formal_washingmachine_2024_01_17_23_07_14/train.log

[2024-01-17 23:07:14,675][train][INFO] - Preparing dataset...
[2024-01-17 23:07:14,941][train][INFO] - Prepared dataset.
[2024-01-17 23:07:14,941][train][INFO] - Preparing model...
[2024-01-17 23:07:18,729][train][INFO] - Prepared model.
[2024-01-17 23:07:18,729][train][INFO] - Optimizing...
[2024-01-17 23:07:18,744][train][INFO] - epoch: 0 lr: 0.0001
[2024-01-17 23:08:58,756][train][INFO] - training loss: 0.003499021106916997 + 0.3041244720419248 + 0.008069041278860014 + 0.28696850107775795 = 0.6026610367827945, data num: 1137
[2024-01-17 23:08:58,771][train][INFO] - Validating training...
[2024-01-17 23:13:08,623][train][INFO] - mean_translation_distance_error = [73.58696]
[2024-01-17 23:13:08,623][train][INFO] - mean_translation_along_error = [23.257135]
[2024-01-17 23:13:08,623][train][INFO] - mean_translation_perp_error = [67.80406]
[2024-01-17 23:13:08,624][train][INFO] - mean_translation_plane_error = [53.317074]
[2024-01-17 23:13:08,624][train][INFO] - mean_translation_line_error = [50.845345]
[2024-01-17 23:13:08,624][train][INFO] - mean_rotation_error = [89.999985]
[2024-01-17 23:13:08,624][train][INFO] - mean_affordance_error = [65.4348]
[2024-01-17 23:13:08,625][train][INFO] - median_translation_distance_error = [73.051056]
[2024-01-17 23:13:08,626][train][INFO] - median_translation_along_error = [21.89082]
[2024-01-17 23:13:08,626][train][INFO] - median_translation_perp_error = [68.23807]
[2024-01-17 23:13:08,626][train][INFO] - median_translation_plane_error = [52.13871]
[2024-01-17 23:13:08,626][train][INFO] - median_translation_line_error = [55.21264]
[2024-01-17 23:13:08,626][train][INFO] - median_rotation_error = [89.99996]
[2024-01-17 23:13:08,627][train][INFO] - median_affordance_error = [64.036156]
[2024-01-17 23:13:08,627][train][INFO] - max_translation_distance_error = [109.351326]
[2024-01-17 23:13:08,627][train][INFO] - max_translation_along_error = [49.101746]
[2024-01-17 23:13:08,627][train][INFO] - max_translation_perp_error = [109.28674]
[2024-01-17 23:13:08,628][train][INFO] - max_translation_plane_error = [107.1285]
[2024-01-17 23:13:08,628][train][INFO] - max_translation_line_error = [85.43582]
[2024-01-17 23:13:08,628][train][INFO] - max_rotation_error = [90.000175]
[2024-01-17 23:13:08,628][train][INFO] - max_affordance_error = [107.553566]
[2024-01-17 23:13:08,628][train][INFO] - min_translation_distance_error = [52.893555]
[2024-01-17 23:13:08,629][train][INFO] - min_translation_along_error = [0.70153177]
[2024-01-17 23:13:08,629][train][INFO] - min_translation_perp_error = [39.076557]
[2024-01-17 23:13:08,629][train][INFO] - min_translation_plane_error = [30.564558]
[2024-01-17 23:13:08,629][train][INFO] - min_translation_line_error = [16.976967]
[2024-01-17 23:13:08,629][train][INFO] - min_rotation_error = [89.999825]
[2024-01-17 23:13:08,630][train][INFO] - min_affordance_error = [44.12129]
[2024-01-17 23:13:08,630][train][INFO] - std_translation_distance_error = [10.405367]
[2024-01-17 23:13:08,631][train][INFO] - std_translation_along_error = [14.772841]
[2024-01-17 23:13:08,631][train][INFO] - std_translation_perp_error = [12.914731]
[2024-01-17 23:13:08,631][train][INFO] - std_translation_plane_error = [14.849425]
[2024-01-17 23:13:08,631][train][INFO] - std_translation_line_error = [14.228796]
[2024-01-17 23:13:08,631][train][INFO] - std_rotation_error = [0.00010752]
[2024-01-17 23:13:08,631][train][INFO] - std_affordance_error = [11.881919]
[2024-01-17 23:13:08,632][train][INFO] - translation_outliers_num = 64
[2024-01-17 23:13:08,632][train][INFO] - rotation_outliers_num = 64
[2024-01-17 23:13:08,632][train][INFO] - affordance_outliers_num = 64
[2024-01-17 23:13:08,632][train][INFO] - translation_outliers_ratio = 1.0
[2024-01-17 23:13:08,632][train][INFO] - rotation_outliers_ratio = 1.0
[2024-01-17 23:13:08,632][train][INFO] - affordance_outliers_ratio = 1.0
[2024-01-17 23:13:08,632][train][INFO] - data_num = 64, joint_num = 1
[2024-01-17 23:13:08,666][train][INFO] - Validated training.
[2024-01-17 23:13:08,667][train][INFO] - Validating training time: 249.8957269191742
[2024-01-17 23:13:08,667][train][INFO] - Validating testing...
[2024-01-17 23:15:02,371][train][INFO] - mean_translation_distance_error = [69.91641]
[2024-01-17 23:15:02,371][train][INFO] - mean_translation_along_error = [19.517172]
[2024-01-17 23:15:02,371][train][INFO] - mean_translation_perp_error = [66.141624]
[2024-01-17 23:15:02,372][train][INFO] - mean_translation_plane_error = [50.53572]
[2024-01-17 23:15:02,372][train][INFO] - mean_translation_line_error = [48.557106]
[2024-01-17 23:15:02,372][train][INFO] - mean_rotation_error = [89.999985]
[2024-01-17 23:15:02,372][train][INFO] - mean_affordance_error = [60.326786]
[2024-01-17 23:15:02,373][train][INFO] - median_translation_distance_error = [68.91139]
[2024-01-17 23:15:02,373][train][INFO] - median_translation_along_error = [20.022678]
[2024-01-17 23:15:02,373][train][INFO] - median_translation_perp_error = [66.86837]
[2024-01-17 23:15:02,373][train][INFO] - median_translation_plane_error = [48.131348]
[2024-01-17 23:15:02,373][train][INFO] - median_translation_line_error = [50.693695]
[2024-01-17 23:15:02,374][train][INFO] - median_rotation_error = [89.99998]
[2024-01-17 23:15:02,374][train][INFO] - median_affordance_error = [58.31759]
[2024-01-17 23:15:02,374][train][INFO] - max_translation_distance_error = [110.918236]
[2024-01-17 23:15:02,374][train][INFO] - max_translation_along_error = [39.503185]
[2024-01-17 23:15:02,374][train][INFO] - max_translation_perp_error = [104.704384]
[2024-01-17 23:15:02,374][train][INFO] - max_translation_plane_error = [97.33885]
[2024-01-17 23:15:02,374][train][INFO] - max_translation_line_error = [65.77915]
[2024-01-17 23:15:02,375][train][INFO] - max_rotation_error = [90.000175]
[2024-01-17 23:15:02,375][train][INFO] - max_affordance_error = [110.09937]
[2024-01-17 23:15:02,375][train][INFO] - min_translation_distance_error = [45.95489]
[2024-01-17 23:15:02,375][train][INFO] - min_translation_along_error = [0.23172796]
[2024-01-17 23:15:02,375][train][INFO] - min_translation_perp_error = [32.796333]
[2024-01-17 23:15:02,375][train][INFO] - min_translation_plane_error = [23.101646]
[2024-01-17 23:15:02,375][train][INFO] - min_translation_line_error = [8.795628]
[2024-01-17 23:15:02,375][train][INFO] - min_rotation_error = [89.999825]
[2024-01-17 23:15:02,376][train][INFO] - min_affordance_error = [37.491276]
[2024-01-17 23:15:02,376][train][INFO] - std_translation_distance_error = [11.772307]
[2024-01-17 23:15:02,376][train][INFO] - std_translation_along_error = [10.331192]
[2024-01-17 23:15:02,376][train][INFO] - std_translation_perp_error = [12.826739]
[2024-01-17 23:15:02,376][train][INFO] - std_translation_plane_error = [15.770331]
[2024-01-17 23:15:02,377][train][INFO] - std_translation_line_error = [10.636286]
[2024-01-17 23:15:02,377][train][INFO] - std_rotation_error = [0.00010105]
[2024-01-17 23:15:02,377][train][INFO] - std_affordance_error = [13.438196]
[2024-01-17 23:15:02,377][train][INFO] - translation_outliers_num = 64
[2024-01-17 23:15:02,377][train][INFO] - rotation_outliers_num = 64
[2024-01-17 23:15:02,377][train][INFO] - affordance_outliers_num = 64
[2024-01-17 23:15:02,377][train][INFO] - translation_outliers_ratio = 1.0
[2024-01-17 23:15:02,377][train][INFO] - rotation_outliers_ratio = 1.0
[2024-01-17 23:15:02,377][train][INFO] - affordance_outliers_ratio = 1.0
[2024-01-17 23:15:02,377][train][INFO] - data_num = 64, joint_num = 1
[2024-01-17 23:15:02,436][train][INFO] - Validated testing.
[2024-01-17 23:15:02,436][train][INFO] - Validating testing time: 113.7681815624237
[2024-01-17 23:15:02,437][train][INFO] - epoch: 1 lr: 0.0002
[2024-01-17 23:16:36,364][train][INFO] - training loss: 0.0021167535370396865 + 0.2916083758076032 + 0.003531100865479352 + 0.2564641506307655 = 0.5537203790413009, data num: 1137
[2024-01-17 23:16:36,366][train][INFO] - epoch: 2 lr: 0.0003
[2024-01-17 23:18:16,240][train][INFO] - training loss: 0.0019905274885887695 + 0.2779990329096715 + 0.0030910053594400072 + 0.19381856732070446 = 0.4768991358578205, data num: 1137
[2024-01-17 23:18:16,241][train][INFO] - epoch: 3 lr: 0.0004
[2024-01-17 23:19:56,306][train][INFO] - training loss: 0.002839586184968034 + 0.21714530367818144 + 0.0031862407664044034 + 0.13963061715993616 = 0.36280175091491806, data num: 1137
[2024-01-17 23:19:56,306][train][INFO] - epoch: 4 lr: 0.0005
[2024-01-17 23:21:33,986][train][INFO] - training loss: 0.002137236356955125 + 0.19835549282530943 + 0.0028385760864087692 + 0.10688151977956295 = 0.3102128244936466, data num: 1137
[2024-01-17 23:21:33,988][train][INFO] - epoch: 5 lr: 0.0006
[2024-01-17 23:23:09,400][train][INFO] - training loss: 0.002144359301180682 + 0.19113397846619287 + 0.0026426325865840125 + 0.0881473990674648 = 0.2840683677544196, data num: 1137
[2024-01-17 23:23:09,401][train][INFO] - epoch: 6 lr: 0.0007
[2024-01-17 23:24:48,566][train][INFO] - training loss: 0.0018076227279379964 + 0.18388361173371473 + 0.0026128035323280427 + 0.08605476701632142 = 0.27435880671772694, data num: 1137
[2024-01-17 23:24:48,567][train][INFO] - epoch: 7 lr: 0.0008
[2024-01-17 23:26:29,718][train][INFO] - training loss: 0.0019896514616751424 + 0.17901858190695444 + 0.002771960097662587 + 0.07273899939739042 = 0.2565191965550184, data num: 1137
[2024-01-17 23:26:29,719][train][INFO] - epoch: 8 lr: 0.0009000000000000001
[2024-01-17 23:28:06,673][train][INFO] - training loss: 0.0021228175464784727 + 0.17245809899436104 + 0.0026086703906508368 + 0.059463246104617916 = 0.23665283309916654, data num: 1137
[2024-01-17 23:28:06,674][train][INFO] - epoch: 9 lr: 0.001
[2024-01-17 23:29:45,931][train][INFO] - training loss: 0.004082226947907152 + 0.15382955016361344 + 0.0035670058973159436 + 0.05317721557286051 = 0.21465599598983923, data num: 1137
[2024-01-17 23:29:45,933][train][INFO] - epoch: 10 lr: 0.001
[2024-01-17 23:31:24,472][train][INFO] - training loss: 0.0014816094480920583 + 0.13857547297245926 + 0.0019859483484954885 + 0.04987690856473313 = 0.19191994042032295, data num: 1137
[2024-01-17 23:31:24,474][train][INFO] - epoch: 11 lr: 0.000999938933078422
[2024-01-17 23:33:01,567][train][INFO] - training loss: 0.0012795550646842457 + 0.13594570766306585 + 0.001663994634226482 + 0.04645923241817703 = 0.1853484898391697, data num: 1137
[2024-01-17 23:33:01,568][train][INFO] - epoch: 12 lr: 0.000999755747381037
[2024-01-17 23:34:37,378][train][INFO] - training loss: 0.001310790092651991 + 0.12814857707255417 + 0.0019301591528346762 + 0.03876537997792992 = 0.17015490618844828, data num: 1137
[2024-01-17 23:34:37,379][train][INFO] - epoch: 13 lr: 0.000999450488106175
[2024-01-17 23:36:11,873][train][INFO] - training loss: 0.0013342023206253846 + 0.12805303268962437 + 0.001693687733172232 + 0.04514377693542176 = 0.1762246990369426, data num: 1137
[2024-01-17 23:36:11,874][train][INFO] - epoch: 14 lr: 0.0009990232305719944
[2024-01-17 23:37:53,147][train][INFO] - training loss: 0.0012608638919320786 + 0.1208414337080386 + 0.0015874845929728407 + 0.033954940296502575 = 0.15764472178286976, data num: 1137
[2024-01-17 23:37:53,148][train][INFO] - epoch: 15 lr: 0.0009984740801978983
[2024-01-17 23:39:23,693][train][INFO] - training loss: 0.0017151246785134491 + 0.11570708681311873 + 0.002908860797308282 + 0.027809395053837862 = 0.148140466461579, data num: 1137
[2024-01-17 23:39:23,695][train][INFO] - epoch: 16 lr: 0.0009978031724785245
[2024-01-17 23:41:04,815][train][INFO] - training loss: 0.0012579871496806543 + 0.11263202503323555 + 0.001467086694901809 + 0.029913462517369125 = 0.14527056138548586, data num: 1137
[2024-01-17 23:41:04,817][train][INFO] - epoch: 17 lr: 0.000997010672950314
[2024-01-17 23:42:43,852][train][INFO] - training loss: 0.001328734499111306 + 0.11100214336895281 + 0.0013997896724807408 + 0.02586514295803176 = 0.13959580928915077, data num: 1137
[2024-01-17 23:42:43,853][train][INFO] - epoch: 18 lr: 0.0009960967771506664
[2024-01-17 23:44:22,727][train][INFO] - training loss: 0.0013643293576832446 + 0.109572088242405 + 0.0014592085903536321 + 0.023657277795589633 = 0.1360529036157661, data num: 1137
[2024-01-17 23:44:22,728][train][INFO] - epoch: 19 lr: 0.0009950617105696957
[2024-01-17 23:46:00,398][train][INFO] - training loss: 0.001629255267390464 + 0.10725296754390001 + 0.001541061855580968 + 0.025485680128137272 = 0.13590896553877327, data num: 1137
[2024-01-17 23:46:00,399][train][INFO] - epoch: 20 lr: 0.0009939057285945929
[2024-01-17 23:47:38,151][train][INFO] - training loss: 0.0010873404971789569 + 0.10392286638832754 + 0.0019353898921205352 + 0.022134943328435637 = 0.12908053987969956, data num: 1137
[2024-01-17 23:47:38,168][train][INFO] - Validating training...
[2024-01-17 23:48:27,950][train][INFO] - mean_translation_distance_error = [5.1301455]
[2024-01-17 23:48:27,950][train][INFO] - mean_translation_along_error = [1.2248647]
[2024-01-17 23:48:27,951][train][INFO] - mean_translation_perp_error = [4.8867865]
[2024-01-17 23:48:27,951][train][INFO] - mean_translation_plane_error = [4.877763]
[2024-01-17 23:48:27,951][train][INFO] - mean_translation_line_error = [3.1108654]
[2024-01-17 23:48:27,951][train][INFO] - mean_rotation_error = [4.906603]
[2024-01-17 23:48:27,952][train][INFO] - mean_affordance_error = [7.253863]
[2024-01-17 23:48:27,953][train][INFO] - median_translation_distance_error = [5.152804]
[2024-01-17 23:48:27,953][train][INFO] - median_translation_along_error = [0.99503464]
[2024-01-17 23:48:27,953][train][INFO] - median_translation_perp_error = [4.83415]
[2024-01-17 23:48:27,954][train][INFO] - median_translation_plane_error = [4.8900943]
[2024-01-17 23:48:27,954][train][INFO] - median_translation_line_error = [2.9056687]
[2024-01-17 23:48:27,954][train][INFO] - median_rotation_error = [4.0040145]
[2024-01-17 23:48:27,954][train][INFO] - median_affordance_error = [7.4877796]
[2024-01-17 23:48:27,955][train][INFO] - max_translation_distance_error = [8.911286]
[2024-01-17 23:48:27,955][train][INFO] - max_translation_along_error = [3.8136683]
[2024-01-17 23:48:27,955][train][INFO] - max_translation_perp_error = [8.635875]
[2024-01-17 23:48:27,955][train][INFO] - max_translation_plane_error = [8.723771]
[2024-01-17 23:48:27,956][train][INFO] - max_translation_line_error = [8.191984]
[2024-01-17 23:48:27,956][train][INFO] - max_rotation_error = [14.12541]
[2024-01-17 23:48:27,956][train][INFO] - max_affordance_error = [13.118474]
[2024-01-17 23:48:27,956][train][INFO] - min_translation_distance_error = [0.8795106]
[2024-01-17 23:48:27,957][train][INFO] - min_translation_along_error = [0.02997015]
[2024-01-17 23:48:27,957][train][INFO] - min_translation_perp_error = [0.8789998]
[2024-01-17 23:48:27,957][train][INFO] - min_translation_plane_error = [0.87625813]
[2024-01-17 23:48:27,957][train][INFO] - min_translation_line_error = [0.07418116]
[2024-01-17 23:48:27,957][train][INFO] - min_rotation_error = [0.39663547]
[2024-01-17 23:48:27,958][train][INFO] - min_affordance_error = [0.9541724]
[2024-01-17 23:48:27,958][train][INFO] - std_translation_distance_error = [1.8083148]
[2024-01-17 23:48:27,959][train][INFO] - std_translation_along_error = [0.99215716]
[2024-01-17 23:48:27,959][train][INFO] - std_translation_perp_error = [1.7952836]
[2024-01-17 23:48:27,959][train][INFO] - std_translation_plane_error = [1.8065711]
[2024-01-17 23:48:27,959][train][INFO] - std_translation_line_error = [1.9857098]
[2024-01-17 23:48:27,959][train][INFO] - std_rotation_error = [3.0738854]
[2024-01-17 23:48:27,960][train][INFO] - std_affordance_error = [2.5699918]
[2024-01-17 23:48:27,960][train][INFO] - translation_outliers_num = 27
[2024-01-17 23:48:27,960][train][INFO] - rotation_outliers_num = 25
[2024-01-17 23:48:27,960][train][INFO] - affordance_outliers_num = 53
[2024-01-17 23:48:27,960][train][INFO] - translation_outliers_ratio = 0.421875
[2024-01-17 23:48:27,960][train][INFO] - rotation_outliers_ratio = 0.390625
[2024-01-17 23:48:27,960][train][INFO] - affordance_outliers_ratio = 0.828125
[2024-01-17 23:48:27,960][train][INFO] - data_num = 64, joint_num = 1
[2024-01-17 23:48:27,963][train][INFO] - Validated training.
[2024-01-17 23:48:27,969][train][INFO] - Validating training time: 49.794979095458984
[2024-01-17 23:48:27,971][train][INFO] - Validating testing...
[2024-01-17 23:49:18,329][train][INFO] - mean_translation_distance_error = [5.09453]
[2024-01-17 23:49:18,330][train][INFO] - mean_translation_along_error = [1.4637742]
[2024-01-17 23:49:18,330][train][INFO] - mean_translation_perp_error = [4.7609663]
[2024-01-17 23:49:18,330][train][INFO] - mean_translation_plane_error = [4.741665]
[2024-01-17 23:49:18,330][train][INFO] - mean_translation_line_error = [3.5870385]
[2024-01-17 23:49:18,330][train][INFO] - mean_rotation_error = [7.747925]
[2024-01-17 23:49:18,330][train][INFO] - mean_affordance_error = [7.8221903]
[2024-01-17 23:49:18,331][train][INFO] - median_translation_distance_error = [4.7400484]
[2024-01-17 23:49:18,331][train][INFO] - median_translation_along_error = [1.1817315]
[2024-01-17 23:49:18,331][train][INFO] - median_translation_perp_error = [4.3374166]
[2024-01-17 23:49:18,331][train][INFO] - median_translation_plane_error = [4.2455893]
[2024-01-17 23:49:18,332][train][INFO] - median_translation_line_error = [3.4829357]
[2024-01-17 23:49:18,332][train][INFO] - median_rotation_error = [6.4923964]
[2024-01-17 23:49:18,332][train][INFO] - median_affordance_error = [7.5094805]
[2024-01-17 23:49:18,332][train][INFO] - max_translation_distance_error = [10.486237]
[2024-01-17 23:49:18,332][train][INFO] - max_translation_along_error = [6.2643995]
[2024-01-17 23:49:18,332][train][INFO] - max_translation_perp_error = [10.002208]
[2024-01-17 23:49:18,332][train][INFO] - max_translation_plane_error = [9.965475]
[2024-01-17 23:49:18,333][train][INFO] - max_translation_line_error = [8.628452]
[2024-01-17 23:49:18,333][train][INFO] - max_rotation_error = [27.443562]
[2024-01-17 23:49:18,333][train][INFO] - max_affordance_error = [20.51505]
[2024-01-17 23:49:18,333][train][INFO] - min_translation_distance_error = [1.8984126]
[2024-01-17 23:49:18,333][train][INFO] - min_translation_along_error = [0.03256174]
[2024-01-17 23:49:18,333][train][INFO] - min_translation_perp_error = [1.8977028]
[2024-01-17 23:49:18,333][train][INFO] - min_translation_plane_error = [1.9086716]
[2024-01-17 23:49:18,334][train][INFO] - min_translation_line_error = [0.19391859]
[2024-01-17 23:49:18,334][train][INFO] - min_rotation_error = [1.3282486]
[2024-01-17 23:49:18,334][train][INFO] - min_affordance_error = [2.5863235]
[2024-01-17 23:49:18,334][train][INFO] - std_translation_distance_error = [1.6655539]
[2024-01-17 23:49:18,334][train][INFO] - std_translation_along_error = [1.1504805]
[2024-01-17 23:49:18,335][train][INFO] - std_translation_perp_error = [1.6109811]
[2024-01-17 23:49:18,335][train][INFO] - std_translation_plane_error = [1.6392512]
[2024-01-17 23:49:18,335][train][INFO] - std_translation_line_error = [2.0082188]
[2024-01-17 23:49:18,335][train][INFO] - std_rotation_error = [5.0729804]
[2024-01-17 23:49:18,335][train][INFO] - std_affordance_error = [2.8802428]
[2024-01-17 23:49:18,335][train][INFO] - translation_outliers_num = 28
[2024-01-17 23:49:18,335][train][INFO] - rotation_outliers_num = 39
[2024-01-17 23:49:18,335][train][INFO] - affordance_outliers_num = 57
[2024-01-17 23:49:18,335][train][INFO] - translation_outliers_ratio = 0.4375
[2024-01-17 23:49:18,335][train][INFO] - rotation_outliers_ratio = 0.609375
[2024-01-17 23:49:18,335][train][INFO] - affordance_outliers_ratio = 0.890625
[2024-01-17 23:49:18,335][train][INFO] - data_num = 64, joint_num = 1
[2024-01-17 23:49:18,337][train][INFO] - Validated testing.
[2024-01-17 23:49:18,337][train][INFO] - Validating testing time: 50.36500406265259
[2024-01-17 23:49:18,337][train][INFO] - epoch: 21 lr: 0.0009926291164466126
[2024-01-17 23:50:52,995][train][INFO] - training loss: 0.0012659664320785345 + 0.09884097561654118 + 0.002074173251457978 + 0.01836961974752032 = 0.120550735336211, data num: 1137
[2024-01-17 23:50:52,996][train][INFO] - epoch: 22 lr: 0.0009912321891107005
[2024-01-17 23:52:33,333][train][INFO] - training loss: 0.0009291089275696626 + 0.09869659402304226 + 0.0014473965566139668 + 0.020974852649184566 = 0.12204795216934548, data num: 1137
[2024-01-17 23:52:33,334][train][INFO] - epoch: 23 lr: 0.0009897152912577737
[2024-01-17 23:54:13,187][train][INFO] - training loss: 0.0010208754683844745 + 0.10565395849860376 + 0.0012293862762615187 + 0.0181276499448965 = 0.12603187074677813, data num: 1137
[2024-01-17 23:54:13,188][train][INFO] - epoch: 24 lr: 0.0009880787971596797
[2024-01-17 23:55:51,476][train][INFO] - training loss: 0.0018635614016804742 + 0.09376654629078177 + 0.001295229733740497 + 0.019454245300342638 = 0.11637958284053537, data num: 1137
[2024-01-17 23:55:51,478][train][INFO] - epoch: 25 lr: 0.0009863231105968495
[2024-01-17 23:57:31,554][train][INFO] - training loss: 0.0011378138927587618 + 0.09151911901103126 + 0.0015021469856340748 + 0.01560794565335123 = 0.10976702523314291, data num: 1137
[2024-01-17 23:57:31,556][train][INFO] - epoch: 26 lr: 0.000984448664758672
[2024-01-17 23:59:11,353][train][INFO] - training loss: 0.001133118687398059 + 0.09047872407568826 + 0.0013806610481373759 + 0.014967563157875298 = 0.10796006717201737, data num: 1137
[2024-01-17 23:59:11,355][train][INFO] - epoch: 27 lr: 0.0009824559221366096
[2024-01-18 00:00:43,381][train][INFO] - training loss: 0.0017519386132739277 + 0.08765729102823469 + 0.0014522477722493932 + 0.013949368944546828 = 0.104810846866005, data num: 1137
[2024-01-18 00:00:43,382][train][INFO] - epoch: 28 lr: 0.0009803453744100864
[2024-01-18 00:02:15,443][train][INFO] - training loss: 0.0010376843387752564 + 0.09611949014166991 + 0.0011690713985848965 + 0.015499778783931915 = 0.11382602372517188, data num: 1137
[2024-01-18 00:02:15,445][train][INFO] - epoch: 29 lr: 0.0009781175423251728
[2024-01-18 00:03:47,002][train][INFO] - training loss: 0.0013552905099156003 + 0.08732438361686137 + 0.0012077560580413167 + 0.01437921600881964 = 0.10426664580073622, data num: 1137
[2024-01-18 00:03:47,003][train][INFO] - epoch: 30 lr: 0.0009757729755661004
[2024-01-18 00:05:19,375][train][INFO] - training loss: 0.0013761893909152907 + 0.0843722764402628 + 0.0017340179126929594 + 0.014731147074295828 = 0.10221363065971269, data num: 1137
[2024-01-18 00:05:19,377][train][INFO] - epoch: 31 lr: 0.0009733122526196342
[2024-01-18 00:06:50,320][train][INFO] - training loss: 0.000853562510100245 + 0.08071123120478457 + 0.0011329249828122556 + 0.014556001037514458 = 0.09725372006909715, data num: 1137
[2024-01-18 00:06:50,322][train][INFO] - epoch: 32 lr: 0.000970735980632341
[2024-01-18 00:08:24,638][train][INFO] - training loss: 0.0012687893823668775 + 0.08011320285085174 + 0.0012890113163545418 + 0.013738807070896857 = 0.0964098112243745, data num: 1137
[2024-01-18 00:08:24,640][train][INFO] - epoch: 33 lr: 0.0009680447952607838
[2024-01-18 00:09:58,334][train][INFO] - training loss: 0.0009976508299587294 + 0.07889732558073269 + 0.0013083854743551153 + 0.014925893950728804 = 0.09612925650758876, data num: 1137
[2024-01-18 00:09:58,335][train][INFO] - epoch: 34 lr: 0.0009652393605146839
[2024-01-18 00:11:29,249][train][INFO] - training loss: 0.001135485465056263 + 0.07664277906426126 + 0.0012280264523320107 + 0.010952813130441226 = 0.08995910464889473, data num: 1137
[2024-01-18 00:11:29,250][train][INFO] - epoch: 35 lr: 0.0009623203685930864
[2024-01-18 00:13:02,007][train][INFO] - training loss: 0.0013159032431657477 + 0.07911892028318511 + 0.0011503391498182383 + 0.010665107731862614 = 0.09225027076900005, data num: 1137
[2024-01-18 00:13:02,008][train][INFO] - epoch: 36 lr: 0.00095928853971357
[2024-01-18 00:14:37,568][train][INFO] - training loss: 0.0009911823120395031 + 0.07372622409214576 + 0.0011660799629882807 + 0.014206694658949144 = 0.0900901805402504, data num: 1137
[2024-01-18 00:14:37,570][train][INFO] - epoch: 37 lr: 0.0009561446219345448
[2024-01-18 00:16:09,938][train][INFO] - training loss: 0.0019102403869813618 + 0.07112697563651535 + 0.001869931440321832 + 0.011017022793465812 = 0.08592417060087125, data num: 1137
[2024-01-18 00:16:09,939][train][INFO] - epoch: 38 lr: 0.0009528893909706791
[2024-01-18 00:17:44,356][train][INFO] - training loss: 0.0008668769425841876 + 0.07635356998071074 + 0.0010419461525291102 + 0.009839102677587006 = 0.08810149609214729, data num: 1137
[2024-01-18 00:17:44,358][train][INFO] - epoch: 39 lr: 0.0009495236500015041
[2024-01-18 00:19:16,323][train][INFO] - training loss: 0.0009095407383736327 + 0.07077455292973253 + 0.00109916086269853 + 0.009266161718793834 = 0.08204941627466017, data num: 1137
[2024-01-18 00:19:16,324][train][INFO] - epoch: 40 lr: 0.0009460482294732414
[2024-01-18 00:20:47,205][train][INFO] - training loss: 0.0008339724615022229 + 0.06971827713358733 + 0.0012347177705830997 + 0.014074114384129643 = 0.08586108156790336, data num: 1137
[2024-01-18 00:20:47,217][train][INFO] - Validating training...
[2024-01-18 00:22:08,692][train][INFO] - mean_translation_distance_error = [3.7877235]
[2024-01-18 00:22:08,693][train][INFO] - mean_translation_along_error = [1.3177366]
[2024-01-18 00:22:08,693][train][INFO] - mean_translation_perp_error = [3.3880289]
[2024-01-18 00:22:08,693][train][INFO] - mean_translation_plane_error = [3.3589215]
[2024-01-18 00:22:08,693][train][INFO] - mean_translation_line_error = [1.8470831]
[2024-01-18 00:22:08,694][train][INFO] - mean_rotation_error = [4.4877706]
[2024-01-18 00:22:08,694][train][INFO] - mean_affordance_error = [3.6370173]
[2024-01-18 00:22:08,696][train][INFO] - median_translation_distance_error = [3.5788736]
[2024-01-18 00:22:08,696][train][INFO] - median_translation_along_error = [1.0889792]
[2024-01-18 00:22:08,696][train][INFO] - median_translation_perp_error = [3.4139674]
[2024-01-18 00:22:08,697][train][INFO] - median_translation_plane_error = [3.3731742]
[2024-01-18 00:22:08,697][train][INFO] - median_translation_line_error = [1.6459119]
[2024-01-18 00:22:08,697][train][INFO] - median_rotation_error = [3.7625775]
[2024-01-18 00:22:08,697][train][INFO] - median_affordance_error = [3.441679]
[2024-01-18 00:22:08,698][train][INFO] - max_translation_distance_error = [8.85183]
[2024-01-18 00:22:08,698][train][INFO] - max_translation_along_error = [4.780292]
[2024-01-18 00:22:08,698][train][INFO] - max_translation_perp_error = [8.785902]
[2024-01-18 00:22:08,698][train][INFO] - max_translation_plane_error = [8.617774]
[2024-01-18 00:22:08,698][train][INFO] - max_translation_line_error = [5.7935143]
[2024-01-18 00:22:08,698][train][INFO] - max_rotation_error = [10.941737]
[2024-01-18 00:22:08,699][train][INFO] - max_affordance_error = [9.657494]
[2024-01-18 00:22:08,699][train][INFO] - min_translation_distance_error = [0.5958335]
[2024-01-18 00:22:08,699][train][INFO] - min_translation_along_error = [0.00353511]
[2024-01-18 00:22:08,700][train][INFO] - min_translation_perp_error = [0.24220935]
[2024-01-18 00:22:08,700][train][INFO] - min_translation_plane_error = [0.24749243]
[2024-01-18 00:22:08,700][train][INFO] - min_translation_line_error = [0.11222537]
[2024-01-18 00:22:08,700][train][INFO] - min_rotation_error = [0.2517883]
[2024-01-18 00:22:08,700][train][INFO] - min_affordance_error = [0.53640634]
[2024-01-18 00:22:08,701][train][INFO] - std_translation_distance_error = [1.6443563]
[2024-01-18 00:22:08,701][train][INFO] - std_translation_along_error = [1.0685288]
[2024-01-18 00:22:08,701][train][INFO] - std_translation_perp_error = [1.6412894]
[2024-01-18 00:22:08,702][train][INFO] - std_translation_plane_error = [1.63102]
[2024-01-18 00:22:08,702][train][INFO] - std_translation_line_error = [1.3043184]
[2024-01-18 00:22:08,702][train][INFO] - std_rotation_error = [2.4060545]
[2024-01-18 00:22:08,702][train][INFO] - std_affordance_error = [1.565615]
[2024-01-18 00:22:08,702][train][INFO] - translation_outliers_num = 12
[2024-01-18 00:22:08,702][train][INFO] - rotation_outliers_num = 22
[2024-01-18 00:22:08,702][train][INFO] - affordance_outliers_num = 10
[2024-01-18 00:22:08,702][train][INFO] - translation_outliers_ratio = 0.1875
[2024-01-18 00:22:08,702][train][INFO] - rotation_outliers_ratio = 0.34375
[2024-01-18 00:22:08,702][train][INFO] - affordance_outliers_ratio = 0.15625
[2024-01-18 00:22:08,702][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 00:22:08,704][train][INFO] - Validated training.
[2024-01-18 00:22:08,710][train][INFO] - Validating training time: 81.48695421218872
[2024-01-18 00:22:08,711][train][INFO] - Validating testing...
[2024-01-18 00:23:05,217][train][INFO] - mean_translation_distance_error = [4.119814]
[2024-01-18 00:23:05,218][train][INFO] - mean_translation_along_error = [1.7311394]
[2024-01-18 00:23:05,218][train][INFO] - mean_translation_perp_error = [3.4809926]
[2024-01-18 00:23:05,218][train][INFO] - mean_translation_plane_error = [3.4842334]
[2024-01-18 00:23:05,218][train][INFO] - mean_translation_line_error = [2.1185555]
[2024-01-18 00:23:05,219][train][INFO] - mean_rotation_error = [7.664319]
[2024-01-18 00:23:05,219][train][INFO] - mean_affordance_error = [4.425065]
[2024-01-18 00:23:05,220][train][INFO] - median_translation_distance_error = [3.762775]
[2024-01-18 00:23:05,220][train][INFO] - median_translation_along_error = [1.7254286]
[2024-01-18 00:23:05,222][train][INFO] - median_translation_perp_error = [3.1819983]
[2024-01-18 00:23:05,223][train][INFO] - median_translation_plane_error = [3.1629682]
[2024-01-18 00:23:05,223][train][INFO] - median_translation_line_error = [1.824363]
[2024-01-18 00:23:05,223][train][INFO] - median_rotation_error = [6.2222853]
[2024-01-18 00:23:05,223][train][INFO] - median_affordance_error = [3.5168142]
[2024-01-18 00:23:05,224][train][INFO] - max_translation_distance_error = [9.610262]
[2024-01-18 00:23:05,224][train][INFO] - max_translation_along_error = [3.9759326]
[2024-01-18 00:23:05,224][train][INFO] - max_translation_perp_error = [9.503855]
[2024-01-18 00:23:05,225][train][INFO] - max_translation_plane_error = [9.480719]
[2024-01-18 00:23:05,225][train][INFO] - max_translation_line_error = [6.877703]
[2024-01-18 00:23:05,225][train][INFO] - max_rotation_error = [23.04797]
[2024-01-18 00:23:05,225][train][INFO] - max_affordance_error = [32.02917]
[2024-01-18 00:23:05,226][train][INFO] - min_translation_distance_error = [0.7457613]
[2024-01-18 00:23:05,226][train][INFO] - min_translation_along_error = [0.03373495]
[2024-01-18 00:23:05,226][train][INFO] - min_translation_perp_error = [0.23102877]
[2024-01-18 00:23:05,226][train][INFO] - min_translation_plane_error = [0.22776407]
[2024-01-18 00:23:05,226][train][INFO] - min_translation_line_error = [0.00893145]
[2024-01-18 00:23:05,227][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-18 00:23:05,227][train][INFO] - min_affordance_error = [0.9567648]
[2024-01-18 00:23:05,228][train][INFO] - std_translation_distance_error = [1.9576852]
[2024-01-18 00:23:05,228][train][INFO] - std_translation_along_error = [1.0036405]
[2024-01-18 00:23:05,228][train][INFO] - std_translation_perp_error = [2.1642432]
[2024-01-18 00:23:05,229][train][INFO] - std_translation_plane_error = [2.1409044]
[2024-01-18 00:23:05,229][train][INFO] - std_translation_line_error = [1.650863]
[2024-01-18 00:23:05,229][train][INFO] - std_rotation_error = [5.355852]
[2024-01-18 00:23:05,229][train][INFO] - std_affordance_error = [4.2186794]
[2024-01-18 00:23:05,229][train][INFO] - translation_outliers_num = 12
[2024-01-18 00:23:05,229][train][INFO] - rotation_outliers_num = 37
[2024-01-18 00:23:05,230][train][INFO] - affordance_outliers_num = 17
[2024-01-18 00:23:05,230][train][INFO] - translation_outliers_ratio = 0.1875
[2024-01-18 00:23:05,230][train][INFO] - rotation_outliers_ratio = 0.578125
[2024-01-18 00:23:05,230][train][INFO] - affordance_outliers_ratio = 0.265625
[2024-01-18 00:23:05,230][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 00:23:05,231][train][INFO] - Validated testing.
[2024-01-18 00:23:05,235][train][INFO] - Validating testing time: 56.518420457839966
[2024-01-18 00:23:05,238][train][INFO] - epoch: 41 lr: 0.0009424639868939027
[2024-01-18 00:24:41,723][train][INFO] - training loss: 0.0009201188173998768 + 0.07698430384819706 + 0.0011794617320346232 + 0.02237693699943419 = 0.10146082120223178, data num: 1137
[2024-01-18 00:24:41,725][train][INFO] - epoch: 42 lr: 0.0009387718066217117
[2024-01-18 00:26:19,327][train][INFO] - training loss: 0.0009457816267968155 + 0.07043333900057608 + 0.00107992386862558 + 0.010115704039991315 = 0.08257474781324466, data num: 1137
[2024-01-18 00:26:19,329][train][INFO] - epoch: 43 lr: 0.000934972599646904
[2024-01-18 00:27:55,570][train][INFO] - training loss: 0.000905298131531001 + 0.06743352089284195 + 0.0012949489601952438 + 0.009721271496447217 = 0.07935504025469224, data num: 1137
[2024-01-18 00:27:55,572][train][INFO] - epoch: 44 lr: 0.0009310673033669515
[2024-01-18 00:29:30,619][train][INFO] - training loss: 0.0009140129817145256 + 0.06644601142033935 + 0.0011879387271215415 + 0.008269713761466038 = 0.07681767642498016, data num: 1137
[2024-01-18 00:29:30,620][train][INFO] - epoch: 45 lr: 0.0009270568813552751
[2024-01-18 00:31:09,646][train][INFO] - training loss: 0.0009307354727449516 + 0.06488026807912523 + 0.0013923685554699558 + 0.0072346371048802715 = 0.07443800915239586, data num: 1137
[2024-01-18 00:31:09,647][train][INFO] - epoch: 46 lr: 0.0009229423231234969
[2024-01-18 00:32:50,611][train][INFO] - training loss: 0.0012175870376975378 + 0.06319766584783792 + 0.00177215924163142 + 0.008431127708819177 = 0.07461854008336861, data num: 1137
[2024-01-18 00:32:50,612][train][INFO] - epoch: 47 lr: 0.0009187246438772933
[2024-01-18 00:34:30,507][train][INFO] - training loss: 0.0007266547028039996 + 0.06346970574102467 + 0.0009155549543922663 + 0.009891168343731098 = 0.0750030838470492, data num: 1137
[2024-01-18 00:34:30,508][train][INFO] - epoch: 48 lr: 0.0009144048842659075
[2024-01-18 00:36:10,562][train][INFO] - training loss: 0.000828149979093319 + 0.0633273992377023 + 0.0009431167652817547 + 0.008138950581067346 = 0.07323761641358335, data num: 1137
[2024-01-18 00:36:10,563][train][INFO] - epoch: 49 lr: 0.0009099841101253861
[2024-01-18 00:37:50,198][train][INFO] - training loss: 0.0008079061986386983 + 0.06046015055229267 + 0.0010012000558264037 + 0.008776928272305263 = 0.07104618542103304, data num: 1137
[2024-01-18 00:37:50,199][train][INFO] - epoch: 50 lr: 0.0009054634122155986
[2024-01-18 00:39:28,682][train][INFO] - training loss: 0.000761851741925865 + 0.0608257127718793 + 0.0008613800164312124 + 0.006462186044599447 = 0.06891113069529335, data num: 1137
[2024-01-18 00:39:28,684][train][INFO] - epoch: 51 lr: 0.0009008439059511095
[2024-01-18 00:41:02,811][train][INFO] - training loss: 0.0008600021634871761 + 0.05990794808086422 + 0.0009519922112101793 + 0.006739368109265342 = 0.06845931046538883, data num: 1137
[2024-01-18 00:41:02,812][train][INFO] - epoch: 52 lr: 0.0008961267311259662
[2024-01-18 00:42:39,358][train][INFO] - training loss: 0.0012333460132746648 + 0.057289328477862805 + 0.0011364171263671273 + 0.006717931864032935 = 0.06637702354540427, data num: 1137
[2024-01-18 00:42:39,359][train][INFO] - epoch: 53 lr: 0.0008913130516324728
[2024-01-18 00:44:19,986][train][INFO] - training loss: 0.0007496088829712891 + 0.05887285050832563 + 0.0008683374156438125 + 0.009830147225228656 = 0.07032094383612275, data num: 1137
[2024-01-18 00:44:19,988][train][INFO] - epoch: 54 lr: 0.0008864040551740152
[2024-01-18 00:45:57,611][train][INFO] - training loss: 0.0013261225111717875 + 0.05685068491018481 + 0.0010221896510403086 + 0.00640514292818908 = 0.06560413984374867, data num: 1137
[2024-01-18 00:45:57,613][train][INFO] - epoch: 55 lr: 0.000881400952972015
[2024-01-18 00:47:36,552][train][INFO] - training loss: 0.000938036199739953 + 0.05716888218497237 + 0.0008957851411347898 + 0.005993847796667574 = 0.06499655125662684, data num: 1137
[2024-01-18 00:47:36,553][train][INFO] - epoch: 56 lr: 0.0008763049794670771
[2024-01-18 00:49:11,038][train][INFO] - training loss: 0.0009357500158431423 + 0.05428376695555118 + 0.0012758269201892996 + 0.005824499828223553 = 0.06231984340896209, data num: 1137
[2024-01-18 00:49:11,039][train][INFO] - epoch: 57 lr: 0.0008711173920144113
[2024-01-18 00:50:42,211][train][INFO] - training loss: 0.0006549760518181655 + 0.055977364950295955 + 0.000878777892568097 + 0.005986541254161339 = 0.06349766000898348, data num: 1137
[2024-01-18 00:50:42,213][train][INFO] - epoch: 58 lr: 0.0008658394705735983
[2024-01-18 00:52:18,761][train][INFO] - training loss: 0.0009539642249162878 + 0.05353418861826261 + 0.0008950967765283874 + 0.006828137589359863 = 0.062211387480298676, data num: 1137
[2024-01-18 00:52:18,762][train][INFO] - epoch: 59 lr: 0.0008604725173927781
[2024-01-18 00:53:51,178][train][INFO] - training loss: 0.0007993087670507117 + 0.054706976335081786 + 0.0008961147525244289 + 0.0060735822949532624 = 0.06247598227734367, data num: 1137
[2024-01-18 00:53:51,179][train][INFO] - epoch: 60 lr: 0.0008550178566873405
[2024-01-18 00:55:23,508][train][INFO] - training loss: 0.0007003470729816601 + 0.05372483247063226 + 0.0009263194968096084 + 0.0049927467512639444 = 0.06034424606089791, data num: 1137
[2024-01-18 00:55:23,521][train][INFO] - Validating training...
[2024-01-18 00:56:09,744][train][INFO] - mean_translation_distance_error = [2.8353753]
[2024-01-18 00:56:09,745][train][INFO] - mean_translation_along_error = [0.77886844]
[2024-01-18 00:56:09,745][train][INFO] - mean_translation_perp_error = [2.6241615]
[2024-01-18 00:56:09,746][train][INFO] - mean_translation_plane_error = [2.6351364]
[2024-01-18 00:56:09,746][train][INFO] - mean_translation_line_error = [1.6134685]
[2024-01-18 00:56:09,746][train][INFO] - mean_rotation_error = [4.5372705]
[2024-01-18 00:56:09,747][train][INFO] - mean_affordance_error = [2.9006357]
[2024-01-18 00:56:09,749][train][INFO] - median_translation_distance_error = [2.441572]
[2024-01-18 00:56:09,749][train][INFO] - median_translation_along_error = [0.65159553]
[2024-01-18 00:56:09,749][train][INFO] - median_translation_perp_error = [2.1416593]
[2024-01-18 00:56:09,749][train][INFO] - median_translation_plane_error = [2.137583]
[2024-01-18 00:56:09,749][train][INFO] - median_translation_line_error = [1.2881908]
[2024-01-18 00:56:09,750][train][INFO] - median_rotation_error = [4.4625826]
[2024-01-18 00:56:09,750][train][INFO] - median_affordance_error = [2.5207906]
[2024-01-18 00:56:09,750][train][INFO] - max_translation_distance_error = [8.057221]
[2024-01-18 00:56:09,750][train][INFO] - max_translation_along_error = [2.070574]
[2024-01-18 00:56:09,750][train][INFO] - max_translation_perp_error = [7.9657245]
[2024-01-18 00:56:09,751][train][INFO] - max_translation_plane_error = [8.059441]
[2024-01-18 00:56:09,751][train][INFO] - max_translation_line_error = [5.8214946]
[2024-01-18 00:56:09,751][train][INFO] - max_rotation_error = [9.4022]
[2024-01-18 00:56:09,751][train][INFO] - max_affordance_error = [7.4912014]
[2024-01-18 00:56:09,751][train][INFO] - min_translation_distance_error = [0.54980505]
[2024-01-18 00:56:09,751][train][INFO] - min_translation_along_error = [0.01068451]
[2024-01-18 00:56:09,752][train][INFO] - min_translation_perp_error = [0.18381211]
[2024-01-18 00:56:09,752][train][INFO] - min_translation_plane_error = [0.23515904]
[2024-01-18 00:56:09,752][train][INFO] - min_translation_line_error = [0.00364575]
[2024-01-18 00:56:09,752][train][INFO] - min_rotation_error = [0.1701742]
[2024-01-18 00:56:09,752][train][INFO] - min_affordance_error = [0.6769]
[2024-01-18 00:56:09,753][train][INFO] - std_translation_distance_error = [1.6387982]
[2024-01-18 00:56:09,753][train][INFO] - std_translation_along_error = [0.5270857]
[2024-01-18 00:56:09,753][train][INFO] - std_translation_perp_error = [1.7188174]
[2024-01-18 00:56:09,754][train][INFO] - std_translation_plane_error = [1.7347606]
[2024-01-18 00:56:09,754][train][INFO] - std_translation_line_error = [1.38031]
[2024-01-18 00:56:09,754][train][INFO] - std_rotation_error = [2.2209885]
[2024-01-18 00:56:09,754][train][INFO] - std_affordance_error = [1.4688269]
[2024-01-18 00:56:09,754][train][INFO] - translation_outliers_num = 6
[2024-01-18 00:56:09,754][train][INFO] - rotation_outliers_num = 25
[2024-01-18 00:56:09,754][train][INFO] - affordance_outliers_num = 8
[2024-01-18 00:56:09,754][train][INFO] - translation_outliers_ratio = 0.09375
[2024-01-18 00:56:09,755][train][INFO] - rotation_outliers_ratio = 0.390625
[2024-01-18 00:56:09,755][train][INFO] - affordance_outliers_ratio = 0.125
[2024-01-18 00:56:09,755][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 00:56:09,757][train][INFO] - Validated training.
[2024-01-18 00:56:09,760][train][INFO] - Validating training time: 46.23613262176514
[2024-01-18 00:56:09,763][train][INFO] - Validating testing...
[2024-01-18 00:56:56,118][train][INFO] - mean_translation_distance_error = [3.5061877]
[2024-01-18 00:56:56,119][train][INFO] - mean_translation_along_error = [1.2054287]
[2024-01-18 00:56:56,119][train][INFO] - mean_translation_perp_error = [3.1514897]
[2024-01-18 00:56:56,119][train][INFO] - mean_translation_plane_error = [3.1432617]
[2024-01-18 00:56:56,120][train][INFO] - mean_translation_line_error = [1.9983275]
[2024-01-18 00:56:56,120][train][INFO] - mean_rotation_error = [7.4992414]
[2024-01-18 00:56:56,120][train][INFO] - mean_affordance_error = [3.8545036]
[2024-01-18 00:56:56,122][train][INFO] - median_translation_distance_error = [3.2734828]
[2024-01-18 00:56:56,122][train][INFO] - median_translation_along_error = [1.0702251]
[2024-01-18 00:56:56,122][train][INFO] - median_translation_perp_error = [3.058954]
[2024-01-18 00:56:56,122][train][INFO] - median_translation_plane_error = [2.960031]
[2024-01-18 00:56:56,123][train][INFO] - median_translation_line_error = [1.9218899]
[2024-01-18 00:56:56,123][train][INFO] - median_rotation_error = [6.4437475]
[2024-01-18 00:56:56,123][train][INFO] - median_affordance_error = [3.7260118]
[2024-01-18 00:56:56,124][train][INFO] - max_translation_distance_error = [10.703415]
[2024-01-18 00:56:56,124][train][INFO] - max_translation_along_error = [3.668478]
[2024-01-18 00:56:56,124][train][INFO] - max_translation_perp_error = [10.3402405]
[2024-01-18 00:56:56,124][train][INFO] - max_translation_plane_error = [10.212286]
[2024-01-18 00:56:56,125][train][INFO] - max_translation_line_error = [7.253071]
[2024-01-18 00:56:56,125][train][INFO] - max_rotation_error = [27.979002]
[2024-01-18 00:56:56,125][train][INFO] - max_affordance_error = [8.014549]
[2024-01-18 00:56:56,125][train][INFO] - min_translation_distance_error = [1.0502251]
[2024-01-18 00:56:56,126][train][INFO] - min_translation_along_error = [0.04589078]
[2024-01-18 00:56:56,126][train][INFO] - min_translation_perp_error = [0.9595405]
[2024-01-18 00:56:56,126][train][INFO] - min_translation_plane_error = [0.92252165]
[2024-01-18 00:56:56,126][train][INFO] - min_translation_line_error = [0.00536746]
[2024-01-18 00:56:56,127][train][INFO] - min_rotation_error = [1.3954958]
[2024-01-18 00:56:56,127][train][INFO] - min_affordance_error = [1.1459072]
[2024-01-18 00:56:56,128][train][INFO] - std_translation_distance_error = [1.5280322]
[2024-01-18 00:56:56,128][train][INFO] - std_translation_along_error = [0.9760155]
[2024-01-18 00:56:56,128][train][INFO] - std_translation_perp_error = [1.5134996]
[2024-01-18 00:56:56,129][train][INFO] - std_translation_plane_error = [1.5187225]
[2024-01-18 00:56:56,129][train][INFO] - std_translation_line_error = [1.4513423]
[2024-01-18 00:56:56,129][train][INFO] - std_rotation_error = [5.066627]
[2024-01-18 00:56:56,130][train][INFO] - std_affordance_error = [1.5598458]
[2024-01-18 00:56:56,130][train][INFO] - translation_outliers_num = 4
[2024-01-18 00:56:56,130][train][INFO] - rotation_outliers_num = 38
[2024-01-18 00:56:56,130][train][INFO] - affordance_outliers_num = 14
[2024-01-18 00:56:56,130][train][INFO] - translation_outliers_ratio = 0.0625
[2024-01-18 00:56:56,130][train][INFO] - rotation_outliers_ratio = 0.59375
[2024-01-18 00:56:56,130][train][INFO] - affordance_outliers_ratio = 0.21875
[2024-01-18 00:56:56,130][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 00:56:56,133][train][INFO] - Validated testing.
[2024-01-18 00:56:56,135][train][INFO] - Validating testing time: 46.36962556838989
[2024-01-18 00:56:56,137][train][INFO] - epoch: 61 lr: 0.0008494768343131951
[2024-01-18 00:58:25,482][train][INFO] - training loss: 0.0006402581792725767 + 0.06298078979469007 + 0.0008136874587055192 + 0.007076612015629912 = 0.07151134741596049, data num: 1137
[2024-01-18 00:58:25,483][train][INFO] - epoch: 62 lr: 0.0008438508174347005
[2024-01-18 01:00:00,023][train][INFO] - training loss: 0.0007207977695442322 + 0.05418391965536608 + 0.0009541923969259693 + 0.006272575626907282 = 0.06213148512567083, data num: 1137
[2024-01-18 01:00:00,024][train][INFO] - epoch: 63 lr: 0.0008381411941873374
[2024-01-18 01:01:39,381][train][INFO] - training loss: 0.0008489101059644276 + 0.05041957491387924 + 0.0009049804377557141 + 0.004808548924403213 = 0.05698201396606035, data num: 1137
[2024-01-18 01:01:39,382][train][INFO] - epoch: 64 lr: 0.0008323493733352073
[2024-01-18 01:03:15,698][train][INFO] - training loss: 0.0007586802453766318 + 0.051932552001542516 + 0.001011903948286393 + 0.004955458087756092 = 0.05865859452428089, data num: 1137
[2024-01-18 01:03:15,699][train][INFO] - epoch: 65 lr: 0.0008264767839234405
[2024-01-18 01:04:51,008][train][INFO] - training loss: 0.0006948572453337773 + 0.0499607240781188 + 0.0008834940203491391 + 0.005902215434212444 = 0.0574412913993001, data num: 1137
[2024-01-18 01:04:51,009][train][INFO] - epoch: 66 lr: 0.000820524874925601
[2024-01-18 01:06:21,977][train][INFO] - training loss: 0.0008006733340961444 + 0.04963639363025626 + 0.0008326011965335864 + 0.005591648753680702 = 0.05686131714739733, data num: 1137
[2024-01-18 01:06:21,978][train][INFO] - epoch: 67 lr: 0.0008144951148861737
[2024-01-18 01:07:56,051][train][INFO] - training loss: 0.000706824295775732 + 0.05335019715130329 + 0.000840937945112172 + 0.005695942255543842 = 0.06059390202992492, data num: 1137
[2024-01-18 01:07:56,052][train][INFO] - epoch: 68 lr: 0.0008083889915582231
[2024-01-18 01:09:28,284][train][INFO] - training loss: 0.0006832035740242443 + 0.049324361607432365 + 0.0008321754802535805 + 0.004209047041513259 = 0.05504878812159101, data num: 1137
[2024-01-18 01:09:28,285][train][INFO] - epoch: 69 lr: 0.0008022080115363123
[2024-01-18 01:11:01,266][train][INFO] - training loss: 0.0007761483866488561 + 0.048418795172539025 + 0.0009002540722980888 + 0.00532700863873793 = 0.05542220651275582, data num: 1137
[2024-01-18 01:11:01,268][train][INFO] - epoch: 70 lr: 0.0007959536998847739
[2024-01-18 01:12:38,177][train][INFO] - training loss: 0.0009011973852466326 + 0.05126240011304617 + 0.0008330290551788898 + 0.004348831311088159 = 0.05734545820289188, data num: 1137
[2024-01-18 01:12:38,179][train][INFO] - epoch: 71 lr: 0.0007896275997614226
[2024-01-18 01:14:19,653][train][INFO] - training loss: 0.0006413021934956001 + 0.05124795095374187 + 0.000793106794945844 + 0.005277547594030491 = 0.05795990779168076, data num: 1137
[2024-01-18 01:14:19,654][train][INFO] - epoch: 72 lr: 0.0007832312720368044
[2024-01-18 01:15:50,081][train][INFO] - training loss: 0.0006411706268004815 + 0.04926350609295898 + 0.0008213653135397988 + 0.006290249057605656 = 0.057016291138198644, data num: 1137
[2024-01-18 01:15:50,082][train][INFO] - epoch: 73 lr: 0.0007767662949090749
[2024-01-18 01:17:21,894][train][INFO] - training loss: 0.0006335802273598448 + 0.04652285141249498 + 0.0007849029069701727 + 0.004492472540328486 = 0.052433807144148484, data num: 1137
[2024-01-18 01:17:21,895][train][INFO] - epoch: 74 lr: 0.000770234263514603
[2024-01-18 01:18:54,214][train][INFO] - training loss: 0.0006882879364032609 + 0.04558068343127767 + 0.0010882009559686088 + 0.003876616481445833 = 0.05123378879701098, data num: 1137
[2024-01-18 01:18:54,215][train][INFO] - epoch: 75 lr: 0.0007636367895343944
[2024-01-18 01:20:29,139][train][INFO] - training loss: 0.0007307981193460162 + 0.04680207252709402 + 0.0007338044734852803 + 0.0038372987150473315 = 0.05210397387337354, data num: 1137
[2024-01-18 01:20:29,141][train][INFO] - epoch: 76 lr: 0.0007569755007964335
[2024-01-18 01:22:05,102][train][INFO] - training loss: 0.0006177031342910292 + 0.04961566673591733 + 0.0009292064625899204 + 0.005199646447888679 = 0.056362222931865186, data num: 1137
[2024-01-18 01:22:05,103][train][INFO] - epoch: 77 lr: 0.0007502520408740415
[2024-01-18 01:23:40,712][train][INFO] - training loss: 0.0007552668632544939 + 0.05136294362859593 + 0.0008038284395297524 + 0.005644933294711841 = 0.05856697235463394, data num: 1137
[2024-01-18 01:23:40,714][train][INFO] - epoch: 78 lr: 0.0007434680686803488
[2024-01-18 01:25:15,416][train][INFO] - training loss: 0.0007180131611271969 + 0.044240512936893434 + 0.0007152149725394944 + 0.003832369598159049 = 0.04950611060485244, data num: 1137
[2024-01-18 01:25:15,418][train][INFO] - epoch: 79 lr: 0.0007366252580589837
[2024-01-18 01:26:49,706][train][INFO] - training loss: 0.0006659221132091867 + 0.045890874384591974 + 0.0007301874858159055 + 0.0057159450233383625 = 0.053002929108010396, data num: 1137
[2024-01-18 01:26:49,707][train][INFO] - epoch: 80 lr: 0.0007297252973710754
[2024-01-18 01:28:20,790][train][INFO] - training loss: 0.0006170763598573911 + 0.043824089949743614 + 0.0006842739708695768 + 0.0033811646264641443 = 0.048506605283667646, data num: 1137
[2024-01-18 01:28:20,801][train][INFO] - Validating training...
[2024-01-18 01:29:38,068][train][INFO] - mean_translation_distance_error = [2.4567769]
[2024-01-18 01:29:38,069][train][INFO] - mean_translation_along_error = [0.7673167]
[2024-01-18 01:29:38,070][train][INFO] - mean_translation_perp_error = [2.1937416]
[2024-01-18 01:29:38,070][train][INFO] - mean_translation_plane_error = [2.194867]
[2024-01-18 01:29:38,070][train][INFO] - mean_translation_line_error = [1.1114793]
[2024-01-18 01:29:38,071][train][INFO] - mean_rotation_error = [4.4919243]
[2024-01-18 01:29:38,071][train][INFO] - mean_affordance_error = [4.0531645]
[2024-01-18 01:29:38,072][train][INFO] - median_translation_distance_error = [2.2985506]
[2024-01-18 01:29:38,073][train][INFO] - median_translation_along_error = [0.48185873]
[2024-01-18 01:29:38,073][train][INFO] - median_translation_perp_error = [1.7453442]
[2024-01-18 01:29:38,073][train][INFO] - median_translation_plane_error = [1.7724934]
[2024-01-18 01:29:38,074][train][INFO] - median_translation_line_error = [0.6875193]
[2024-01-18 01:29:38,074][train][INFO] - median_rotation_error = [3.8523583]
[2024-01-18 01:29:38,074][train][INFO] - median_affordance_error = [3.8459454]
[2024-01-18 01:29:38,075][train][INFO] - max_translation_distance_error = [6.449783]
[2024-01-18 01:29:38,075][train][INFO] - max_translation_along_error = [2.7202148]
[2024-01-18 01:29:38,076][train][INFO] - max_translation_perp_error = [6.4491515]
[2024-01-18 01:29:38,076][train][INFO] - max_translation_plane_error = [6.443001]
[2024-01-18 01:29:38,076][train][INFO] - max_translation_line_error = [5.631555]
[2024-01-18 01:29:38,077][train][INFO] - max_rotation_error = [9.715735]
[2024-01-18 01:29:38,077][train][INFO] - max_affordance_error = [8.676091]
[2024-01-18 01:29:38,077][train][INFO] - min_translation_distance_error = [0.43579388]
[2024-01-18 01:29:38,078][train][INFO] - min_translation_along_error = [0.01063393]
[2024-01-18 01:29:38,078][train][INFO] - min_translation_perp_error = [0.14833306]
[2024-01-18 01:29:38,078][train][INFO] - min_translation_plane_error = [0.18750405]
[2024-01-18 01:29:38,078][train][INFO] - min_translation_line_error = [0.00048758]
[2024-01-18 01:29:38,079][train][INFO] - min_rotation_error = [0.17804113]
[2024-01-18 01:29:38,079][train][INFO] - min_affordance_error = [1.4945523]
[2024-01-18 01:29:38,080][train][INFO] - std_translation_distance_error = [1.4568433]
[2024-01-18 01:29:38,080][train][INFO] - std_translation_along_error = [0.6682234]
[2024-01-18 01:29:38,081][train][INFO] - std_translation_perp_error = [1.5199816]
[2024-01-18 01:29:38,081][train][INFO] - std_translation_plane_error = [1.5173941]
[2024-01-18 01:29:38,081][train][INFO] - std_translation_line_error = [1.1327705]
[2024-01-18 01:29:38,082][train][INFO] - std_rotation_error = [2.3798435]
[2024-01-18 01:29:38,082][train][INFO] - std_affordance_error = [1.5283669]
[2024-01-18 01:29:38,082][train][INFO] - translation_outliers_num = 3
[2024-01-18 01:29:38,082][train][INFO] - rotation_outliers_num = 24
[2024-01-18 01:29:38,082][train][INFO] - affordance_outliers_num = 16
[2024-01-18 01:29:38,082][train][INFO] - translation_outliers_ratio = 0.046875
[2024-01-18 01:29:38,083][train][INFO] - rotation_outliers_ratio = 0.375
[2024-01-18 01:29:38,083][train][INFO] - affordance_outliers_ratio = 0.25
[2024-01-18 01:29:38,083][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 01:29:38,085][train][INFO] - Validated training.
[2024-01-18 01:29:38,093][train][INFO] - Validating training time: 77.28363871574402
[2024-01-18 01:29:38,094][train][INFO] - Validating testing...
[2024-01-18 01:30:37,504][train][INFO] - mean_translation_distance_error = [3.0543995]
[2024-01-18 01:30:37,505][train][INFO] - mean_translation_along_error = [1.2929733]
[2024-01-18 01:30:37,505][train][INFO] - mean_translation_perp_error = [2.6124806]
[2024-01-18 01:30:37,505][train][INFO] - mean_translation_plane_error = [2.6237128]
[2024-01-18 01:30:37,505][train][INFO] - mean_translation_line_error = [1.6822687]
[2024-01-18 01:30:37,505][train][INFO] - mean_rotation_error = [5.8921714]
[2024-01-18 01:30:37,506][train][INFO] - mean_affordance_error = [3.92674]
[2024-01-18 01:30:37,506][train][INFO] - median_translation_distance_error = [3.070735]
[2024-01-18 01:30:37,506][train][INFO] - median_translation_along_error = [1.0207709]
[2024-01-18 01:30:37,507][train][INFO] - median_translation_perp_error = [2.4536664]
[2024-01-18 01:30:37,507][train][INFO] - median_translation_plane_error = [2.5759308]
[2024-01-18 01:30:37,507][train][INFO] - median_translation_line_error = [1.5643868]
[2024-01-18 01:30:37,507][train][INFO] - median_rotation_error = [4.6271505]
[2024-01-18 01:30:37,507][train][INFO] - median_affordance_error = [3.596561]
[2024-01-18 01:30:37,507][train][INFO] - max_translation_distance_error = [6.248254]
[2024-01-18 01:30:37,507][train][INFO] - max_translation_along_error = [3.8054671]
[2024-01-18 01:30:37,508][train][INFO] - max_translation_perp_error = [4.9557137]
[2024-01-18 01:30:37,508][train][INFO] - max_translation_plane_error = [5.0603337]
[2024-01-18 01:30:37,508][train][INFO] - max_translation_line_error = [4.462366]
[2024-01-18 01:30:37,508][train][INFO] - max_rotation_error = [20.737186]
[2024-01-18 01:30:37,508][train][INFO] - max_affordance_error = [9.47713]
[2024-01-18 01:30:37,508][train][INFO] - min_translation_distance_error = [0.9083155]
[2024-01-18 01:30:37,508][train][INFO] - min_translation_along_error = [0.00357106]
[2024-01-18 01:30:37,509][train][INFO] - min_translation_perp_error = [0.6682385]
[2024-01-18 01:30:37,509][train][INFO] - min_translation_plane_error = [0.6331775]
[2024-01-18 01:30:37,509][train][INFO] - min_translation_line_error = [0.11266927]
[2024-01-18 01:30:37,509][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-18 01:30:37,509][train][INFO] - min_affordance_error = [0.7841183]
[2024-01-18 01:30:37,510][train][INFO] - std_translation_distance_error = [1.0843874]
[2024-01-18 01:30:37,510][train][INFO] - std_translation_along_error = [0.96147317]
[2024-01-18 01:30:37,510][train][INFO] - std_translation_perp_error = [1.0411466]
[2024-01-18 01:30:37,510][train][INFO] - std_translation_plane_error = [1.0495254]
[2024-01-18 01:30:37,510][train][INFO] - std_translation_line_error = [0.9821973]
[2024-01-18 01:30:37,510][train][INFO] - std_rotation_error = [3.9966881]
[2024-01-18 01:30:37,510][train][INFO] - std_affordance_error = [1.941157]
[2024-01-18 01:30:37,510][train][INFO] - translation_outliers_num = 2
[2024-01-18 01:30:37,511][train][INFO] - rotation_outliers_num = 28
[2024-01-18 01:30:37,511][train][INFO] - affordance_outliers_num = 15
[2024-01-18 01:30:37,511][train][INFO] - translation_outliers_ratio = 0.03125
[2024-01-18 01:30:37,511][train][INFO] - rotation_outliers_ratio = 0.4375
[2024-01-18 01:30:37,511][train][INFO] - affordance_outliers_ratio = 0.234375
[2024-01-18 01:30:37,511][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 01:30:37,512][train][INFO] - Validated testing.
[2024-01-18 01:30:37,515][train][INFO] - Validating testing time: 59.41703224182129
[2024-01-18 01:30:37,515][train][INFO] - epoch: 81 lr: 0.0007227698890786777
[2024-01-18 01:32:13,504][train][INFO] - training loss: 0.0006272815007832833 + 0.04526444472786453 + 0.0007385510357885829 + 0.0044941664948257515 = 0.051124443765729666, data num: 1137
[2024-01-18 01:32:13,507][train][INFO] - epoch: 82 lr: 0.0007157607493247108
[2024-01-18 01:33:45,868][train][INFO] - training loss: 0.000633247669207372 + 0.04658037098124623 + 0.0007615883094129256 + 0.003811602406737317 = 0.05178680943532123, data num: 1137
[2024-01-18 01:33:45,869][train][INFO] - epoch: 83 lr: 0.0007086996075095287
[2024-01-18 01:35:18,655][train][INFO] - training loss: 0.0006393285451243477 + 0.041418112685076065 + 0.0007509833901874825 + 0.0029495710332412273 = 0.04575799547860192, data num: 1137
[2024-01-18 01:35:18,656][train][INFO] - epoch: 84 lr: 0.0007015882058642161
[2024-01-18 01:36:50,109][train][INFO] - training loss: 0.0008090938164160536 + 0.043539160293423466 + 0.0011014500972426806 + 0.003627301386182403 = 0.049077005280802645, data num: 1137
[2024-01-18 01:36:50,110][train][INFO] - epoch: 85 lr: 0.0006944282990207193
[2024-01-18 01:38:22,352][train][INFO] - training loss: 0.0006540018002851866 + 0.04189322689651615 + 0.0007555063315925912 + 0.003312852861805974 = 0.04661558816830317, data num: 1137
[2024-01-18 01:38:22,354][train][INFO] - epoch: 86 lr: 0.0006872216535789155
[2024-01-18 01:39:54,988][train][INFO] - training loss: 0.000692175596567621 + 0.04262145688860781 + 0.0008478890004981724 + 0.0029326063280071444 = 0.047094127628952265, data num: 1137
[2024-01-18 01:39:54,990][train][INFO] - epoch: 87 lr: 0.0006799700476707321
[2024-01-18 01:41:26,689][train][INFO] - training loss: 0.0006260093691202605 + 0.041117641091760665 + 0.0007203822117137153 + 0.0034765498623730512 = 0.04594058248524865, data num: 1137
[2024-01-18 01:41:26,691][train][INFO] - epoch: 88 lr: 0.0006726752705214191
[2024-01-18 01:42:59,216][train][INFO] - training loss: 0.0005825802767907993 + 0.0425193116793202 + 0.0006398196718590851 + 0.003839107028195738 = 0.04758081854217582, data num: 1137
[2024-01-18 01:42:59,217][train][INFO] - epoch: 89 lr: 0.0006653391220080838
[2024-01-18 01:44:31,454][train][INFO] - training loss: 0.0005892879041008806 + 0.041734619117859334 + 0.0006713869394540476 + 0.007318790164491575 = 0.05031408436803354, data num: 1137
[2024-01-18 01:44:31,455][train][INFO] - epoch: 90 lr: 0.0006579634122155988
[2024-01-18 01:46:03,160][train][INFO] - training loss: 0.0005743957840928084 + 0.04008859256282449 + 0.0006670514772445636 + 0.0032838852971003186 = 0.04461392480880022, data num: 1137
[2024-01-18 01:46:03,161][train][INFO] - epoch: 91 lr: 0.0006505499609899903
[2024-01-18 01:47:36,111][train][INFO] - training loss: 0.0005370778481948138 + 0.04033484788508051 + 0.0006697017848232968 + 0.004151278036361974 = 0.04569290575778319, data num: 1137
[2024-01-18 01:47:36,113][train][INFO] - epoch: 92 lr: 0.0006431005974894184
[2024-01-18 01:49:09,383][train][INFO] - training loss: 0.0007296447596066477 + 0.04035419091168377 + 0.000786796105482305 + 0.0027569994250976984 = 0.0446276310313907, data num: 1137
[2024-01-18 01:49:09,385][train][INFO] - epoch: 93 lr: 0.0006356171597328593
[2024-01-18 01:50:46,860][train][INFO] - training loss: 0.0005992878670642514 + 0.041171441372070045 + 0.0007153618037894679 + 0.002635621105178466 = 0.04512171222207447, data num: 1137
[2024-01-18 01:50:46,862][train][INFO] - epoch: 94 lr: 0.0006281014941466028
[2024-01-18 01:52:21,007][train][INFO] - training loss: 0.0007370247605851748 + 0.03809658262050814 + 0.0007508202284548639 + 0.003461026746663265 = 0.04304545421877669, data num: 1137
[2024-01-18 01:52:21,008][train][INFO] - epoch: 95 lr: 0.000620555455108673
[2024-01-18 01:53:55,543][train][INFO] - training loss: 0.0008060085339012505 + 0.03847966262967222 + 0.0007323322424781509 + 0.0029266805779318223 = 0.04294468410727051, data num: 1137
[2024-01-18 01:53:55,544][train][INFO] - epoch: 96 lr: 0.0006129809044912885
[2024-01-18 01:55:26,475][train][INFO] - training loss: 0.0005991393740664029 + 0.039608237514686256 + 0.0006854441053292248 + 0.004414126096485739 = 0.04530694713402125, data num: 1137
[2024-01-18 01:55:26,476][train][INFO] - epoch: 97 lr: 0.0006053797112014735
[2024-01-18 01:57:04,169][train][INFO] - training loss: 0.0005402494231627012 + 0.03759134177946382 + 0.0005970955466586424 + 0.0024566363944258126 = 0.041185323148965836, data num: 1137
[2024-01-18 01:57:04,170][train][INFO] - epoch: 98 lr: 0.0005977537507199336
[2024-01-18 01:58:35,823][train][INFO] - training loss: 0.0005652227211814736 + 0.039247449306357235 + 0.0006485347467888561 + 0.003439432960931299 = 0.04390063969832328, data num: 1137
[2024-01-18 01:58:35,824][train][INFO] - epoch: 99 lr: 0.0005901049046383074
[2024-01-18 02:00:09,646][train][INFO] - training loss: 0.000546811387418226 + 0.03904706175025138 + 0.0007280447276166847 + 0.0024686067768521346 = 0.042790524609800845, data num: 1137
[2024-01-18 02:00:09,647][train][INFO] - epoch: 100 lr: 0.0005824350601949141
[2024-01-18 02:01:48,143][train][INFO] - training loss: 0.0005503929727031694 + 0.03733651089068088 + 0.0006222046391081272 + 0.002059912710845108 = 0.040569021470016904, data num: 1137
[2024-01-18 02:01:48,156][train][INFO] - Validating training...
[2024-01-18 02:02:42,041][train][INFO] - mean_translation_distance_error = [2.6751866]
[2024-01-18 02:02:42,041][train][INFO] - mean_translation_along_error = [0.698684]
[2024-01-18 02:02:42,042][train][INFO] - mean_translation_perp_error = [2.5174954]
[2024-01-18 02:02:42,042][train][INFO] - mean_translation_plane_error = [2.506216]
[2024-01-18 02:02:42,043][train][INFO] - mean_translation_line_error = [1.5918069]
[2024-01-18 02:02:42,043][train][INFO] - mean_rotation_error = [4.1410294]
[2024-01-18 02:02:42,043][train][INFO] - mean_affordance_error = [2.8291652]
[2024-01-18 02:02:42,045][train][INFO] - median_translation_distance_error = [2.4146004]
[2024-01-18 02:02:42,045][train][INFO] - median_translation_along_error = [0.51111925]
[2024-01-18 02:02:42,045][train][INFO] - median_translation_perp_error = [2.1762505]
[2024-01-18 02:02:42,045][train][INFO] - median_translation_plane_error = [2.1397946]
[2024-01-18 02:02:42,045][train][INFO] - median_translation_line_error = [1.1729281]
[2024-01-18 02:02:42,046][train][INFO] - median_rotation_error = [3.7352548]
[2024-01-18 02:02:42,046][train][INFO] - median_affordance_error = [2.5180788]
[2024-01-18 02:02:42,046][train][INFO] - max_translation_distance_error = [6.1770344]
[2024-01-18 02:02:42,046][train][INFO] - max_translation_along_error = [3.5851877]
[2024-01-18 02:02:42,046][train][INFO] - max_translation_perp_error = [6.1713924]
[2024-01-18 02:02:42,046][train][INFO] - max_translation_plane_error = [6.1946435]
[2024-01-18 02:02:42,046][train][INFO] - max_translation_line_error = [5.7131004]
[2024-01-18 02:02:42,046][train][INFO] - max_rotation_error = [10.877971]
[2024-01-18 02:02:42,047][train][INFO] - max_affordance_error = [6.7745023]
[2024-01-18 02:02:42,047][train][INFO] - min_translation_distance_error = [0.5929103]
[2024-01-18 02:02:42,047][train][INFO] - min_translation_along_error = [0.02057661]
[2024-01-18 02:02:42,047][train][INFO] - min_translation_perp_error = [0.50336146]
[2024-01-18 02:02:42,047][train][INFO] - min_translation_plane_error = [0.5186635]
[2024-01-18 02:02:42,047][train][INFO] - min_translation_line_error = [0.00470354]
[2024-01-18 02:02:42,047][train][INFO] - min_rotation_error = [1.3183407]
[2024-01-18 02:02:42,048][train][INFO] - min_affordance_error = [0.67325133]
[2024-01-18 02:02:42,048][train][INFO] - std_translation_distance_error = [1.4898636]
[2024-01-18 02:02:42,048][train][INFO] - std_translation_along_error = [0.60834676]
[2024-01-18 02:02:42,048][train][INFO] - std_translation_perp_error = [1.4765803]
[2024-01-18 02:02:42,049][train][INFO] - std_translation_plane_error = [1.4706776]
[2024-01-18 02:02:42,049][train][INFO] - std_translation_line_error = [1.3559461]
[2024-01-18 02:02:42,049][train][INFO] - std_rotation_error = [1.9739923]
[2024-01-18 02:02:42,049][train][INFO] - std_affordance_error = [1.2278626]
[2024-01-18 02:02:42,049][train][INFO] - translation_outliers_num = 4
[2024-01-18 02:02:42,049][train][INFO] - rotation_outliers_num = 19
[2024-01-18 02:02:42,049][train][INFO] - affordance_outliers_num = 4
[2024-01-18 02:02:42,049][train][INFO] - translation_outliers_ratio = 0.0625
[2024-01-18 02:02:42,049][train][INFO] - rotation_outliers_ratio = 0.296875
[2024-01-18 02:02:42,049][train][INFO] - affordance_outliers_ratio = 0.0625
[2024-01-18 02:02:42,049][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 02:02:42,051][train][INFO] - Validated training.
[2024-01-18 02:02:42,051][train][INFO] - Validating training time: 53.89430546760559
[2024-01-18 02:02:42,057][train][INFO] - Validating testing...
[2024-01-18 02:03:32,456][train][INFO] - mean_translation_distance_error = [3.5371215]
[2024-01-18 02:03:32,457][train][INFO] - mean_translation_along_error = [1.3252189]
[2024-01-18 02:03:32,457][train][INFO] - mean_translation_perp_error = [3.1481051]
[2024-01-18 02:03:32,457][train][INFO] - mean_translation_plane_error = [3.1443658]
[2024-01-18 02:03:32,458][train][INFO] - mean_translation_line_error = [1.8894758]
[2024-01-18 02:03:32,458][train][INFO] - mean_rotation_error = [6.734473]
[2024-01-18 02:03:32,458][train][INFO] - mean_affordance_error = [4.3284984]
[2024-01-18 02:03:32,459][train][INFO] - median_translation_distance_error = [3.530949]
[2024-01-18 02:03:32,459][train][INFO] - median_translation_along_error = [1.1170098]
[2024-01-18 02:03:32,459][train][INFO] - median_translation_perp_error = [3.2274804]
[2024-01-18 02:03:32,459][train][INFO] - median_translation_plane_error = [3.2269654]
[2024-01-18 02:03:32,460][train][INFO] - median_translation_line_error = [1.9493105]
[2024-01-18 02:03:32,460][train][INFO] - median_rotation_error = [5.680034]
[2024-01-18 02:03:32,460][train][INFO] - median_affordance_error = [4.2386694]
[2024-01-18 02:03:32,460][train][INFO] - max_translation_distance_error = [8.571402]
[2024-01-18 02:03:32,460][train][INFO] - max_translation_along_error = [4.2828336]
[2024-01-18 02:03:32,461][train][INFO] - max_translation_perp_error = [7.6924477]
[2024-01-18 02:03:32,461][train][INFO] - max_translation_plane_error = [7.216885]
[2024-01-18 02:03:32,461][train][INFO] - max_translation_line_error = [4.3464756]
[2024-01-18 02:03:32,461][train][INFO] - max_rotation_error = [30.232063]
[2024-01-18 02:03:32,461][train][INFO] - max_affordance_error = [8.6296]
[2024-01-18 02:03:32,461][train][INFO] - min_translation_distance_error = [1.1411077]
[2024-01-18 02:03:32,462][train][INFO] - min_translation_along_error = [0.06717303]
[2024-01-18 02:03:32,462][train][INFO] - min_translation_perp_error = [0.51280224]
[2024-01-18 02:03:32,462][train][INFO] - min_translation_plane_error = [0.5169516]
[2024-01-18 02:03:32,462][train][INFO] - min_translation_line_error = [0.15149918]
[2024-01-18 02:03:32,462][train][INFO] - min_rotation_error = [0.1701742]
[2024-01-18 02:03:32,462][train][INFO] - min_affordance_error = [0.7669174]
[2024-01-18 02:03:32,463][train][INFO] - std_translation_distance_error = [1.2876084]
[2024-01-18 02:03:32,463][train][INFO] - std_translation_along_error = [0.8799293]
[2024-01-18 02:03:32,463][train][INFO] - std_translation_perp_error = [1.3145787]
[2024-01-18 02:03:32,463][train][INFO] - std_translation_plane_error = [1.2611002]
[2024-01-18 02:03:32,463][train][INFO] - std_translation_line_error = [1.0982506]
[2024-01-18 02:03:32,464][train][INFO] - std_rotation_error = [4.831629]
[2024-01-18 02:03:32,464][train][INFO] - std_affordance_error = [1.6765363]
[2024-01-18 02:03:32,464][train][INFO] - translation_outliers_num = 2
[2024-01-18 02:03:32,464][train][INFO] - rotation_outliers_num = 35
[2024-01-18 02:03:32,464][train][INFO] - affordance_outliers_num = 21
[2024-01-18 02:03:32,464][train][INFO] - translation_outliers_ratio = 0.03125
[2024-01-18 02:03:32,464][train][INFO] - rotation_outliers_ratio = 0.546875
[2024-01-18 02:03:32,464][train][INFO] - affordance_outliers_ratio = 0.328125
[2024-01-18 02:03:32,464][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 02:03:32,466][train][INFO] - Validated testing.
[2024-01-18 02:03:32,469][train][INFO] - Validating testing time: 50.405372858047485
[2024-01-18 02:03:32,472][train][INFO] - epoch: 101 lr: 0.0005747461098091033
[2024-01-18 02:05:09,454][train][INFO] - training loss: 0.0005878242065793731 + 0.03738128730199403 + 0.0006314301422713066 + 0.0029341642342236205 = 0.04153470555320382, data num: 1137
[2024-01-18 02:05:09,456][train][INFO] - epoch: 102 lr: 0.0005670399506143305
[2024-01-18 02:06:50,477][train][INFO] - training loss: 0.0005247338663644365 + 0.037211665857790246 + 0.0006229756286807565 + 0.0024327827858441095 = 0.04079215802873174, data num: 1137
[2024-01-18 02:06:50,478][train][INFO] - epoch: 103 lr: 0.0005593184839900673
[2024-01-18 02:08:31,850][train][INFO] - training loss: 0.0005108951954753138 + 0.036795084080141455 + 0.0006179329745161036 + 0.003185569877031311 = 0.041109481929904886, data num: 1137
[2024-01-18 02:08:31,851][train][INFO] - epoch: 104 lr: 0.0005515836150926644
[2024-01-18 02:10:15,215][train][INFO] - training loss: 0.0005415582203972412 + 0.03695569862611592 + 0.0006651696324600683 + 0.001973419784917496 = 0.0401358465767569, data num: 1137
[2024-01-18 02:10:15,217][train][INFO] - epoch: 105 lr: 0.0005438372523852832
[2024-01-18 02:11:51,300][train][INFO] - training loss: 0.000535555771623169 + 0.035439172500951424 + 0.0006882429063100264 + 0.0021526073905988596 = 0.03881557834231191, data num: 1137
[2024-01-18 02:11:51,301][train][INFO] - epoch: 106 lr: 0.00053608130716701
[2024-01-18 02:13:30,227][train][INFO] - training loss: 0.0005749625318761294 + 0.036139739936010704 + 0.0006669421992329364 + 0.0019233989377324986 = 0.039305043458524674, data num: 1137
[2024-01-18 02:13:30,228][train][INFO] - epoch: 107 lr: 0.0005283176931012729
[2024-01-18 02:15:10,065][train][INFO] - training loss: 0.0006112939522103665 + 0.03647847900477549 + 0.0006375188467144552 + 0.0032475254605136192 = 0.04097481734222836, data num: 1137
[2024-01-18 02:15:10,067][train][INFO] - epoch: 108 lr: 0.0005205483257436734
[2024-01-18 02:16:49,616][train][INFO] - training loss: 0.0005351005242523064 + 0.03667462787901362 + 0.0006156016065182888 + 0.004225710919450244 = 0.04205104118833939, data num: 1137
[2024-01-18 02:16:49,619][train][INFO] - epoch: 109 lr: 0.0005127751220693511
[2024-01-18 02:18:20,588][train][INFO] - training loss: 0.000527194102081315 + 0.03543265686473913 + 0.0006544632148385668 + 0.002182868981132439 = 0.03879718353143997, data num: 1137
[2024-01-18 02:18:20,589][train][INFO] - epoch: 110 lr: 0.0005049999999999998
[2024-01-18 02:19:52,854][train][INFO] - training loss: 0.0005422562062449288 + 0.03693176857713196 + 0.0006057447301120394 + 0.002757147503467018 = 0.04083691744340791, data num: 1137
[2024-01-18 02:19:52,857][train][INFO] - epoch: 111 lr: 0.0004972248779306486
[2024-01-18 02:21:25,591][train][INFO] - training loss: 0.0004916394916815787 + 0.03694650432508853 + 0.0005863290878349087 + 0.0022958136926010614 = 0.040320286604886256, data num: 1137
[2024-01-18 02:21:25,593][train][INFO] - epoch: 112 lr: 0.0004894516742563262
[2024-01-18 02:22:59,624][train][INFO] - training loss: 0.0004929948008793872 + 0.03722470075202485 + 0.0006005727223560421 + 0.002186438774919629 = 0.04050470692002111, data num: 1137
[2024-01-18 02:22:59,625][train][INFO] - epoch: 113 lr: 0.00048168230689872663
[2024-01-18 02:24:33,317][train][INFO] - training loss: 0.00048088167063219263 + 0.03399140830151737 + 0.0006100240663929273 + 0.001577349602484901 = 0.0366596633878847, data num: 1137
[2024-01-18 02:24:33,318][train][INFO] - epoch: 114 lr: 0.0004739186928329896
[2024-01-18 02:26:07,628][train][INFO] - training loss: 0.0005456275050366659 + 0.03398014051425788 + 0.0005818779298149619 + 0.0017394984077125425 = 0.03684714423596031, data num: 1137
[2024-01-18 02:26:07,630][train][INFO] - epoch: 115 lr: 0.00046616274761471655
[2024-01-18 02:27:48,205][train][INFO] - training loss: 0.0006227076652673228 + 0.03366639589269956 + 0.0007558741926914081 + 0.0023662495898153996 = 0.037411227718823485, data num: 1137
[2024-01-18 02:27:48,207][train][INFO] - epoch: 116 lr: 0.0004584163849073352
[2024-01-18 02:29:21,740][train][INFO] - training loss: 0.0005133792284242292 + 0.032933031415773764 + 0.000611593102399234 + 0.0015336484793806449 = 0.035591652151197195, data num: 1137
[2024-01-18 02:29:21,741][train][INFO] - epoch: 117 lr: 0.0004506815160099324
[2024-01-18 02:30:54,065][train][INFO] - training loss: 0.000510687384424576 + 0.03330385700489084 + 0.0005816503572633439 + 0.0014301841078526599 = 0.03582637873478234, data num: 1137
[2024-01-18 02:30:54,066][train][INFO] - epoch: 118 lr: 0.0004429600493856693
[2024-01-18 02:32:27,621][train][INFO] - training loss: 0.0005019115560571663 + 0.03384157254671057 + 0.0005910978490848922 + 0.0016854902880570283 = 0.03662007183043493, data num: 1137
[2024-01-18 02:32:27,623][train][INFO] - epoch: 119 lr: 0.00043525389019089656
[2024-01-18 02:34:02,543][train][INFO] - training loss: 0.0005343061796641754 + 0.032802834123786956 + 0.0006835524335555318 + 0.001443254873164632 = 0.03546394780278206, data num: 1137
[2024-01-18 02:34:02,544][train][INFO] - epoch: 120 lr: 0.0004275649398050856
[2024-01-18 02:35:41,000][train][INFO] - training loss: 0.0004929558255955473 + 0.033526441987810865 + 0.0006070875974223276 + 0.0015229659374098345 = 0.03614945150911808, data num: 1137
[2024-01-18 02:35:41,014][train][INFO] - Validating training...
[2024-01-18 02:36:27,740][train][INFO] - mean_translation_distance_error = [3.4258895]
[2024-01-18 02:36:27,741][train][INFO] - mean_translation_along_error = [2.2758727]
[2024-01-18 02:36:27,741][train][INFO] - mean_translation_perp_error = [2.2559512]
[2024-01-18 02:36:27,741][train][INFO] - mean_translation_plane_error = [2.2607827]
[2024-01-18 02:36:27,742][train][INFO] - mean_translation_line_error = [1.316333]
[2024-01-18 02:36:27,742][train][INFO] - mean_rotation_error = [4.1000867]
[2024-01-18 02:36:27,742][train][INFO] - mean_affordance_error = [3.270937]
[2024-01-18 02:36:27,744][train][INFO] - median_translation_distance_error = [3.4592323]
[2024-01-18 02:36:27,744][train][INFO] - median_translation_along_error = [2.1922688]
[2024-01-18 02:36:27,744][train][INFO] - median_translation_perp_error = [2.2071722]
[2024-01-18 02:36:27,745][train][INFO] - median_translation_plane_error = [2.188206]
[2024-01-18 02:36:27,745][train][INFO] - median_translation_line_error = [1.1071436]
[2024-01-18 02:36:27,745][train][INFO] - median_rotation_error = [3.7424922]
[2024-01-18 02:36:27,746][train][INFO] - median_affordance_error = [2.9313352]
[2024-01-18 02:36:27,746][train][INFO] - max_translation_distance_error = [7.117218]
[2024-01-18 02:36:27,746][train][INFO] - max_translation_along_error = [5.51159]
[2024-01-18 02:36:27,747][train][INFO] - max_translation_perp_error = [7.0357733]
[2024-01-18 02:36:27,747][train][INFO] - max_translation_plane_error = [7.0144453]
[2024-01-18 02:36:27,747][train][INFO] - max_translation_line_error = [6.644151]
[2024-01-18 02:36:27,748][train][INFO] - max_rotation_error = [10.689696]
[2024-01-18 02:36:27,748][train][INFO] - max_affordance_error = [7.0025473]
[2024-01-18 02:36:27,748][train][INFO] - min_translation_distance_error = [1.1762499]
[2024-01-18 02:36:27,749][train][INFO] - min_translation_along_error = [0.31298614]
[2024-01-18 02:36:27,749][train][INFO] - min_translation_perp_error = [0.31333354]
[2024-01-18 02:36:27,749][train][INFO] - min_translation_plane_error = [0.32437468]
[2024-01-18 02:36:27,750][train][INFO] - min_translation_line_error = [0.04366145]
[2024-01-18 02:36:27,750][train][INFO] - min_rotation_error = [1.1296922]
[2024-01-18 02:36:27,750][train][INFO] - min_affordance_error = [1.4332547]
[2024-01-18 02:36:27,751][train][INFO] - std_translation_distance_error = [1.2037867]
[2024-01-18 02:36:27,752][train][INFO] - std_translation_along_error = [1.1557596]
[2024-01-18 02:36:27,752][train][INFO] - std_translation_perp_error = [1.2574286]
[2024-01-18 02:36:27,752][train][INFO] - std_translation_plane_error = [1.2375946]
[2024-01-18 02:36:27,753][train][INFO] - std_translation_line_error = [1.170186]
[2024-01-18 02:36:27,753][train][INFO] - std_rotation_error = [2.087588]
[2024-01-18 02:36:27,753][train][INFO] - std_affordance_error = [1.3755778]
[2024-01-18 02:36:27,753][train][INFO] - translation_outliers_num = 2
[2024-01-18 02:36:27,753][train][INFO] - rotation_outliers_num = 17
[2024-01-18 02:36:27,754][train][INFO] - affordance_outliers_num = 8
[2024-01-18 02:36:27,754][train][INFO] - translation_outliers_ratio = 0.03125
[2024-01-18 02:36:27,754][train][INFO] - rotation_outliers_ratio = 0.265625
[2024-01-18 02:36:27,754][train][INFO] - affordance_outliers_ratio = 0.125
[2024-01-18 02:36:27,754][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 02:36:27,757][train][INFO] - Validated training.
[2024-01-18 02:36:27,761][train][INFO] - Validating training time: 46.742424964904785
[2024-01-18 02:36:27,763][train][INFO] - Validating testing...
[2024-01-18 02:37:16,210][train][INFO] - mean_translation_distance_error = [3.7836623]
[2024-01-18 02:37:16,211][train][INFO] - mean_translation_along_error = [2.4607317]
[2024-01-18 02:37:16,211][train][INFO] - mean_translation_perp_error = [2.6229715]
[2024-01-18 02:37:16,212][train][INFO] - mean_translation_plane_error = [2.5591872]
[2024-01-18 02:37:16,212][train][INFO] - mean_translation_line_error = [1.7121872]
[2024-01-18 02:37:16,213][train][INFO] - mean_rotation_error = [5.931551]
[2024-01-18 02:37:16,213][train][INFO] - mean_affordance_error = [3.7681272]
[2024-01-18 02:37:16,214][train][INFO] - median_translation_distance_error = [3.6052382]
[2024-01-18 02:37:16,214][train][INFO] - median_translation_along_error = [2.1613445]
[2024-01-18 02:37:16,215][train][INFO] - median_translation_perp_error = [2.494886]
[2024-01-18 02:37:16,215][train][INFO] - median_translation_plane_error = [2.3524108]
[2024-01-18 02:37:16,215][train][INFO] - median_translation_line_error = [1.7282474]
[2024-01-18 02:37:16,215][train][INFO] - median_rotation_error = [5.147821]
[2024-01-18 02:37:16,216][train][INFO] - median_affordance_error = [3.2892764]
[2024-01-18 02:37:16,216][train][INFO] - max_translation_distance_error = [9.150796]
[2024-01-18 02:37:16,216][train][INFO] - max_translation_along_error = [7.4947357]
[2024-01-18 02:37:16,216][train][INFO] - max_translation_perp_error = [6.869257]
[2024-01-18 02:37:16,217][train][INFO] - max_translation_plane_error = [6.6953]
[2024-01-18 02:37:16,217][train][INFO] - max_translation_line_error = [5.215994]
[2024-01-18 02:37:16,217][train][INFO] - max_rotation_error = [13.939183]
[2024-01-18 02:37:16,217][train][INFO] - max_affordance_error = [10.380491]
[2024-01-18 02:37:16,217][train][INFO] - min_translation_distance_error = [1.3377388]
[2024-01-18 02:37:16,217][train][INFO] - min_translation_along_error = [0.04352564]
[2024-01-18 02:37:16,218][train][INFO] - min_translation_perp_error = [0.16689864]
[2024-01-18 02:37:16,218][train][INFO] - min_translation_plane_error = [0.2558933]
[2024-01-18 02:37:16,218][train][INFO] - min_translation_line_error = [0.1190649]
[2024-01-18 02:37:16,218][train][INFO] - min_rotation_error = [0.1701742]
[2024-01-18 02:37:16,218][train][INFO] - min_affordance_error = [0.42370063]
[2024-01-18 02:37:16,219][train][INFO] - std_translation_distance_error = [1.6525156]
[2024-01-18 02:37:16,219][train][INFO] - std_translation_along_error = [1.5443727]
[2024-01-18 02:37:16,219][train][INFO] - std_translation_perp_error = [1.3140167]
[2024-01-18 02:37:16,219][train][INFO] - std_translation_plane_error = [1.2707349]
[2024-01-18 02:37:16,219][train][INFO] - std_translation_line_error = [1.0582201]
[2024-01-18 02:37:16,219][train][INFO] - std_rotation_error = [3.4696202]
[2024-01-18 02:37:16,220][train][INFO] - std_affordance_error = [2.02201]
[2024-01-18 02:37:16,220][train][INFO] - translation_outliers_num = 5
[2024-01-18 02:37:16,220][train][INFO] - rotation_outliers_num = 34
[2024-01-18 02:37:16,220][train][INFO] - affordance_outliers_num = 15
[2024-01-18 02:37:16,220][train][INFO] - translation_outliers_ratio = 0.078125
[2024-01-18 02:37:16,220][train][INFO] - rotation_outliers_ratio = 0.53125
[2024-01-18 02:37:16,220][train][INFO] - affordance_outliers_ratio = 0.234375
[2024-01-18 02:37:16,220][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 02:37:16,221][train][INFO] - Validated testing.
[2024-01-18 02:37:16,226][train][INFO] - Validating testing time: 48.457212686538696
[2024-01-18 02:37:16,226][train][INFO] - epoch: 121 lr: 0.0004198950953616921
[2024-01-18 02:38:54,064][train][INFO] - training loss: 0.000511782454446398 + 0.03259435039944947 + 0.0005810748411426579 + 0.002312074518866009 = 0.03599928241843978, data num: 1137
[2024-01-18 02:38:54,066][train][INFO] - epoch: 122 lr: 0.0004122462492800662
[2024-01-18 02:40:32,380][train][INFO] - training loss: 0.0005210712859277717 + 0.03324688971042633 + 0.0006190588691323581 + 0.0020035052109758705 = 0.0363905250819193, data num: 1137
[2024-01-18 02:40:32,381][train][INFO] - epoch: 123 lr: 0.0004046202887985263
[2024-01-18 02:42:10,689][train][INFO] - training loss: 0.0004932716114530598 + 0.03228174239241829 + 0.0005970273280884916 + 0.0014230497848378338 = 0.03479509099593593, data num: 1137
[2024-01-18 02:42:10,690][train][INFO] - epoch: 124 lr: 0.0003970190955087115
[2024-01-18 02:43:48,682][train][INFO] - training loss: 0.0004896176227096779 + 0.0322781037280543 + 0.0005923040431904761 + 0.0013384326314028134 = 0.03469845812974705, data num: 1137
[2024-01-18 02:43:48,684][train][INFO] - epoch: 125 lr: 0.0003894445448913267
[2024-01-18 02:45:27,172][train][INFO] - training loss: 0.00047150472245347273 + 0.03288679207778639 + 0.0005610235162344503 + 0.0014331455357831954 = 0.03535246621403429, data num: 1137
[2024-01-18 02:45:27,174][train][INFO] - epoch: 126 lr: 0.00038189850585339675
[2024-01-18 02:47:00,241][train][INFO] - training loss: 0.0004960283897364408 + 0.03421518108290103 + 0.0005777358633673026 + 0.0030250974385934467 = 0.03831404297509127, data num: 1137
[2024-01-18 02:47:00,243][train][INFO] - epoch: 127 lr: 0.0003743828402671403
[2024-01-18 02:48:34,819][train][INFO] - training loss: 0.00045446371506032947 + 0.032364385254267186 + 0.0005832321156857587 + 0.0029808034871368566 = 0.03638288479608794, data num: 1137
[2024-01-18 02:48:34,821][train][INFO] - epoch: 128 lr: 0.0003668994025105814
[2024-01-18 02:50:04,995][train][INFO] - training loss: 0.000478825596170888 + 0.032259157186167106 + 0.0005709539828886692 + 0.0016324038068407593 = 0.03494134020163781, data num: 1137
[2024-01-18 02:50:04,995][train][INFO] - epoch: 129 lr: 0.00035945003901000945
[2024-01-18 02:51:42,782][train][INFO] - training loss: 0.0004852315372166534 + 0.030483663987575307 + 0.0005470054598441089 + 0.0011027193185226577 = 0.03261862038117316, data num: 1137
[2024-01-18 02:51:42,783][train][INFO] - epoch: 130 lr: 0.00035203658778440103
[2024-01-18 02:53:17,130][train][INFO] - training loss: 0.00045664765396698687 + 0.03625827062771552 + 0.0005583367419603746 + 0.0018328225204540002 = 0.03910607756632897, data num: 1137
[2024-01-18 02:53:17,131][train][INFO] - epoch: 131 lr: 0.0003446608779919159
[2024-01-18 02:54:46,247][train][INFO] - training loss: 0.00047849685870460235 + 0.03211109640283717 + 0.0005447508940253303 + 0.0016256751296168659 = 0.03476001932803127, data num: 1137
[2024-01-18 02:54:46,247][train][INFO] - epoch: 132 lr: 0.00033732472947858063
[2024-01-18 02:56:17,696][train][INFO] - training loss: 0.00046326114049103734 + 0.030016585097958643 + 0.0005374927317865917 + 0.001055901789691739 = 0.03207324083066649, data num: 1137
[2024-01-18 02:56:17,698][train][INFO] - epoch: 133 lr: 0.00033002995232926766
[2024-01-18 02:57:48,266][train][INFO] - training loss: 0.000453753777239601 + 0.029483538405555818 + 0.0005494803392341257 + 0.0010581778470724304 = 0.031544950428522296, data num: 1137
[2024-01-18 02:57:48,267][train][INFO] - epoch: 134 lr: 0.0003227783464210844
[2024-01-18 02:59:20,882][train][INFO] - training loss: 0.00046798397023748193 + 0.03052897709939215 + 0.000542817564564757 + 0.0012699977728011112 = 0.032809776072907776, data num: 1137
[2024-01-18 02:59:20,884][train][INFO] - epoch: 135 lr: 0.00031557170097928054
[2024-01-18 03:00:51,064][train][INFO] - training loss: 0.000464148275770842 + 0.029446795479291014 + 0.0005591394870457912 + 0.001141873161031981 = 0.03161195639727844, data num: 1137
[2024-01-18 03:00:51,065][train][INFO] - epoch: 136 lr: 0.0003084117941357834
[2024-01-18 03:02:22,365][train][INFO] - training loss: 0.0004381594739647375 + 0.02999232308421698 + 0.0005461915853730817 + 0.0011197301672736001 = 0.03209640419421097, data num: 1137
[2024-01-18 03:02:22,366][train][INFO] - epoch: 137 lr: 0.00030130039249047106
[2024-01-18 03:03:51,334][train][INFO] - training loss: 0.0004513679058517381 + 0.030423779790807102 + 0.0005506740300107696 + 0.0010494047366794096 = 0.032475226377654404, data num: 1137
[2024-01-18 03:03:51,335][train][INFO] - epoch: 138 lr: 0.00029423925067528897
[2024-01-18 03:05:21,820][train][INFO] - training loss: 0.0004467086222979964 + 0.02894488614725156 + 0.0005201520329541785 + 0.0009776363385248664 = 0.030889383336115215, data num: 1137
[2024-01-18 03:05:21,821][train][INFO] - epoch: 139 lr: 0.0002872301109213219
[2024-01-18 03:06:52,647][train][INFO] - training loss: 0.0004697426872250314 + 0.02935132570564747 + 0.0005396937259421167 + 0.0008906730446243375 = 0.03125143519395755, data num: 1137
[2024-01-18 03:06:52,649][train][INFO] - epoch: 140 lr: 0.0002802747026289243
[2024-01-18 03:08:21,941][train][INFO] - training loss: 0.00043848350671598583 + 0.028967911713860102 + 0.0005308797990437597 + 0.0009265745282189326 = 0.03086384954965777, data num: 1137
[2024-01-18 03:08:21,953][train][INFO] - Validating training...
[2024-01-18 03:09:51,987][train][INFO] - mean_translation_distance_error = [2.4546146]
[2024-01-18 03:09:51,988][train][INFO] - mean_translation_along_error = [1.2451553]
[2024-01-18 03:09:51,988][train][INFO] - mean_translation_perp_error = [1.9525058]
[2024-01-18 03:09:51,988][train][INFO] - mean_translation_plane_error = [1.9485712]
[2024-01-18 03:09:51,989][train][INFO] - mean_translation_line_error = [1.1773412]
[2024-01-18 03:09:51,989][train][INFO] - mean_rotation_error = [4.1431966]
[2024-01-18 03:09:51,989][train][INFO] - mean_affordance_error = [2.5522609]
[2024-01-18 03:09:51,991][train][INFO] - median_translation_distance_error = [2.242182]
[2024-01-18 03:09:51,991][train][INFO] - median_translation_along_error = [1.0421473]
[2024-01-18 03:09:51,991][train][INFO] - median_translation_perp_error = [1.8006889]
[2024-01-18 03:09:51,992][train][INFO] - median_translation_plane_error = [1.831115]
[2024-01-18 03:09:51,992][train][INFO] - median_translation_line_error = [0.8581452]
[2024-01-18 03:09:51,992][train][INFO] - median_rotation_error = [3.582593]
[2024-01-18 03:09:51,993][train][INFO] - median_affordance_error = [2.3289459]
[2024-01-18 03:09:51,993][train][INFO] - max_translation_distance_error = [6.99833]
[2024-01-18 03:09:51,993][train][INFO] - max_translation_along_error = [3.8762693]
[2024-01-18 03:09:51,994][train][INFO] - max_translation_perp_error = [6.8672976]
[2024-01-18 03:09:51,994][train][INFO] - max_translation_plane_error = [6.9177732]
[2024-01-18 03:09:51,994][train][INFO] - max_translation_line_error = [5.9944816]
[2024-01-18 03:09:51,995][train][INFO] - max_rotation_error = [13.812273]
[2024-01-18 03:09:51,995][train][INFO] - max_affordance_error = [5.3048186]
[2024-01-18 03:09:51,995][train][INFO] - min_translation_distance_error = [0.77004826]
[2024-01-18 03:09:51,996][train][INFO] - min_translation_along_error = [0.01906836]
[2024-01-18 03:09:51,996][train][INFO] - min_translation_perp_error = [0.14286211]
[2024-01-18 03:09:51,996][train][INFO] - min_translation_plane_error = [0.2195393]
[2024-01-18 03:09:51,997][train][INFO] - min_translation_line_error = [0.02387519]
[2024-01-18 03:09:51,997][train][INFO] - min_rotation_error = [0.92535007]
[2024-01-18 03:09:51,997][train][INFO] - min_affordance_error = [0.96972615]
[2024-01-18 03:09:51,998][train][INFO] - std_translation_distance_error = [1.202661]
[2024-01-18 03:09:51,998][train][INFO] - std_translation_along_error = [0.82986593]
[2024-01-18 03:09:51,999][train][INFO] - std_translation_perp_error = [1.1917043]
[2024-01-18 03:09:51,999][train][INFO] - std_translation_plane_error = [1.1681867]
[2024-01-18 03:09:51,999][train][INFO] - std_translation_line_error = [1.0848294]
[2024-01-18 03:09:52,000][train][INFO] - std_rotation_error = [2.4325783]
[2024-01-18 03:09:52,000][train][INFO] - std_affordance_error = [0.98535657]
[2024-01-18 03:09:52,000][train][INFO] - translation_outliers_num = 3
[2024-01-18 03:09:52,000][train][INFO] - rotation_outliers_num = 17
[2024-01-18 03:09:52,000][train][INFO] - affordance_outliers_num = 2
[2024-01-18 03:09:52,000][train][INFO] - translation_outliers_ratio = 0.046875
[2024-01-18 03:09:52,001][train][INFO] - rotation_outliers_ratio = 0.265625
[2024-01-18 03:09:52,001][train][INFO] - affordance_outliers_ratio = 0.03125
[2024-01-18 03:09:52,001][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 03:09:52,003][train][INFO] - Validated training.
[2024-01-18 03:09:52,007][train][INFO] - Validating training time: 90.04989194869995
[2024-01-18 03:09:52,009][train][INFO] - Validating testing...
[2024-01-18 03:10:41,525][train][INFO] - mean_translation_distance_error = [3.1999273]
[2024-01-18 03:10:41,526][train][INFO] - mean_translation_along_error = [1.7854056]
[2024-01-18 03:10:41,526][train][INFO] - mean_translation_perp_error = [2.4105947]
[2024-01-18 03:10:41,526][train][INFO] - mean_translation_plane_error = [2.4161]
[2024-01-18 03:10:41,527][train][INFO] - mean_translation_line_error = [1.4919815]
[2024-01-18 03:10:41,527][train][INFO] - mean_rotation_error = [5.5774164]
[2024-01-18 03:10:41,527][train][INFO] - mean_affordance_error = [3.3702462]
[2024-01-18 03:10:41,529][train][INFO] - median_translation_distance_error = [3.0168347]
[2024-01-18 03:10:41,529][train][INFO] - median_translation_along_error = [1.6456032]
[2024-01-18 03:10:41,529][train][INFO] - median_translation_perp_error = [2.2384613]
[2024-01-18 03:10:41,529][train][INFO] - median_translation_plane_error = [2.1848316]
[2024-01-18 03:10:41,530][train][INFO] - median_translation_line_error = [0.95739067]
[2024-01-18 03:10:41,530][train][INFO] - median_rotation_error = [4.4415665]
[2024-01-18 03:10:41,530][train][INFO] - median_affordance_error = [3.1759787]
[2024-01-18 03:10:41,530][train][INFO] - max_translation_distance_error = [6.071261]
[2024-01-18 03:10:41,530][train][INFO] - max_translation_along_error = [4.480893]
[2024-01-18 03:10:41,530][train][INFO] - max_translation_perp_error = [5.8109193]
[2024-01-18 03:10:41,531][train][INFO] - max_translation_plane_error = [5.834737]
[2024-01-18 03:10:41,531][train][INFO] - max_translation_line_error = [5.8002806]
[2024-01-18 03:10:41,531][train][INFO] - max_rotation_error = [13.388664]
[2024-01-18 03:10:41,531][train][INFO] - max_affordance_error = [10.081125]
[2024-01-18 03:10:41,531][train][INFO] - min_translation_distance_error = [0.69927925]
[2024-01-18 03:10:41,532][train][INFO] - min_translation_along_error = [0.03257911]
[2024-01-18 03:10:41,532][train][INFO] - min_translation_perp_error = [0.5307687]
[2024-01-18 03:10:41,532][train][INFO] - min_translation_plane_error = [0.67675275]
[2024-01-18 03:10:41,532][train][INFO] - min_translation_line_error = [0.0590593]
[2024-01-18 03:10:41,532][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-18 03:10:41,532][train][INFO] - min_affordance_error = [1.1052812]
[2024-01-18 03:10:41,533][train][INFO] - std_translation_distance_error = [1.1780566]
[2024-01-18 03:10:41,533][train][INFO] - std_translation_along_error = [1.0815248]
[2024-01-18 03:10:41,533][train][INFO] - std_translation_perp_error = [1.2078977]
[2024-01-18 03:10:41,534][train][INFO] - std_translation_plane_error = [1.2279594]
[2024-01-18 03:10:41,534][train][INFO] - std_translation_line_error = [1.2111079]
[2024-01-18 03:10:41,534][train][INFO] - std_rotation_error = [3.4084475]
[2024-01-18 03:10:41,534][train][INFO] - std_affordance_error = [1.6884859]
[2024-01-18 03:10:41,534][train][INFO] - translation_outliers_num = 4
[2024-01-18 03:10:41,534][train][INFO] - rotation_outliers_num = 28
[2024-01-18 03:10:41,534][train][INFO] - affordance_outliers_num = 8
[2024-01-18 03:10:41,534][train][INFO] - translation_outliers_ratio = 0.0625
[2024-01-18 03:10:41,534][train][INFO] - rotation_outliers_ratio = 0.4375
[2024-01-18 03:10:41,534][train][INFO] - affordance_outliers_ratio = 0.125
[2024-01-18 03:10:41,534][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 03:10:41,536][train][INFO] - Validated testing.
[2024-01-18 03:10:41,543][train][INFO] - Validating testing time: 49.527363300323486
[2024-01-18 03:10:41,547][train][INFO] - epoch: 141 lr: 0.00027337474194101617
[2024-01-18 03:12:18,648][train][INFO] - training loss: 0.00045104840117144503 + 0.029001998870323103 + 0.0005311829708160884 + 0.0015723309411441733 = 0.031556560994229384, data num: 1137
[2024-01-18 03:12:18,650][train][INFO] - epoch: 142 lr: 0.00026653193131965077
[2024-01-18 03:13:55,349][train][INFO] - training loss: 0.0004414240627536654 + 0.0285113459556467 + 0.0005390622678128744 + 0.000810861133181283 = 0.030302693446477253, data num: 1137
[2024-01-18 03:13:55,350][train][INFO] - epoch: 143 lr: 0.00025974795912595813
[2024-01-18 03:15:29,427][train][INFO] - training loss: 0.00048158029312617145 + 0.029528316472553544 + 0.0005589227015055561 + 0.001171575375944182 = 0.031740394627882376, data num: 1137
[2024-01-18 03:15:29,429][train][INFO] - epoch: 144 lr: 0.0002530244992035661
[2024-01-18 03:17:05,178][train][INFO] - training loss: 0.0005130510386758639 + 0.029818034161710076 + 0.0005479488289792142 + 0.002666729841924583 = 0.033545763749215335, data num: 1137
[2024-01-18 03:17:05,179][train][INFO] - epoch: 145 lr: 0.00024636321046560527
[2024-01-18 03:18:43,186][train][INFO] - training loss: 0.00043257685158298246 + 0.028845431490076914 + 0.0005188995516315723 + 0.0009241233567283618 = 0.03072103097413977, data num: 1137
[2024-01-18 03:18:43,188][train][INFO] - epoch: 146 lr: 0.00023976573648539645
[2024-01-18 03:20:19,802][train][INFO] - training loss: 0.0004215799231638408 + 0.027989673686938152 + 0.0005187344734925622 + 0.0008200869249574478 = 0.02975007511364917, data num: 1137
[2024-01-18 03:20:19,803][train][INFO] - epoch: 147 lr: 0.00023323370509092462
[2024-01-18 03:22:00,123][train][INFO] - training loss: 0.000441109252278693 + 0.028277601167145703 + 0.0005127679012528259 + 0.0009135836365506597 = 0.030145061952579353, data num: 1137
[2024-01-18 03:22:00,125][train][INFO] - epoch: 148 lr: 0.00022676872796319523
[2024-01-18 03:23:33,866][train][INFO] - training loss: 0.000433463237034933 + 0.027929865884491138 + 0.00050984935256161 + 0.0011603318048906254 = 0.03003351051463849, data num: 1137
[2024-01-18 03:23:33,867][train][INFO] - epoch: 149 lr: 0.00022037240023857702
[2024-01-18 03:25:13,815][train][INFO] - training loss: 0.0004433589896911548 + 0.02757244513163136 + 0.0005133795691815774 + 0.0007152894234726167 = 0.02924447307466633, data num: 1137
[2024-01-18 03:25:13,817][train][INFO] - epoch: 150 lr: 0.00021404630011522577
[2024-01-18 03:26:54,905][train][INFO] - training loss: 0.0004236059847042068 + 0.027284696568838425 + 0.0005099025491088267 + 0.0006320324054690395 = 0.028850237606093287, data num: 1137
[2024-01-18 03:26:54,906][train][INFO] - epoch: 151 lr: 0.00020779198846368737
[2024-01-18 03:28:33,750][train][INFO] - training loss: 0.00041304109698911715 + 0.027129777965860233 + 0.0004975018006613633 + 0.0006839212570260619 = 0.028724241846551497, data num: 1137
[2024-01-18 03:28:33,752][train][INFO] - epoch: 152 lr: 0.0002016110084417765
[2024-01-18 03:30:13,120][train][INFO] - training loss: 0.0004148436556634907 + 0.027043901694317658 + 0.0005163158647418539 + 0.0008161612978357072 = 0.028791222591987915, data num: 1137
[2024-01-18 03:30:13,121][train][INFO] - epoch: 153 lr: 0.00019550488511382584
[2024-01-18 03:31:53,134][train][INFO] - training loss: 0.00042401574723448395 + 0.02716479253851705 + 0.000501013404169094 + 0.001243564222199388 = 0.029333386052813794, data num: 1137
[2024-01-18 03:31:53,136][train][INFO] - epoch: 154 lr: 0.00018947512507439847
[2024-01-18 03:33:33,150][train][INFO] - training loss: 0.00040956077484426915 + 0.026829799663068518 + 0.0005020406384169797 + 0.0006102622115172886 = 0.02835166358595921, data num: 1137
[2024-01-18 03:33:33,152][train][INFO] - epoch: 155 lr: 0.00018352321607655904
[2024-01-18 03:35:08,903][train][INFO] - training loss: 0.000418180474500534 + 0.027683636225346062 + 0.0005012554922561523 + 0.0006275743103793098 = 0.02923064640102287, data num: 1137
[2024-01-18 03:35:08,903][train][INFO] - epoch: 156 lr: 0.0001776506266647923
[2024-01-18 03:36:45,153][train][INFO] - training loss: 0.00041628719595286786 + 0.027048615117867787 + 0.0004965894473166878 + 0.0007429662584602031 = 0.02870445809740987, data num: 1137
[2024-01-18 03:36:45,155][train][INFO] - epoch: 157 lr: 0.00017185880581266206
[2024-01-18 03:38:22,363][train][INFO] - training loss: 0.00041941030212910846 + 0.02662198962126341 + 0.0004955215679526898 + 0.0006239824868114536 = 0.02816090399088959, data num: 1137
[2024-01-18 03:38:22,364][train][INFO] - epoch: 158 lr: 0.000166149182565299
[2024-01-18 03:39:58,193][train][INFO] - training loss: 0.00041178625987312343 + 0.026036621782825224 + 0.0005035368655323206 + 0.0005995369473971045 = 0.027551481823643878, data num: 1137
[2024-01-18 03:39:58,194][train][INFO] - epoch: 159 lr: 0.00016052316568680435
[2024-01-18 03:41:25,652][train][INFO] - training loss: 0.0004215229512030621 + 0.02622186615028315 + 0.0005000348343552711 + 0.0005033604579188654 = 0.027646784360210102, data num: 1137
[2024-01-18 03:41:25,656][train][INFO] - epoch: 160 lr: 0.00015498214331265893
[2024-01-18 03:42:59,774][train][INFO] - training loss: 0.00041256649819843005 + 0.026026829430419538 + 0.0004927600170453338 + 0.00048158924462566373 = 0.02741374512616959, data num: 1137
[2024-01-18 03:42:59,795][train][INFO] - Validating training...
[2024-01-18 03:43:47,965][train][INFO] - mean_translation_distance_error = [2.0405357]
[2024-01-18 03:43:47,965][train][INFO] - mean_translation_along_error = [0.5580521]
[2024-01-18 03:43:47,965][train][INFO] - mean_translation_perp_error = [1.8776817]
[2024-01-18 03:43:47,966][train][INFO] - mean_translation_plane_error = [1.8726827]
[2024-01-18 03:43:47,966][train][INFO] - mean_translation_line_error = [1.1479002]
[2024-01-18 03:43:47,966][train][INFO] - mean_rotation_error = [4.0569973]
[2024-01-18 03:43:47,966][train][INFO] - mean_affordance_error = [2.3963292]
[2024-01-18 03:43:47,967][train][INFO] - median_translation_distance_error = [1.7813956]
[2024-01-18 03:43:47,967][train][INFO] - median_translation_along_error = [0.39131427]
[2024-01-18 03:43:47,968][train][INFO] - median_translation_perp_error = [1.6280541]
[2024-01-18 03:43:47,968][train][INFO] - median_translation_plane_error = [1.6023815]
[2024-01-18 03:43:47,968][train][INFO] - median_translation_line_error = [0.80850744]
[2024-01-18 03:43:47,968][train][INFO] - median_rotation_error = [3.736741]
[2024-01-18 03:43:47,969][train][INFO] - median_affordance_error = [2.173386]
[2024-01-18 03:43:47,969][train][INFO] - max_translation_distance_error = [5.4262238]
[2024-01-18 03:43:47,969][train][INFO] - max_translation_along_error = [2.4264784]
[2024-01-18 03:43:47,969][train][INFO] - max_translation_perp_error = [5.4226556]
[2024-01-18 03:43:47,969][train][INFO] - max_translation_plane_error = [5.410623]
[2024-01-18 03:43:47,970][train][INFO] - max_translation_line_error = [4.5688334]
[2024-01-18 03:43:47,970][train][INFO] - max_rotation_error = [11.042468]
[2024-01-18 03:43:47,970][train][INFO] - max_affordance_error = [5.521958]
[2024-01-18 03:43:47,970][train][INFO] - min_translation_distance_error = [0.32538736]
[2024-01-18 03:43:47,970][train][INFO] - min_translation_along_error = [0.00166598]
[2024-01-18 03:43:47,971][train][INFO] - min_translation_perp_error = [0.09068017]
[2024-01-18 03:43:47,971][train][INFO] - min_translation_plane_error = [0.10794881]
[2024-01-18 03:43:47,971][train][INFO] - min_translation_line_error = [0.00141457]
[2024-01-18 03:43:47,971][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-18 03:43:47,971][train][INFO] - min_affordance_error = [0.16023721]
[2024-01-18 03:43:47,972][train][INFO] - std_translation_distance_error = [1.1730268]
[2024-01-18 03:43:47,972][train][INFO] - std_translation_along_error = [0.47649416]
[2024-01-18 03:43:47,973][train][INFO] - std_translation_perp_error = [1.2147511]
[2024-01-18 03:43:47,973][train][INFO] - std_translation_plane_error = [1.2185434]
[2024-01-18 03:43:47,973][train][INFO] - std_translation_line_error = [1.0483652]
[2024-01-18 03:43:47,973][train][INFO] - std_rotation_error = [1.9643558]
[2024-01-18 03:43:47,974][train][INFO] - std_affordance_error = [1.153971]
[2024-01-18 03:43:47,974][train][INFO] - translation_outliers_num = 1
[2024-01-18 03:43:47,974][train][INFO] - rotation_outliers_num = 16
[2024-01-18 03:43:47,974][train][INFO] - affordance_outliers_num = 1
[2024-01-18 03:43:47,974][train][INFO] - translation_outliers_ratio = 0.015625
[2024-01-18 03:43:47,974][train][INFO] - rotation_outliers_ratio = 0.25
[2024-01-18 03:43:47,974][train][INFO] - affordance_outliers_ratio = 0.015625
[2024-01-18 03:43:47,974][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 03:43:47,976][train][INFO] - Validated training.
[2024-01-18 03:43:47,985][train][INFO] - Validating training time: 48.18128705024719
[2024-01-18 03:43:47,988][train][INFO] - Validating testing...
[2024-01-18 03:44:33,674][train][INFO] - mean_translation_distance_error = [2.3982377]
[2024-01-18 03:44:33,675][train][INFO] - mean_translation_along_error = [1.0931438]
[2024-01-18 03:44:33,675][train][INFO] - mean_translation_perp_error = [1.9883369]
[2024-01-18 03:44:33,676][train][INFO] - mean_translation_plane_error = [1.9859259]
[2024-01-18 03:44:33,676][train][INFO] - mean_translation_line_error = [1.3660996]
[2024-01-18 03:44:33,676][train][INFO] - mean_rotation_error = [5.536465]
[2024-01-18 03:44:33,677][train][INFO] - mean_affordance_error = [3.0255961]
[2024-01-18 03:44:33,678][train][INFO] - median_translation_distance_error = [2.32872]
[2024-01-18 03:44:33,678][train][INFO] - median_translation_along_error = [0.9788024]
[2024-01-18 03:44:33,678][train][INFO] - median_translation_perp_error = [1.9625971]
[2024-01-18 03:44:33,679][train][INFO] - median_translation_plane_error = [1.9344978]
[2024-01-18 03:44:33,679][train][INFO] - median_translation_line_error = [1.3758287]
[2024-01-18 03:44:33,679][train][INFO] - median_rotation_error = [4.674267]
[2024-01-18 03:44:33,680][train][INFO] - median_affordance_error = [2.4452815]
[2024-01-18 03:44:33,680][train][INFO] - max_translation_distance_error = [5.0594907]
[2024-01-18 03:44:33,680][train][INFO] - max_translation_along_error = [2.8998594]
[2024-01-18 03:44:33,680][train][INFO] - max_translation_perp_error = [4.940627]
[2024-01-18 03:44:33,681][train][INFO] - max_translation_plane_error = [5.1141715]
[2024-01-18 03:44:33,681][train][INFO] - max_translation_line_error = [3.530943]
[2024-01-18 03:44:33,681][train][INFO] - max_rotation_error = [13.812273]
[2024-01-18 03:44:33,681][train][INFO] - max_affordance_error = [9.968769]
[2024-01-18 03:44:33,681][train][INFO] - min_translation_distance_error = [0.77458453]
[2024-01-18 03:44:33,681][train][INFO] - min_translation_along_error = [0.0332875]
[2024-01-18 03:44:33,681][train][INFO] - min_translation_perp_error = [0.27469584]
[2024-01-18 03:44:33,682][train][INFO] - min_translation_plane_error = [0.3020785]
[2024-01-18 03:44:33,682][train][INFO] - min_translation_line_error = [0.03034762]
[2024-01-18 03:44:33,682][train][INFO] - min_rotation_error = [0.2762456]
[2024-01-18 03:44:33,682][train][INFO] - min_affordance_error = [0.774736]
[2024-01-18 03:44:33,682][train][INFO] - std_translation_distance_error = [0.8643021]
[2024-01-18 03:44:33,683][train][INFO] - std_translation_along_error = [0.741007]
[2024-01-18 03:44:33,683][train][INFO] - std_translation_perp_error = [0.8949991]
[2024-01-18 03:44:33,683][train][INFO] - std_translation_plane_error = [0.91981035]
[2024-01-18 03:44:33,683][train][INFO] - std_translation_line_error = [0.8509873]
[2024-01-18 03:44:33,683][train][INFO] - std_rotation_error = [3.356056]
[2024-01-18 03:44:33,683][train][INFO] - std_affordance_error = [1.7998593]
[2024-01-18 03:44:33,683][train][INFO] - translation_outliers_num = 0
[2024-01-18 03:44:33,683][train][INFO] - rotation_outliers_num = 30
[2024-01-18 03:44:33,683][train][INFO] - affordance_outliers_num = 7
[2024-01-18 03:44:33,683][train][INFO] - translation_outliers_ratio = 0.0
[2024-01-18 03:44:33,683][train][INFO] - rotation_outliers_ratio = 0.46875
[2024-01-18 03:44:33,683][train][INFO] - affordance_outliers_ratio = 0.109375
[2024-01-18 03:44:33,683][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 03:44:33,685][train][INFO] - Validated testing.
[2024-01-18 03:44:33,690][train][INFO] - Validating testing time: 45.696396350860596
[2024-01-18 03:44:33,693][train][INFO] - epoch: 161 lr: 0.0001495274826072215
[2024-01-18 03:46:03,348][train][INFO] - training loss: 0.0004144189943973389 + 0.026438138706402645 + 0.0005014909115238374 + 0.0005515067563869201 = 0.02790555539023545, data num: 1137
[2024-01-18 03:46:03,349][train][INFO] - epoch: 162 lr: 0.00014416052942640132
[2024-01-18 03:47:34,104][train][INFO] - training loss: 0.0004022411234877331 + 0.02613325916334159 + 0.0004934617354592774 + 0.0005461191466464596 = 0.027575081136698525, data num: 1137
[2024-01-18 03:47:34,105][train][INFO] - epoch: 163 lr: 0.0001388826079855881
[2024-01-18 03:49:03,967][train][INFO] - training loss: 0.00041415884940458153 + 0.026005993830040097 + 0.000492948495068251 + 0.0005199490416316621 = 0.027433050201377936, data num: 1137
[2024-01-18 03:49:03,969][train][INFO] - epoch: 164 lr: 0.00013369502053292245
[2024-01-18 03:50:35,930][train][INFO] - training loss: 0.00040206353636070463 + 0.02580005548790925 + 0.00048511925544719107 + 0.00047718878916687874 = 0.027164426968536444, data num: 1137
[2024-01-18 03:50:35,932][train][INFO] - epoch: 165 lr: 0.00012859904702798464
[2024-01-18 03:52:05,383][train][INFO] - training loss: 0.00040232989987190295 + 0.025759833683777187 + 0.0004899138160302149 + 0.00041988339266178326 = 0.027071960606715746, data num: 1137
[2024-01-18 03:52:05,385][train][INFO] - epoch: 166 lr: 0.00012359594482598432
[2024-01-18 03:53:34,908][train][INFO] - training loss: 0.00040590919969771575 + 0.026035652780491445 + 0.00048785205459959496 + 0.0004837452720999459 = 0.027413159272530012, data num: 1137
[2024-01-18 03:53:34,910][train][INFO] - epoch: 167 lr: 0.00011868694836752681
[2024-01-18 03:55:05,246][train][INFO] - training loss: 0.00041844129939110845 + 0.025893738415713113 + 0.000491813132814261 + 0.0004585576371027855 = 0.027262550675206713, data num: 1137
[2024-01-18 03:55:05,247][train][INFO] - epoch: 168 lr: 0.0001138732688740332
[2024-01-18 03:56:37,421][train][INFO] - training loss: 0.00040788324986351654 + 0.0256110483314842 + 0.00049813650871834 + 0.0004635919236130172 = 0.02698066013140811, data num: 1137
[2024-01-18 03:56:37,422][train][INFO] - epoch: 169 lr: 0.00010915609404889012
[2024-01-18 03:58:09,441][train][INFO] - training loss: 0.0003949680443232258 + 0.025343562217636242 + 0.00048004210920124833 + 0.00044949185550851526 = 0.026668064296245575, data num: 1137
[2024-01-18 03:58:09,442][train][INFO] - epoch: 170 lr: 0.00010453658778440103
[2024-01-18 03:59:41,002][train][INFO] - training loss: 0.0004050729678258196 + 0.02542619298522671 + 0.0004884648211979462 + 0.0004265497176068796 = 0.02674628033613165, data num: 1137
[2024-01-18 03:59:41,003][train][INFO] - epoch: 171 lr: 0.00010001588987461343
[2024-01-18 04:01:12,262][train][INFO] - training loss: 0.00041020855456331954 + 0.025184899982478883 + 0.0004919923525853341 + 0.0004896806679223826 = 0.026576781723027427, data num: 1137
[2024-01-18 04:01:12,263][train][INFO] - epoch: 172 lr: 9.559511573409192e-05
[2024-01-18 04:02:42,843][train][INFO] - training loss: 0.00040634272308024164 + 0.025223794315631192 + 0.0004810569710874309 + 0.0008445089030273164 = 0.026955703040584922, data num: 1137
[2024-01-18 04:02:42,844][train][INFO] - epoch: 173 lr: 9.12753561227063e-05
[2024-01-18 04:04:13,172][train][INFO] - training loss: 0.0003934420334796111 + 0.02513244944728083 + 0.0004806789664952602 + 0.0004233101544615339 = 0.026429880591523316, data num: 1137
[2024-01-18 04:04:13,174][train][INFO] - epoch: 174 lr: 8.705767687650262e-05
[2024-01-18 04:05:44,241][train][INFO] - training loss: 0.0003935588760618379 + 0.02494378028334015 + 0.00047720552457677614 + 0.0003446832518723871 = 0.026159228006791737, data num: 1137
[2024-01-18 04:05:44,242][train][INFO] - epoch: 175 lr: 8.294311864472445e-05
[2024-01-18 04:07:14,480][train][INFO] - training loss: 0.00040172202958880615 + 0.025058686448675063 + 0.00048584135705217096 + 0.0003769363165702089 = 0.026323186078419287, data num: 1137
[2024-01-18 04:07:14,481][train][INFO] - epoch: 176 lr: 7.89326966330478e-05
[2024-01-18 04:08:46,189][train][INFO] - training loss: 0.00039159452212010767 + 0.024969260673969984 + 0.00048530184883727797 + 0.000372759685332211 = 0.02621891675516963, data num: 1137
[2024-01-18 04:08:46,190][train][INFO] - epoch: 177 lr: 7.502740035309526e-05
[2024-01-18 04:10:15,273][train][INFO] - training loss: 0.0003861762644292968 + 0.024725769439505205 + 0.000473723223775677 + 0.00033018520818788803 = 0.025915854170711503, data num: 1137
[2024-01-18 04:10:15,274][train][INFO] - epoch: 178 lr: 7.12281933782875e-05
[2024-01-18 04:11:45,485][train][INFO] - training loss: 0.0003917759273058942 + 0.024641005632778008 + 0.00047481331865937036 + 0.00033308798063242447 = 0.02584068288302256, data num: 1137
[2024-01-18 04:11:45,487][train][INFO] - epoch: 179 lr: 6.75360131060967e-05
[2024-01-18 04:13:14,913][train][INFO] - training loss: 0.00038940415349012863 + 0.024829135017676487 + 0.0004776089582365886 + 0.00035907252175901603 = 0.026055220721496478, data num: 1137
[2024-01-18 04:13:14,915][train][INFO] - epoch: 180 lr: 6.395177052675792e-05
[2024-01-18 04:14:45,829][train][INFO] - training loss: 0.0003881348901712853 + 0.024506614866873458 + 0.0004767808265266164 + 0.0003509775448643874 = 0.025722508357527357, data num: 1137
[2024-01-18 04:14:45,844][train][INFO] - Validating training...
[2024-01-18 04:15:53,217][train][INFO] - mean_translation_distance_error = [2.279556]
[2024-01-18 04:15:53,218][train][INFO] - mean_translation_along_error = [0.65742445]
[2024-01-18 04:15:53,218][train][INFO] - mean_translation_perp_error = [2.1044004]
[2024-01-18 04:15:53,218][train][INFO] - mean_translation_plane_error = [2.1039238]
[2024-01-18 04:15:53,219][train][INFO] - mean_translation_line_error = [1.3365632]
[2024-01-18 04:15:53,219][train][INFO] - mean_rotation_error = [3.8525558]
[2024-01-18 04:15:53,219][train][INFO] - mean_affordance_error = [2.4951487]
[2024-01-18 04:15:53,220][train][INFO] - median_translation_distance_error = [2.0800138]
[2024-01-18 04:15:53,220][train][INFO] - median_translation_along_error = [0.52958804]
[2024-01-18 04:15:53,220][train][INFO] - median_translation_perp_error = [1.9144628]
[2024-01-18 04:15:53,220][train][INFO] - median_translation_plane_error = [1.8928542]
[2024-01-18 04:15:53,221][train][INFO] - median_translation_line_error = [1.0295242]
[2024-01-18 04:15:53,221][train][INFO] - median_rotation_error = [3.5170128]
[2024-01-18 04:15:53,221][train][INFO] - median_affordance_error = [2.351993]
[2024-01-18 04:15:53,221][train][INFO] - max_translation_distance_error = [5.769087]
[2024-01-18 04:15:53,221][train][INFO] - max_translation_along_error = [1.6650627]
[2024-01-18 04:15:53,222][train][INFO] - max_translation_perp_error = [5.750952]
[2024-01-18 04:15:53,222][train][INFO] - max_translation_plane_error = [5.7662506]
[2024-01-18 04:15:53,222][train][INFO] - max_translation_line_error = [4.8197064]
[2024-01-18 04:15:53,222][train][INFO] - max_rotation_error = [10.604466]
[2024-01-18 04:15:53,222][train][INFO] - max_affordance_error = [6.4430504]
[2024-01-18 04:15:53,223][train][INFO] - min_translation_distance_error = [0.6729812]
[2024-01-18 04:15:53,223][train][INFO] - min_translation_along_error = [0.02323135]
[2024-01-18 04:15:53,223][train][INFO] - min_translation_perp_error = [0.4511331]
[2024-01-18 04:15:53,223][train][INFO] - min_translation_plane_error = [0.46621454]
[2024-01-18 04:15:53,223][train][INFO] - min_translation_line_error = [0.03830106]
[2024-01-18 04:15:53,223][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-18 04:15:53,224][train][INFO] - min_affordance_error = [0.27970773]
[2024-01-18 04:15:53,224][train][INFO] - std_translation_distance_error = [1.1630629]
[2024-01-18 04:15:53,224][train][INFO] - std_translation_along_error = [0.4185614]
[2024-01-18 04:15:53,225][train][INFO] - std_translation_perp_error = [1.2301182]
[2024-01-18 04:15:53,225][train][INFO] - std_translation_plane_error = [1.2341279]
[2024-01-18 04:15:53,225][train][INFO] - std_translation_line_error = [1.1243024]
[2024-01-18 04:15:53,225][train][INFO] - std_rotation_error = [1.8830621]
[2024-01-18 04:15:53,225][train][INFO] - std_affordance_error = [1.3220768]
[2024-01-18 04:15:53,225][train][INFO] - translation_outliers_num = 1
[2024-01-18 04:15:53,225][train][INFO] - rotation_outliers_num = 18
[2024-01-18 04:15:53,225][train][INFO] - affordance_outliers_num = 2
[2024-01-18 04:15:53,226][train][INFO] - translation_outliers_ratio = 0.015625
[2024-01-18 04:15:53,226][train][INFO] - rotation_outliers_ratio = 0.28125
[2024-01-18 04:15:53,226][train][INFO] - affordance_outliers_ratio = 0.03125
[2024-01-18 04:15:53,226][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 04:15:53,227][train][INFO] - Validated training.
[2024-01-18 04:15:53,232][train][INFO] - Validating training time: 67.38361263275146
[2024-01-18 04:15:53,233][train][INFO] - Validating testing...
[2024-01-18 04:16:39,618][train][INFO] - mean_translation_distance_error = [2.6384897]
[2024-01-18 04:16:39,619][train][INFO] - mean_translation_along_error = [1.2327088]
[2024-01-18 04:16:39,619][train][INFO] - mean_translation_perp_error = [2.1099062]
[2024-01-18 04:16:39,620][train][INFO] - mean_translation_plane_error = [2.1276026]
[2024-01-18 04:16:39,620][train][INFO] - mean_translation_line_error = [1.2101135]
[2024-01-18 04:16:39,620][train][INFO] - mean_rotation_error = [6.1545553]
[2024-01-18 04:16:39,621][train][INFO] - mean_affordance_error = [2.6363301]
[2024-01-18 04:16:39,622][train][INFO] - median_translation_distance_error = [2.408544]
[2024-01-18 04:16:39,622][train][INFO] - median_translation_along_error = [0.9375062]
[2024-01-18 04:16:39,622][train][INFO] - median_translation_perp_error = [1.9815726]
[2024-01-18 04:16:39,623][train][INFO] - median_translation_plane_error = [1.9740674]
[2024-01-18 04:16:39,623][train][INFO] - median_translation_line_error = [1.155221]
[2024-01-18 04:16:39,623][train][INFO] - median_rotation_error = [5.1225185]
[2024-01-18 04:16:39,624][train][INFO] - median_affordance_error = [2.377007]
[2024-01-18 04:16:39,624][train][INFO] - max_translation_distance_error = [8.920102]
[2024-01-18 04:16:39,624][train][INFO] - max_translation_along_error = [4.388519]
[2024-01-18 04:16:39,625][train][INFO] - max_translation_perp_error = [8.599841]
[2024-01-18 04:16:39,625][train][INFO] - max_translation_plane_error = [9.147171]
[2024-01-18 04:16:39,625][train][INFO] - max_translation_line_error = [4.764411]
[2024-01-18 04:16:39,625][train][INFO] - max_rotation_error = [13.262972]
[2024-01-18 04:16:39,626][train][INFO] - max_affordance_error = [8.64678]
[2024-01-18 04:16:39,626][train][INFO] - min_translation_distance_error = [0.7249053]
[2024-01-18 04:16:39,626][train][INFO] - min_translation_along_error = [0.01545679]
[2024-01-18 04:16:39,627][train][INFO] - min_translation_perp_error = [0.40745]
[2024-01-18 04:16:39,627][train][INFO] - min_translation_plane_error = [0.42460692]
[2024-01-18 04:16:39,627][train][INFO] - min_translation_line_error = [0.00020786]
[2024-01-18 04:16:39,627][train][INFO] - min_rotation_error = [0.57061225]
[2024-01-18 04:16:39,628][train][INFO] - min_affordance_error = [0.5697688]
[2024-01-18 04:16:39,628][train][INFO] - std_translation_distance_error = [1.2769192]
[2024-01-18 04:16:39,629][train][INFO] - std_translation_along_error = [1.0165097]
[2024-01-18 04:16:39,629][train][INFO] - std_translation_perp_error = [1.2599941]
[2024-01-18 04:16:39,629][train][INFO] - std_translation_plane_error = [1.3073955]
[2024-01-18 04:16:39,630][train][INFO] - std_translation_line_error = [0.8992555]
[2024-01-18 04:16:39,630][train][INFO] - std_rotation_error = [3.646105]
[2024-01-18 04:16:39,630][train][INFO] - std_affordance_error = [1.5111238]
[2024-01-18 04:16:39,630][train][INFO] - translation_outliers_num = 2
[2024-01-18 04:16:39,630][train][INFO] - rotation_outliers_num = 32
[2024-01-18 04:16:39,630][train][INFO] - affordance_outliers_num = 5
[2024-01-18 04:16:39,630][train][INFO] - translation_outliers_ratio = 0.03125
[2024-01-18 04:16:39,630][train][INFO] - rotation_outliers_ratio = 0.5
[2024-01-18 04:16:39,630][train][INFO] - affordance_outliers_ratio = 0.078125
[2024-01-18 04:16:39,631][train][INFO] - data_num = 64, joint_num = 1
[2024-01-18 04:16:39,633][train][INFO] - Validated testing.
[2024-01-18 04:16:39,642][train][INFO] - Validating testing time: 46.39927816390991
[2024-01-18 04:16:39,643][train][INFO] - epoch: 181 lr: 6.047634999849528e-05
[2024-01-18 04:18:16,075][train][INFO] - training loss: 0.00038831199021337344 + 0.024445895804092288 + 0.0004712884438049514 + 0.0003532159493665353 = 0.025658712204959657, data num: 1137
[2024-01-18 04:18:16,076][train][INFO] - epoch: 182 lr: 5.711060902932039e-05
[2024-01-18 04:19:54,310][train][INFO] - training loss: 0.00039100749523236626 + 0.024413092010137107 + 0.00047060780505287566 + 0.0003274548335462492 = 0.02560216188430786, data num: 1137
[2024-01-18 04:19:54,311][train][INFO] - epoch: 183 lr: 5.385537806545467e-05
[2024-01-18 04:21:27,867][train][INFO] - training loss: 0.0003923360058656221 + 0.024292049205137625 + 0.00047533900012947724 + 0.0002647847893765882 = 0.025424509024661448, data num: 1137
[2024-01-18 04:21:27,868][train][INFO] - epoch: 184 lr: 5.0711460286429424e-05
[2024-01-18 04:23:04,457][train][INFO] - training loss: 0.0003893790760937716 + 0.02419604355883267 + 0.00048331093502282683 + 0.00031656485402385844 = 0.025385298300534487, data num: 1137
[2024-01-18 04:23:04,458][train][INFO] - epoch: 185 lr: 4.767963140691315e-05
[2024-01-18 04:24:40,233][train][INFO] - training loss: 0.0003876159134961199 + 0.024076494970358908 + 0.00047083098130921525 + 0.00030800571746820223 = 0.025242947520584695, data num: 1137
[2024-01-18 04:24:40,234][train][INFO] - epoch: 186 lr: 4.4760639485315563e-05
[2024-01-18 04:26:18,648][train][INFO] - training loss: 0.00038394085317526735 + 0.024143897876557376 + 0.00047090694594468613 + 0.00030413864124057 = 0.025302884298273258, data num: 1137
[2024-01-18 04:26:18,650][train][INFO] - epoch: 187 lr: 4.195520473921563e-05
[2024-01-18 04:27:57,617][train][INFO] - training loss: 0.00038482718244065635 + 0.02414013088370363 + 0.00047382400306459103 + 0.00026808178285541036 = 0.02526686392310593, data num: 1137
[2024-01-18 04:27:57,618][train][INFO] - epoch: 188 lr: 3.9264019367658385e-05
[2024-01-18 04:29:28,849][train][INFO] - training loss: 0.0003825832334566965 + 0.02409960394207802 + 0.00046695656480248243 + 0.00026325114878192026 = 0.0252123949273179, data num: 1137
[2024-01-18 04:29:28,851][train][INFO] - epoch: 189 lr: 3.6687747380365064e-05
[2024-01-18 04:31:06,074][train][INFO] - training loss: 0.0003851752876976712 + 0.02407524582102067 + 0.0004643192749224707 + 0.0002431611753195284 = 0.025167901405236788, data num: 1137
[2024-01-18 04:31:06,075][train][INFO] - epoch: 190 lr: 3.422702443389899e-05
[2024-01-18 04:32:43,802][train][INFO] - training loss: 0.00038412372749816213 + 0.02389438515011635 + 0.0004657421894888911 + 0.00025411054465015087 = 0.024998361619913742, data num: 1137
[2024-01-18 04:32:43,804][train][INFO] - epoch: 191 lr: 3.188245767482658e-05
[2024-01-18 04:34:19,354][train][INFO] - training loss: 0.00038863859420719865 + 0.023844282660219405 + 0.00046791380413600966 + 0.0002468640057284372 = 0.02494769890068306, data num: 1137
[2024-01-18 04:34:19,356][train][INFO] - epoch: 192 lr: 2.965462558991323e-05
[2024-01-18 04:35:54,866][train][INFO] - training loss: 0.0003890259524471023 + 0.023998416391097836 + 0.00047039498612219986 + 0.00027392346656698565 = 0.025131760734236903, data num: 1137
[2024-01-18 04:35:54,868][train][INFO] - epoch: 193 lr: 2.7544077863390004e-05
[2024-01-18 04:37:33,164][train][INFO] - training loss: 0.0003861988932638067 + 0.024022389177439943 + 0.0004739709094994598 + 0.0002450018764648121 = 0.025127561064437032, data num: 1137
[2024-01-18 04:37:33,165][train][INFO] - epoch: 194 lr: 2.5551335241327672e-05
[2024-01-18 04:39:12,042][train][INFO] - training loss: 0.0003806861548380564 + 0.02399128051992092 + 0.0004732252232820934 + 0.0002569410053183674 = 0.02510213290548159, data num: 1137
[2024-01-18 04:39:12,043][train][INFO] - epoch: 195 lr: 2.367688940315011e-05
[2024-01-18 04:40:42,909][train][INFO] - training loss: 0.0003794918092252273 + 0.023849352314654324 + 0.0004660156725246149 + 0.0002595387247765757 = 0.02495439865419434, data num: 1137
[2024-01-18 04:40:42,910][train][INFO] - epoch: 196 lr: 2.1921202840320077e-05
[2024-01-18 04:42:15,872][train][INFO] - training loss: 0.0003794371483915408 + 0.023725887864000268 + 0.00046627458828475536 + 0.00026969651296187495 = 0.024841296176115673, data num: 1137
[2024-01-18 04:42:15,873][train][INFO] - epoch: 197 lr: 2.0284708742225903e-05
[2024-01-18 04:43:52,412][train][INFO] - training loss: 0.00038034891258575954 + 0.023678467608988285 + 0.00046363513603056263 + 0.0002676903171653243 = 0.024790142067811556, data num: 1137
[2024-01-18 04:43:52,414][train][INFO] - epoch: 198 lr: 1.8767810889299086e-05
[2024-01-18 04:45:30,854][train][INFO] - training loss: 0.00038379591488693323 + 0.023935302367640868 + 0.00046667400197798596 + 0.000276617931376677 = 0.02506239021507402, data num: 1137
[2024-01-18 04:45:30,856][train][INFO] - epoch: 199 lr: 1.7370883553386936e-05
[2024-01-18 04:47:04,722][train][INFO] - training loss: 0.00038186094065571926 + 0.023777224252828293 + 0.00046235075933509506 + 0.00026216204150841804 = 0.024883597959867783, data num: 1137
[2024-01-18 04:47:04,722][train][INFO] - Optimized.
[2024-01-18 04:47:04,722][train][INFO] - Training time: 20385.992952108383
[2024-01-18 04:47:04,723][train][INFO] - Testing training...
[2024-01-18 04:55:15,734][train][INFO] - mean_translation_distance_error = [1.9058648]
[2024-01-18 04:55:15,735][train][INFO] - mean_translation_along_error = [0.591986]
[2024-01-18 04:55:15,735][train][INFO] - mean_translation_perp_error = [1.7239472]
[2024-01-18 04:55:15,735][train][INFO] - mean_translation_plane_error = [1.7232599]
[2024-01-18 04:55:15,735][train][INFO] - mean_translation_line_error = [1.0613978]
[2024-01-18 04:55:15,735][train][INFO] - mean_rotation_error = [3.9737978]
[2024-01-18 04:55:15,736][train][INFO] - mean_affordance_error = [2.1530042]
[2024-01-18 04:55:15,736][train][INFO] - median_translation_distance_error = [1.627638]
[2024-01-18 04:55:15,737][train][INFO] - median_translation_along_error = [0.49860924]
[2024-01-18 04:55:15,737][train][INFO] - median_translation_perp_error = [1.4092335]
[2024-01-18 04:55:15,737][train][INFO] - median_translation_plane_error = [1.4156523]
[2024-01-18 04:55:15,737][train][INFO] - median_translation_line_error = [0.755099]
[2024-01-18 04:55:15,737][train][INFO] - median_rotation_error = [3.7435033]
[2024-01-18 04:55:15,737][train][INFO] - median_affordance_error = [1.9723839]
[2024-01-18 04:55:15,738][train][INFO] - max_translation_distance_error = [7.598723]
[2024-01-18 04:55:15,738][train][INFO] - max_translation_along_error = [3.4619234]
[2024-01-18 04:55:15,738][train][INFO] - max_translation_perp_error = [7.557843]
[2024-01-18 04:55:15,738][train][INFO] - max_translation_plane_error = [7.569196]
[2024-01-18 04:55:15,738][train][INFO] - max_translation_line_error = [6.7432327]
[2024-01-18 04:55:15,738][train][INFO] - max_rotation_error = [12.728919]
[2024-01-18 04:55:15,739][train][INFO] - max_affordance_error = [8.443902]
[2024-01-18 04:55:15,739][train][INFO] - min_translation_distance_error = [0.09440921]
[2024-01-18 04:55:15,739][train][INFO] - min_translation_along_error = [0.00017472]
[2024-01-18 04:55:15,739][train][INFO] - min_translation_perp_error = [0.04326665]
[2024-01-18 04:55:15,739][train][INFO] - min_translation_plane_error = [0.03386634]
[2024-01-18 04:55:15,739][train][INFO] - min_translation_line_error = [0.00205046]
[2024-01-18 04:55:15,739][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-18 04:55:15,740][train][INFO] - min_affordance_error = [0.16023721]
[2024-01-18 04:55:15,740][train][INFO] - std_translation_distance_error = [1.1903033]
[2024-01-18 04:55:15,740][train][INFO] - std_translation_along_error = [0.45552808]
[2024-01-18 04:55:15,741][train][INFO] - std_translation_perp_error = [1.2325562]
[2024-01-18 04:55:15,741][train][INFO] - std_translation_plane_error = [1.2323701]
[2024-01-18 04:55:15,741][train][INFO] - std_translation_line_error = [1.0276155]
[2024-01-18 04:55:15,741][train][INFO] - std_rotation_error = [1.8860931]
[2024-01-18 04:55:15,741][train][INFO] - std_affordance_error = [1.2021939]
[2024-01-18 04:55:15,741][train][INFO] - translation_outliers_num = 30
[2024-01-18 04:55:15,741][train][INFO] - rotation_outliers_num = 291
[2024-01-18 04:55:15,741][train][INFO] - affordance_outliers_num = 24
[2024-01-18 04:55:15,741][train][INFO] - translation_outliers_ratio = 0.026385224274406333
[2024-01-18 04:55:15,741][train][INFO] - rotation_outliers_ratio = 0.2559366754617414
[2024-01-18 04:55:15,742][train][INFO] - affordance_outliers_ratio = 0.021108179419525065
[2024-01-18 04:55:15,742][train][INFO] - data_num = 1137, joint_num = 1
[2024-01-18 04:55:15,743][train][INFO] - Tested training.
[2024-01-18 04:55:15,747][train][INFO] - Testing training time: 491.0200114250183
[2024-01-18 04:55:15,751][train][INFO] - Testing testing...
[2024-01-18 04:58:20,203][train][INFO] - mean_translation_distance_error = [2.5523782]
[2024-01-18 04:58:20,204][train][INFO] - mean_translation_along_error = [1.052038]
[2024-01-18 04:58:20,204][train][INFO] - mean_translation_perp_error = [2.1772034]
[2024-01-18 04:58:20,204][train][INFO] - mean_translation_plane_error = [2.186468]
[2024-01-18 04:58:20,204][train][INFO] - mean_translation_line_error = [1.3239796]
[2024-01-18 04:58:20,204][train][INFO] - mean_rotation_error = [5.8770413]
[2024-01-18 04:58:20,205][train][INFO] - mean_affordance_error = [3.0846756]
[2024-01-18 04:58:20,205][train][INFO] - median_translation_distance_error = [2.4355798]
[2024-01-18 04:58:20,206][train][INFO] - median_translation_along_error = [0.9296314]
[2024-01-18 04:58:20,206][train][INFO] - median_translation_perp_error = [2.084223]
[2024-01-18 04:58:20,206][train][INFO] - median_translation_plane_error = [2.0847535]
[2024-01-18 04:58:20,206][train][INFO] - median_translation_line_error = [1.2115585]
[2024-01-18 04:58:20,206][train][INFO] - median_rotation_error = [5.0508623]
[2024-01-18 04:58:20,206][train][INFO] - median_affordance_error = [2.8776894]
[2024-01-18 04:58:20,207][train][INFO] - max_translation_distance_error = [7.9785085]
[2024-01-18 04:58:20,207][train][INFO] - max_translation_along_error = [4.048989]
[2024-01-18 04:58:20,207][train][INFO] - max_translation_perp_error = [7.6120343]
[2024-01-18 04:58:20,207][train][INFO] - max_translation_plane_error = [8.162943]
[2024-01-18 04:58:20,207][train][INFO] - max_translation_line_error = [5.165554]
[2024-01-18 04:58:20,207][train][INFO] - max_rotation_error = [23.647335]
[2024-01-18 04:58:20,208][train][INFO] - max_affordance_error = [10.3395605]
[2024-01-18 04:58:20,208][train][INFO] - min_translation_distance_error = [0.33840042]
[2024-01-18 04:58:20,208][train][INFO] - min_translation_along_error = [0.00557648]
[2024-01-18 04:58:20,208][train][INFO] - min_translation_perp_error = [0.03549371]
[2024-01-18 04:58:20,208][train][INFO] - min_translation_plane_error = [0.16113627]
[2024-01-18 04:58:20,209][train][INFO] - min_translation_line_error = [0.00748069]
[2024-01-18 04:58:20,209][train][INFO] - min_rotation_error = [0.11869407]
[2024-01-18 04:58:20,209][train][INFO] - min_affordance_error = [0.32057434]
[2024-01-18 04:58:20,209][train][INFO] - std_translation_distance_error = [1.0182575]
[2024-01-18 04:58:20,210][train][INFO] - std_translation_along_error = [0.7584597]
[2024-01-18 04:58:20,210][train][INFO] - std_translation_perp_error = [1.0626485]
[2024-01-18 04:58:20,210][train][INFO] - std_translation_plane_error = [1.0747558]
[2024-01-18 04:58:20,210][train][INFO] - std_translation_line_error = [0.92974246]
[2024-01-18 04:58:20,210][train][INFO] - std_rotation_error = [3.6330838]
[2024-01-18 04:58:20,210][train][INFO] - std_affordance_error = [1.6379435]
[2024-01-18 04:58:20,210][train][INFO] - translation_outliers_num = 7
[2024-01-18 04:58:20,210][train][INFO] - rotation_outliers_num = 212
[2024-01-18 04:58:20,210][train][INFO] - affordance_outliers_num = 45
[2024-01-18 04:58:20,210][train][INFO] - translation_outliers_ratio = 0.016867469879518072
[2024-01-18 04:58:20,210][train][INFO] - rotation_outliers_ratio = 0.5108433734939759
[2024-01-18 04:58:20,210][train][INFO] - affordance_outliers_ratio = 0.10843373493975904
[2024-01-18 04:58:20,211][train][INFO] - data_num = 415, joint_num = 1
[2024-01-18 04:58:20,212][train][INFO] - Tested testing.
[2024-01-18 04:58:20,212][train][INFO] - Testing testing time: 184.4589626789093