 03:25:13,815][train][INFO] - training loss: 0.0004433589896911548 + 0.02757244513163136 + 0.0005133795691815774 + 0.0007152894234726167 = 0.02924447307466633, data num: 1137 +[2024-01-18 03:25:13,817][train][INFO] - epoch: 150 lr: 0.00021404630011522577 +[2024-01-18 03:26:54,905][train][INFO] - training loss: 0.0004236059847042068 + 0.027284696568838425 + 0.0005099025491088267 + 0.0006320324054690395 = 0.028850237606093287, data num: 1137 +[2024-01-18 03:26:54,906][train][INFO] - epoch: 151 lr: 0.00020779198846368737 +[2024-01-18 03:28:33,750][train][INFO] - training loss: 0.00041304109698911715 + 0.027129777965860233 + 0.0004975018006613633 + 0.0006839212570260619 = 0.028724241846551497, data num: 1137 +[2024-01-18 03:28:33,752][train][INFO] - epoch: 152 lr: 0.0002016110084417765 +[2024-01-18 03:30:13,120][train][INFO] - training loss: 0.0004148436556634907 + 0.027043901694317658 + 0.0005163158647418539 + 0.0008161612978357072 = 0.028791222591987915, data num: 1137 +[2024-01-18 03:30:13,121][train][INFO] - epoch: 153 lr: 0.00019550488511382584 +[2024-01-18 03:31:53,134][train][INFO] - training loss: 0.00042401574723448395 + 0.02716479253851705 + 0.000501013404169094 + 0.001243564222199388 = 0.029333386052813794, data num: 1137 +[2024-01-18 03:31:53,136][train][INFO] - epoch: 154 lr: 0.00018947512507439847 +[2024-01-18 03:33:33,150][train][INFO] - training loss: 0.00040956077484426915 + 0.026829799663068518 + 0.0005020406384169797 + 0.0006102622115172886 = 0.02835166358595921, data num: 1137 +[2024-01-18 03:33:33,152][train][INFO] - epoch: 155 lr: 0.00018352321607655904 +[2024-01-18 03:35:08,903][train][INFO] - training loss: 0.000418180474500534 + 0.027683636225346062 + 0.0005012554922561523 + 0.0006275743103793098 = 0.02923064640102287, data num: 1137 +[2024-01-18 03:35:08,903][train][INFO] - epoch: 156 lr: 0.0001776506266647923 +[2024-01-18 03:36:45,153][train][INFO] - training loss: 0.00041628719595286786 + 0.027048615117867787 + 0.0004965894473166878 + 0.0007429662584602031 = 0.02870445809740987, data num: 1137 +[2024-01-18 03:36:45,155][train][INFO] - epoch: 157 lr: 0.00017185880581266206 +[2024-01-18 03:38:22,363][train][INFO] - training loss: 0.00041941030212910846 + 0.02662198962126341 + 0.0004955215679526898 + 0.0006239824868114536 = 0.02816090399088959, data num: 1137 +[2024-01-18 03:38:22,364][train][INFO] - epoch: 158 lr: 0.000166149182565299 +[2024-01-18 03:39:58,193][train][INFO] - training loss: 0.00041178625987312343 + 0.026036621782825224 + 0.0005035368655323206 + 0.0005995369473971045 = 0.027551481823643878, data num: 1137 +[2024-01-18 03:39:58,194][train][INFO] - epoch: 159 lr: 0.00016052316568680435 +[2024-01-18 03:41:25,652][train][INFO] - training loss: 0.0004215229512030621 + 0.02622186615028315 + 0.0005000348343552711 + 0.0005033604579188654 = 0.027646784360210102, data num: 1137 +[2024-01-18 03:41:25,656][train][INFO] - epoch: 160 lr: 0.00015498214331265893 +[2024-01-18 03:42:59,774][train][INFO] - training loss: 0.00041256649819843005 + 0.026026829430419538 + 0.0004927600170453338 + 0.00048158924462566373 = 0.02741374512616959, data num: 1137 +[2024-01-18 03:42:59,795][train][INFO] - Validating training... +[2024-01-18 03:43:47,965][train][INFO] - mean_translation_distance_error = [2.0405357] +[2024-01-18 03:43:47,965][train][INFO] - mean_translation_along_error = [0.5580521] +[2024-01-18 03:43:47,965][train][INFO] - mean_translation_perp_error = [1.8776817] +[2024-01-18 03:43:47,966][train][INFO] - mean_translation_plane_error = [1.8726827] +[2024-01-18 03:43:47,966][train][INFO] - mean_translation_line_error = [1.1479002] +[2024-01-18 03:43:47,966][train][INFO] - mean_rotation_error = [4.0569973] +[2024-01-18 03:43:47,966][train][INFO] - mean_affordance_error = [2.3963292] +[2024-01-18 03:43:47,967][train][INFO] - median_translation_distance_error = [1.7813956] +[2024-01-18 03:43:47,967][train][INFO] - median_translation_along_error = [0.39131427] +[2024-01-18 03:43:47,968][train][INFO] - median_translation_perp_error = [1.6280541] +[2024-01-18 03:43:47,968][train][INFO] - median_translation_plane_error = [1.6023815] +[2024-01-18 03:43:47,968][train][INFO] - median_translation_line_error = [0.80850744] +[2024-01-18 03:43:47,968][train][INFO] - median_rotation_error = [3.736741] +[2024-01-18 03:43:47,969][train][INFO] - median_affordance_error = [2.173386] +[2024-01-18 03:43:47,969][train][INFO] - max_translation_distance_error = [5.4262238] +[2024-01-18 03:43:47,969][train][INFO] - max_translation_along_error = [2.4264784] +[2024-01-18 03:43:47,969][train][INFO] - max_translation_perp_error = [5.4226556] +[2024-01-18 03:43:47,969][train][INFO] - max_translation_plane_error = [5.410623] +[2024-01-18 03:43:47,970][train][INFO] - max_translation_line_error = [4.5688334] +[2024-01-18 03:43:47,970][train][INFO] - max_rotation_error = [11.042468] +[2024-01-18 03:43:47,970][train][INFO] - max_affordance_error = [5.521958] +[2024-01-18 03:43:47,970][train][INFO] - min_translation_distance_error = [0.32538736] +[2024-01-18 03:43:47,970][train][INFO] - min_translation_along_error = [0.00166598] +[2024-01-18 03:43:47,971][train][INFO] - min_translation_perp_error = [0.09068017] +[2024-01-18 03:43:47,971][train][INFO] - min_translation_plane_error = [0.10794881] +[2024-01-18 03:43:47,971][train][INFO] - min_translation_line_error = [0.00141457] +[2024-01-18 03:43:47,971][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 03:43:47,971][train][INFO] - min_affordance_error = [0.16023721] +[2024-01-18 03:43:47,972][train][INFO] - std_translation_distance_error = [1.1730268] +[2024-01-18 03:43:47,972][train][INFO] - std_translation_along_error = [0.47649416] +[2024-01-18 03:43:47,973][train][INFO] - std_translation_perp_error = [1.2147511] +[2024-01-18 03:43:47,973][train][INFO] - std_translation_plane_error = [1.2185434] +[2024-01-18 03:43:47,973][train][INFO] - std_translation_line_error = [1.0483652] +[2024-01-18 03:43:47,973][train][INFO] - std_rotation_error = [1.9643558] +[2024-01-18 03:43:47,974][train][INFO] - std_affordance_error = [1.153971] +[2024-01-18 03:43:47,974][train][INFO] - translation_outliers_num = 1 +[2024-01-18 03:43:47,974][train][INFO] - rotation_outliers_num = 16 +[2024-01-18 03:43:47,974][train][INFO] - affordance_outliers_num = 1 +[2024-01-18 03:43:47,974][train][INFO] - translation_outliers_ratio = 0.015625 +[2024-01-18 03:43:47,974][train][INFO] - rotation_outliers_ratio = 0.25 +[2024-01-18 03:43:47,974][train][INFO] - affordance_outliers_ratio = 0.015625 +[2024-01-18 03:43:47,974][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 03:43:47,976][train][INFO] - Validated training. +[2024-01-18 03:43:47,985][train][INFO] - Validating training time: 48.18128705024719 +[2024-01-18 03:43:47,988][train][INFO] - Validating testing... +[2024-01-18 03:44:33,674][train][INFO] - mean_translation_distance_error = [2.3982377] +[2024-01-18 03:44:33,675][train][INFO] - mean_translation_along_error = [1.0931438] +[2024-01-18 03:44:33,675][train][INFO] - mean_translation_perp_error = [1.9883369] +[2024-01-18 03:44:33,676][train][INFO] - mean_translation_plane_error = [1.9859259] +[2024-01-18 03:44:33,676][train][INFO] - mean_translation_line_error = [1.3660996] +[2024-01-18 03:44:33,676][train][INFO] - mean_rotation_error = [5.536465] +[2024-01-18 03:44:33,677][train][INFO] - mean_affordance_error = [3.0255961] +[2024-01-18 03:44:33,678][train][INFO] - median_translation_distance_error = [2.32872] +[2024-01-18 03:44:33,678][train][INFO] - median_translation_along_error = [0.9788024] +[2024-01-18 03:44:33,678][train][INFO] - median_translation_perp_error = [1.9625971] +[2024-01-18 03:44:33,679][train][INFO] - median_translation_plane_error = [1.9344978] +[2024-01-18 03:44:33,679][train][INFO] - median_translation_line_error = [1.3758287] +[2024-01-18 03:44:33,679][train][INFO] - median_rotation_error = [4.674267] +[2024-01-18 03:44:33,680][train][INFO] - median_affordance_error = [2.4452815] +[2024-01-18 03:44:33,680][train][INFO] - max_translation_distance_error = [5.0594907] +[2024-01-18 03:44:33,680][train][INFO] - max_translation_along_error = [2.8998594] +[2024-01-18 03:44:33,680][train][INFO] - max_translation_perp_error = [4.940627] +[2024-01-18 03:44:33,681][train][INFO] - max_translation_plane_error = [5.1141715] +[2024-01-18 03:44:33,681][train][INFO] - max_translation_line_error = [3.530943] +[2024-01-18 03:44:33,681][train][INFO] - max_rotation_error = [13.812273] +[2024-01-18 03:44:33,681][train][INFO] - max_affordance_error = [9.968769] +[2024-01-18 03:44:33,681][train][INFO] - min_translation_distance_error = [0.77458453] +[2024-01-18 03:44:33,681][train][INFO] - min_translation_along_error = [0.0332875] +[2024-01-18 03:44:33,681][train][INFO] - min_translation_perp_error = [0.27469584] +[2024-01-18 03:44:33,682][train][INFO] - min_translation_plane_error = [0.3020785] +[2024-01-18 03:44:33,682][train][INFO] - min_translation_line_error = [0.03034762] +[2024-01-18 03:44:33,682][train][INFO] - min_rotation_error = [0.2762456] +[2024-01-18 03:44:33,682][train][INFO] - min_affordance_error = [0.774736] +[2024-01-18 03:44:33,682][train][INFO] - std_translation_distance_error = [0.8643021] +[2024-01-18 03:44:33,683][train][INFO] - std_translation_along_error = [0.741007] +[2024-01-18 03:44:33,683][train][INFO] - std_translation_perp_error = [0.8949991] +[2024-01-18 03:44:33,683][train][INFO] - std_translation_plane_error = [0.91981035] +[2024-01-18 03:44:33,683][train][INFO] - std_translation_line_error = [0.8509873] +[2024-01-18 03:44:33,683][train][INFO] - std_rotation_error = [3.356056] +[2024-01-18 03:44:33,683][train][INFO] - std_affordance_error = [1.7998593] +[2024-01-18 03:44:33,683][train][INFO] - translation_outliers_num = 0 +[2024-01-18 03:44:33,683][train][INFO] - rotation_outliers_num = 30 +[2024-01-18 03:44:33,683][train][INFO] - affordance_outliers_num = 7 +[2024-01-18 03:44:33,683][train][INFO] - translation_outliers_ratio = 0.0 +[2024-01-18 03:44:33,683][train][INFO] - rotation_outliers_ratio = 0.46875 +[2024-01-18 03:44:33,683][train][INFO] - affordance_outliers_ratio = 0.109375 +[2024-01-18 03:44:33,683][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 03:44:33,685][train][INFO] - Validated testing. +[2024-01-18 03:44:33,690][train][INFO] - Validating testing time: 45.696396350860596 +[2024-01-18 03:44:33,693][train][INFO] - epoch: 161 lr: 0.0001495274826072215 +[2024-01-18 03:46:03,348][train][INFO] - training loss: 0.0004144189943973389 + 0.026438138706402645 + 0.0005014909115238374 + 0.0005515067563869201 = 0.02790555539023545, data num: 1137 +[2024-01-18 03:46:03,349][train][INFO] - epoch: 162 lr: 0.00014416052942640132 +[2024-01-18 03:47:34,104][train][INFO] - training loss: 0.0004022411234877331 + 0.02613325916334159 + 0.0004934617354592774 + 0.0005461191466464596 = 0.027575081136698525, data num: 1137 +[2024-01-18 03:47:34,105][train][INFO] - epoch: 163 lr: 0.0001388826079855881 +[2024-01-18 03:49:03,967][train][INFO] - training loss: 0.00041415884940458153 + 0.026005993830040097 + 0.000492948495068251 + 0.0005199490416316621 = 0.027433050201377936, data num: 1137 +[2024-01-18 03:49:03,969][train][INFO] - epoch: 164 lr: 0.00013369502053292245 +[2024-01-18 03:50:35,930][train][INFO] - training loss: 0.00040206353636070463 + 0.02580005548790925 + 0.00048511925544719107 + 0.00047718878916687874 = 0.027164426968536444, data num: 1137 +[2024-01-18 03:50:35,932][train][INFO] - epoch: 165 lr: 0.00012859904702798464 +[2024-01-18 03:52:05,383][train][INFO] - training loss: 0.00040232989987190295 + 0.025759833683777187 + 0.0004899138160302149 + 0.00041988339266178326 = 0.027071960606715746, data num: 1137 +[2024-01-18 03:52:05,385][train][INFO] - epoch: 166 lr: 0.00012359594482598432 +[2024-01-18 03:53:34,908][train][INFO] - training loss: 0.00040590919969771575 + 0.026035652780491445 + 0.00048785205459959496 + 0.0004837452720999459 = 0.027413159272530012, data num: 1137 +[2024-01-18 03:53:34,910][train][INFO] - epoch: 167 lr: 0.00011868694836752681 +[2024-01-18 03:55:05,246][train][INFO] - training loss: 0.00041844129939110845 + 0.025893738415713113 + 0.000491813132814261 + 0.0004585576371027855 = 0.027262550675206713, data num: 1137 +[2024-01-18 03:55:05,247][train][INFO] - epoch: 168 lr: 0.0001138732688740332 +[2024-01-18 03:56:37,421][train][INFO] - training loss: 0.00040788324986351654 + 0.0256110483314842 + 0.00049813650871834 + 0.0004635919236130172 = 0.02698066013140811, data num: 1137 +[2024-01-18 03:56:37,422][train][INFO] - epoch: 169 lr: 0.00010915609404889012 +[2024-01-18 03:58:09,441][train][INFO] - training loss: 0.0003949680443232258 + 0.025343562217636242 + 0.00048004210920124833 + 0.00044949185550851526 = 0.026668064296245575, data num: 1137 +[2024-01-18 03:58:09,442][train][INFO] - epoch: 170 lr: 0.00010453658778440103 +[2024-01-18 03:59:41,002][train][INFO] - training loss: 0.0004050729678258196 + 0.02542619298522671 + 0.0004884648211979462 + 0.0004265497176068796 = 0.02674628033613165, data num: 1137 +[2024-01-18 03:59:41,003][train][INFO] - epoch: 171 lr: 0.00010001588987461343 +[2024-01-18 04:01:12,262][train][INFO] - training loss: 0.00041020855456331954 + 0.025184899982478883 + 0.0004919923525853341 + 0.0004896806679223826 = 0.026576781723027427, data num: 1137 +[2024-01-18 04:01:12,263][train][INFO] - epoch: 172 lr: 9.559511573409192e-05 +[2024-01-18 04:02:42,843][train][INFO] - training loss: 0.00040634272308024164 + 0.025223794315631192 + 0.0004810569710874309 + 0.0008445089030273164 = 0.026955703040584922, data num: 1137 +[2024-01-18 04:02:42,844][train][INFO] - epoch: 173 lr: 9.12753561227063e-05 +[2024-01-18 04:04:13,172][train][INFO] - training loss: 0.0003934420334796111 + 0.02513244944728083 + 0.0004806789664952602 + 0.0004233101544615339 = 0.026429880591523316, data num: 1137 +[2024-01-18 04:04:13,174][train][INFO] - epoch: 174 lr: 8.705767687650262e-05 +[2024-01-18 04:05:44,241][train][INFO] - training loss: 0.0003935588760618379 + 0.02494378028334015 + 0.00047720552457677614 + 0.0003446832518723871 = 0.026159228006791737, data num: 1137 +[2024-01-18 04:05:44,242][train][INFO] - epoch: 175 lr: 8.294311864472445e-05 +[2024-01-18 04:07:14,480][train][INFO] - training loss: 0.00040172202958880615 + 0.025058686448675063 + 0.00048584135705217096 + 0.0003769363165702089 = 0.026323186078419287, data num: 1137 +[2024-01-18 04:07:14,481][train][INFO] - epoch: 176 lr: 7.89326966330478e-05 +[2024-01-18 04:08:46,189][train][INFO] - training loss: 0.00039159452212010767 + 0.024969260673969984 + 0.00048530184883727797 + 0.000372759685332211 = 0.02621891675516963, data num: 1137 +[2024-01-18 04:08:46,190][train][INFO] - epoch: 177 lr: 7.502740035309526e-05 +[2024-01-18 04:10:15,273][train][INFO] - training loss: 0.0003861762644292968 + 0.024725769439505205 + 0.000473723223775677 + 0.00033018520818788803 = 0.025915854170711503, data num: 1137 +[2024-01-18 04:10:15,274][train][INFO] - epoch: 178 lr: 7.12281933782875e-05 +[2024-01-18 04:11:45,485][train][INFO] - training loss: 0.0003917759273058942 + 0.024641005632778008 + 0.00047481331865937036 + 0.00033308798063242447 = 0.02584068288302256, data num: 1137 +[2024-01-18 04:11:45,487][train][INFO] - epoch: 179 lr: 6.75360131060967e-05 +[2024-01-18 04:13:14,913][train][INFO] - training loss: 0.00038940415349012863 + 0.024829135017676487 + 0.0004776089582365886 + 0.00035907252175901603 = 0.026055220721496478, data num: 1137 +[2024-01-18 04:13:14,915][train][INFO] - epoch: 180 lr: 6.395177052675792e-05 +[2024-01-18 04:14:45,829][train][INFO] - training loss: 0.0003881348901712853 + 0.024506614866873458 + 0.0004767808265266164 + 0.0003509775448643874 = 0.025722508357527357, data num: 1137 +[2024-01-18 04:14:45,844][train][INFO] - Validating training... +[2024-01-18 04:15:53,217][train][INFO] - mean_translation_distance_error = [2.279556] +[2024-01-18 04:15:53,218][train][INFO] - mean_translation_along_error = [0.65742445] +[2024-01-18 04:15:53,218][train][INFO] - mean_translation_perp_error = [2.1044004] +[2024-01-18 04:15:53,218][train][INFO] - mean_translation_plane_error = [2.1039238] +[2024-01-18 04:15:53,219][train][INFO] - mean_translation_line_error = [1.3365632] +[2024-01-18 04:15:53,219][train][INFO] - mean_rotation_error = [3.8525558] +[2024-01-18 04:15:53,219][train][INFO] - mean_affordance_error = [2.4951487] +[2024-01-18 04:15:53,220][train][INFO] - median_translation_distance_error = [2.0800138] +[2024-01-18 04:15:53,220][train][INFO] - median_translation_along_error = [0.52958804] +[2024-01-18 04:15:53,220][train][INFO] - median_translation_perp_error = [1.9144628] +[2024-01-18 04:15:53,220][train][INFO] - median_translation_plane_error = [1.8928542] +[2024-01-18 04:15:53,221][train][INFO] - median_translation_line_error = [1.0295242] +[2024-01-18 04:15:53,221][train][INFO] - median_rotation_error = [3.5170128] +[2024-01-18 04:15:53,221][train][INFO] - median_affordance_error = [2.351993] +[2024-01-18 04:15:53,221][train][INFO] - max_translation_distance_error = [5.769087] +[2024-01-18 04:15:53,221][train][INFO] - max_translation_along_error = [1.6650627] +[2024-01-18 04:15:53,222][train][INFO] - max_translation_perp_error = [5.750952] +[2024-01-18 04:15:53,222][train][INFO] - max_translation_plane_error = [5.7662506] +[2024-01-18 04:15:53,222][train][INFO] - max_translation_line_error = [4.8197064] +[2024-01-18 04:15:53,222][train][INFO] - max_rotation_error = [10.604466] +[2024-01-18 04:15:53,222][train][INFO] - max_affordance_error = [6.4430504] +[2024-01-18 04:15:53,223][train][INFO] - min_translation_distance_error = [0.6729812] +[2024-01-18 04:15:53,223][train][INFO] - min_translation_along_error = [0.02323135] +[2024-01-18 04:15:53,223][train][INFO] - min_translation_perp_error = [0.4511331] +[2024-01-18 04:15:53,223][train][INFO] - min_translation_plane_error = [0.46621454] +[2024-01-18 04:15:53,223][train][INFO] - min_translation_line_error = [0.03830106] +[2024-01-18 04:15:53,223][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 04:15:53,224][train][INFO] - min_affordance_error = [0.27970773] +[2024-01-18 04:15:53,224][train][INFO] - std_translation_distance_error = [1.1630629] +[2024-01-18 04:15:53,224][train][INFO] - std_translation_along_error = [0.4185614] +[2024-01-18 04:15:53,225][train][INFO] - std_translation_perp_error = [1.2301182] +[2024-01-18 04:15:53,225][train][INFO] - std_translation_plane_error = [1.2341279] +[2024-01-18 04:15:53,225][train][INFO] - std_translation_line_error = [1.1243024] +[2024-01-18 04:15:53,225][train][INFO] - std_rotation_error = [1.8830621] +[2024-01-18 04:15:53,225][train][INFO] - std_affordance_error = [1.3220768] +[2024-01-18 04:15:53,225][train][INFO] - translation_outliers_num = 1 +[2024-01-18 04:15:53,225][train][INFO] - rotation_outliers_num = 18 +[2024-01-18 04:15:53,225][train][INFO] - affordance_outliers_num = 2 +[2024-01-18 04:15:53,226][train][INFO] - translation_outliers_ratio = 0.015625 +[2024-01-18 04:15:53,226][train][INFO] - rotation_outliers_ratio = 0.28125 +[2024-01-18 04:15:53,226][train][INFO] - affordance_outliers_ratio = 0.03125 +[2024-01-18 04:15:53,226][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 04:15:53,227][train][INFO] - Validated training. +[2024-01-18 04:15:53,232][train][INFO] - Validating training time: 67.38361263275146 +[2024-01-18 04:15:53,233][train][INFO] - Validating testing... +[2024-01-18 04:16:39,618][train][INFO] - mean_translation_distance_error = [2.6384897] +[2024-01-18 04:16:39,619][train][INFO] - mean_translation_along_error = [1.2327088] +[2024-01-18 04:16:39,619][train][INFO] - mean_translation_perp_error = [2.1099062] +[2024-01-18 04:16:39,620][train][INFO] - mean_translation_plane_error = [2.1276026] +[2024-01-18 04:16:39,620][train][INFO] - mean_translation_line_error = [1.2101135] +[2024-01-18 04:16:39,620][train][INFO] - mean_rotation_error = [6.1545553] +[2024-01-18 04:16:39,621][train][INFO] - mean_affordance_error = [2.6363301] +[2024-01-18 04:16:39,622][train][INFO] - median_translation_distance_error = [2.408544] +[2024-01-18 04:16:39,622][train][INFO] - median_translation_along_error = [0.9375062] +[2024-01-18 04:16:39,622][train][INFO] - median_translation_perp_error = [1.9815726] +[2024-01-18 04:16:39,623][train][INFO] - median_translation_plane_error = [1.9740674] +[2024-01-18 04:16:39,623][train][INFO] - median_translation_line_error = [1.155221] +[2024-01-18 04:16:39,623][train][INFO] - median_rotation_error = [5.1225185] +[2024-01-18 04:16:39,624][train][INFO] - median_affordance_error = [2.377007] +[2024-01-18 04:16:39,624][train][INFO] - max_translation_distance_error = [8.920102] +[2024-01-18 04:16:39,624][train][INFO] - max_translation_along_error = [4.388519] +[2024-01-18 04:16:39,625][train][INFO] - max_translation_perp_error = [8.599841] +[2024-01-18 04:16:39,625][train][INFO] - max_translation_plane_error = [9.147171] +[2024-01-18 04:16:39,625][train][INFO] - max_translation_line_error = [4.764411] +[2024-01-18 04:16:39,625][train][INFO] - max_rotation_error = [13.262972] +[2024-01-18 04:16:39,626][train][INFO] - max_affordance_error = [8.64678] +[2024-01-18 04:16:39,626][train][INFO] - min_translation_distance_error = [0.7249053] +[2024-01-18 04:16:39,626][train][INFO] - min_translation_along_error = [0.01545679] +[2024-01-18 04:16:39,627][train][INFO] - min_translation_perp_error = [0.40745] +[2024-01-18 04:16:39,627][train][INFO] - min_translation_plane_error = [0.42460692] +[2024-01-18 04:16:39,627][train][INFO] - min_translation_line_error = [0.00020786] +[2024-01-18 04:16:39,627][train][INFO] - min_rotation_error = [0.57061225] +[2024-01-18 04:16:39,628][train][INFO] - min_affordance_error = [0.5697688] +[2024-01-18 04:16:39,628][train][INFO] - std_translation_distance_error = [1.2769192] +[2024-01-18 04:16:39,629][train][INFO] - std_translation_along_error = [1.0165097] +[2024-01-18 04:16:39,629][train][INFO] - std_translation_perp_error = [1.2599941] +[2024-01-18 04:16:39,629][train][INFO] - std_translation_plane_error = [1.3073955] +[2024-01-18 04:16:39,630][train][INFO] - std_translation_line_error = [0.8992555] +[2024-01-18 04:16:39,630][train][INFO] - std_rotation_error = [3.646105] +[2024-01-18 04:16:39,630][train][INFO] - std_affordance_error = [1.5111238] +[2024-01-18 04:16:39,630][train][INFO] - translation_outliers_num = 2 +[2024-01-18 04:16:39,630][train][INFO] - rotation_outliers_num = 32 +[2024-01-18 04:16:39,630][train][INFO] - affordance_outliers_num = 5 +[2024-01-18 04:16:39,630][train][INFO] - translation_outliers_ratio = 0.03125 +[2024-01-18 04:16:39,630][train][INFO] - rotation_outliers_ratio = 0.5 +[2024-01-18 04:16:39,630][train][INFO] - affordance_outliers_ratio = 0.078125 +[2024-01-18 04:16:39,631][train][INFO] - data_num = 64, joint_num = 1 +[2024-01-18 04:16:39,633][train][INFO] - Validated testing. +[2024-01-18 04:16:39,642][train][INFO] - Validating testing time: 46.39927816390991 +[2024-01-18 04:16:39,643][train][INFO] - epoch: 181 lr: 6.047634999849528e-05 +[2024-01-18 04:18:16,075][train][INFO] - training loss: 0.00038831199021337344 + 0.024445895804092288 + 0.0004712884438049514 + 0.0003532159493665353 = 0.025658712204959657, data num: 1137 +[2024-01-18 04:18:16,076][train][INFO] - epoch: 182 lr: 5.711060902932039e-05 +[2024-01-18 04:19:54,310][train][INFO] - training loss: 0.00039100749523236626 + 0.024413092010137107 + 0.00047060780505287566 + 0.0003274548335462492 = 0.02560216188430786, data num: 1137 +[2024-01-18 04:19:54,311][train][INFO] - epoch: 183 lr: 5.385537806545467e-05 +[2024-01-18 04:21:27,867][train][INFO] - training loss: 0.0003923360058656221 + 0.024292049205137625 + 0.00047533900012947724 + 0.0002647847893765882 = 0.025424509024661448, data num: 1137 +[2024-01-18 04:21:27,868][train][INFO] - epoch: 184 lr: 5.0711460286429424e-05 +[2024-01-18 04:23:04,457][train][INFO] - training loss: 0.0003893790760937716 + 0.02419604355883267 + 0.00048331093502282683 + 0.00031656485402385844 = 0.025385298300534487, data num: 1137 +[2024-01-18 04:23:04,458][train][INFO] - epoch: 185 lr: 4.767963140691315e-05 +[2024-01-18 04:24:40,233][train][INFO] - training loss: 0.0003876159134961199 + 0.024076494970358908 + 0.00047083098130921525 + 0.00030800571746820223 = 0.025242947520584695, data num: 1137 +[2024-01-18 04:24:40,234][train][INFO] - epoch: 186 lr: 4.4760639485315563e-05 +[2024-01-18 04:26:18,648][train][INFO] - training loss: 0.00038394085317526735 + 0.024143897876557376 + 0.00047090694594468613 + 0.00030413864124057 = 0.025302884298273258, data num: 1137 +[2024-01-18 04:26:18,650][train][INFO] - epoch: 187 lr: 4.195520473921563e-05 +[2024-01-18 04:27:57,617][train][INFO] - training loss: 0.00038482718244065635 + 0.02414013088370363 + 0.00047382400306459103 + 0.00026808178285541036 = 0.02526686392310593, data num: 1137 +[2024-01-18 04:27:57,618][train][INFO] - epoch: 188 lr: 3.9264019367658385e-05 +[2024-01-18 04:29:28,849][train][INFO] - training loss: 0.0003825832334566965 + 0.02409960394207802 + 0.00046695656480248243 + 0.00026325114878192026 = 0.0252123949273179, data num: 1137 +[2024-01-18 04:29:28,851][train][INFO] - epoch: 189 lr: 3.6687747380365064e-05 +[2024-01-18 04:31:06,074][train][INFO] - training loss: 0.0003851752876976712 + 0.02407524582102067 + 0.0004643192749224707 + 0.0002431611753195284 = 0.025167901405236788, data num: 1137 +[2024-01-18 04:31:06,075][train][INFO] - epoch: 190 lr: 3.422702443389899e-05 +[2024-01-18 04:32:43,802][train][INFO] - training loss: 0.00038412372749816213 + 0.02389438515011635 + 0.0004657421894888911 + 0.00025411054465015087 = 0.024998361619913742, data num: 1137 +[2024-01-18 04:32:43,804][train][INFO] - epoch: 191 lr: 3.188245767482658e-05 +[2024-01-18 04:34:19,354][train][INFO] - training loss: 0.00038863859420719865 + 0.023844282660219405 + 0.00046791380413600966 + 0.0002468640057284372 = 0.02494769890068306, data num: 1137 +[2024-01-18 04:34:19,356][train][INFO] - epoch: 192 lr: 2.965462558991323e-05 +[2024-01-18 04:35:54,866][train][INFO] - training loss: 0.0003890259524471023 + 0.023998416391097836 + 0.00047039498612219986 + 0.00027392346656698565 = 0.025131760734236903, data num: 1137 +[2024-01-18 04:35:54,868][train][INFO] - epoch: 193 lr: 2.7544077863390004e-05 +[2024-01-18 04:37:33,164][train][INFO] - training loss: 0.0003861988932638067 + 0.024022389177439943 + 0.0004739709094994598 + 0.0002450018764648121 = 0.025127561064437032, data num: 1137 +[2024-01-18 04:37:33,165][train][INFO] - epoch: 194 lr: 2.5551335241327672e-05 +[2024-01-18 04:39:12,042][train][INFO] - training loss: 0.0003806861548380564 + 0.02399128051992092 + 0.0004732252232820934 + 0.0002569410053183674 = 0.02510213290548159, data num: 1137 +[2024-01-18 04:39:12,043][train][INFO] - epoch: 195 lr: 2.367688940315011e-05 +[2024-01-18 04:40:42,909][train][INFO] - training loss: 0.0003794918092252273 + 0.023849352314654324 + 0.0004660156725246149 + 0.0002595387247765757 = 0.02495439865419434, data num: 1137 +[2024-01-18 04:40:42,910][train][INFO] - epoch: 196 lr: 2.1921202840320077e-05 +[2024-01-18 04:42:15,872][train][INFO] - training loss: 0.0003794371483915408 + 0.023725887864000268 + 0.00046627458828475536 + 0.00026969651296187495 = 0.024841296176115673, data num: 1137 +[2024-01-18 04:42:15,873][train][INFO] - epoch: 197 lr: 2.0284708742225903e-05 +[2024-01-18 04:43:52,412][train][INFO] - training loss: 0.00038034891258575954 + 0.023678467608988285 + 0.00046363513603056263 + 0.0002676903171653243 = 0.024790142067811556, data num: 1137 +[2024-01-18 04:43:52,414][train][INFO] - epoch: 198 lr: 1.8767810889299086e-05 +[2024-01-18 04:45:30,854][train][INFO] - training loss: 0.00038379591488693323 + 0.023935302367640868 + 0.00046667400197798596 + 0.000276617931376677 = 0.02506239021507402, data num: 1137 +[2024-01-18 04:45:30,856][train][INFO] - epoch: 199 lr: 1.7370883553386936e-05 +[2024-01-18 04:47:04,722][train][INFO] - training loss: 0.00038186094065571926 + 0.023777224252828293 + 0.00046235075933509506 + 0.00026216204150841804 = 0.024883597959867783, data num: 1137 +[2024-01-18 04:47:04,722][train][INFO] - Optimized. +[2024-01-18 04:47:04,722][train][INFO] - Training time: 20385.992952108383 +[2024-01-18 04:47:04,723][train][INFO] - Testing training... +[2024-01-18 04:55:15,734][train][INFO] - mean_translation_distance_error = [1.9058648] +[2024-01-18 04:55:15,735][train][INFO] - mean_translation_along_error = [0.591986] +[2024-01-18 04:55:15,735][train][INFO] - mean_translation_perp_error = [1.7239472] +[2024-01-18 04:55:15,735][train][INFO] - mean_translation_plane_error = [1.7232599] +[2024-01-18 04:55:15,735][train][INFO] - mean_translation_line_error = [1.0613978] +[2024-01-18 04:55:15,735][train][INFO] - mean_rotation_error = [3.9737978] +[2024-01-18 04:55:15,736][train][INFO] - mean_affordance_error = [2.1530042] +[2024-01-18 04:55:15,736][train][INFO] - median_translation_distance_error = [1.627638] +[2024-01-18 04:55:15,737][train][INFO] - median_translation_along_error = [0.49860924] +[2024-01-18 04:55:15,737][train][INFO] - median_translation_perp_error = [1.4092335] +[2024-01-18 04:55:15,737][train][INFO] - median_translation_plane_error = [1.4156523] +[2024-01-18 04:55:15,737][train][INFO] - median_translation_line_error = [0.755099] +[2024-01-18 04:55:15,737][train][INFO] - median_rotation_error = [3.7435033] +[2024-01-18 04:55:15,737][train][INFO] - median_affordance_error = [1.9723839] +[2024-01-18 04:55:15,738][train][INFO] - max_translation_distance_error = [7.598723] +[2024-01-18 04:55:15,738][train][INFO] - max_translation_along_error = [3.4619234] +[2024-01-18 04:55:15,738][train][INFO] - max_translation_perp_error = [7.557843] +[2024-01-18 04:55:15,738][train][INFO] - max_translation_plane_error = [7.569196] +[2024-01-18 04:55:15,738][train][INFO] - max_translation_line_error = [6.7432327] +[2024-01-18 04:55:15,738][train][INFO] - max_rotation_error = [12.728919] +[2024-01-18 04:55:15,739][train][INFO] - max_affordance_error = [8.443902] +[2024-01-18 04:55:15,739][train][INFO] - min_translation_distance_error = [0.09440921] +[2024-01-18 04:55:15,739][train][INFO] - min_translation_along_error = [0.00017472] +[2024-01-18 04:55:15,739][train][INFO] - min_translation_perp_error = [0.04326665] +[2024-01-18 04:55:15,739][train][INFO] - min_translation_plane_error = [0.03386634] +[2024-01-18 04:55:15,739][train][INFO] - min_translation_line_error = [0.00205046] +[2024-01-18 04:55:15,739][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 04:55:15,740][train][INFO] - min_affordance_error = [0.16023721] +[2024-01-18 04:55:15,740][train][INFO] - std_translation_distance_error = [1.1903033] +[2024-01-18 04:55:15,740][train][INFO] - std_translation_along_error = [0.45552808] +[2024-01-18 04:55:15,741][train][INFO] - std_translation_perp_error = [1.2325562] +[2024-01-18 04:55:15,741][train][INFO] - std_translation_plane_error = [1.2323701] +[2024-01-18 04:55:15,741][train][INFO] - std_translation_line_error = [1.0276155] +[2024-01-18 04:55:15,741][train][INFO] - std_rotation_error = [1.8860931] +[2024-01-18 04:55:15,741][train][INFO] - std_affordance_error = [1.2021939] +[2024-01-18 04:55:15,741][train][INFO] - translation_outliers_num = 30 +[2024-01-18 04:55:15,741][train][INFO] - rotation_outliers_num = 291 +[2024-01-18 04:55:15,741][train][INFO] - affordance_outliers_num = 24 +[2024-01-18 04:55:15,741][train][INFO] - translation_outliers_ratio = 0.026385224274406333 +[2024-01-18 04:55:15,741][train][INFO] - rotation_outliers_ratio = 0.2559366754617414 +[2024-01-18 04:55:15,742][train][INFO] - affordance_outliers_ratio = 0.021108179419525065 +[2024-01-18 04:55:15,742][train][INFO] - data_num = 1137, joint_num = 1 +[2024-01-18 04:55:15,743][train][INFO] - Tested training. +[2024-01-18 04:55:15,747][train][INFO] - Testing training time: 491.0200114250183 +[2024-01-18 04:55:15,751][train][INFO] - Testing testing... +[2024-01-18 04:58:20,203][train][INFO] - mean_translation_distance_error = [2.5523782] +[2024-01-18 04:58:20,204][train][INFO] - mean_translation_along_error = [1.052038] +[2024-01-18 04:58:20,204][train][INFO] - mean_translation_perp_error = [2.1772034] +[2024-01-18 04:58:20,204][train][INFO] - mean_translation_plane_error = [2.186468] +[2024-01-18 04:58:20,204][train][INFO] - mean_translation_line_error = [1.3239796] +[2024-01-18 04:58:20,204][train][INFO] - mean_rotation_error = [5.8770413] +[2024-01-18 04:58:20,205][train][INFO] - mean_affordance_error = [3.0846756] +[2024-01-18 04:58:20,205][train][INFO] - median_translation_distance_error = [2.4355798] +[2024-01-18 04:58:20,206][train][INFO] - median_translation_along_error = [0.9296314] +[2024-01-18 04:58:20,206][train][INFO] - median_translation_perp_error = [2.084223] +[2024-01-18 04:58:20,206][train][INFO] - median_translation_plane_error = [2.0847535] +[2024-01-18 04:58:20,206][train][INFO] - median_translation_line_error = [1.2115585] +[2024-01-18 04:58:20,206][train][INFO] - median_rotation_error = [5.0508623] +[2024-01-18 04:58:20,206][train][INFO] - median_affordance_error = [2.8776894] +[2024-01-18 04:58:20,207][train][INFO] - max_translation_distance_error = [7.9785085] +[2024-01-18 04:58:20,207][train][INFO] - max_translation_along_error = [4.048989] +[2024-01-18 04:58:20,207][train][INFO] - max_translation_perp_error = [7.6120343] +[2024-01-18 04:58:20,207][train][INFO] - max_translation_plane_error = [8.162943] +[2024-01-18 04:58:20,207][train][INFO] - max_translation_line_error = [5.165554] +[2024-01-18 04:58:20,207][train][INFO] - max_rotation_error = [23.647335] +[2024-01-18 04:58:20,208][train][INFO] - max_affordance_error = [10.3395605] +[2024-01-18 04:58:20,208][train][INFO] - min_translation_distance_error = [0.33840042] +[2024-01-18 04:58:20,208][train][INFO] - min_translation_along_error = [0.00557648] +[2024-01-18 04:58:20,208][train][INFO] - min_translation_perp_error = [0.03549371] +[2024-01-18 04:58:20,208][train][INFO] - min_translation_plane_error = [0.16113627] +[2024-01-18 04:58:20,209][train][INFO] - min_translation_line_error = [0.00748069] +[2024-01-18 04:58:20,209][train][INFO] - min_rotation_error = [0.11869407] +[2024-01-18 04:58:20,209][train][INFO] - min_affordance_error = [0.32057434] +[2024-01-18 04:58:20,209][train][INFO] - std_translation_distance_error = [1.0182575] +[2024-01-18 04:58:20,210][train][INFO] - std_translation_along_error = [0.7584597] +[2024-01-18 04:58:20,210][train][INFO] - std_translation_perp_error = [1.0626485] +[2024-01-18 04:58:20,210][train][INFO] - std_translation_plane_error = [1.0747558] +[2024-01-18 04:58:20,210][train][INFO] - std_translation_line_error = [0.92974246] +[2024-01-18 04:58:20,210][train][INFO] - std_rotation_error = [3.6330838] +[2024-01-18 04:58:20,210][train][INFO] - std_affordance_error = [1.6379435] +[2024-01-18 04:58:20,210][train][INFO] - translation_outliers_num = 7 +[2024-01-18 04:58:20,210][train][INFO] - rotation_outliers_num = 212 +[2024-01-18 04:58:20,210][train][INFO] - affordance_outliers_num = 45 +[2024-01-18 04:58:20,210][train][INFO] - translation_outliers_ratio = 0.016867469879518072 +[2024-01-18 04:58:20,210][train][INFO] - rotation_outliers_ratio = 0.5108433734939759 +[2024-01-18 04:58:20,210][train][INFO] - affordance_outliers_ratio = 0.10843373493975904 +[2024-01-18 04:58:20,211][train][INFO] - data_num = 415, joint_num = 1 +[2024-01-18 04:58:20,212][train][INFO] - Tested testing. +[2024-01-18 04:58:20,212][train][INFO] - Testing testing time: 184.4589626789093 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