DriveTransformer/goalpoint_1gpu/20260224_001423.log

2026-02-24 00:14:39,900 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'}
2026-02-24 00:14:40,168 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'}
Name of parameter - Initialization information

pts_bbox_head.code_weights - torch.Size([10]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_code_weights - torch.Size([4]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.position_range - torch.Size([6]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.pc_range - torch.Size([6]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_query.weight - torch.Size([900, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_query.weight - torch.Size([100, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.time_embedding.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.time_embedding.2.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.time_embedding.4.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): 
Initialized by user-defined `init_weights` in DriveTransformerlHead  

pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-24 00:14:40,199 - DriveTransformer - INFO - Model:
DriveTransformer(
  (pts_bbox_head): DriveTransformerlHead(
    (loss_cls): FocalLoss()
    (loss_bbox): L1Loss()
    (loss_traj): L1Loss()
    (loss_traj_cls): FocalLoss()
    (loss_map_cls): FocalLoss()
    (loss_map_pts): PtsL1Loss()
    (loss_map_dir): PtsDirCosLoss()
    (loss_plan_reg_fix_dist): L1Loss()
    (loss_plan_reg_fix_time): L1Loss()
    (loss_plan_cls): FocalLoss()
    (agent_query): Embedding(900, 512)
    (agent_reference_points): Embedding(900, 3)
    (agent_cls_embedding): Sequential(
      (0): Linear(in_features=9, out_features=512, bias=True)
      (1): SiLU(inplace=True)
      (2): Linear(in_features=512, out_features=512, bias=True)
      (3): SiLU(inplace=True)
      (4): Linear(in_features=512, out_features=512, bias=True)
    )
    (agent_ref_embedding): Sequential(
      (0): Linear(in_features=768, out_features=512, bias=True)
      (1): SiLU(inplace=True)
      (2): Linear(in_features=512, out_features=512, bias=True)
      (3): SiLU(inplace=True)
      (4): Linear(in_features=512, out_features=512, bias=True)
    )
    (mode_embedding): Embedding(6, 512)
    (map_query): Embedding(100, 512)
    (map_reference_points): Embedding(100, 2)
    (map_cls_embedding): Sequential(
      (0): Linear(in_features=6, out_features=512, bias=True)
      (1): SiLU(inplace=True)
      (2): Linear(in_features=512, out_features=512, bias=True)
      (3): SiLU(inplace=True)
      (4): Linear(in_features=512, out_features=512, bias=True)
    )
    (map_ref_embedding): Sequential(
      (0): Linear(in_features=512, out_features=512, bias=True)
      (1): SiLU(inplace=True)
      (2): Linear(in_features=512, out_features=512, bias=True)
      (3): SiLU(inplace=True)
      (4): Linear(in_features=512, out_features=512, bias=True)
    )
    (ego_lcf_encoder): Sequential(
      (0): Linear(in_features=141, out_features=512, bias=True)
      (1): SiLU(inplace=True)
      (2): Linear(in_features=512, out_features=512, bias=True)
      (3): SiLU(inplace=True)
      (4): Linear(in_features=512, out_features=512, bias=True)
    )
    (ego_traj_ref_fix_time_embedding): Sequential(
      (0): Linear(in_features=1920, out_features=512, bias=True)
      (1): SiLU(inplace=True)
      (2): Linear(in_features=512, out_features=512, bias=True)
      (3): SiLU(inplace=True)
      (4): Linear(in_features=512, out_features=512, bias=True)
    )
    (ego_traj_ref_fix_dist_embedding): Sequential(
      (0): Linear(in_features=640, out_features=512, bias=True)
      (1): SiLU(inplace=True)
      (2): Linear(in_features=512, out_features=512, bias=True)
      (3): SiLU(inplace=True)
      (4): Linear(in_features=512, out_features=512, bias=True)
    )
    (featurized_pe): MLN(
      (reduce): Sequential(
        (0): Linear(in_features=512, out_features=512, bias=True)
        (1): SiLU(inplace=True)
      )
      (gamma): Linear(in_features=512, out_features=512, bias=True)
      (beta): Linear(in_features=512, out_features=512, bias=True)
      (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False)
    )
    (spatial_alignment): MLN(
      (reduce): Sequential(
        (0): Linear(in_features=8, out_features=512, bias=True)
        (1): SiLU(inplace=True)
      )
      (gamma): Linear(in_features=512, out_features=512, bias=True)
      (beta): Linear(in_features=512, out_features=512, bias=True)
      (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False)
    )
    (time_embedding): Sequential(
      (0): Linear(in_features=512, out_features=512, bias=True)
      (1): SiLU(inplace=True)
      (2): Linear(in_features=512, out_features=512, bias=True)
      (3): SiLU(inplace=True)
      (4): Linear(in_features=512, out_features=512, bias=True)
    )
    (img_position_encoder): Sequential(
      (0): Linear(in_features=192, out_features=512, bias=True)
      (1): SiLU(inplace=True)
      (2): Linear(in_features=512, out_features=512, bias=True)
      (3): SiLU(inplace=True)
      (4): Linear(in_features=512, out_features=512, bias=True)
    )
    (ego_pose_pe): MLN(
      (reduce): Sequential(
        (0): Linear(in_features=180, out_features=512, bias=True)
        (1): SiLU(inplace=True)
      )
      (gamma): Linear(in_features=512, out_features=512, bias=True)
      (beta): Linear(in_features=512, out_features=512, bias=True)
      (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False)
    )
    (ego_pose_memory): MLN(
      (reduce): Sequential(
        (0): Linear(in_features=180, out_features=512, bias=True)
        (1): SiLU(inplace=True)
      )
      (gamma): Linear(in_features=512, out_features=512, bias=True)
      (beta): Linear(in_features=512, out_features=512, bias=True)
      (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False)
    )
    (agent_prep_decoder): DriveTransformerPreDecoder(
      (layers): ModuleList(
        (0): DriveTransformerPreDecoderLayer(
          (attentions): ModuleList(
            (0-1): 2 x AttentionLayer(
              (w_q): Sequential(
                (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                (1): Linear(in_features=512, out_features=512, bias=True)
              )
              (w_k): Sequential(
                (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                (1): Linear(in_features=512, out_features=512, bias=True)
              )
              (w_v): Sequential(
                (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                (1): Linear(in_features=512, out_features=512, bias=True)
              )
              (proj): Linear(in_features=512, out_features=512, bias=True)
              (postnorm): Identity()
            )
          )
          (ffns): ModuleList(
            (0): SwiGLULayer(
              (swiglu): SwiGLU(
                (w12): Linear(in_features=512, out_features=2736, bias=True)
                (w3): Linear(in_features=1368, out_features=512, bias=True)
              )
              (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
              (dropout): Dropout(p=0.1, inplace=False)
              (postnorm): Identity()
            )
          )
        )
      )
    )
    (map_prep_decoder): DriveTransformerPreDecoder(
      (layers): ModuleList(
        (0): DriveTransformerPreDecoderLayer(
          (attentions): ModuleList(
            (0-1): 2 x AttentionLayer(
              (w_q): Sequential(
                (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                (1): Linear(in_features=512, out_features=512, bias=True)
              )
              (w_k): Sequential(
                (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                (1): Linear(in_features=512, out_features=512, bias=True)
              )
              (w_v): Sequential(
                (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                (1): Linear(in_features=512, out_features=512, bias=True)
              )
              (proj): Linear(in_features=512, out_features=512, bias=True)
              (postnorm): Identity()
            )
          )
          (ffns): ModuleList(
            (0): SwiGLULayer(
              (swiglu): SwiGLU(
                (w12): Linear(in_features=512, out_features=2736, bias=True)
                (w3): Linear(in_features=1368, out_features=512, bias=True)
              )
              (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
              (dropout): Dropout(p=0.1, inplace=False)
              (postnorm): Identity()
            )
          )
        )
      )
    )
    (transformer): DriveTransformerWrapper(
      (decoder): DriveTransformerDecoder(
        (layers): ModuleList(
          (0-5): 6 x DriveTransformerDecoderLayer(
            (task_self_attentions): ModuleList(
              (0): AttentionLayer(
                (w_q): Sequential(
                  (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                  (1): Linear(in_features=512, out_features=512, bias=True)
                )
                (w_k): Sequential(
                  (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                  (1): Linear(in_features=512, out_features=512, bias=True)
                )
                (w_v): Sequential(
                  (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                  (1): Linear(in_features=512, out_features=512, bias=True)
                )
                (proj): Linear(in_features=512, out_features=512, bias=True)
                (postnorm): Identity()
              )
            )
            (temporal_cross_attention_layers): ModuleList(
              (0-2): 3 x AttentionLayer(
                (w_q): Sequential(
                  (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                  (1): Linear(in_features=512, out_features=512, bias=True)
                )
                (w_k): Sequential(
                  (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                  (1): Linear(in_features=512, out_features=512, bias=True)
                )
                (w_v): Sequential(
                  (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                  (1): Linear(in_features=512, out_features=512, bias=True)
                )
                (proj): Linear(in_features=512, out_features=512, bias=True)
                (postnorm): Identity()
              )
            )
            (sensor_cross_attentions): ModuleList(
              (0): AttentionLayer(
                (w_k): Sequential(
                  (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                  (1): Linear(in_features=512, out_features=512, bias=True)
                )
                (w_v): Sequential(
                  (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                  (1): Linear(in_features=512, out_features=512, bias=True)
                )
                (proj): Linear(in_features=512, out_features=512, bias=True)
                (postnorm): Identity()
              )
            )
            (cross_w_q): ModuleList(
              (0-2): 3 x Sequential(
                (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                (1): Linear(in_features=512, out_features=512, bias=True)
              )
            )
            (ffns): ModuleList(
              (0): ModuleList(
                (0-2): 3 x SwiGLULayer(
                  (swiglu): SwiGLU(
                    (w12): Linear(in_features=512, out_features=2736, bias=True)
                    (w3): Linear(in_features=1368, out_features=512, bias=True)
                  )
                  (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
                  (dropout): Dropout(p=0.1, inplace=False)
                  (postnorm): Identity()
                )
              )
            )
          )
        )
      )
    )
    (cls_branches): ModuleList(
      (0-6): 7 x Sequential(
        (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
        (1): Linear(in_features=512, out_features=512, bias=True)
        (2): SiLU(inplace=True)
        (3): Linear(in_features=512, out_features=512, bias=True)
        (4): SiLU(inplace=True)
        (5): Linear(in_features=512, out_features=9, bias=False)
      )
    )
    (reg_branches): ModuleList(
      (0-6): 7 x Sequential(
        (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
        (1): Linear(in_features=512, out_features=512, bias=True)
        (2): SiLU(inplace=True)
        (3): Linear(in_features=512, out_features=512, bias=True)
        (4): SiLU(inplace=True)
        (5): Linear(in_features=512, out_features=10, bias=True)
      )
    )
    (traj_branches): ModuleList(
      (0-6): 7 x Sequential(
        (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
        (1): Linear(in_features=512, out_features=512, bias=True)
        (2): SiLU(inplace=True)
        (3): Linear(in_features=512, out_features=512, bias=True)
        (4): SiLU(inplace=True)
        (5): Linear(in_features=512, out_features=12, bias=True)
      )
    )
    (traj_cls_branches): ModuleList(
      (0-6): 7 x Sequential(
        (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
        (1): Linear(in_features=512, out_features=512, bias=True)
        (2): SiLU(inplace=True)
        (3): Linear(in_features=512, out_features=512, bias=True)
        (4): SiLU(inplace=True)
        (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
        (6): Linear(in_features=512, out_features=1, bias=False)
      )
    )
    (map_cls_branches): ModuleList(
      (0-6): 7 x Sequential(
        (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
        (1): Linear(in_features=512, out_features=512, bias=True)
        (2): SiLU(inplace=True)
        (3): Linear(in_features=512, out_features=512, bias=True)
        (4): SiLU(inplace=True)
        (5): Linear(in_features=512, out_features=6, bias=False)
      )
    )
    (map_reg_branches): ModuleList(
      (0-5): 6 x Sequential(
        (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
        (1): Linear(in_features=512, out_features=512, bias=True)
        (2): SiLU(inplace=True)
        (3): Linear(in_features=512, out_features=512, bias=True)
        (4): SiLU(inplace=True)
        (5): Linear(in_features=512, out_features=2, bias=True)
      )
      (6): Linear(in_features=512, out_features=40, bias=True)
    )
    (ego_traj_branches_fix_dist): ModuleList(
      (0-6): 7 x Sequential(
        (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
        (1): Linear(in_features=512, out_features=512, bias=True)
        (2): SiLU(inplace=True)
        (3): Linear(in_features=512, out_features=512, bias=True)
        (4): SiLU(inplace=True)
        (5): Linear(in_features=512, out_features=20, bias=True)
      )
    )
    (ego_traj_branches_fix_time): ModuleList(
      (0-6): 7 x Sequential(
        (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True)
        (1): Linear(in_features=512, out_features=512, bias=True)
        (2): SiLU(inplace=True)
        (3): Linear(in_features=512, out_features=512, bias=True)
        (4): SiLU(inplace=True)
        (5): Linear(in_features=512, out_features=60, bias=True)
      )
    )
  )
  (img_backbone): ResNet(
    (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False)
    (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
    (relu): ReLU(inplace=True)
    (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False)
    (layer1): ResLayer(
      (0): Bottleneck(
        (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
        (downsample): Sequential(
          (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
          (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        )
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (1): Bottleneck(
        (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (2): Bottleneck(
        (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
    )
    (layer2): ResLayer(
      (0): Bottleneck(
        (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
        (downsample): Sequential(
          (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False)
          (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        )
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (1): Bottleneck(
        (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (2): Bottleneck(
        (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (3): Bottleneck(
        (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
    )
    (layer3): ResLayer(
      (0): Bottleneck(
        (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
        (downsample): Sequential(
          (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False)
          (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        )
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (1): Bottleneck(
        (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (2): Bottleneck(
        (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (3): Bottleneck(
        (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (4): Bottleneck(
        (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (5): Bottleneck(
        (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
    )
    (layer4): ResLayer(
      (0): Bottleneck(
        (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
        (downsample): Sequential(
          (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False)
          (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        )
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (1): Bottleneck(
        (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
      (2): Bottleneck(
        (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False)
        (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False)
        (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True)
        (relu): ReLU(inplace=True)
      )
      init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}}
    )
  )
  init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'}
  (img_neck): FPN(
    (lateral_convs): ModuleList(
      (0): ConvModule(
        (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1))
      )
    )
    (fpn_convs): ModuleList(
      (0): ConvModule(
        (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1))
      )
    )
  )
  init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'}
  (grid_mask): GridMask()
)
2026-02-24 00:14:40,658 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu
2026-02-24 00:14:40,659 - DriveTransformer - INFO - Hooks will be executed in the following order:
before_run:
(VERY_HIGH   ) CosineAnnealingLrUpdaterHook       
(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook
(NORMAL      ) CheckpointHook                     
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
before_train_epoch:
(VERY_HIGH   ) CosineAnnealingLrUpdaterHook       
(LOW         ) IterTimerHook                      
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
before_train_iter:
(VERY_HIGH   ) CosineAnnealingLrUpdaterHook       
(LOW         ) IterTimerHook                      
 -------------------- 
after_train_iter:
(ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook
(NORMAL      ) CheckpointHook                     
(LOW         ) IterTimerHook                      
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
after_train_epoch:
(NORMAL      ) CheckpointHook                     
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
before_val_epoch:
(LOW         ) IterTimerHook                      
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
before_val_iter:
(LOW         ) IterTimerHook                      
 -------------------- 
after_val_iter:
(LOW         ) IterTimerHook                      
 -------------------- 
after_val_epoch:
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
after_run:
(VERY_LOW    ) TextLoggerHook                     
(VERY_LOW    ) TensorboardLoggerHook              
 -------------------- 
2026-02-24 00:14:40,659 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs
2026-02-24 00:14:40,663 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend.
2026-02-24 00:14:48,578 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers.
2026-02-24 00:15:17,766 - DriveTransformer - INFO - Epoch [1][50/117620]	lr: 1.441e-05, eta: 60 days, 11:30:55, time: 0.740, data_time: 0.128, memory: 7284, loss_cls: 657.0177, loss_bbox: 1.7126, loss_traj: 4.0331, loss_traj_cls: 0.0986, loss_map_cls: 9.2025, loss_map_pts: 5.1980, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 9.3064, d0.loss_plan_l1_fix_dist: 3.1385, d1.loss_plan_l1_fix_time: 9.7504, d1.loss_plan_l1_fix_dist: 4.0820, d2.loss_plan_l1_fix_time: 10.2569, d2.loss_plan_l1_fix_dist: 5.5467, d3.loss_plan_l1_fix_time: 10.8451, d3.loss_plan_l1_fix_dist: 7.2853, d4.loss_plan_l1_fix_time: 11.3784, d4.loss_plan_l1_fix_dist: 9.8207, d5.loss_plan_l1_fix_time: 11.9745, d5.loss_plan_l1_fix_dist: 12.4756, d6.loss_plan_l1_fix_time: 12.5522, d6.loss_plan_l1_fix_dist: 14.9600, d0.loss_cls_all: 450.4785, d0.loss_bbox_all: 1.6361, d0.loss_cls: 450.4785, d0.loss_bbox: 1.6361, d1.loss_cls: 498.7639, d1.loss_bbox: 1.6127, d2.loss_cls: 493.9947, d2.loss_bbox: 1.6771, d3.loss_cls: 564.4796, d3.loss_bbox: 1.6715, d4.loss_cls: 529.9633, d4.loss_bbox: 1.6285, d5.loss_cls: 598.1542, d5.loss_bbox: 1.7129, d0.loss_traj_cls: 0.0725, d0.loss_traj: 4.0100, d1.loss_traj_cls: 0.0616, d1.loss_traj: 4.0386, d2.loss_traj_cls: 0.0645, d2.loss_traj: 4.1268, d3.loss_traj_cls: 0.1104, d3.loss_traj: 4.0976, d4.loss_traj_cls: 0.0551, d4.loss_traj: 3.9702, d5.loss_traj_cls: 0.0604, d5.loss_traj: 4.0178, d0.loss_map_cls_all: 6.9678, d0.loss_map_pts_all: 4.8605, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 6.9678, d0.loss_map_pts: 4.8605, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.2881, d1.loss_map_pts: 4.8943, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 6.9919, d2.loss_map_pts: 4.9406, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 9.5294, d3.loss_map_pts: 4.9800, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.5364, d4.loss_map_pts: 5.0468, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.5420, d5.loss_map_pts: 5.1216, d5.loss_map_dir: 0.0947, loss: 4524.4928
2026-02-24 00:15:43,731 - DriveTransformer - INFO - Epoch [1][100/117620]	lr: 1.891e-05, eta: 51 days, 10:38:31, time: 0.519, data_time: 0.017, memory: 8383, loss_cls: 626.4420, loss_bbox: 1.5986, loss_traj: 6.4413, loss_traj_cls: 0.0977, loss_map_cls: 10.3471, loss_map_pts: 5.7189, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 12.7941, d0.loss_plan_l1_fix_dist: 3.4560, d1.loss_plan_l1_fix_time: 13.1416, d1.loss_plan_l1_fix_dist: 4.5200, d2.loss_plan_l1_fix_time: 13.5316, d2.loss_plan_l1_fix_dist: 6.3581, d3.loss_plan_l1_fix_time: 14.0300, d3.loss_plan_l1_fix_dist: 8.3249, d4.loss_plan_l1_fix_time: 14.4851, d4.loss_plan_l1_fix_dist: 11.1415, d5.loss_plan_l1_fix_time: 15.0075, d5.loss_plan_l1_fix_dist: 14.0320, d6.loss_plan_l1_fix_time: 15.4970, d6.loss_plan_l1_fix_dist: 16.7320, d0.loss_cls_all: 439.3888, d0.loss_bbox_all: 1.5691, d0.loss_cls: 439.3888, d0.loss_bbox: 1.5691, d1.loss_cls: 475.7493, d1.loss_bbox: 1.5340, d2.loss_cls: 472.1062, d2.loss_bbox: 1.6203, d3.loss_cls: 534.0961, d3.loss_bbox: 1.6085, d4.loss_cls: 507.8107, d4.loss_bbox: 1.5102, d5.loss_cls: 568.9099, d5.loss_bbox: 1.6094, d0.loss_traj_cls: 0.0739, d0.loss_traj: 6.4161, d1.loss_traj_cls: 0.0622, d1.loss_traj: 6.4786, d2.loss_traj_cls: 0.0639, d2.loss_traj: 6.5505, d3.loss_traj_cls: 0.1072, d3.loss_traj: 6.4955, d4.loss_traj_cls: 0.0534, d4.loss_traj: 6.4070, d5.loss_traj_cls: 0.0578, d5.loss_traj: 6.4554, d0.loss_map_cls_all: 7.8838, d0.loss_map_pts_all: 5.4573, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.8838, d0.loss_map_pts: 5.4573, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.5399, d1.loss_map_pts: 5.4801, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.0800, d2.loss_map_pts: 5.5107, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.8225, d3.loss_map_pts: 5.5467, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.6928, d4.loss_map_pts: 5.6095, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.5945, d5.loss_map_pts: 5.6656, d5.loss_map_dir: 0.0949, loss: 4404.3728, grad_norm: 60564.3828
2026-02-24 00:16:10,176 - DriveTransformer - INFO - Epoch [1][150/117620]	lr: 2.341e-05, eta: 48 days, 16:39:46, time: 0.529, data_time: 0.023, memory: 8386, loss_cls: 304.1647, loss_bbox: 1.9155, loss_traj: 5.3778, loss_traj_cls: 0.0796, loss_map_cls: 10.8674, loss_map_pts: 5.5582, loss_map_dir: 0.0954, d0.loss_plan_l1_fix_time: 11.5006, d0.loss_plan_l1_fix_dist: 3.2705, d1.loss_plan_l1_fix_time: 11.8258, d1.loss_plan_l1_fix_dist: 4.1175, d2.loss_plan_l1_fix_time: 12.2162, d2.loss_plan_l1_fix_dist: 5.5548, d3.loss_plan_l1_fix_time: 12.7128, d3.loss_plan_l1_fix_dist: 7.1503, d4.loss_plan_l1_fix_time: 13.1407, d4.loss_plan_l1_fix_dist: 9.1855, d5.loss_plan_l1_fix_time: 13.6123, d5.loss_plan_l1_fix_dist: 11.1148, d6.loss_plan_l1_fix_time: 14.0798, d6.loss_plan_l1_fix_dist: 12.9513, d0.loss_cls_all: 273.0265, d0.loss_bbox_all: 1.5982, d0.loss_cls: 273.0265, d0.loss_bbox: 1.5982, d1.loss_cls: 283.4599, d1.loss_bbox: 1.5695, d2.loss_cls: 251.0805, d2.loss_bbox: 1.6337, d3.loss_cls: 261.5088, d3.loss_bbox: 1.6315, d4.loss_cls: 239.6926, d4.loss_bbox: 1.6925, d5.loss_cls: 278.0819, d5.loss_bbox: 1.8730, d0.loss_traj_cls: 0.0615, d0.loss_traj: 5.2645, d1.loss_traj_cls: 0.0470, d1.loss_traj: 5.3895, d2.loss_traj_cls: 0.0434, d2.loss_traj: 5.4402, d3.loss_traj_cls: 0.0905, d3.loss_traj: 5.4116, d4.loss_traj_cls: 0.0426, d4.loss_traj: 5.3370, d5.loss_traj_cls: 0.0518, d5.loss_traj: 5.3933, d0.loss_map_cls_all: 8.0538, d0.loss_map_pts_all: 5.2660, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 8.0538, d0.loss_map_pts: 5.2660, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 7.6626, d1.loss_map_pts: 5.3052, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.3479, d2.loss_map_pts: 5.3478, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 11.9262, d3.loss_map_pts: 5.3764, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 11.4616, d4.loss_map_pts: 5.4332, d4.loss_map_dir: 0.0954, d5.loss_map_cls: 11.3637, d5.loss_map_pts: 5.4940, d5.loss_map_dir: 0.0954, loss: 2479.5634, grad_norm: 60564.3828
2026-02-24 00:16:36,393 - DriveTransformer - INFO - Epoch [1][200/117620]	lr: 2.791e-05, eta: 47 days, 5:30:08, time: 0.524, data_time: 0.017, memory: 8387, loss_cls: 279.1596, loss_bbox: 1.8883, loss_traj: 5.5598, loss_traj_cls: 0.0761, loss_map_cls: 8.8526, loss_map_pts: 5.3318, loss_map_dir: 0.0956, d0.loss_plan_l1_fix_time: 12.1687, d0.loss_plan_l1_fix_dist: 3.2580, d1.loss_plan_l1_fix_time: 12.4261, d1.loss_plan_l1_fix_dist: 3.9922, d2.loss_plan_l1_fix_time: 12.7427, d2.loss_plan_l1_fix_dist: 5.3854, d3.loss_plan_l1_fix_time: 13.1551, d3.loss_plan_l1_fix_dist: 6.8306, d4.loss_plan_l1_fix_time: 13.5196, d4.loss_plan_l1_fix_dist: 8.6924, d5.loss_plan_l1_fix_time: 13.9351, d5.loss_plan_l1_fix_dist: 10.4227, d6.loss_plan_l1_fix_time: 14.3542, d6.loss_plan_l1_fix_dist: 12.0627, d0.loss_cls_all: 255.7249, d0.loss_bbox_all: 1.5567, d0.loss_cls: 255.7249, d0.loss_bbox: 1.5567, d1.loss_cls: 264.1475, d1.loss_bbox: 1.5163, d2.loss_cls: 229.5365, d2.loss_bbox: 1.5775, d3.loss_cls: 236.7383, d3.loss_bbox: 1.5674, d4.loss_cls: 217.6574, d4.loss_bbox: 1.6273, d5.loss_cls: 255.2539, d5.loss_bbox: 1.8374, d0.loss_traj_cls: 0.0590, d0.loss_traj: 5.4155, d1.loss_traj_cls: 0.0459, d1.loss_traj: 5.5547, d2.loss_traj_cls: 0.0429, d2.loss_traj: 5.6046, d3.loss_traj_cls: 0.0876, d3.loss_traj: 5.5846, d4.loss_traj_cls: 0.0423, d4.loss_traj: 5.5243, d5.loss_traj_cls: 0.0488, d5.loss_traj: 5.5796, d0.loss_map_cls_all: 6.6893, d0.loss_map_pts_all: 5.1565, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 6.6893, d0.loss_map_pts: 5.1565, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 6.3890, d1.loss_map_pts: 5.1763, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 6.9014, d2.loss_map_pts: 5.1947, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 9.8598, d3.loss_map_pts: 5.2115, d3.loss_map_dir: 0.0954, d4.loss_map_cls: 9.3909, d4.loss_map_pts: 5.2461, d4.loss_map_dir: 0.0955, d5.loss_map_cls: 9.3585, d5.loss_map_pts: 5.2919, d5.loss_map_dir: 0.0956, loss: 2295.9010, grad_norm: 46416.1172
2026-02-24 00:17:05,091 - DriveTransformer - INFO - Epoch [1][250/117620]	lr: 3.241e-05, eta: 47 days, 3:46:00, time: 0.574, data_time: 0.020, memory: 8387, loss_cls: 118.7981, loss_bbox: 1.8936, loss_traj: 5.4647, loss_traj_cls: 0.0642, loss_map_cls: 8.7059, loss_map_pts: 5.4567, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 10.5593, d0.loss_plan_l1_fix_dist: 3.1679, d1.loss_plan_l1_fix_time: 10.7962, d1.loss_plan_l1_fix_dist: 3.6669, d2.loss_plan_l1_fix_time: 11.1037, d2.loss_plan_l1_fix_dist: 4.9680, d3.loss_plan_l1_fix_time: 11.4939, d3.loss_plan_l1_fix_dist: 6.4389, d4.loss_plan_l1_fix_time: 11.8638, d4.loss_plan_l1_fix_dist: 8.0709, d5.loss_plan_l1_fix_time: 12.2551, d5.loss_plan_l1_fix_dist: 9.4095, d6.loss_plan_l1_fix_time: 12.6722, d6.loss_plan_l1_fix_dist: 10.2239, d0.loss_cls_all: 150.2075, d0.loss_bbox_all: 1.5651, d0.loss_cls: 150.2075, d0.loss_bbox: 1.5651, d1.loss_cls: 137.1919, d1.loss_bbox: 1.6235, d2.loss_cls: 104.6157, d2.loss_bbox: 1.6664, d3.loss_cls: 98.3511, d3.loss_bbox: 1.5954, d4.loss_cls: 95.7586, d4.loss_bbox: 1.6881, d5.loss_cls: 115.2247, d5.loss_bbox: 1.8499, d0.loss_traj_cls: 0.0486, d0.loss_traj: 5.2743, d1.loss_traj_cls: 0.0328, d1.loss_traj: 5.4563, d2.loss_traj_cls: 0.0304, d2.loss_traj: 5.4444, d3.loss_traj_cls: 0.0612, d3.loss_traj: 5.4703, d4.loss_traj_cls: 0.0284, d4.loss_traj: 5.4348, d5.loss_traj_cls: 0.0370, d5.loss_traj: 5.5049, d0.loss_map_cls_all: 6.6500, d0.loss_map_pts_all: 5.2698, d0.loss_map_dir_all: 0.0960, d0.loss_map_cls: 6.6500, d0.loss_map_pts: 5.2698, d0.loss_map_dir: 0.0960, d1.loss_map_cls: 6.7339, d1.loss_map_pts: 5.3025, d1.loss_map_dir: 0.0961, d2.loss_map_cls: 7.3017, d2.loss_map_pts: 5.3333, d2.loss_map_dir: 0.0961, d3.loss_map_cls: 10.3291, d3.loss_map_pts: 5.3417, d3.loss_map_dir: 0.0960, d4.loss_map_cls: 9.6062, d4.loss_map_pts: 5.3704, d4.loss_map_dir: 0.0961, d5.loss_map_cls: 9.3640, d5.loss_map_pts: 5.4061, d5.loss_map_dir: 0.0962, loss: 1257.7041, grad_norm: 46416.1172
2026-02-24 00:17:32,393 - DriveTransformer - INFO - Epoch [1][300/117620]	lr: 3.691e-05, eta: 46 days, 17:33:05, time: 0.546, data_time: 0.018, memory: 8387, loss_cls: 93.3903, loss_bbox: 1.8154, loss_traj: 5.7055, loss_traj_cls: 0.0669, loss_map_cls: 7.5704, loss_map_pts: 5.4961, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 11.1261, d0.loss_plan_l1_fix_dist: 3.1715, d1.loss_plan_l1_fix_time: 11.3548, d1.loss_plan_l1_fix_dist: 3.6293, d2.loss_plan_l1_fix_time: 11.6502, d2.loss_plan_l1_fix_dist: 4.9073, d3.loss_plan_l1_fix_time: 12.0446, d3.loss_plan_l1_fix_dist: 6.2630, d4.loss_plan_l1_fix_time: 12.4405, d4.loss_plan_l1_fix_dist: 7.6789, d5.loss_plan_l1_fix_time: 12.8453, d5.loss_plan_l1_fix_dist: 8.9208, d6.loss_plan_l1_fix_time: 13.2651, d6.loss_plan_l1_fix_dist: 9.5943, d0.loss_cls_all: 118.9627, d0.loss_bbox_all: 1.5416, d0.loss_cls: 118.9627, d0.loss_bbox: 1.5416, d1.loss_cls: 105.8394, d1.loss_bbox: 1.6263, d2.loss_cls: 79.5748, d2.loss_bbox: 1.6418, d3.loss_cls: 76.0520, d3.loss_bbox: 1.5706, d4.loss_cls: 74.7425, d4.loss_bbox: 1.6663, d5.loss_cls: 89.5788, d5.loss_bbox: 1.7891, d0.loss_traj_cls: 0.0447, d0.loss_traj: 5.5213, d1.loss_traj_cls: 0.0313, d1.loss_traj: 5.6863, d2.loss_traj_cls: 0.0298, d2.loss_traj: 5.6656, d3.loss_traj_cls: 0.0604, d3.loss_traj: 5.6946, d4.loss_traj_cls: 0.0286, d4.loss_traj: 5.6691, d5.loss_traj_cls: 0.0370, d5.loss_traj: 5.7456, d0.loss_map_cls_all: 6.1985, d0.loss_map_pts_all: 5.3954, d0.loss_map_dir_all: 0.0962, d0.loss_map_cls: 6.1985, d0.loss_map_pts: 5.3954, d0.loss_map_dir: 0.0962, d1.loss_map_cls: 6.2705, d1.loss_map_pts: 5.4141, d1.loss_map_dir: 0.0960, d2.loss_map_cls: 6.6788, d2.loss_map_pts: 5.4293, d2.loss_map_dir: 0.0960, d3.loss_map_cls: 9.2363, d3.loss_map_pts: 5.4321, d3.loss_map_dir: 0.0961, d4.loss_map_cls: 8.5336, d4.loss_map_pts: 5.4466, d4.loss_map_dir: 0.0961, d5.loss_map_cls: 8.2358, d5.loss_map_pts: 5.4689, d5.loss_map_dir: 0.0961, loss: 1042.3440, grad_norm: 35613.6217
2026-02-24 00:17:58,681 - DriveTransformer - INFO - Epoch [1][350/117620]	lr: 4.141e-05, eta: 46 days, 4:33:21, time: 0.526, data_time: 0.018, memory: 8387, loss_cls: 33.5960, loss_bbox: 1.6438, loss_traj: 6.5622, loss_traj_cls: 0.0436, loss_map_cls: 4.9871, loss_map_pts: 5.2634, loss_map_dir: 0.0977, d0.loss_plan_l1_fix_time: 12.7415, d0.loss_plan_l1_fix_dist: 3.2513, d1.loss_plan_l1_fix_time: 12.9102, d1.loss_plan_l1_fix_dist: 3.4681, d2.loss_plan_l1_fix_time: 13.1506, d2.loss_plan_l1_fix_dist: 4.6434, d3.loss_plan_l1_fix_time: 13.5103, d3.loss_plan_l1_fix_dist: 5.7542, d4.loss_plan_l1_fix_time: 13.9529, d4.loss_plan_l1_fix_dist: 6.9430, d5.loss_plan_l1_fix_time: 14.3534, d5.loss_plan_l1_fix_dist: 7.7417, d6.loss_plan_l1_fix_time: 14.7931, d6.loss_plan_l1_fix_dist: 7.8649, d0.loss_cls_all: 63.3251, d0.loss_bbox_all: 1.4636, d0.loss_cls: 63.3251, d0.loss_bbox: 1.4636, d1.loss_cls: 49.0232, d1.loss_bbox: 1.5566, d2.loss_cls: 32.4976, d2.loss_bbox: 1.5340, d3.loss_cls: 29.1091, d3.loss_bbox: 1.4336, d4.loss_cls: 27.4466, d4.loss_bbox: 1.5225, d5.loss_cls: 33.3322, d5.loss_bbox: 1.6350, d0.loss_traj_cls: 0.0329, d0.loss_traj: 6.3757, d1.loss_traj_cls: 0.0222, d1.loss_traj: 6.5431, d2.loss_traj_cls: 0.0214, d2.loss_traj: 6.4817, d3.loss_traj_cls: 0.0387, d3.loss_traj: 6.5286, d4.loss_traj_cls: 0.0218, d4.loss_traj: 6.5101, d5.loss_traj_cls: 0.0246, d5.loss_traj: 6.6089, d0.loss_map_cls_all: 4.6628, d0.loss_map_pts_all: 5.2212, d0.loss_map_dir_all: 0.0977, d0.loss_map_cls: 4.6628, d0.loss_map_pts: 5.2212, d0.loss_map_dir: 0.0977, d1.loss_map_cls: 4.8074, d1.loss_map_pts: 5.2443, d1.loss_map_dir: 0.0978, d2.loss_map_cls: 4.9554, d2.loss_map_pts: 5.2502, d2.loss_map_dir: 0.0978, d3.loss_map_cls: 6.0609, d3.loss_map_pts: 5.2468, d3.loss_map_dir: 0.0978, d4.loss_map_cls: 5.8758, d4.loss_map_pts: 5.2490, d4.loss_map_dir: 0.0979, d5.loss_map_cls: 5.4760, d5.loss_map_pts: 5.2500, d5.loss_map_dir: 0.0978, loss: 609.0175, grad_norm: 35613.6217
2026-02-24 00:18:26,183 - DriveTransformer - INFO - Epoch [1][400/117620]	lr: 4.591e-05, eta: 46 days, 0:44:29, time: 0.550, data_time: 0.022, memory: 8387, loss_cls: 24.6396, loss_bbox: 1.6129, loss_traj: 5.9727, loss_traj_cls: 0.0443, loss_map_cls: 5.3058, loss_map_pts: 5.1626, loss_map_dir: 0.0980, d0.loss_plan_l1_fix_time: 9.7844, d0.loss_plan_l1_fix_dist: 3.0415, d1.loss_plan_l1_fix_time: 9.9497, d1.loss_plan_l1_fix_dist: 3.1728, d2.loss_plan_l1_fix_time: 10.1855, d2.loss_plan_l1_fix_dist: 3.9114, d3.loss_plan_l1_fix_time: 10.5256, d3.loss_plan_l1_fix_dist: 4.7058, d4.loss_plan_l1_fix_time: 10.9396, d4.loss_plan_l1_fix_dist: 5.4453, d5.loss_plan_l1_fix_time: 11.3379, d5.loss_plan_l1_fix_dist: 6.0932, d6.loss_plan_l1_fix_time: 11.7671, d6.loss_plan_l1_fix_dist: 6.4773, d0.loss_cls_all: 49.1784, d0.loss_bbox_all: 1.4942, d0.loss_cls: 49.1784, d0.loss_bbox: 1.4942, d1.loss_cls: 38.0082, d1.loss_bbox: 1.5871, d2.loss_cls: 24.2305, d2.loss_bbox: 1.5509, d3.loss_cls: 21.9213, d3.loss_bbox: 1.4510, d4.loss_cls: 20.1734, d4.loss_bbox: 1.5339, d5.loss_cls: 24.6213, d5.loss_bbox: 1.6113, d0.loss_traj_cls: 0.0283, d0.loss_traj: 5.8160, d1.loss_traj_cls: 0.0204, d1.loss_traj: 5.9726, d2.loss_traj_cls: 0.0208, d2.loss_traj: 5.9057, d3.loss_traj_cls: 0.0390, d3.loss_traj: 5.9434, d4.loss_traj_cls: 0.0206, d4.loss_traj: 5.9287, d5.loss_traj_cls: 0.0249, d5.loss_traj: 6.0097, d0.loss_map_cls_all: 5.4245, d0.loss_map_pts_all: 5.1408, d0.loss_map_dir_all: 0.0981, d0.loss_map_cls: 5.4245, d0.loss_map_pts: 5.1408, d0.loss_map_dir: 0.0981, d1.loss_map_cls: 5.4501, d1.loss_map_pts: 5.1562, d1.loss_map_dir: 0.0983, d2.loss_map_cls: 5.5821, d2.loss_map_pts: 5.1580, d2.loss_map_dir: 0.0982, d3.loss_map_cls: 6.5933, d3.loss_map_pts: 5.1543, d3.loss_map_dir: 0.0982, d4.loss_map_cls: 6.4699, d4.loss_map_pts: 5.1539, d4.loss_map_dir: 0.0982, d5.loss_map_cls: 5.9350, d5.loss_map_pts: 5.1530, d5.loss_map_dir: 0.0981, loss: 501.5608, grad_norm: 27998.9496
2026-02-24 00:18:53,723 - DriveTransformer - INFO - Epoch [1][450/117620]	lr: 5.041e-05, eta: 45 days, 21:49:11, time: 0.550, data_time: 0.018, memory: 8387, loss_cls: 9.3740, loss_bbox: 1.4883, loss_traj: 6.7819, loss_traj_cls: 0.0353, loss_map_cls: 3.2596, loss_map_pts: 5.4195, loss_map_dir: 0.0981, d0.loss_plan_l1_fix_time: 13.1956, d0.loss_plan_l1_fix_dist: 3.0275, d1.loss_plan_l1_fix_time: 13.2769, d1.loss_plan_l1_fix_dist: 3.2774, d2.loss_plan_l1_fix_time: 13.4424, d2.loss_plan_l1_fix_dist: 3.5007, d3.loss_plan_l1_fix_time: 13.6850, d3.loss_plan_l1_fix_dist: 3.5816, d4.loss_plan_l1_fix_time: 13.9951, d4.loss_plan_l1_fix_dist: 3.5527, d5.loss_plan_l1_fix_time: 14.2633, d5.loss_plan_l1_fix_dist: 4.0093, d6.loss_plan_l1_fix_time: 14.5690, d6.loss_plan_l1_fix_dist: 5.2119, d0.loss_cls_all: 24.4658, d0.loss_bbox_all: 1.5236, d0.loss_cls: 24.4658, d0.loss_bbox: 1.5236, d1.loss_cls: 18.4556, d1.loss_bbox: 1.5873, d2.loss_cls: 10.5847, d2.loss_bbox: 1.5124, d3.loss_cls: 9.3562, d3.loss_bbox: 1.4227, d4.loss_cls: 7.7051, d4.loss_bbox: 1.4788, d5.loss_cls: 9.1702, d5.loss_bbox: 1.5099, d0.loss_traj_cls: 0.0195, d0.loss_traj: 6.6364, d1.loss_traj_cls: 0.0158, d1.loss_traj: 6.8201, d2.loss_traj_cls: 0.0187, d2.loss_traj: 6.7187, d3.loss_traj_cls: 0.0322, d3.loss_traj: 6.7386, d4.loss_traj_cls: 0.0180, d4.loss_traj: 6.7519, d5.loss_traj_cls: 0.0219, d5.loss_traj: 6.8023, d0.loss_map_cls_all: 4.2393, d0.loss_map_pts_all: 5.4224, d0.loss_map_dir_all: 0.0982, d0.loss_map_cls: 4.2393, d0.loss_map_pts: 5.4224, d0.loss_map_dir: 0.0982, d1.loss_map_cls: 4.2911, d1.loss_map_pts: 5.4326, d1.loss_map_dir: 0.0984, d2.loss_map_cls: 4.1593, d2.loss_map_pts: 5.4297, d2.loss_map_dir: 0.0982, d3.loss_map_cls: 4.1873, d3.loss_map_pts: 5.4247, d3.loss_map_dir: 0.0981, d4.loss_map_cls: 4.4627, d4.loss_map_pts: 5.4227, d4.loss_map_dir: 0.0982, d5.loss_map_cls: 3.9175, d5.loss_map_pts: 5.4175, d5.loss_map_dir: 0.0981, loss: 372.5573, grad_norm: 27998.9496
2026-02-24 00:19:21,217 - DriveTransformer - INFO - Epoch [1][500/117620]	lr: 5.491e-05, eta: 45 days, 19:24:53, time: 0.550, data_time: 0.029, memory: 8387, loss_cls: 7.5014, loss_bbox: 1.5410, loss_traj: 6.5606, loss_traj_cls: 0.0328, loss_map_cls: 1.8305, loss_map_pts: 5.0153, loss_map_dir: 0.0969, d0.loss_plan_l1_fix_time: 13.4037, d0.loss_plan_l1_fix_dist: 2.8622, d1.loss_plan_l1_fix_time: 13.4632, d1.loss_plan_l1_fix_dist: 3.0039, d2.loss_plan_l1_fix_time: 13.6090, d2.loss_plan_l1_fix_dist: 3.1479, d3.loss_plan_l1_fix_time: 13.8227, d3.loss_plan_l1_fix_dist: 3.4930, d4.loss_plan_l1_fix_time: 14.0579, d4.loss_plan_l1_fix_dist: 3.8830, d5.loss_plan_l1_fix_time: 14.2692, d5.loss_plan_l1_fix_dist: 4.7233, d6.loss_plan_l1_fix_time: 14.5172, d6.loss_plan_l1_fix_dist: 6.0262, d0.loss_cls_all: 19.4051, d0.loss_bbox_all: 1.5803, d0.loss_cls: 19.4051, d0.loss_bbox: 1.5803, d1.loss_cls: 14.4086, d1.loss_bbox: 1.6196, d2.loss_cls: 8.2383, d2.loss_bbox: 1.5353, d3.loss_cls: 7.3786, d3.loss_bbox: 1.4791, d4.loss_cls: 6.0407, d4.loss_bbox: 1.5262, d5.loss_cls: 7.2880, d5.loss_bbox: 1.5659, d0.loss_traj_cls: 0.0157, d0.loss_traj: 6.4436, d1.loss_traj_cls: 0.0141, d1.loss_traj: 6.6129, d2.loss_traj_cls: 0.0185, d2.loss_traj: 6.5186, d3.loss_traj_cls: 0.0290, d3.loss_traj: 6.5163, d4.loss_traj_cls: 0.0169, d4.loss_traj: 6.5277, d5.loss_traj_cls: 0.0206, d5.loss_traj: 6.5650, d0.loss_map_cls_all: 2.5983, d0.loss_map_pts_all: 5.0026, d0.loss_map_dir_all: 0.0971, d0.loss_map_cls: 2.5983, d0.loss_map_pts: 5.0026, d0.loss_map_dir: 0.0971, d1.loss_map_cls: 2.6360, d1.loss_map_pts: 5.0119, d1.loss_map_dir: 0.0970, d2.loss_map_cls: 2.5280, d2.loss_map_pts: 5.0118, d2.loss_map_dir: 0.0969, d3.loss_map_cls: 2.3821, d3.loss_map_pts: 5.0074, d3.loss_map_dir: 0.0970, d4.loss_map_cls: 2.6571, d4.loss_map_pts: 5.0086, d4.loss_map_dir: 0.0970, d5.loss_map_cls: 2.2272, d5.loss_map_pts: 5.0091, d5.loss_map_dir: 0.0968, loss: 332.5705, grad_norm: 22780.4346
2026-02-24 00:19:48,558 - DriveTransformer - INFO - Epoch [1][550/117620]	lr: 5.941e-05, eta: 45 days, 16:54:17, time: 0.547, data_time: 0.017, memory: 8387, loss_cls: 3.8131, loss_bbox: 1.5122, loss_traj: 4.6787, loss_traj_cls: 0.0233, loss_map_cls: 1.1924, loss_map_pts: 5.1517, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 11.4806, d0.loss_plan_l1_fix_dist: 3.0248, d1.loss_plan_l1_fix_time: 11.5085, d1.loss_plan_l1_fix_dist: 2.9713, d2.loss_plan_l1_fix_time: 11.6784, d2.loss_plan_l1_fix_dist: 2.7571, d3.loss_plan_l1_fix_time: 11.9178, d3.loss_plan_l1_fix_dist: 3.3615, d4.loss_plan_l1_fix_time: 12.1268, d4.loss_plan_l1_fix_dist: 4.4806, d5.loss_plan_l1_fix_time: 12.3461, d5.loss_plan_l1_fix_dist: 5.7443, d6.loss_plan_l1_fix_time: 12.5784, d6.loss_plan_l1_fix_dist: 7.1890, d0.loss_cls_all: 11.5578, d0.loss_bbox_all: 1.5475, d0.loss_cls: 11.5578, d0.loss_bbox: 1.5475, d1.loss_cls: 7.7242, d1.loss_bbox: 1.6027, d2.loss_cls: 4.6593, d2.loss_bbox: 1.5157, d3.loss_cls: 4.2023, d3.loss_bbox: 1.4773, d4.loss_cls: 3.4218, d4.loss_bbox: 1.5025, d5.loss_cls: 3.8014, d5.loss_bbox: 1.5413, d0.loss_traj_cls: 0.0102, d0.loss_traj: 4.5875, d1.loss_traj_cls: 0.0106, d1.loss_traj: 4.7529, d2.loss_traj_cls: 0.0161, d2.loss_traj: 4.6403, d3.loss_traj_cls: 0.0227, d3.loss_traj: 4.6248, d4.loss_traj_cls: 0.0148, d4.loss_traj: 4.6330, d5.loss_traj_cls: 0.0175, d5.loss_traj: 4.6438, d0.loss_map_cls_all: 1.9018, d0.loss_map_pts_all: 5.1393, d0.loss_map_dir_all: 0.0967, d0.loss_map_cls: 1.9018, d0.loss_map_pts: 5.1393, d0.loss_map_dir: 0.0967, d1.loss_map_cls: 1.9835, d1.loss_map_pts: 5.1502, d1.loss_map_dir: 0.0968, d2.loss_map_cls: 1.8651, d2.loss_map_pts: 5.1438, d2.loss_map_dir: 0.0966, d3.loss_map_cls: 1.5509, d3.loss_map_pts: 5.1385, d3.loss_map_dir: 0.0964, d4.loss_map_cls: 1.9507, d4.loss_map_pts: 5.1397, d4.loss_map_dir: 0.0963, d5.loss_map_cls: 1.5159, d5.loss_map_pts: 5.1408, d5.loss_map_dir: 0.0962, loss: 264.6030, grad_norm: 22780.4346
2026-02-24 00:20:17,477 - DriveTransformer - INFO - Epoch [1][600/117620]	lr: 6.391e-05, eta: 45 days, 20:03:18, time: 0.579, data_time: 0.021, memory: 8387, loss_cls: 3.1017, loss_bbox: 1.5156, loss_traj: 6.5066, loss_traj_cls: 0.0181, loss_map_cls: 0.9778, loss_map_pts: 5.0500, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 13.4301, d0.loss_plan_l1_fix_dist: 2.7438, d1.loss_plan_l1_fix_time: 13.3579, d1.loss_plan_l1_fix_dist: 2.6677, d2.loss_plan_l1_fix_time: 13.4319, d2.loss_plan_l1_fix_dist: 2.8831, d3.loss_plan_l1_fix_time: 13.5821, d3.loss_plan_l1_fix_dist: 3.5269, d4.loss_plan_l1_fix_time: 13.7064, d4.loss_plan_l1_fix_dist: 4.5194, d5.loss_plan_l1_fix_time: 13.8476, d5.loss_plan_l1_fix_dist: 5.7278, d6.loss_plan_l1_fix_time: 13.9945, d6.loss_plan_l1_fix_dist: 7.2369, d0.loss_cls_all: 9.0413, d0.loss_bbox_all: 1.5467, d0.loss_cls: 9.0413, d0.loss_bbox: 1.5467, d1.loss_cls: 5.9616, d1.loss_bbox: 1.5651, d2.loss_cls: 3.7627, d2.loss_bbox: 1.5079, d3.loss_cls: 3.4234, d3.loss_bbox: 1.4729, d4.loss_cls: 2.8467, d4.loss_bbox: 1.5156, d5.loss_cls: 3.0949, d5.loss_bbox: 1.5461, d0.loss_traj_cls: 0.0073, d0.loss_traj: 6.4153, d1.loss_traj_cls: 0.0091, d1.loss_traj: 6.5663, d2.loss_traj_cls: 0.0125, d2.loss_traj: 6.5028, d3.loss_traj_cls: 0.0185, d3.loss_traj: 6.4578, d4.loss_traj_cls: 0.0122, d4.loss_traj: 6.4491, d5.loss_traj_cls: 0.0167, d5.loss_traj: 6.4646, d0.loss_map_cls_all: 1.4870, d0.loss_map_pts_all: 5.0597, d0.loss_map_dir_all: 0.0966, d0.loss_map_cls: 1.4870, d0.loss_map_pts: 5.0597, d0.loss_map_dir: 0.0966, d1.loss_map_cls: 1.5335, d1.loss_map_pts: 5.0734, d1.loss_map_dir: 0.0966, d2.loss_map_cls: 1.4361, d2.loss_map_pts: 5.0590, d2.loss_map_dir: 0.0965, d3.loss_map_cls: 1.2054, d3.loss_map_pts: 5.0462, d3.loss_map_dir: 0.0964, d4.loss_map_cls: 1.4734, d4.loss_map_pts: 5.0407, d4.loss_map_dir: 0.0962, d5.loss_map_cls: 1.1644, d5.loss_map_pts: 5.0372, d5.loss_map_dir: 0.0962, loss: 274.5652, grad_norm: 19153.6749
2026-02-24 00:20:45,562 - DriveTransformer - INFO - Epoch [1][650/117620]	lr: 6.841e-05, eta: 45 days, 20:06:19, time: 0.562, data_time: 0.020, memory: 8390, loss_cls: 2.0692, loss_bbox: 1.5213, loss_traj: 5.3505, loss_traj_cls: 0.0154, loss_map_cls: 0.8306, loss_map_pts: 5.0267, loss_map_dir: 0.0962, d0.loss_plan_l1_fix_time: 9.7649, d0.loss_plan_l1_fix_dist: 2.5549, d1.loss_plan_l1_fix_time: 9.7493, d1.loss_plan_l1_fix_dist: 2.5436, d2.loss_plan_l1_fix_time: 9.8834, d2.loss_plan_l1_fix_dist: 3.1221, d3.loss_plan_l1_fix_time: 10.0815, d3.loss_plan_l1_fix_dist: 3.7031, d4.loss_plan_l1_fix_time: 10.2278, d4.loss_plan_l1_fix_dist: 4.4613, d5.loss_plan_l1_fix_time: 10.4332, d5.loss_plan_l1_fix_dist: 5.5550, d6.loss_plan_l1_fix_time: 10.6219, d6.loss_plan_l1_fix_dist: 7.1756, d0.loss_cls_all: 4.6676, d0.loss_bbox_all: 1.5363, d0.loss_cls: 4.6676, d0.loss_bbox: 1.5363, d1.loss_cls: 3.1623, d1.loss_bbox: 1.5377, d2.loss_cls: 2.3142, d2.loss_bbox: 1.5245, d3.loss_cls: 2.1780, d3.loss_bbox: 1.5078, d4.loss_cls: 1.9580, d4.loss_bbox: 1.5416, d5.loss_cls: 2.0806, d5.loss_bbox: 1.5604, d0.loss_traj_cls: 0.0044, d0.loss_traj: 5.2345, d1.loss_traj_cls: 0.0077, d1.loss_traj: 5.3801, d2.loss_traj_cls: 0.0102, d2.loss_traj: 5.3457, d3.loss_traj_cls: 0.0161, d3.loss_traj: 5.3236, d4.loss_traj_cls: 0.0108, d4.loss_traj: 5.2915, d5.loss_traj_cls: 0.0162, d5.loss_traj: 5.2901, d0.loss_map_cls_all: 1.1433, d0.loss_map_pts_all: 5.0590, d0.loss_map_dir_all: 0.0968, d0.loss_map_cls: 1.1433, d0.loss_map_pts: 5.0590, d0.loss_map_dir: 0.0968, d1.loss_map_cls: 1.1873, d1.loss_map_pts: 5.0582, d1.loss_map_dir: 0.0968, d2.loss_map_cls: 1.1400, d2.loss_map_pts: 5.0464, d2.loss_map_dir: 0.0966, d3.loss_map_cls: 0.9882, d3.loss_map_pts: 5.0345, d3.loss_map_dir: 0.0965, d4.loss_map_cls: 1.1634, d4.loss_map_pts: 5.0262, d4.loss_map_dir: 0.0963, d5.loss_map_cls: 0.9260, d5.loss_map_pts: 5.0228, d5.loss_map_dir: 0.0963, loss: 222.1652, grad_norm: 19153.6749
 DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.sensor_cross_attentions.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.cross_w_q.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.0.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.1.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.4.ffns.0.2.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.task_self_attentions.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.bn1.weight - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.bn1.bias - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.bn1.weight - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.bn1.bias - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.bn2.weight - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.bn2.bias - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.bn3.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.bn3.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.1.bn1.weight - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.1.bn1.bias - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.1.bn2.weight - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.1.bn2.bias - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.1.bn3.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.1.bn3.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.2.bn1.weight - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.2.bn1.bias - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.2.bn2.weight - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.2.bn2.bias - torch.Size([64]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.2.bn3.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer1.2.bn3.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.bn1.weight - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.bn1.bias - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.bn2.weight - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.bn2.bias - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.bn3.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.bn3.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.1.bn1.weight - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.1.bn1.bias - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.1.bn2.weight - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.1.bn2.bias - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.1.bn3.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.1.bn3.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.2.bn1.weight - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.2.bn1.bias - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.2.bn2.weight - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.2.bn2.bias - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.2.bn3.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.2.bn3.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.3.bn1.weight - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.3.bn1.bias - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.3.bn2.weight - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.3.bn2.bias - torch.Size([128]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.3.bn3.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer2.3.bn3.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.bn1.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.bn1.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.bn2.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.bn2.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.bn3.weight - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.bn3.bias - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.1.bn1.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.1.bn1.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.1.bn2.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.1.bn2.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.1.bn3.weight - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.1.bn3.bias - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.2.bn1.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.2.bn1.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.2.bn2.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.2.bn2.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.2.bn3.weight - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.2.bn3.bias - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.3.bn1.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.3.bn1.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.3.bn2.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.3.bn2.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.3.bn3.weight - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.3.bn3.bias - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.4.bn1.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.4.bn1.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.4.bn2.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.4.bn2.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.4.bn3.weight - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.4.bn3.bias - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.5.bn1.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.5.bn1.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.5.bn2.weight - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.5.bn2.bias - torch.Size([256]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.5.bn3.weight - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer3.5.bn3.bias - torch.Size([1024]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.bn1.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.bn1.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.bn2.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.bn2.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.bn3.weight - torch.Size([2048]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.bn3.bias - torch.Size([2048]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.1.bn1.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.1.bn1.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.1.bn2.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.1.bn2.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.1.bn3.weight - torch.Size([2048]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.1.bn3.bias - torch.Size([2048]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.2.bn1.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.2.bn1.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.2.bn2.weight - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.2.bn2.bias - torch.Size([512]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.2.bn3.weight - torch.Size([2048]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_backbone.layer4.2.bn3.bias - torch.Size([2048]): 
PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth 

img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): 
XavierInit: gain=1, distribution=uniform, bias=0 

img_neck.lateral_convs.0.conv.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer  

img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): 
XavierInit: gain=1, distribution=uniform, bias=0 

img_neck.fpn_convs.0.conv.bias - torch.Size([512]): 
The value is the same before and after calling `init_weights` of DriveTransformer