formal_safe_2024_01_17_23_01_44/train.log

[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