DriveTransformer/goalpoint_1gpu/20260226_122411.log

2026-02-26 12:24:23,932 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'}
2026-02-26 12:24:24,074 - 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_cross_attention_layers.1.w_q.0.weight - torch.Size([512]2026-02-26 12:24:24,097 - 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()
)
2026-02-26 12:24:24,284 - DriveTransformer - INFO - load checkpoint from path: ./work_dirs/drivetransformer_goalpoint_1gpu/epoch_6.pth
2026-02-26 12:24:26,225 - DriveTransformer - INFO - resumed epoch 6, iter 237168
2026-02-26 12:24:26,227 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu
2026-02-26 12:24:26,227 - 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              
 -------------------- 
2026-02-26 12:24:26,227 - DriveTransformer - INFO - workflow: [('train', 1)], max: 24 epochs
2026-02-26 12:24:26,229 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend.
2026-02-26 12:24:35,151 - DriveTransformer - WARNING - Resume iter number is not divisible by cumulative_iters in GradientCumulativeOptimizerHook, which means the gradient of some iters is lost and the result may be influenced slightly.
2026-02-26 12:24:35,153 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers.
2026-02-26 12:25:11,838 - DriveTransformer - INFO - Epoch [7][50/39528]	lr: 8.550e-05, eta: 7 days, 11:47:53, time: 0.910, data_time: 0.183, memory: 19865, loss_cls: 0.1674, loss_bbox: 0.3620, loss_traj: 0.6562, loss_traj_cls: 0.0009, loss_map_cls: 0.1845, loss_map_pts: 0.7897, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.4760, d0.loss_plan_l1_fix_dist: 0.3586, d1.loss_plan_l1_fix_time: 0.9937, d1.loss_plan_l1_fix_dist: 0.1724, d2.loss_plan_l1_fix_time: 0.9789, d2.loss_plan_l1_fix_dist: 0.1796, d3.loss_plan_l1_fix_time: 0.9815, d3.loss_plan_l1_fix_dist: 0.1908, d4.loss_plan_l1_fix_time: 0.9863, d4.loss_plan_l1_fix_dist: 0.2043, d5.loss_plan_l1_fix_time: 0.9915, d5.loss_plan_l1_fix_dist: 0.2174, d6.loss_plan_l1_fix_time: 0.9975, d6.loss_plan_l1_fix_dist: 0.2314, d0.loss_cls_all: 0.2059, d0.loss_bbox_all: 0.4134, d0.loss_cls: 0.2059, d0.loss_bbox: 0.4134, d1.loss_cls: 0.1968, d1.loss_bbox: 0.3794, d2.loss_cls: 0.1838, d2.loss_bbox: 0.3627, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3584, d4.loss_cls: 0.1671, d4.loss_bbox: 0.3584, d5.loss_cls: 0.1661, d5.loss_bbox: 0.3605, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7634, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6673, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6565, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6564, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6542, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6550, d0.loss_map_cls_all: 0.2618, d0.loss_map_pts_all: 1.4843, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2618, d0.loss_map_pts: 1.4843, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.2316, d1.loss_map_pts: 1.0566, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.2107, d2.loss_map_pts: 0.8931, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1951, d3.loss_map_pts: 0.8311, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1899, d4.loss_map_pts: 0.8048, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1862, d5.loss_map_pts: 0.7909, d5.loss_map_dir: 0.0103, loss: 29.0853, grad_norm: 106.6784
2026-02-26 12:25:45,866 - DriveTransformer - INFO - Epoch [7][100/39528]	lr: 8.550e-05, eta: 6 days, 13:09:37, time: 0.681, data_time: 0.033, memory: 19865, loss_cls: 0.1625, loss_bbox: 0.3659, loss_traj: 0.5926, loss_traj_cls: 0.0010, loss_map_cls: 0.1823, loss_map_pts: 0.7006, loss_map_dir: 0.0093, d0.loss_plan_l1_fix_time: 2.2560, d0.loss_plan_l1_fix_dist: 0.4223, d1.loss_plan_l1_fix_time: 1.1272, d1.loss_plan_l1_fix_dist: 0.1555, d2.loss_plan_l1_fix_time: 1.1180, d2.loss_plan_l1_fix_dist: 0.1619, d3.loss_plan_l1_fix_time: 1.1187, d3.loss_plan_l1_fix_dist: 0.1704, d4.loss_plan_l1_fix_time: 1.1222, d4.loss_plan_l1_fix_dist: 0.1804, d5.loss_plan_l1_fix_time: 1.1264, d5.loss_plan_l1_fix_dist: 0.1902, d6.loss_plan_l1_fix_time: 1.1309, d6.loss_plan_l1_fix_dist: 0.1993, d0.loss_cls_all: 0.1866, d0.loss_bbox_all: 0.4110, d0.loss_cls: 0.1866, d0.loss_bbox: 0.4110, d1.loss_cls: 0.1900, d1.loss_bbox: 0.3792, d2.loss_cls: 0.1764, d2.loss_bbox: 0.3643, d3.loss_cls: 0.1714, d3.loss_bbox: 0.3603, d4.loss_cls: 0.1659, d4.loss_bbox: 0.3625, d5.loss_cls: 0.1638, d5.loss_bbox: 0.3647, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7473, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6151, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5903, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5847, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5881, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5881, d0.loss_map_cls_all: 0.2507, d0.loss_map_pts_all: 1.3599, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2507, d0.loss_map_pts: 1.3599, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2231, d1.loss_map_pts: 0.9568, d1.loss_map_dir: 0.0079, d2.loss_map_cls: 0.2023, d2.loss_map_pts: 0.7972, d2.loss_map_dir: 0.0084, d3.loss_map_cls: 0.1902, d3.loss_map_pts: 0.7288, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1853, d4.loss_map_pts: 0.7062, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1834, d5.loss_map_pts: 0.7023, d5.loss_map_dir: 0.0092, loss: 28.2636, grad_norm: 114.9240
2026-02-26 12:26:22,463 - DriveTransformer - INFO - Epoch [7][150/39528]	lr: 8.550e-05, eta: 6 days, 8:57:08, time: 0.732, data_time: 0.031, memory: 19865, loss_cls: 0.1912, loss_bbox: 0.4043, loss_traj: 0.6947, loss_traj_cls: 0.0009, loss_map_cls: 0.1705, loss_map_pts: 0.8348, loss_map_dir: 0.0124, d0.loss_plan_l1_fix_time: 2.8050, d0.loss_plan_l1_fix_dist: 0.3581, d1.loss_plan_l1_fix_time: 1.3023, d1.loss_plan_l1_fix_dist: 0.1982, d2.loss_plan_l1_fix_time: 1.2857, d2.loss_plan_l1_fix_dist: 0.2003, d3.loss_plan_l1_fix_time: 1.2852, d3.loss_plan_l1_fix_dist: 0.2080, d4.loss_plan_l1_fix_time: 1.2892, d4.loss_plan_l1_fix_dist: 0.2170, d5.loss_plan_l1_fix_time: 1.2943, d5.loss_plan_l1_fix_dist: 0.2255, d6.loss_plan_l1_fix_time: 1.2993, d6.loss_plan_l1_fix_dist: 0.2341, d0.loss_cls_all: 0.2243, d0.loss_bbox_all: 0.4639, d0.loss_cls: 0.2243, d0.loss_bbox: 0.4639, d1.loss_cls: 0.2171, d1.loss_bbox: 0.4268, d2.loss_cls: 0.2049, d2.loss_bbox: 0.4097, d3.loss_cls: 0.1937, d3.loss_bbox: 0.4052, d4.loss_cls: 0.1931, d4.loss_bbox: 0.4016, d5.loss_cls: 0.1911, d5.loss_bbox: 0.4027, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9286, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7353, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7016, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6901, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6884, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.6939, d0.loss_map_cls_all: 0.2444, d0.loss_map_pts_all: 1.6631, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2444, d0.loss_map_pts: 1.6631, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2139, d1.loss_map_pts: 1.1467, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1927, d2.loss_map_pts: 0.9504, d2.loss_map_dir: 0.0115, d3.loss_map_cls: 0.1816, d3.loss_map_pts: 0.8722, d3.loss_map_dir: 0.0120, d4.loss_map_cls: 0.1744, d4.loss_map_pts: 0.8425, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1731, d5.loss_map_pts: 0.8351, d5.loss_map_dir: 0.0124, loss: 32.8575, grad_norm: 148.9586
2026-02-26 12:26:58,987 - DriveTransformer - INFO - Epoch [7][200/39528]	lr: 8.550e-05, eta: 6 days, 6:47:07, time: 0.730, data_time: 0.034, memory: 19865, loss_cls: 0.1432, loss_bbox: 0.3488, loss_traj: 0.5070, loss_traj_cls: 0.0010, loss_map_cls: 0.1392, loss_map_pts: 0.6272, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.2555, d0.loss_plan_l1_fix_dist: 0.4581, d1.loss_plan_l1_fix_time: 0.9495, d1.loss_plan_l1_fix_dist: 0.1692, d2.loss_plan_l1_fix_time: 0.9357, d2.loss_plan_l1_fix_dist: 0.1694, d3.loss_plan_l1_fix_time: 0.9312, d3.loss_plan_l1_fix_dist: 0.1765, d4.loss_plan_l1_fix_time: 0.9375, d4.loss_plan_l1_fix_dist: 0.1852, d5.loss_plan_l1_fix_time: 0.9451, d5.loss_plan_l1_fix_dist: 0.1952, d6.loss_plan_l1_fix_time: 0.9535, d6.loss_plan_l1_fix_dist: 0.2066, d0.loss_cls_all: 0.1813, d0.loss_bbox_all: 0.3816, d0.loss_cls: 0.1813, d0.loss_bbox: 0.3816, d1.loss_cls: 0.1705, d1.loss_bbox: 0.3524, d2.loss_cls: 0.1556, d2.loss_bbox: 0.3426, d3.loss_cls: 0.1479, d3.loss_bbox: 0.3396, d4.loss_cls: 0.1426, d4.loss_bbox: 0.3415, d5.loss_cls: 0.1407, d5.loss_bbox: 0.3473, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6418, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5320, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5022, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.4943, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.4982, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.4984, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.4051, d0.loss_map_dir_all: 0.0105, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.4051, d0.loss_map_dir: 0.0105, d1.loss_map_cls: 0.1794, d1.loss_map_pts: 0.9054, d1.loss_map_dir: 0.0100, d2.loss_map_cls: 0.1592, d2.loss_map_pts: 0.7100, d2.loss_map_dir: 0.0100, d3.loss_map_cls: 0.1494, d3.loss_map_pts: 0.6474, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1421, d4.loss_map_pts: 0.6265, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1397, d5.loss_map_pts: 0.6227, d5.loss_map_dir: 0.0108, loss: 25.6106, grad_norm: 173.2891
2026-02-26 12:27:36,020 - DriveTransformer - INFO - Epoch [7][250/39528]	lr: 8.550e-05, eta: 6 days, 5:53:21, time: 0.741, data_time: 0.038, memory: 19865, loss_cls: 0.1580, loss_bbox: 0.3559, loss_traj: 0.5790, loss_traj_cls: 0.0011, loss_map_cls: 0.1530, loss_map_pts: 0.7068, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3492, d0.loss_plan_l1_fix_dist: 0.4016, d1.loss_plan_l1_fix_time: 0.9179, d1.loss_plan_l1_fix_dist: 0.1969, d2.loss_plan_l1_fix_time: 0.9135, d2.loss_plan_l1_fix_dist: 0.1902, d3.loss_plan_l1_fix_time: 0.9184, d3.loss_plan_l1_fix_dist: 0.1947, d4.loss_plan_l1_fix_time: 0.9230, d4.loss_plan_l1_fix_dist: 0.2018, d5.loss_plan_l1_fix_time: 0.9277, d5.loss_plan_l1_fix_dist: 0.2119, d6.loss_plan_l1_fix_time: 0.9329, d6.loss_plan_l1_fix_dist: 0.2238, d0.loss_cls_all: 0.2001, d0.loss_bbox_all: 0.4073, d0.loss_cls: 0.2001, d0.loss_bbox: 0.4073, d1.loss_cls: 0.1875, d1.loss_bbox: 0.3719, d2.loss_cls: 0.1734, d2.loss_bbox: 0.3580, d3.loss_cls: 0.1593, d3.loss_bbox: 0.3573, d4.loss_cls: 0.1574, d4.loss_bbox: 0.3540, d5.loss_cls: 0.1569, d5.loss_bbox: 0.3550, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7428, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6247, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5824, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5680, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5737, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5744, d0.loss_map_cls_all: 0.2142, d0.loss_map_pts_all: 1.3745, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2142, d0.loss_map_pts: 1.3745, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1941, d1.loss_map_pts: 0.9621, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1763, d2.loss_map_pts: 0.7928, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1668, d3.loss_map_pts: 0.7359, d3.loss_map_dir: 0.0098, d4.loss_map_cls: 0.1585, d4.loss_map_pts: 0.7172, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1539, d5.loss_map_pts: 0.7064, d5.loss_map_dir: 0.0104, loss: 26.9947, grad_norm: 161.8538
2026-02-26 12:28:11,193 - DriveTransformer - INFO - Epoch [7][300/39528]	lr: 8.550e-05, eta: 6 days, 4:03:42, time: 0.703, data_time: 0.034, memory: 19865, loss_cls: 0.1787, loss_bbox: 0.3956, loss_traj: 0.8435, loss_traj_cls: 0.0010, loss_map_cls: 0.1823, loss_map_pts: 0.8004, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5821, d0.loss_plan_l1_fix_dist: 0.4301, d1.loss_plan_l1_fix_time: 1.1648, d1.loss_plan_l1_fix_dist: 0.2014, d2.loss_plan_l1_fix_time: 1.1413, d2.loss_plan_l1_fix_dist: 0.1990, d3.loss_plan_l1_fix_time: 1.1400, d3.loss_plan_l1_fix_dist: 0.2079, d4.loss_plan_l1_fix_time: 1.1441, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 1.1487, d5.loss_plan_l1_fix_dist: 0.2351, d6.loss_plan_l1_fix_time: 1.1529, d6.loss_plan_l1_fix_dist: 0.2535, d0.loss_cls_all: 0.2200, d0.loss_bbox_all: 0.4629, d0.loss_cls: 0.2200, d0.loss_bbox: 0.4629, d1.loss_cls: 0.2106, d1.loss_bbox: 0.4248, d2.loss_cls: 0.1982, d2.loss_bbox: 0.4074, d3.loss_cls: 0.1842, d3.loss_bbox: 0.4002, d4.loss_cls: 0.1814, d4.loss_bbox: 0.3963, d5.loss_cls: 0.1786, d5.loss_bbox: 0.3961, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1122, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.9143, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8486, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8323, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8391, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8383, d0.loss_map_cls_all: 0.2614, d0.loss_map_pts_all: 1.5135, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2614, d0.loss_map_pts: 1.5135, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2295, d1.loss_map_pts: 1.0938, d1.loss_map_dir: 0.0088, d2.loss_map_cls: 0.2061, d2.loss_map_pts: 0.9030, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1972, d3.loss_map_pts: 0.8258, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1893, d4.loss_map_pts: 0.8040, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1827, d5.loss_map_pts: 0.8002, d5.loss_map_dir: 0.0098, loss: 32.4145, grad_norm: 157.4073
2026-02-26 12:28:45,650 - DriveTransformer - INFO - Epoch [7][350/39528]	lr: 8.550e-05, eta: 6 days, 2:20:53, time: 0.689, data_time: 0.030, memory: 19865, loss_cls: 0.1594, loss_bbox: 0.3697, loss_traj: 0.7234, loss_traj_cls: 0.0010, loss_map_cls: 0.1326, loss_map_pts: 0.6397, loss_map_dir: 0.0080, d0.loss_plan_l1_fix_time: 2.6001, d0.loss_plan_l1_fix_dist: 0.4449, d1.loss_plan_l1_fix_time: 1.0586, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 1.0379, d2.loss_plan_l1_fix_dist: 0.1819, d3.loss_plan_l1_fix_time: 1.0389, d3.loss_plan_l1_fix_dist: 0.1924, d4.loss_plan_l1_fix_time: 1.0431, d4.loss_plan_l1_fix_dist: 0.2053, d5.loss_plan_l1_fix_time: 1.0477, d5.loss_plan_l1_fix_dist: 0.2189, d6.loss_plan_l1_fix_time: 1.0528, d6.loss_plan_l1_fix_dist: 0.2341, d0.loss_cls_all: 0.1976, d0.loss_bbox_all: 0.4268, d0.loss_cls: 0.1976, d0.loss_bbox: 0.4268, d1.loss_cls: 0.1859, d1.loss_bbox: 0.3951, d2.loss_cls: 0.1762, d2.loss_bbox: 0.3749, d3.loss_cls: 0.1662, d3.loss_bbox: 0.3682, d4.loss_cls: 0.1610, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1605, d5.loss_bbox: 0.3689, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9127, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7661, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7215, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7097, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7160, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7159, d0.loss_map_cls_all: 0.1987, d0.loss_map_pts_all: 1.2728, d0.loss_map_dir_all: 0.0071, d0.loss_map_cls: 0.1987, d0.loss_map_pts: 1.2728, d0.loss_map_dir: 0.0071, d1.loss_map_cls: 0.1742, d1.loss_map_pts: 0.9033, d1.loss_map_dir: 0.0070, d2.loss_map_cls: 0.1546, d2.loss_map_pts: 0.7424, d2.loss_map_dir: 0.0073, d3.loss_map_cls: 0.1447, d3.loss_map_pts: 0.6750, d3.loss_map_dir: 0.0076, d4.loss_map_cls: 0.1382, d4.loss_map_pts: 0.6489, d4.loss_map_dir: 0.0079, d5.loss_map_cls: 0.1335, d5.loss_map_pts: 0.6413, d5.loss_map_dir: 0.0079, loss: 28.4466, grad_norm: 150.0818
2026-02-26 12:29:22,735 - DriveTransformer - INFO - Epoch [7][400/39528]	lr: 8.550e-05, eta: 6 days, 2:23:35, time: 0.743, data_time: 0.033, memory: 19865, loss_cls: 0.2081, loss_bbox: 0.4201, loss_traj: 0.6634, loss_traj_cls: 0.0010, loss_map_cls: 0.1990, loss_map_pts: 0.9040, loss_map_dir: 0.0133, d0.loss_plan_l1_fix_time: 2.7035, d0.loss_plan_l1_fix_dist: 0.3871, d1.loss_plan_l1_fix_time: 1.1518, d1.loss_plan_l1_fix_dist: 0.2034, d2.loss_plan_l1_fix_time: 1.1395, d2.loss_plan_l1_fix_dist: 0.2038, d3.loss_plan_l1_fix_time: 1.1385, d3.loss_plan_l1_fix_dist: 0.2137, d4.loss_plan_l1_fix_time: 1.1421, d4.loss_plan_l1_fix_dist: 0.2253, d5.loss_plan_l1_fix_time: 1.1464, d5.loss_plan_l1_fix_dist: 0.2395, d6.loss_plan_l1_fix_time: 1.1518, d6.loss_plan_l1_fix_dist: 0.2545, d0.loss_cls_all: 0.2491, d0.loss_bbox_all: 0.4816, d0.loss_cls: 0.2491, d0.loss_bbox: 0.4816, d1.loss_cls: 0.2414, d1.loss_bbox: 0.4452, d2.loss_cls: 0.2276, d2.loss_bbox: 0.4277, d3.loss_cls: 0.2169, d3.loss_bbox: 0.4209, d4.loss_cls: 0.2097, d4.loss_bbox: 0.4195, d5.loss_cls: 0.2079, d5.loss_bbox: 0.4198, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9068, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7623, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6907, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6694, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6621, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6601, d0.loss_map_cls_all: 0.2711, d0.loss_map_pts_all: 1.7739, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2711, d0.loss_map_pts: 1.7739, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2493, d1.loss_map_pts: 1.2501, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2269, d2.loss_map_pts: 1.0243, d2.loss_map_dir: 0.0121, d3.loss_map_cls: 0.2167, d3.loss_map_pts: 0.9441, d3.loss_map_dir: 0.0127, d4.loss_map_cls: 0.2072, d4.loss_map_pts: 0.9128, d4.loss_map_dir: 0.0131, d5.loss_map_cls: 0.2021, d5.loss_map_pts: 0.9048, d5.loss_map_dir: 0.0132, loss: 33.0796, grad_norm: 145.0114
2026-02-26 12:29:58,547 - DriveTransformer - INFO - Epoch [7][450/39528]	lr: 8.550e-05, eta: 6 days, 1:48:20, time: 0.715, data_time: 0.031, memory: 19865, loss_cls: 0.1590, loss_bbox: 0.3379, loss_traj: 0.6164, loss_traj_cls: 0.0010, loss_map_cls: 0.1531, loss_map_pts: 0.6794, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.4264, d0.loss_plan_l1_fix_dist: 0.4225, d1.loss_plan_l1_fix_time: 1.0016, d1.loss_plan_l1_fix_dist: 0.1933, d2.loss_plan_l1_fix_time: 0.9936, d2.loss_plan_l1_fix_dist: 0.1978, d3.loss_plan_l1_fix_time: 0.9993, d3.loss_plan_l1_fix_dist: 0.2050, d4.loss_plan_l1_fix_time: 1.0066, d4.loss_plan_l1_fix_dist: 0.2157, d5.loss_plan_l1_fix_time: 1.0144, d5.loss_plan_l1_fix_dist: 0.2264, d6.loss_plan_l1_fix_time: 1.0226, d6.loss_plan_l1_fix_dist: 0.2407, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.3960, d0.loss_cls: 0.1989, d0.loss_bbox: 0.3960, d1.loss_cls: 0.1888, d1.loss_bbox: 0.3659, d2.loss_cls: 0.1763, d2.loss_bbox: 0.3472, d3.loss_cls: 0.1671, d3.loss_bbox: 0.3405, d4.loss_cls: 0.1625, d4.loss_bbox: 0.3377, d5.loss_cls: 0.1588, d5.loss_bbox: 0.3394, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8354, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6754, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6183, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6176, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6161, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6125, d0.loss_map_cls_all: 0.2248, d0.loss_map_pts_all: 1.4556, d0.loss_map_dir_all: 0.0110, d0.loss_map_cls: 0.2248, d0.loss_map_pts: 1.4556, d0.loss_map_dir: 0.0110, d1.loss_map_cls: 0.1923, d1.loss_map_pts: 0.9679, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1730, d2.loss_map_pts: 0.7754, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1644, d3.loss_map_pts: 0.7063, d3.loss_map_dir: 0.0111, d4.loss_map_cls: 0.1582, d4.loss_map_pts: 0.6833, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1558, d5.loss_map_pts: 0.6784, d5.loss_map_dir: 0.0115, loss: 27.9736, grad_norm: 144.3853
2026-02-26 12:30:31,137 - DriveTransformer - INFO - Epoch [7][500/39528]	lr: 8.550e-05, eta: 6 days, 0:05:19, time: 0.652, data_time: 0.032, memory: 19865, loss_cls: 0.1760, loss_bbox: 0.3758, loss_traj: 0.7699, loss_traj_cls: 0.0010, loss_map_cls: 0.1686, loss_map_pts: 0.6722, loss_map_dir: 0.0078, d0.loss_plan_l1_fix_time: 3.1701, d0.loss_plan_l1_fix_dist: 0.3789, d1.loss_plan_l1_fix_time: 1.2357, d1.loss_plan_l1_fix_dist: 0.1746, d2.loss_plan_l1_fix_time: 1.2220, d2.loss_plan_l1_fix_dist: 0.1788, d3.loss_plan_l1_fix_time: 1.2217, d3.loss_plan_l1_fix_dist: 0.1870, d4.loss_plan_l1_fix_time: 1.2248, d4.loss_plan_l1_fix_dist: 0.1970, d5.loss_plan_l1_fix_time: 1.2285, d5.loss_plan_l1_fix_dist: 0.2077, d6.loss_plan_l1_fix_time: 1.2326, d6.loss_plan_l1_fix_dist: 0.2190, d0.loss_cls_all: 0.2188, d0.loss_bbox_all: 0.4302, d0.loss_cls: 0.2188, d0.loss_bbox: 0.4302, d1.loss_cls: 0.2068, d1.loss_bbox: 0.3969, d2.loss_cls: 0.1908, d2.loss_bbox: 0.3843, d3.loss_cls: 0.1805, d3.loss_bbox: 0.3812, d4.loss_cls: 0.1770, d4.loss_bbox: 0.3779, d5.loss_cls: 0.1754, d5.loss_bbox: 0.3770, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0401, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8446, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7880, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7759, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7721, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7686, d0.loss_map_cls_all: 0.2488, d0.loss_map_pts_all: 1.2436, d0.loss_map_dir_all: 0.0063, d0.loss_map_cls: 0.2488, d0.loss_map_pts: 1.2436, d0.loss_map_dir: 0.0063, d1.loss_map_cls: 0.2168, d1.loss_map_pts: 0.9081, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1955, d2.loss_map_pts: 0.7636, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1821, d3.loss_map_pts: 0.7035, d3.loss_map_dir: 0.0074, d4.loss_map_cls: 0.1751, d4.loss_map_pts: 0.6825, d4.loss_map_dir: 0.0077, d5.loss_map_cls: 0.1693, d5.loss_map_pts: 0.6738, d5.loss_map_dir: 0.0077, loss: 31.0959, grad_norm: 146.5463
2026-02-26 12:31:07,675 - DriveTransformer - INFO - Epoch [7][550/39528]	lr: 8.550e-05, eta: 6 days, 0:06:01, time: 0.731, data_time: 0.033, memory: 19865, loss_cls: 0.1670, loss_bbox: 0.3748, loss_traj: 0.6700, loss_traj_cls: 0.0010, loss_map_cls: 0.1561, loss_map_pts: 0.8058, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.5518, d0.loss_plan_l1_fix_dist: 0.4339, d1.loss_plan_l1_fix_time: 1.1848, d1.loss_plan_l1_fix_dist: 0.1956, d2.loss_plan_l1_fix_time: 1.1669, d2.loss_plan_l1_fix_dist: 0.1971, d3.loss_plan_l1_fix_time: 1.1655, d3.loss_plan_l1_fix_dist: 0.2077, d4.loss_plan_l1_fix_time: 1.1703, d4.loss_plan_l1_fix_dist: 0.2211, d5.loss_plan_l1_fix_time: 1.1753, d5.loss_plan_l1_fix_dist: 0.2383, d6.loss_plan_l1_fix_time: 1.1811, d6.loss_plan_l1_fix_dist: 0.2549, d0.loss_cls_all: 0.2054, d0.loss_bbox_all: 0.4399, d0.loss_cls: 0.2054, d0.loss_bbox: 0.4399, d1.loss_cls: 0.1983, d1.loss_bbox: 0.4074, d2.loss_cls: 0.1840, d2.loss_bbox: 0.3877, d3.loss_cls: 0.1754, d3.loss_bbox: 0.3789, d4.loss_cls: 0.1690, d4.loss_bbox: 0.3764, d5.loss_cls: 0.1674, d5.loss_bbox: 0.3756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8935, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7257, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6709, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6675, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6667, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6674, d0.loss_map_cls_all: 0.2361, d0.loss_map_pts_all: 1.5776, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2361, d0.loss_map_pts: 1.5776, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.2054, d1.loss_map_pts: 1.1166, d1.loss_map_dir: 0.0099, d2.loss_map_cls: 0.1842, d2.loss_map_pts: 0.9135, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1713, d3.loss_map_pts: 0.8444, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1624, d4.loss_map_pts: 0.8187, d4.loss_map_dir: 0.0110, d5.loss_map_cls: 0.1590, d5.loss_map_pts: 0.8063, d5.loss_map_dir: 0.0110, loss: 31.0214, grad_norm: 146.5705
2026-02-26 12:31:42,439 - DriveTransformer - INFO - Epoch [7][600/39528]	lr: 8.550e-05, eta: 5 days, 23:31:23, time: 0.695, data_time: 0.035, memory: 19865, loss_cls: 0.1584, loss_bbox: 0.3689, loss_traj: 0.7603, loss_traj_cls: 0.0010, loss_map_cls: 0.1591, loss_map_pts: 0.6448, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.8872, d0.loss_plan_l1_fix_dist: 0.4042, d1.loss_plan_l1_fix_time: 1.1367, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 1.1260, d2.loss_plan_l1_fix_dist: 0.1928, d3.loss_plan_l1_fix_time: 1.1295, d3.loss_plan_l1_fix_dist: 0.2001, d4.loss_plan_l1_fix_time: 1.1342, d4.loss_plan_l1_fix_dist: 0.2083, d5.loss_plan_l1_fix_time: 1.1391, d5.loss_plan_l1_fix_dist: 0.2184, d6.loss_plan_l1_fix_time: 1.1449, d6.loss_plan_l1_fix_dist: 0.2310, d0.loss_cls_all: 0.2085, d0.loss_bbox_all: 0.4219, d0.loss_cls: 0.2085, d0.loss_bbox: 0.4219, d1.loss_cls: 0.1981, d1.loss_bbox: 0.3887, d2.loss_cls: 0.1844, d2.loss_bbox: 0.3729, d3.loss_cls: 0.1682, d3.loss_bbox: 0.3689, d4.loss_cls: 0.1610, d4.loss_bbox: 0.3672, d5.loss_cls: 0.1581, d5.loss_bbox: 0.3692, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0031, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8278, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7635, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7568, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7569, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7552, d0.loss_map_cls_all: 0.2342, d0.loss_map_pts_all: 1.3449, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2342, d0.loss_map_pts: 1.3449, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2038, d1.loss_map_pts: 0.9092, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1834, d2.loss_map_pts: 0.7288, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.6672, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1636, d4.loss_map_pts: 0.6483, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1600, d5.loss_map_pts: 0.6441, d5.loss_map_dir: 0.0103, loss: 30.0216, grad_norm: 144.1419
2026-02-26 12:32:17,833 - DriveTransformer - INFO - Epoch [7][650/39528]	lr: 8.550e-05, eta: 5 days, 23:13:31, time: 0.708, data_time: 0.035, memory: 19865, loss_cls: 0.1711, loss_bbox: 0.3744, loss_traj: 0.6670, loss_traj_cls: 0.0010, loss_map_cls: 0.1634, loss_map_pts: 0.6961, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.8334, d0.loss_plan_l1_fix_dist: 0.3939, d1.loss_plan_l1_fix_time: 1.1719, d1.loss_plan_l1_fix_dist: 0.2194, d2.loss_plan_l1_fix_time: 1.1644, d2.loss_plan_l1_fix_dist: 0.2130, d3.loss_plan_l1_fix_time: 1.1657, d3.loss_plan_l1_fix_dist: 0.2175, d4.loss_plan_l1_fix_time: 1.1728, d4.loss_plan_l1_fix_dist: 0.2269, d5.loss_plan_l1_fix_time: 1.1800, d5.loss_plan_l1_fix_dist: 0.2392, d6.loss_plan_l1_fix_time: 1.1875, d6.loss_plan_l1_fix_dist: 0.2553, d0.loss_cls_all: 0.2106, d0.loss_bbox_all: 0.4382, d0.loss_cls: 0.2106, d0.loss_bbox: 0.4382, d1.loss_cls: 0.2033, d1.loss_bbox: 0.4027, d2.loss_cls: 0.1879, d2.loss_bbox: 0.3838, d3.loss_cls: 0.1762, d3.loss_bbox: 0.3771, d4.loss_cls: 0.1727, d4.loss_bbox: 0.3750, d5.loss_cls: 0.1717, d5.loss_bbox: 0.3756, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9777, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7576, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6879, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6765, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6673, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6700, d0.loss_map_cls_all: 0.2392, d0.loss_map_pts_all: 1.3607, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2392, d0.loss_map_pts: 1.3607, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2162, d1.loss_map_pts: 0.9573, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.7969, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1771, d3.loss_map_pts: 0.7335, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1709, d4.loss_map_pts: 0.7092, d4.loss_map_dir: 0.0089, d5.loss_map_cls: 0.1652, d5.loss_map_pts: 0.6983, d5.loss_map_dir: 0.0091, loss: 30.3626, grad_norm: 148.4568
2026-02-26 12:32:52,582 - DriveTransformer - INFO - Epoch [7][700/39528]	lr: 8.550e-05, eta: 5 days, 22:47:11, time: 0.695, data_time: 0.033, memory: 19865, loss_cls: 0.1761, loss_bbox: 0.3640, loss_traj: 0.8204, loss_traj_cls: 0.0011, loss_map_cls: 0.1351, loss_map_pts: 0.6019, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.4574, d0.loss_plan_l1_fix_dist: 0.4624, d1.loss_plan_l1_fix_time: 1.1207, d1.loss_plan_l1_fix_dist: 0.1951, d2.loss_plan_l1_fix_time: 1.1118, d2.loss_plan_l1_fix_dist: 0.1911, d3.loss_plan_l1_fix_time: 1.1154, d3.loss_plan_l1_fix_dist: 0.1973, d4.loss_plan_l1_fix_time: 1.1238, d4.loss_plan_l1_fix_dist: 0.2082, d5.loss_plan_l1_fix_time: 1.1324, d5.loss_plan_l1_fix_dist: 0.2226, d6.loss_plan_l1_fix_time: 1.1415, d6.loss_plan_l1_fix_dist: 0.2407, d0.loss_cls_all: 0.2062, d0.loss_bbox_all: 0.4254, d0.loss_cls: 0.2062, d0.loss_bbox: 0.4254, d1.loss_cls: 0.2004, d1.loss_bbox: 0.3914, d2.loss_cls: 0.1888, d2.loss_bbox: 0.3750, d3.loss_cls: 0.1795, d3.loss_bbox: 0.3696, d4.loss_cls: 0.1765, d4.loss_bbox: 0.3663, d5.loss_cls: 0.1763, d5.loss_bbox: 0.3660, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1066, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.9086, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8438, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8338, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8239, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.8188, d0.loss_map_cls_all: 0.1977, d0.loss_map_pts_all: 1.2150, d0.loss_map_dir_all: 0.0078, d0.loss_map_cls: 0.1977, d0.loss_map_pts: 1.2150, d0.loss_map_dir: 0.0078, d1.loss_map_cls: 0.1764, d1.loss_map_pts: 0.8439, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1584, d2.loss_map_pts: 0.6959, d2.loss_map_dir: 0.0077, d3.loss_map_cls: 0.1499, d3.loss_map_pts: 0.6305, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1427, d4.loss_map_pts: 0.6085, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1377, d5.loss_map_pts: 0.6022, d5.loss_map_dir: 0.0083, loss: 29.4495, grad_norm: 151.5802
2026-02-26 12:33:29,178 - DriveTransformer - INFO - Epoch [7][750/39528]	lr: 8.550e-05, eta: 5 days, 22:53:32, time: 0.732, data_time: 0.035, memory: 19865, loss_cls: 0.1429, loss_bbox: 0.3335, loss_traj: 0.5188, loss_traj_cls: 0.0011, loss_map_cls: 0.1470, loss_map_pts: 0.6486, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.3199, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 1.0689, d1.loss_plan_l1_fix_dist: 0.1606, d2.loss_plan_l1_fix_time: 1.0646, d2.loss_plan_l1_fix_dist: 0.1663, d3.loss_plan_l1_fix_time: 1.0644, d3.loss_plan_l1_fix_dist: 0.1769, d4.loss_plan_l1_fix_time: 1.0710, d4.loss_plan_l1_fix_dist: 0.1860, d5.loss_plan_l1_fix_time: 1.0788, d5.loss_plan_l1_fix_dist: 0.1959, d6.loss_plan_l1_fix_time: 1.0873, d6.loss_plan_l1_fix_dist: 0.2065, d0.loss_cls_all: 0.1693, d0.loss_bbox_all: 0.3872, d0.loss_cls: 0.1693, d0.loss_bbox: 0.3872, d1.loss_cls: 0.1662, d1.loss_bbox: 0.3572, d2.loss_cls: 0.1559, d2.loss_bbox: 0.3417, d3.loss_cls: 0.1490, d3.loss_bbox: 0.3348, d4.loss_cls: 0.1448, d4.loss_bbox: 0.3333, d5.loss_cls: 0.1438, d5.loss_bbox: 0.3333, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6844, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5611, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5260, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5204, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5194, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5168, d0.loss_map_cls_all: 0.2065, d0.loss_map_pts_all: 1.3593, d0.loss_map_dir_all: 0.0089, d0.loss_map_cls: 0.2065, d0.loss_map_pts: 1.3593, d0.loss_map_dir: 0.0089, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.9336, d1.loss_map_dir: 0.0084, d2.loss_map_cls: 0.1680, d2.loss_map_pts: 0.7515, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1591, d3.loss_map_pts: 0.6807, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1548, d4.loss_map_pts: 0.6572, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1497, d5.loss_map_pts: 0.6504, d5.loss_map_dir: 0.0097, loss: 26.6450, grad_norm: 149.9881
2026-02-26 12:34:05,951 - DriveTransformer - INFO - Epoch [7][800/39528]	lr: 8.550e-05, eta: 5 days, 23:01:33, time: 0.735, data_time: 0.034, memory: 19865, loss_cls: 0.1965, loss_bbox: 0.3953, loss_traj: 0.6157, loss_traj_cls: 0.0011, loss_map_cls: 0.1500, loss_map_pts: 0.6930, loss_map_dir: 0.0118, d0.loss_plan_l1_fix_time: 2.8778, d0.loss_plan_l1_fix_dist: 0.4904, d1.loss_plan_l1_fix_time: 1.2096, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.1947, d2.loss_plan_l1_fix_dist: 0.2119, d3.loss_plan_l1_fix_time: 1.1943, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 1.2000, d4.loss_plan_l1_fix_dist: 0.2412, d5.loss_plan_l1_fix_time: 1.2063, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 1.2136, d6.loss_plan_l1_fix_dist: 0.2767, d0.loss_cls_all: 0.2339, d0.loss_bbox_all: 0.4629, d0.loss_cls: 0.2339, d0.loss_bbox: 0.4629, d1.loss_cls: 0.2248, d1.loss_bbox: 0.4255, d2.loss_cls: 0.2145, d2.loss_bbox: 0.4060, d3.loss_cls: 0.2025, d3.loss_bbox: 0.3980, d4.loss_cls: 0.1981, d4.loss_bbox: 0.3937, d5.loss_cls: 0.1951, d5.loss_bbox: 0.3965, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7704, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6601, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6388, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6270, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6216, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6146, d0.loss_map_cls_all: 0.2151, d0.loss_map_pts_all: 1.4450, d0.loss_map_dir_all: 0.0108, d0.loss_map_cls: 0.2151, d0.loss_map_pts: 1.4450, d0.loss_map_dir: 0.0108, d1.loss_map_cls: 0.1833, d1.loss_map_pts: 0.9646, d1.loss_map_dir: 0.0106, d2.loss_map_cls: 0.1670, d2.loss_map_pts: 0.7848, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1603, d3.loss_map_pts: 0.7203, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1538, d4.loss_map_pts: 0.7011, d4.loss_map_dir: 0.0117, d5.loss_map_cls: 0.1511, d5.loss_map_pts: 0.6957, d5.loss_map_dir: 0.0118, loss: 30.5383, grad_norm: 147.5027
2026-02-26 12:34:41,173 - DriveTransformer - INFO - Epoch [7][850/39528]	lr: 8.550e-05, eta: 5 days, 22:46:59, time: 0.704, data_time: 0.032, memory: 19865, loss_cls: 0.1684, loss_bbox: 0.3612, loss_traj: 0.5372, loss_traj_cls: 0.0011, loss_map_cls: 0.1620, loss_map_pts: 0.6671, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4373, d0.loss_plan_l1_fix_dist: 0.3803, d1.loss_plan_l1_fix_time: 1.0620, d1.loss_plan_l1_fix_dist: 0.1812, d2.loss_plan_l1_fix_time: 1.0524, d2.loss_plan_l1_fix_dist: 0.1818, d3.loss_plan_l1_fix_time: 1.0551, d3.loss_plan_l1_fix_dist: 0.1906, d4.loss_plan_l1_fix_time: 1.0626, d4.loss_plan_l1_fix_dist: 0.2021, d5.loss_plan_l1_fix_time: 1.0707, d5.loss_plan_l1_fix_dist: 0.2162, d6.loss_plan_l1_fix_time: 1.0791, d6.loss_plan_l1_fix_dist: 0.2320, d0.loss_cls_all: 0.2026, d0.loss_bbox_all: 0.4165, d0.loss_cls: 0.2026, d0.loss_bbox: 0.4165, d1.loss_cls: 0.1942, d1.loss_bbox: 0.3854, d2.loss_cls: 0.1830, d2.loss_bbox: 0.3682, d3.loss_cls: 0.1735, d3.loss_bbox: 0.3587, d4.loss_cls: 0.1682, d4.loss_bbox: 0.3593, d5.loss_cls: 0.1689, d5.loss_bbox: 0.3612, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7124, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5860, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5475, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5415, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5351, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5333, d0.loss_map_cls_all: 0.2286, d0.loss_map_pts_all: 1.3591, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2286, d0.loss_map_pts: 1.3591, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2039, d1.loss_map_pts: 0.9416, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1843, d2.loss_map_pts: 0.7704, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1743, d3.loss_map_pts: 0.7027, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1687, d4.loss_map_pts: 0.6787, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1633, d5.loss_map_pts: 0.6687, d5.loss_map_dir: 0.0097, loss: 27.6307, grad_norm: 149.0211
2026-02-26 12:35:16,325 - DriveTransformer - INFO - Epoch [7][900/39528]	lr: 8.550e-05, eta: 5 days, 22:33:01, time: 0.703, data_time: 0.032, memory: 19865, loss_cls: 0.1602, loss_bbox: 0.3362, loss_traj: 0.5531, loss_traj_cls: 0.0011, loss_map_cls: 0.1466, loss_map_pts: 0.6614, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.5224, d0.loss_plan_l1_fix_dist: 0.4110, d1.loss_plan_l1_fix_time: 1.1462, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 1.1263, d2.loss_plan_l1_fix_dist: 0.1909, d3.loss_plan_l1_fix_time: 1.1264, d3.loss_plan_l1_fix_dist: 0.2041, d4.loss_plan_l1_fix_time: 1.1322, d4.loss_plan_l1_fix_dist: 0.2179, d5.loss_plan_l1_fix_time: 1.1385, d5.loss_plan_l1_fix_dist: 0.2366, d6.loss_plan_l1_fix_time: 1.1450, d6.loss_plan_l1_fix_dist: 0.2591, d0.loss_cls_all: 0.1907, d0.loss_bbox_all: 0.3956, d0.loss_cls: 0.1907, d0.loss_bbox: 0.3956, d1.loss_cls: 0.1823, d1.loss_bbox: 0.3658, d2.loss_cls: 0.1714, d2.loss_bbox: 0.3457, d3.loss_cls: 0.1621, d3.loss_bbox: 0.3406, d4.loss_cls: 0.1585, d4.loss_bbox: 0.3375, d5.loss_cls: 0.1601, d5.loss_bbox: 0.3363, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7265, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6178, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5715, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5675, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5579, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5555, d0.loss_map_cls_all: 0.2122, d0.loss_map_pts_all: 1.3440, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2122, d0.loss_map_pts: 1.3440, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1878, d1.loss_map_pts: 0.9220, d1.loss_map_dir: 0.0094, d2.loss_map_cls: 0.1678, d2.loss_map_pts: 0.7558, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1597, d3.loss_map_pts: 0.6913, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1523, d4.loss_map_pts: 0.6691, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1478, d5.loss_map_pts: 0.6617, d5.loss_map_dir: 0.0098, loss: 27.9363, grad_norm: 149.7910
2026-02-26 12:35:50,657 - DriveTransformer - INFO - Epoch [7][950/39528]	lr: 8.550e-05, eta: 5 days, 22:10:17, time: 0.687, data_time: 0.033, memory: 19865, loss_cls: 0.1774, loss_bbox: 0.3682, loss_traj: 0.6609, loss_traj_cls: 0.0010, loss_map_cls: 0.1803, loss_map_pts: 0.7261, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.7644, d0.loss_plan_l1_fix_dist: 0.3498, d1.loss_plan_l1_fix_time: 1.1221, d1.loss_plan_l1_fix_dist: 0.1617, d2.loss_plan_l1_fix_time: 1.1036, d2.loss_plan_l1_fix_dist: 0.1685, d3.loss_plan_l1_fix_time: 1.1031, d3.loss_plan_l1_fix_dist: 0.1800, d4.loss_plan_l1_fix_time: 1.1071, d4.loss_plan_l1_fix_dist: 0.1929, d5.loss_plan_l1_fix_time: 1.1125, d5.loss_plan_l1_fix_dist: 0.2059, d6.loss_plan_l1_fix_time: 1.1184, d6.loss_plan_l1_fix_dist: 0.2202, d0.loss_cls_all: 0.2095, d0.loss_bbox_all: 0.4331, d0.loss_cls: 0.2095, d0.loss_bbox: 0.4331, d1.loss_cls: 0.2044, d1.loss_bbox: 0.3995, d2.loss_cls: 0.1961, d2.loss_bbox: 0.3799, d3.loss_cls: 0.1860, d3.loss_bbox: 0.3718, d4.loss_cls: 0.1787, d4.loss_bbox: 0.3706, d5.loss_cls: 0.1786, d5.loss_bbox: 0.3685, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8680, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7169, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6788, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6632, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6603, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6599, d0.loss_map_cls_all: 0.2586, d0.loss_map_pts_all: 1.4146, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2586, d0.loss_map_pts: 1.4146, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2346, d1.loss_map_pts: 0.9902, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2128, d2.loss_map_pts: 0.8268, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1999, d3.loss_map_pts: 0.7584, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1893, d4.loss_map_pts: 0.7343, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1829, d5.loss_map_pts: 0.7273, d5.loss_map_dir: 0.0099, loss: 29.8738, grad_norm: 152.8892
2026-02-26 12:36:26,138 - DriveTransformer - INFO - Epoch [7][1000/39528]	lr: 8.550e-05, eta: 5 days, 22:03:19, time: 0.710, data_time: 0.034, memory: 19865, loss_cls: 0.1953, loss_bbox: 0.3980, loss_traj: 0.5307, loss_traj_cls: 0.0010, loss_map_cls: 0.1802, loss_map_pts: 0.7738, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 2.9998, d0.loss_plan_l1_fix_dist: 0.4072, d1.loss_plan_l1_fix_time: 1.2530, d1.loss_plan_l1_fix_dist: 0.1720, d2.loss_plan_l1_fix_time: 1.2454, d2.loss_plan_l1_fix_dist: 0.1743, d3.loss_plan_l1_fix_time: 1.2538, d3.loss_plan_l1_fix_dist: 0.1834, d4.loss_plan_l1_fix_time: 1.2606, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 1.2682, d5.loss_plan_l1_fix_dist: 0.2078, d6.loss_plan_l1_fix_time: 1.2768, d6.loss_plan_l1_fix_dist: 0.2202, d0.loss_cls_all: 0.2352, d0.loss_bbox_all: 0.4574, d0.loss_cls: 0.2352, d0.loss_bbox: 0.4574, d1.loss_cls: 0.2293, d1.loss_bbox: 0.4220, d2.loss_cls: 0.2139, d2.loss_bbox: 0.4090, d3.loss_cls: 0.2021, d3.loss_bbox: 0.4035, d4.loss_cls: 0.1963, d4.loss_bbox: 0.4004, d5.loss_cls: 0.1947, d5.loss_bbox: 0.4001, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7152, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5785, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5518, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5419, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5338, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5345, d0.loss_map_cls_all: 0.2491, d0.loss_map_pts_all: 1.5376, d0.loss_map_dir_all: 0.0106, d0.loss_map_cls: 0.2491, d0.loss_map_pts: 1.5376, d0.loss_map_dir: 0.0106, d1.loss_map_cls: 0.2257, d1.loss_map_pts: 1.0512, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.2076, d2.loss_map_pts: 0.8754, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.1954, d3.loss_map_pts: 0.8011, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1881, d4.loss_map_pts: 0.7797, d4.loss_map_dir: 0.0109, d5.loss_map_cls: 0.1837, d5.loss_map_pts: 0.7729, d5.loss_map_dir: 0.0110, loss: 31.0551, grad_norm: 153.1144
2026-02-26 12:37:02,131 - DriveTransformer - INFO - Epoch [7][1050/39528]	lr: 8.550e-05, eta: 5 days, 22:02:49, time: 0.720, data_time: 0.034, memory: 19865, loss_cls: 0.1809, loss_bbox: 0.3825, loss_traj: 0.5957, loss_traj_cls: 0.0011, loss_map_cls: 0.1638, loss_map_pts: 0.7367, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.9613, d0.loss_plan_l1_fix_dist: 0.4090, d1.loss_plan_l1_fix_time: 1.0782, d1.loss_plan_l1_fix_dist: 0.1879, d2.loss_plan_l1_fix_time: 1.0715, d2.loss_plan_l1_fix_dist: 0.1934, d3.loss_plan_l1_fix_time: 1.0809, d3.loss_plan_l1_fix_dist: 0.2002, d4.loss_plan_l1_fix_time: 1.0880, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 1.0941, d5.loss_plan_l1_fix_dist: 0.2205, d6.loss_plan_l1_fix_time: 1.1000, d6.loss_plan_l1_fix_dist: 0.2324, d0.loss_cls_all: 0.2132, d0.loss_bbox_all: 0.4440, d0.loss_cls: 0.2132, d0.loss_bbox: 0.4440, d1.loss_cls: 0.2097, d1.loss_bbox: 0.4096, d2.loss_cls: 0.1959, d2.loss_bbox: 0.3952, d3.loss_cls: 0.1843, d3.loss_bbox: 0.3884, d4.loss_cls: 0.1796, d4.loss_bbox: 0.3853, d5.loss_cls: 0.1816, d5.loss_bbox: 0.3822, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7795, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6541, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6166, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5992, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5978, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5928, d0.loss_map_cls_all: 0.2261, d0.loss_map_pts_all: 1.4614, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2261, d0.loss_map_pts: 1.4614, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2041, d1.loss_map_pts: 1.0257, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1866, d2.loss_map_pts: 0.8467, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1796, d3.loss_map_pts: 0.7751, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1701, d4.loss_map_pts: 0.7445, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1655, d5.loss_map_pts: 0.7381, d5.loss_map_dir: 0.0104, loss: 29.7496, grad_norm: 151.1724
2026-02-26 12:37:36,583 - DriveTransformer - INFO - Epoch [7][1100/39528]	lr: 8.550e-05, eta: 5 days, 21:45:39, time: 0.689, data_time: 0.034, memory: 19865, loss_cls: 0.1673, loss_bbox: 0.3636, loss_traj: 0.5603, loss_traj_cls: 0.0010, loss_map_cls: 0.1542, loss_map_pts: 0.6465, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4532, d0.loss_plan_l1_fix_dist: 0.4454, d1.loss_plan_l1_fix_time: 1.0808, d1.loss_plan_l1_fix_dist: 0.1714, d2.loss_plan_l1_fix_time: 1.0697, d2.loss_plan_l1_fix_dist: 0.1715, d3.loss_plan_l1_fix_time: 1.0701, d3.loss_plan_l1_fix_dist: 0.1787, d4.loss_plan_l1_fix_time: 1.0756, d4.loss_plan_l1_fix_dist: 0.1880, d5.loss_plan_l1_fix_time: 1.0818, d5.loss_plan_l1_fix_dist: 0.1997, d6.loss_plan_l1_fix_time: 1.0891, d6.loss_plan_l1_fix_dist: 0.2127, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.4213, d0.loss_cls: 0.1989, d0.loss_bbox: 0.4213, d1.loss_cls: 0.1941, d1.loss_bbox: 0.3875, d2.loss_cls: 0.1848, d2.loss_bbox: 0.3684, d3.loss_cls: 0.1744, d3.loss_bbox: 0.3637, d4.loss_cls: 0.1702, d4.loss_bbox: 0.3627, d5.loss_cls: 0.1681, d5.loss_bbox: 0.3635, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7705, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6230, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5717, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5611, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5628, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5612, d0.loss_map_cls_all: 0.2201, d0.loss_map_pts_all: 1.3103, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2201, d0.loss_map_pts: 1.3103, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1943, d1.loss_map_pts: 0.9040, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1782, d2.loss_map_pts: 0.7512, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1657, d3.loss_map_pts: 0.6841, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1598, d4.loss_map_pts: 0.6565, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1567, d5.loss_map_pts: 0.6470, d5.loss_map_dir: 0.0098, loss: 27.6513, grad_norm: 149.3888
2026-02-26 12:38:12,952 - DriveTransformer - INFO - Epoch [7][1150/39528]	lr: 8.550e-05, eta: 5 days, 21:49:39, time: 0.727, data_time: 0.035, memory: 19865, loss_cls: 0.1875, loss_bbox: 0.4033, loss_traj: 0.6922, loss_traj_cls: 0.0010, loss_map_cls: 0.1731, loss_map_pts: 0.8230, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 3.0057, d0.loss_plan_l1_fix_dist: 0.4989, d1.loss_plan_l1_fix_time: 1.1997, d1.loss_plan_l1_fix_dist: 0.2210, d2.loss_plan_l1_fix_time: 1.1836, d2.loss_plan_l1_fix_dist: 0.2176, d3.loss_plan_l1_fix_time: 1.1855, d3.loss_plan_l1_fix_dist: 0.2246, d4.loss_plan_l1_fix_time: 1.1905, d4.loss_plan_l1_fix_dist: 0.2334, d5.loss_plan_l1_fix_time: 1.1966, d5.loss_plan_l1_fix_dist: 0.2445, d6.loss_plan_l1_fix_time: 1.2037, d6.loss_plan_l1_fix_dist: 0.2585, d0.loss_cls_all: 0.2237, d0.loss_bbox_all: 0.4713, d0.loss_cls: 0.2237, d0.loss_bbox: 0.4713, d1.loss_cls: 0.2163, d1.loss_bbox: 0.4348, d2.loss_cls: 0.2022, d2.loss_bbox: 0.4153, d3.loss_cls: 0.1930, d3.loss_bbox: 0.4064, d4.loss_cls: 0.1905, d4.loss_bbox: 0.4025, d5.loss_cls: 0.1901, d5.loss_bbox: 0.4003, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9885, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7744, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7196, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7008, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6954, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6904, d0.loss_map_cls_all: 0.2447, d0.loss_map_pts_all: 1.5825, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2447, d0.loss_map_pts: 1.5825, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2173, d1.loss_map_pts: 1.1303, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1990, d2.loss_map_pts: 0.9427, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1855, d3.loss_map_pts: 0.8643, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1780, d4.loss_map_pts: 0.8379, d4.loss_map_dir: 0.0102, d5.loss_map_cls: 0.1751, d5.loss_map_pts: 0.8248, d5.loss_map_dir: 0.0103, loss: 32.6474, grad_norm: 150.5339
2026-02-26 12:38:48,035 - DriveTransformer - INFO - Epoch [7][1200/39528]	lr: 8.550e-05, eta: 5 days, 21:41:18, time: 0.703, data_time: 0.033, memory: 19865, loss_cls: 0.1599, loss_bbox: 0.3605, loss_traj: 0.6384, loss_traj_cls: 0.0010, loss_map_cls: 0.1334, loss_map_pts: 0.6279, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.4013, d0.loss_plan_l1_fix_dist: 0.4898, d1.loss_plan_l1_fix_time: 1.0589, d1.loss_plan_l1_fix_dist: 0.1906, d2.loss_plan_l1_fix_time: 1.0466, d2.loss_plan_l1_fix_dist: 0.1831, d3.loss_plan_l1_fix_time: 1.0485, d3.loss_plan_l1_fix_dist: 0.1880, d4.loss_plan_l1_fix_time: 1.0550, d4.loss_plan_l1_fix_dist: 0.1955, d5.loss_plan_l1_fix_time: 1.0623, d5.loss_plan_l1_fix_dist: 0.2054, d6.loss_plan_l1_fix_time: 1.0707, d6.loss_plan_l1_fix_dist: 0.2184, d0.loss_cls_all: 0.2037, d0.loss_bbox_all: 0.4158, d0.loss_cls: 0.2037, d0.loss_bbox: 0.4158, d1.loss_cls: 0.1958, d1.loss_bbox: 0.3819, d2.loss_cls: 0.1797, d2.loss_bbox: 0.3675, d3.loss_cls: 0.1646, d3.loss_bbox: 0.3620, d4.loss_cls: 0.1603, d4.loss_bbox: 0.3594, d5.loss_cls: 0.1594, d5.loss_bbox: 0.3599, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8318, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7101, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6630, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6359, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6348, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6329, d0.loss_map_cls_all: 0.1994, d0.loss_map_pts_all: 1.2503, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.1994, d0.loss_map_pts: 1.2503, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1736, d1.loss_map_pts: 0.8616, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1511, d2.loss_map_pts: 0.7088, d2.loss_map_dir: 0.0086, d3.loss_map_cls: 0.1453, d3.loss_map_pts: 0.6528, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1393, d4.loss_map_pts: 0.6345, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1344, d5.loss_map_pts: 0.6287, d5.loss_map_dir: 0.0089, loss: 27.5806, grad_norm: 149.1915
2026-02-26 12:39:22,080 - DriveTransformer - INFO - Epoch [7][1250/39528]	lr: 8.550e-05, eta: 5 days, 21:22:25, time: 0.679, data_time: 0.031, memory: 19865, loss_cls: 0.1859, loss_bbox: 0.4008, loss_traj: 0.7756, loss_traj_cls: 0.0010, loss_map_cls: 0.1727, loss_map_pts: 0.6846, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.6646, d0.loss_plan_l1_fix_dist: 0.4054, d1.loss_plan_l1_fix_time: 1.1544, d1.loss_plan_l1_fix_dist: 0.1936, d2.loss_plan_l1_fix_time: 1.1306, d2.loss_plan_l1_fix_dist: 0.1912, d3.loss_plan_l1_fix_time: 1.1277, d3.loss_plan_l1_fix_dist: 0.1985, d4.loss_plan_l1_fix_time: 1.1303, d4.loss_plan_l1_fix_dist: 0.2092, d5.loss_plan_l1_fix_time: 1.1338, d5.loss_plan_l1_fix_dist: 0.2208, d6.loss_plan_l1_fix_time: 1.1384, d6.loss_plan_l1_fix_dist: 0.2321, d0.loss_cls_all: 0.2201, d0.loss_bbox_all: 0.4678, d0.loss_cls: 0.2201, d0.loss_bbox: 0.4678, d1.loss_cls: 0.2130, d1.loss_bbox: 0.4333, d2.loss_cls: 0.2004, d2.loss_bbox: 0.4148, d3.loss_cls: 0.1908, d3.loss_bbox: 0.4075, d4.loss_cls: 0.1858, d4.loss_bbox: 0.4039, d5.loss_cls: 0.1840, d5.loss_bbox: 0.4021, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0900, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8680, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.8008, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7759, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7760, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7724, d0.loss_map_cls_all: 0.2396, d0.loss_map_pts_all: 1.3561, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2396, d0.loss_map_pts: 1.3561, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.2129, d1.loss_map_pts: 0.9274, d1.loss_map_dir: 0.0076, d2.loss_map_cls: 0.1933, d2.loss_map_pts: 0.7726, d2.loss_map_dir: 0.0080, d3.loss_map_cls: 0.1832, d3.loss_map_pts: 0.7134, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1772, d4.loss_map_pts: 0.6923, d4.loss_map_dir: 0.0086, d5.loss_map_cls: 0.1735, d5.loss_map_pts: 0.6858, d5.loss_map_dir: 0.0087, loss: 30.8423, grad_norm: 147.9441
2026-02-26 12:39:56,877 - DriveTransformer - INFO - Epoch [7][1300/39528]	lr: 8.550e-05, eta: 5 days, 21:12:26, time: 0.696, data_time: 0.033, memory: 19865, loss_cls: 0.1617, loss_bbox: 0.3507, loss_traj: 0.5994, loss_traj_cls: 0.0011, loss_map_cls: 0.1233, loss_map_pts: 0.5894, loss_map_dir: 0.0091, d0.loss_plan_l1_fix_time: 2.3742, d0.loss_plan_l1_fix_dist: 0.4255, d1.loss_plan_l1_fix_time: 1.0255, d1.loss_plan_l1_fix_dist: 0.1590, d2.loss_plan_l1_fix_time: 1.0056, d2.loss_plan_l1_fix_dist: 0.1642, d3.loss_plan_l1_fix_time: 1.0082, d3.loss_plan_l1_fix_dist: 0.1770, d4.loss_plan_l1_fix_time: 1.0146, d4.loss_plan_l1_fix_dist: 0.1896, d5.loss_plan_l1_fix_time: 1.0206, d5.loss_plan_l1_fix_dist: 0.2048, d6.loss_plan_l1_fix_time: 1.0260, d6.loss_plan_l1_fix_dist: 0.2213, d0.loss_cls_all: 0.1974, d0.loss_bbox_all: 0.4024, d0.loss_cls: 0.1974, d0.loss_bbox: 0.4024, d1.loss_cls: 0.1876, d1.loss_bbox: 0.3772, d2.loss_cls: 0.1754, d2.loss_bbox: 0.3636, d3.loss_cls: 0.1655, d3.loss_bbox: 0.3580, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3524, d5.loss_cls: 0.1604, d5.loss_bbox: 0.3520, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8281, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6536, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6118, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5985, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5914, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5920, d0.loss_map_cls_all: 0.1935, d0.loss_map_pts_all: 1.2204, d0.loss_map_dir_all: 0.0082, d0.loss_map_cls: 0.1935, d0.loss_map_pts: 1.2204, d0.loss_map_dir: 0.0082, d1.loss_map_cls: 0.1658, d1.loss_map_pts: 0.8404, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1488, d2.loss_map_pts: 0.6838, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.1379, d3.loss_map_pts: 0.6239, d3.loss_map_dir: 0.0086, d4.loss_map_cls: 0.1294, d4.loss_map_pts: 0.5989, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1252, d5.loss_map_pts: 0.5911, d5.loss_map_dir: 0.0091, loss: 26.5191, grad_norm: 150.2420
2026-02-26 12:40:30,772 - DriveTransformer - INFO - Epoch [7][1350/39528]	lr: 8.550e-05, eta: 5 days, 20:55:14, time: 0.678, data_time: 0.033, memory: 19865, loss_cls: 0.1592, loss_bbox: 0.3518, loss_traj: 0.6610, loss_traj_cls: 0.0010, loss_map_cls: 0.1606, loss_map_pts: 0.7283, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.4039, d0.loss_plan_l1_fix_dist: 0.4593, d1.loss_plan_l1_fix_time: 1.0075, d1.loss_plan_l1_fix_dist: 0.1784, d2.loss_plan_l1_fix_time: 0.9887, d2.loss_plan_l1_fix_dist: 0.1818, d3.loss_plan_l1_fix_time: 0.9891, d3.loss_plan_l1_fix_dist: 0.1911, d4.loss_plan_l1_fix_time: 0.9947, d4.loss_plan_l1_fix_dist: 0.2024, d5.loss_plan_l1_fix_time: 1.0004, d5.loss_plan_l1_fix_dist: 0.2145, d6.loss_plan_l1_fix_time: 1.0061, d6.loss_plan_l1_fix_dist: 0.2280, d0.loss_cls_all: 0.1921, d0.loss_bbox_all: 0.4182, d0.loss_cls: 0.1921, d0.loss_bbox: 0.4182, d1.loss_cls: 0.1856, d1.loss_bbox: 0.3818, d2.loss_cls: 0.1721, d2.loss_bbox: 0.3627, d3.loss_cls: 0.1625, d3.loss_bbox: 0.3560, d4.loss_cls: 0.1593, d4.loss_bbox: 0.3522, d5.loss_cls: 0.1587, d5.loss_bbox: 0.3522, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9415, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7374, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6744, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6584, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6552, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6568, d0.loss_map_cls_all: 0.2377, d0.loss_map_pts_all: 1.4389, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2377, d0.loss_map_pts: 1.4389, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2081, d1.loss_map_pts: 1.0017, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1855, d2.loss_map_pts: 0.8264, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1730, d3.loss_map_pts: 0.7632, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1655, d4.loss_map_pts: 0.7389, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1626, d5.loss_map_pts: 0.7281, d5.loss_map_dir: 0.0098, loss: 28.6838, grad_norm: 149.9659
2026-02-26 12:41:04,967 - DriveTransformer - INFO - Epoch [7][1400/39528]	lr: 8.550e-05, eta: 5 days, 20:41:44, time: 0.684, data_time: 0.032, memory: 19865, loss_cls: 0.1749, loss_bbox: 0.3561, loss_traj: 0.7628, loss_traj_cls: 0.0010, loss_map_cls: 0.1604, loss_map_pts: 0.6917, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.3694, d0.loss_plan_l1_fix_dist: 0.3795, d1.loss_plan_l1_fix_time: 1.1375, d1.loss_plan_l1_fix_dist: 0.1759, d2.loss_plan_l1_fix_time: 1.1224, d2.loss_plan_l1_fix_dist: 0.1800, d3.loss_plan_l1_fix_time: 1.1220, d3.loss_plan_l1_fix_dist: 0.1883, d4.loss_plan_l1_fix_time: 1.1254, d4.loss_plan_l1_fix_dist: 0.1987, d5.loss_plan_l1_fix_time: 1.1295, d5.loss_plan_l1_fix_dist: 0.2103, d6.loss_plan_l1_fix_time: 1.1350, d6.loss_plan_l1_fix_dist: 0.2262, d0.loss_cls_all: 0.2137, d0.loss_bbox_all: 0.4180, d0.loss_cls: 0.2137, d0.loss_bbox: 0.4180, d1.loss_cls: 0.2040, d1.loss_bbox: 0.3818, d2.loss_cls: 0.1916, d2.loss_bbox: 0.3637, d3.loss_cls: 0.1815, d3.loss_bbox: 0.3569, d4.loss_cls: 0.1770, d4.loss_bbox: 0.3537, d5.loss_cls: 0.1746, d5.loss_bbox: 0.3542, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9882, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8231, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7722, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7635, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7583, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7592, d0.loss_map_cls_all: 0.2313, d0.loss_map_pts_all: 1.3385, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2313, d0.loss_map_pts: 1.3385, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.2010, d1.loss_map_pts: 0.9338, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1803, d2.loss_map_pts: 0.7810, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1685, d3.loss_map_pts: 0.7151, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1627, d4.loss_map_pts: 0.6955, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1616, d5.loss_map_pts: 0.6911, d5.loss_map_dir: 0.0100, loss: 29.6274, grad_norm: 148.8408
2026-02-26 12:41:39,137 - DriveTransformer - INFO - Epoch [7][1450/39528]	lr: 8.550e-05, eta: 5 days, 20:28:58, time: 0.683, data_time: 0.031, memory: 19865, loss_cls: 0.1511, loss_bbox: 0.3648, loss_traj: 0.7698, loss_traj_cls: 0.0010, loss_map_cls: 0.1624, loss_map_pts: 0.6452, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.4866, d0.loss_plan_l1_fix_dist: 0.3778, d1.loss_plan_l1_fix_time: 0.9511, d1.loss_plan_l1_fix_dist: 0.1621, d2.loss_plan_l1_fix_time: 0.9358, d2.loss_plan_l1_fix_dist: 0.1648, d3.loss_plan_l1_fix_time: 0.9361, d3.loss_plan_l1_fix_dist: 0.1720, d4.loss_plan_l1_fix_time: 0.9397, d4.loss_plan_l1_fix_dist: 0.1827, d5.loss_plan_l1_fix_time: 0.9440, d5.loss_plan_l1_fix_dist: 0.1950, d6.loss_plan_l1_fix_time: 0.9491, d6.loss_plan_l1_fix_dist: 0.2085, d0.loss_cls_all: 0.1936, d0.loss_bbox_all: 0.4261, d0.loss_cls: 0.1936, d0.loss_bbox: 0.4261, d1.loss_cls: 0.1827, d1.loss_bbox: 0.3931, d2.loss_cls: 0.1681, d2.loss_bbox: 0.3758, d3.loss_cls: 0.1572, d3.loss_bbox: 0.3701, d4.loss_cls: 0.1544, d4.loss_bbox: 0.3665, d5.loss_cls: 0.1516, d5.loss_bbox: 0.3653, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0213, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8262, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7737, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7657, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7650, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7665, d0.loss_map_cls_all: 0.2327, d0.loss_map_pts_all: 1.3515, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.2327, d0.loss_map_pts: 1.3515, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1987, d1.loss_map_pts: 0.9550, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.1837, d2.loss_map_pts: 0.7733, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1707, d3.loss_map_pts: 0.6944, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1666, d4.loss_map_pts: 0.6571, d4.loss_map_dir: 0.0091, d5.loss_map_cls: 0.1635, d5.loss_map_pts: 0.6475, d5.loss_map_dir: 0.0092, loss: 28.3972, grad_norm: 147.8080
2026-02-26 12:42:15,149 - DriveTransformer - INFO - Epoch [7][1500/39528]	lr: 8.550e-05, eta: 5 days, 20:31:31, time: 0.720, data_time: 0.037, memory: 19865, loss_cls: 0.1637, loss_bbox: 0.3600, loss_traj: 0.6741, loss_traj_cls: 0.0010, loss_map_cls: 0.1456, loss_map_pts: 0.6387, loss_map_dir: 0.0092, d0.loss_plan_l1_fix_time: 2.6663, d0.loss_plan_l1_fix_dist: 0.4933, d1.loss_plan_l1_fix_time: 1.1798, d1.loss_plan_l1_fix_dist: 0.2118, d2.loss_plan_l1_fix_time: 1.1601, d2.loss_plan_l1_fix_dist: 0.2109, d3.loss_plan_l1_fix_time: 1.1534, d3.loss_plan_l1_fix_dist: 0.2198, d4.loss_plan_l1_fix_time: 1.1563, d4.loss_plan_l1_fix_dist: 0.2328, d5.loss_plan_l1_fix_time: 1.1600, d5.loss_plan_l1_fix_dist: 0.2462, d6.loss_plan_l1_fix_time: 1.1637, d6.loss_plan_l1_fix_dist: 0.2592, d0.loss_cls_all: 0.1970, d0.loss_bbox_all: 0.4285, d0.loss_cls: 0.1970, d0.loss_bbox: 0.4285, d1.loss_cls: 0.1916, d1.loss_bbox: 0.3916, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3726, d3.loss_cls: 0.1682, d3.loss_bbox: 0.3654, d4.loss_cls: 0.1651, d4.loss_bbox: 0.3600, d5.loss_cls: 0.1639, d5.loss_bbox: 0.3596, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9634, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7581, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6965, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6840, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6803, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6775, d0.loss_map_cls_all: 0.2261, d0.loss_map_pts_all: 1.3339, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2261, d0.loss_map_pts: 1.3339, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.1955, d1.loss_map_pts: 0.9131, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1754, d2.loss_map_pts: 0.7410, d2.loss_map_dir: 0.0083, d3.loss_map_cls: 0.1618, d3.loss_map_pts: 0.6717, d3.loss_map_dir: 0.0088, d4.loss_map_cls: 0.1535, d4.loss_map_pts: 0.6467, d4.loss_map_dir: 0.0090, d5.loss_map_cls: 0.1485, d5.loss_map_pts: 0.6397, d5.loss_map_dir: 0.0091, loss: 29.5687, grad_norm: 147.1410
2026-02-26 12:42:49,740 - DriveTransformer - INFO - Epoch [7][1550/39528]	lr: 8.550e-05, eta: 5 days, 20:23:04, time: 0.692, data_time: 0.031, memory: 19865, loss_cls: 0.1650, loss_bbox: 0.3616, loss_traj: 0.7212, loss_traj_cls: 0.0010, loss_map_cls: 0.1693, loss_map_pts: 0.6885, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 3.0098, d0.loss_plan_l1_fix_dist: 0.5453, d1.loss_plan_l1_fix_time: 1.2210, d1.loss_plan_l1_fix_dist: 0.2067, d2.loss_plan_l1_fix_time: 1.1987, d2.loss_plan_l1_fix_dist: 0.2048, d3.loss_plan_l1_fix_time: 1.1880, d3.loss_plan_l1_fix_dist: 0.2104, d4.loss_plan_l1_fix_time: 1.1898, d4.loss_plan_l1_fix_dist: 0.2189, d5.loss_plan_l1_fix_time: 1.1925, d5.loss_plan_l1_fix_dist: 0.2295, d6.loss_plan_l1_fix_time: 1.1954, d6.loss_plan_l1_fix_dist: 0.2420, d0.loss_cls_all: 0.1991, d0.loss_bbox_all: 0.4160, d0.loss_cls: 0.1991, d0.loss_bbox: 0.4160, d1.loss_cls: 0.1932, d1.loss_bbox: 0.3837, d2.loss_cls: 0.1823, d2.loss_bbox: 0.3659, d3.loss_cls: 0.1702, d3.loss_bbox: 0.3620, d4.loss_cls: 0.1655, d4.loss_bbox: 0.3592, d5.loss_cls: 0.1655, d5.loss_bbox: 0.3588, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9223, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7841, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7373, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7206, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7226, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7214, d0.loss_map_cls_all: 0.2390, d0.loss_map_pts_all: 1.4175, d0.loss_map_dir_all: 0.0086, d0.loss_map_cls: 0.2390, d0.loss_map_pts: 1.4175, d0.loss_map_dir: 0.0086, d1.loss_map_cls: 0.2085, d1.loss_map_pts: 0.9863, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1906, d2.loss_map_pts: 0.7986, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1802, d3.loss_map_pts: 0.7278, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1750, d4.loss_map_pts: 0.6979, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1710, d5.loss_map_pts: 0.6901, d5.loss_map_dir: 0.0097, loss: 30.9229, grad_norm: 146.7586
2026-02-26 12:43:25,524 - DriveTransformer - INFO - Epoch [7][1600/39528]	lr: 8.550e-05, eta: 5 days, 20:23:50, time: 0.716, data_time: 0.032, memory: 19865, loss_cls: 0.1609, loss_bbox: 0.3626, loss_traj: 0.6596, loss_traj_cls: 0.0010, loss_map_cls: 0.1427, loss_map_pts: 0.6539, loss_map_dir: 0.0102, d0.loss_plan_l1_fix_time: 2.4714, d0.loss_plan_l1_fix_dist: 0.3685, d1.loss_plan_l1_fix_time: 1.0925, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.0756, d2.loss_plan_l1_fix_dist: 0.1778, d3.loss_plan_l1_fix_time: 1.0624, d3.loss_plan_l1_fix_dist: 0.1874, d4.loss_plan_l1_fix_time: 1.0644, d4.loss_plan_l1_fix_dist: 0.1990, d5.loss_plan_l1_fix_time: 1.0670, d5.loss_plan_l1_fix_dist: 0.2127, d6.loss_plan_l1_fix_time: 1.0701, d6.loss_plan_l1_fix_dist: 0.2275, d0.loss_cls_all: 0.2069, d0.loss_bbox_all: 0.4157, d0.loss_cls: 0.2069, d0.loss_bbox: 0.4157, d1.loss_cls: 0.1922, d1.loss_bbox: 0.3874, d2.loss_cls: 0.1792, d2.loss_bbox: 0.3706, d3.loss_cls: 0.1684, d3.loss_bbox: 0.3642, d4.loss_cls: 0.1625, d4.loss_bbox: 0.3629, d5.loss_cls: 0.1615, d5.loss_bbox: 0.3623, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9351, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7402, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6884, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6754, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6676, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6615, d0.loss_map_cls_all: 0.2112, d0.loss_map_pts_all: 1.3418, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2112, d0.loss_map_pts: 1.3418, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.1786, d1.loss_map_pts: 0.9048, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1620, d2.loss_map_pts: 0.7334, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1537, d3.loss_map_pts: 0.6802, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1473, d4.loss_map_pts: 0.6638, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1443, d5.loss_map_pts: 0.6553, d5.loss_map_dir: 0.0102, loss: 28.3732, grad_norm: 147.3131
2026-02-26 12:44:02,330 - DriveTransformer - INFO - Epoch [7][1650/39528]	lr: 8.550e-05, eta: 5 days, 20:31:53, time: 0.736, data_time: 0.031, memory: 19865, loss_cls: 0.1825, loss_bbox: 0.3921, loss_traj: 0.5942, loss_traj_cls: 0.0010, loss_map_cls: 0.1597, loss_map_pts: 0.6942, loss_map_dir: 0.0114, d0.loss_plan_l1_fix_time: 2.9230, d0.loss_plan_l1_fix_dist: 0.4107, d1.loss_plan_l1_fix_time: 1.1548, d1.loss_plan_l1_fix_dist: 0.2213, d2.loss_plan_l1_fix_time: 1.1414, d2.loss_plan_l1_fix_dist: 0.2221, d3.loss_plan_l1_fix_time: 1.1302, d3.loss_plan_l1_fix_dist: 0.2318, d4.loss_plan_l1_fix_time: 1.1315, d4.loss_plan_l1_fix_dist: 0.2416, d5.loss_plan_l1_fix_time: 1.1339, d5.loss_plan_l1_fix_dist: 0.2527, d6.loss_plan_l1_fix_time: 1.1373, d6.loss_plan_l1_fix_dist: 0.2659, d0.loss_cls_all: 0.2230, d0.loss_bbox_all: 0.4536, d0.loss_cls: 0.2230, d0.loss_bbox: 0.4536, d1.loss_cls: 0.2123, d1.loss_bbox: 0.4223, d2.loss_cls: 0.2010, d2.loss_bbox: 0.4050, d3.loss_cls: 0.1886, d3.loss_bbox: 0.3961, d4.loss_cls: 0.1832, d4.loss_bbox: 0.3935, d5.loss_cls: 0.1818, d5.loss_bbox: 0.3933, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7725, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6634, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6054, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5995, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5944, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5951, d0.loss_map_cls_all: 0.2287, d0.loss_map_pts_all: 1.4522, d0.loss_map_dir_all: 0.0102, d0.loss_map_cls: 0.2287, d0.loss_map_pts: 1.4522, d0.loss_map_dir: 0.0102, d1.loss_map_cls: 0.1972, d1.loss_map_pts: 0.9578, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.7800, d2.loss_map_dir: 0.0102, d3.loss_map_cls: 0.1733, d3.loss_map_pts: 0.7243, d3.loss_map_dir: 0.0107, d4.loss_map_cls: 0.1664, d4.loss_map_pts: 0.7044, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1614, d5.loss_map_pts: 0.6970, d5.loss_map_dir: 0.0113, loss: 29.9801, grad_norm: 147.6925
2026-02-26 12:44:39,170 - DriveTransformer - INFO - Epoch [7][1700/39528]	lr: 8.550e-05, eta: 5 days, 20:39:40, time: 0.737, data_time: 0.033, memory: 19865, loss_cls: 0.1472, loss_bbox: 0.3331, loss_traj: 0.5906, loss_traj_cls: 0.0010, loss_map_cls: 0.1429, loss_map_pts: 0.6781, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.6181, d0.loss_plan_l1_fix_dist: 0.4929, d1.loss_plan_l1_fix_time: 1.0228, d1.loss_plan_l1_fix_dist: 0.1732, d2.loss_plan_l1_fix_time: 1.0080, d2.loss_plan_l1_fix_dist: 0.1721, d3.loss_plan_l1_fix_time: 1.0093, d3.loss_plan_l1_fix_dist: 0.1806, d4.loss_plan_l1_fix_time: 1.0127, d4.loss_plan_l1_fix_dist: 0.1936, d5.loss_plan_l1_fix_time: 1.0166, d5.loss_plan_l1_fix_dist: 0.2093, d6.loss_plan_l1_fix_time: 1.0215, d6.loss_plan_l1_fix_dist: 0.2282, d0.loss_cls_all: 0.1762, d0.loss_bbox_all: 0.3881, d0.loss_cls: 0.1762, d0.loss_bbox: 0.3881, d1.loss_cls: 0.1675, d1.loss_bbox: 0.3581, d2.loss_cls: 0.1584, d2.loss_bbox: 0.3429, d3.loss_cls: 0.1514, d3.loss_bbox: 0.3371, d4.loss_cls: 0.1493, d4.loss_bbox: 0.3342, d5.loss_cls: 0.1478, d5.loss_bbox: 0.3331, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7388, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6302, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5846, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5800, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5861, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5862, d0.loss_map_cls_all: 0.2078, d0.loss_map_pts_all: 1.4849, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2078, d0.loss_map_pts: 1.4849, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1811, d1.loss_map_pts: 0.9639, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1603, d2.loss_map_pts: 0.7843, d2.loss_map_dir: 0.0094, d3.loss_map_cls: 0.1506, d3.loss_map_pts: 0.7172, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1469, d4.loss_map_pts: 0.6844, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1450, d5.loss_map_pts: 0.6774, d5.loss_map_dir: 0.0104, loss: 27.6474, grad_norm: 147.4704
2026-02-26 12:45:13,855 - DriveTransformer - INFO - Epoch [7][1750/39528]	lr: 8.550e-05, eta: 5 days, 20:32:24, time: 0.694, data_time: 0.033, memory: 19865, loss_cls: 0.1713, loss_bbox: 0.3895, loss_traj: 0.7006, loss_traj_cls: 0.0010, loss_map_cls: 0.1537, loss_map_pts: 0.7223, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.8748, d0.loss_plan_l1_fix_dist: 0.3276, d1.loss_plan_l1_fix_time: 1.2110, d1.loss_plan_l1_fix_dist: 0.1790, d2.loss_plan_l1_fix_time: 1.1996, d2.loss_plan_l1_fix_dist: 0.1806, d3.loss_plan_l1_fix_time: 1.2065, d3.loss_plan_l1_fix_dist: 0.1880, d4.loss_plan_l1_fix_time: 1.2107, d4.loss_plan_l1_fix_dist: 0.1964, d5.loss_plan_l1_fix_time: 1.2145, d5.loss_plan_l1_fix_dist: 0.2068, d6.loss_plan_l1_fix_time: 1.2185, d6.loss_plan_l1_fix_dist: 0.2172, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4470, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4470, d1.loss_cls: 0.2104, d1.loss_bbox: 0.4092, d2.loss_cls: 0.1922, d2.loss_bbox: 0.3949, d3.loss_cls: 0.1818, d3.loss_bbox: 0.3912, d4.loss_cls: 0.1747, d4.loss_bbox: 0.3895, d5.loss_cls: 0.1721, d5.loss_bbox: 0.3882, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8864, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7434, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7044, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6979, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6986, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6972, d0.loss_map_cls_all: 0.2257, d0.loss_map_pts_all: 1.3595, d0.loss_map_dir_all: 0.0092, d0.loss_map_cls: 0.2257, d0.loss_map_pts: 1.3595, d0.loss_map_dir: 0.0092, d1.loss_map_cls: 0.1970, d1.loss_map_pts: 0.9626, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1768, d2.loss_map_pts: 0.8166, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1655, d3.loss_map_pts: 0.7547, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1591, d4.loss_map_pts: 0.7302, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1554, d5.loss_map_pts: 0.7244, d5.loss_map_dir: 0.0096, loss: 30.5213, grad_norm: 145.5517
2026-02-26 12:45:46,530 - DriveTransformer - INFO - Epoch [7][1800/39528]	lr: 8.550e-05, eta: 5 days, 20:12:18, time: 0.653, data_time: 0.033, memory: 19865, loss_cls: 0.1728, loss_bbox: 0.3687, loss_traj: 0.6900, loss_traj_cls: 0.0010, loss_map_cls: 0.1644, loss_map_pts: 0.6153, loss_map_dir: 0.0077, d0.loss_plan_l1_fix_time: 2.5313, d0.loss_plan_l1_fix_dist: 0.3682, d1.loss_plan_l1_fix_time: 1.0924, d1.loss_plan_l1_fix_dist: 0.1612, d2.loss_plan_l1_fix_time: 1.0776, d2.loss_plan_l1_fix_dist: 0.1676, d3.loss_plan_l1_fix_time: 1.0760, d3.loss_plan_l1_fix_dist: 0.1733, d4.loss_plan_l1_fix_time: 1.0789, d4.loss_plan_l1_fix_dist: 0.1807, d5.loss_plan_l1_fix_time: 1.0818, d5.loss_plan_l1_fix_dist: 0.1898, d6.loss_plan_l1_fix_time: 1.0848, d6.loss_plan_l1_fix_dist: 0.1994, d0.loss_cls_all: 0.2172, d0.loss_bbox_all: 0.4321, d0.loss_cls: 0.2172, d0.loss_bbox: 0.4321, d1.loss_cls: 0.2066, d1.loss_bbox: 0.3966, d2.loss_cls: 0.1920, d2.loss_bbox: 0.3750, d3.loss_cls: 0.1811, d3.loss_bbox: 0.3713, d4.loss_cls: 0.1736, d4.loss_bbox: 0.3707, d5.loss_cls: 0.1732, d5.loss_bbox: 0.3682, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9469, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7323, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6938, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6886, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6879, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6855, d0.loss_map_cls_all: 0.2301, d0.loss_map_pts_all: 1.2002, d0.loss_map_dir_all: 0.0072, d0.loss_map_cls: 0.2301, d0.loss_map_pts: 1.2002, d0.loss_map_dir: 0.0072, d1.loss_map_cls: 0.2059, d1.loss_map_pts: 0.8447, d1.loss_map_dir: 0.0072, d2.loss_map_cls: 0.1822, d2.loss_map_pts: 0.7080, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1734, d3.loss_map_pts: 0.6464, d3.loss_map_dir: 0.0073, d4.loss_map_cls: 0.1684, d4.loss_map_pts: 0.6231, d4.loss_map_dir: 0.0075, d5.loss_map_cls: 0.1663, d5.loss_map_pts: 0.6153, d5.loss_map_dir: 0.0076, loss: 28.2768, grad_norm: 142.3826
2026-02-26 12:46:22,168 - DriveTransformer - INFO - Epoch [7][1850/39528]	lr: 8.550e-05, eta: 5 days, 20:12:12, time: 0.713, data_time: 0.030, memory: 19865, loss_cls: 0.1555, loss_bbox: 0.3774, loss_traj: 0.7525, loss_traj_cls: 0.0010, loss_map_cls: 0.1303, loss_map_pts: 0.6229, loss_map_dir: 0.0081, d0.loss_plan_l1_fix_time: 2.4320, d0.loss_plan_l1_fix_dist: 0.4214, d1.loss_plan_l1_fix_time: 1.0484, d1.loss_plan_l1_fix_dist: 0.1829, d2.loss_plan_l1_fix_time: 1.0254, d2.loss_plan_l1_fix_dist: 0.1820, d3.loss_plan_l1_fix_time: 1.0284, d3.loss_plan_l1_fix_dist: 0.1928, d4.loss_plan_l1_fix_time: 1.0333, d4.loss_plan_l1_fix_dist: 0.2087, d5.loss_plan_l1_fix_time: 1.0385, d5.loss_plan_l1_fix_dist: 0.2272, d6.loss_plan_l1_fix_time: 1.0437, d6.loss_plan_l1_fix_dist: 0.2490, d0.loss_cls_all: 0.1923, d0.loss_bbox_all: 0.4239, d0.loss_cls: 0.1923, d0.loss_bbox: 0.4239, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3934, d2.loss_cls: 0.1693, d2.loss_bbox: 0.3804, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3761, d4.loss_cls: 0.1554, d4.loss_bbox: 0.3755, d5.loss_cls: 0.1560, d5.loss_bbox: 0.3753, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9853, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8047, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7582, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7506, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7498, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7484, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.2406, d0.loss_map_dir_all: 0.0066, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.2406, d0.loss_map_dir: 0.0066, d1.loss_map_cls: 0.1777, d1.loss_map_pts: 0.8832, d1.loss_map_dir: 0.0066, d2.loss_map_cls: 0.1546, d2.loss_map_pts: 0.7243, d2.loss_map_dir: 0.0070, d3.loss_map_cls: 0.1437, d3.loss_map_pts: 0.6492, d3.loss_map_dir: 0.0075, d4.loss_map_cls: 0.1367, d4.loss_map_pts: 0.6267, d4.loss_map_dir: 0.0078, d5.loss_map_cls: 0.1320, d5.loss_map_pts: 0.6206, d5.loss_map_dir: 0.0080, loss: 28.3211, grad_norm: 143.2449
2026-02-26 12:46:57,320 - DriveTransformer - INFO - Epoch [7][1900/39528]	lr: 8.550e-05, eta: 5 days, 20:09:04, time: 0.703, data_time: 0.034, memory: 19865, loss_cls: 0.1431, loss_bbox: 0.3644, loss_traj: 0.7862, loss_traj_cls: 0.0010, loss_map_cls: 0.1726, loss_map_pts: 0.7244, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.4884, d0.loss_plan_l1_fix_dist: 0.4732, d1.loss_plan_l1_fix_time: 1.0267, d1.loss_plan_l1_fix_dist: 0.1651, d2.loss_plan_l1_fix_time: 1.0137, d2.loss_plan_l1_fix_dist: 0.1645, d3.loss_plan_l1_fix_time: 1.0128, d3.loss_plan_l1_fix_dist: 0.1713, d4.loss_plan_l1_fix_time: 1.0154, d4.loss_plan_l1_fix_dist: 0.1785, d5.loss_plan_l1_fix_time: 1.0184, d5.loss_plan_l1_fix_dist: 0.1904, d6.loss_plan_l1_fix_time: 1.0217, d6.loss_plan_l1_fix_dist: 0.2047, d0.loss_cls_all: 0.1893, d0.loss_bbox_all: 0.4193, d0.loss_cls: 0.1893, d0.loss_bbox: 0.4193, d1.loss_cls: 0.1785, d1.loss_bbox: 0.3882, d2.loss_cls: 0.1605, d2.loss_bbox: 0.3733, d3.loss_cls: 0.1518, d3.loss_bbox: 0.3651, d4.loss_cls: 0.1440, d4.loss_bbox: 0.3646, d5.loss_cls: 0.1440, d5.loss_bbox: 0.3632, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0801, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8400, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7906, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7732, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7723, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7730, d0.loss_map_cls_all: 0.2446, d0.loss_map_pts_all: 1.4534, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2446, d0.loss_map_pts: 1.4534, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2193, d1.loss_map_pts: 1.0012, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.1966, d2.loss_map_pts: 0.8251, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1848, d3.loss_map_pts: 0.7552, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1779, d4.loss_map_pts: 0.7304, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1742, d5.loss_map_pts: 0.7253, d5.loss_map_dir: 0.0107, loss: 29.6898, grad_norm: 142.8852
2026-02-26 12:47:32,412 - DriveTransformer - INFO - Epoch [7][1950/39528]	lr: 8.550e-05, eta: 5 days, 20:05:41, time: 0.702, data_time: 0.033, memory: 19865, loss_cls: 0.1510, loss_bbox: 0.3456, loss_traj: 0.6506, loss_traj_cls: 0.0010, loss_map_cls: 0.1377, loss_map_pts: 0.5942, loss_map_dir: 0.0086, d0.loss_plan_l1_fix_time: 2.4984, d0.loss_plan_l1_fix_dist: 0.5008, d1.loss_plan_l1_fix_time: 0.9718, d1.loss_plan_l1_fix_dist: 0.1755, d2.loss_plan_l1_fix_time: 0.9592, d2.loss_plan_l1_fix_dist: 0.1757, d3.loss_plan_l1_fix_time: 0.9608, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 0.9644, d4.loss_plan_l1_fix_dist: 0.1977, d5.loss_plan_l1_fix_time: 0.9681, d5.loss_plan_l1_fix_dist: 0.2105, d6.loss_plan_l1_fix_time: 0.9725, d6.loss_plan_l1_fix_dist: 0.2226, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.4044, d0.loss_cls: 0.1905, d0.loss_bbox: 0.4044, d1.loss_cls: 0.1772, d1.loss_bbox: 0.3775, d2.loss_cls: 0.1656, d2.loss_bbox: 0.3581, d3.loss_cls: 0.1568, d3.loss_bbox: 0.3503, d4.loss_cls: 0.1531, d4.loss_bbox: 0.3488, d5.loss_cls: 0.1510, d5.loss_bbox: 0.3465, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8480, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6941, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.6560, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6519, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6516, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6500, d0.loss_map_cls_all: 0.2124, d0.loss_map_pts_all: 1.1904, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2124, d0.loss_map_pts: 1.1904, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1809, d1.loss_map_pts: 0.8240, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1610, d2.loss_map_pts: 0.6774, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1495, d3.loss_map_pts: 0.6207, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1445, d4.loss_map_pts: 0.6017, d4.loss_map_dir: 0.0084, d5.loss_map_cls: 0.1396, d5.loss_map_pts: 0.5951, d5.loss_map_dir: 0.0085, loss: 26.7419, grad_norm: 142.6756
2026-02-26 12:48:09,135 - DriveTransformer - INFO - Epoch [7][2000/39528]	lr: 8.550e-05, eta: 5 days, 20:12:30, time: 0.736, data_time: 0.030, memory: 19865, loss_cls: 0.1609, loss_bbox: 0.3574, loss_traj: 0.6294, loss_traj_cls: 0.0010, loss_map_cls: 0.1798, loss_map_pts: 0.7884, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.7275, d0.loss_plan_l1_fix_dist: 0.3480, d1.loss_plan_l1_fix_time: 1.2145, d1.loss_plan_l1_fix_dist: 0.1808, d2.loss_plan_l1_fix_time: 1.1997, d2.loss_plan_l1_fix_dist: 0.1808, d3.loss_plan_l1_fix_time: 1.1913, d3.loss_plan_l1_fix_dist: 0.1890, d4.loss_plan_l1_fix_time: 1.1929, d4.loss_plan_l1_fix_dist: 0.1994, d5.loss_plan_l1_fix_time: 1.1956, d5.loss_plan_l1_fix_dist: 0.2107, d6.loss_plan_l1_fix_time: 1.1992, d6.loss_plan_l1_fix_dist: 0.2239, d0.loss_cls_all: 0.2033, d0.loss_bbox_all: 0.4067, d0.loss_cls: 0.2033, d0.loss_bbox: 0.4067, d1.loss_cls: 0.1906, d1.loss_bbox: 0.3765, d2.loss_cls: 0.1782, d2.loss_bbox: 0.3594, d3.loss_cls: 0.1661, d3.loss_bbox: 0.3556, d4.loss_cls: 0.1617, d4.loss_bbox: 0.3554, d5.loss_cls: 0.1602, d5.loss_bbox: 0.3564, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8533, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6843, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6455, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6396, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6297, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6290, d0.loss_map_cls_all: 0.2511, d0.loss_map_pts_all: 1.5386, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2511, d0.loss_map_pts: 1.5386, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2206, d1.loss_map_pts: 1.0824, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.2020, d2.loss_map_pts: 0.8926, d2.loss_map_dir: 0.0110, d3.loss_map_cls: 0.1929, d3.loss_map_pts: 0.8208, d3.loss_map_dir: 0.0115, d4.loss_map_cls: 0.1851, d4.loss_map_pts: 0.7938, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1818, d5.loss_map_pts: 0.7878, d5.loss_map_dir: 0.0120, loss: 30.5687, grad_norm: 142.9053
2026-02-26 12:48:44,250 - DriveTransformer - INFO - Epoch [7][2050/39528]	lr: 8.550e-05, eta: 5 days, 20:08:53, time: 0.701, data_time: 0.031, memory: 19865, loss_cls: 0.1549, loss_bbox: 0.3533, loss_traj: 0.5596, loss_traj_cls: 0.0011, loss_map_cls: 0.1304, loss_map_pts: 0.5858, loss_map_dir: 0.0082, d0.loss_plan_l1_fix_time: 2.4372, d0.loss_plan_l1_fix_dist: 0.4162, d1.loss_plan_l1_fix_time: 0.9219, d1.loss_plan_l1_fix_dist: 0.1865, d2.loss_plan_l1_fix_time: 0.9181, d2.loss_plan_l1_fix_dist: 0.1868, d3.loss_plan_l1_fix_time: 0.9157, d3.loss_plan_l1_fix_dist: 0.1966, d4.loss_plan_l1_fix_time: 0.9189, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 0.9229, d5.loss_plan_l1_fix_dist: 0.2304, d6.loss_plan_l1_fix_time: 0.9281, d6.loss_plan_l1_fix_dist: 0.2520, d0.loss_cls_all: 0.1909, d0.loss_bbox_all: 0.4025, d0.loss_cls: 0.1909, d0.loss_bbox: 0.4025, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3703, d2.loss_cls: 0.1741, d2.loss_bbox: 0.3515, d3.loss_cls: 0.1626, d3.loss_bbox: 0.3455, d4.loss_cls: 0.1571, d4.loss_bbox: 0.3466, d5.loss_cls: 0.1551, d5.loss_bbox: 0.3499, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7785, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6227, d2.loss_traj_cls: 0.0019, d2.loss_traj: 0.5766, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.5691, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5654, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5620, d0.loss_map_cls_all: 0.1931, d0.loss_map_pts_all: 1.1665, d0.loss_map_dir_all: 0.0081, d0.loss_map_cls: 0.1931, d0.loss_map_pts: 1.1665, d0.loss_map_dir: 0.0081, d1.loss_map_cls: 0.1701, d1.loss_map_pts: 0.7985, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1524, d2.loss_map_pts: 0.6639, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.1439, d3.loss_map_pts: 0.6105, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.1364, d4.loss_map_pts: 0.5942, d4.loss_map_dir: 0.0081, d5.loss_map_cls: 0.1325, d5.loss_map_pts: 0.5858, d5.loss_map_dir: 0.0082, loss: 25.6612, grad_norm: 142.6896
2026-02-26 12:49:19,672 - DriveTransformer - INFO - Epoch [7][2100/39528]	lr: 8.550e-05, eta: 5 days, 20:07:31, time: 0.708, data_time: 0.031, memory: 19865, loss_cls: 0.1973, loss_bbox: 0.3931, loss_traj: 0.5962, loss_traj_cls: 0.0010, loss_map_cls: 0.1782, loss_map_pts: 0.7947, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5953, d0.loss_plan_l1_fix_dist: 0.3360, d1.loss_plan_l1_fix_time: 0.9641, d1.loss_plan_l1_fix_dist: 0.1460, d2.loss_plan_l1_fix_time: 0.9476, d2.loss_plan_l1_fix_dist: 0.1465, d3.loss_plan_l1_fix_time: 0.9515, d3.loss_plan_l1_fix_dist: 0.1587, d4.loss_plan_l1_fix_time: 0.9550, d4.loss_plan_l1_fix_dist: 0.1710, d5.loss_plan_l1_fix_time: 0.9584, d5.loss_plan_l1_fix_dist: 0.1836, d6.loss_plan_l1_fix_time: 0.9619, d6.loss_plan_l1_fix_dist: 0.1972, d0.loss_cls_all: 0.2391, d0.loss_bbox_all: 0.4545, d0.loss_cls: 0.2391, d0.loss_bbox: 0.4545, d1.loss_cls: 0.2262, d1.loss_bbox: 0.4191, d2.loss_cls: 0.2119, d2.loss_bbox: 0.4028, d3.loss_cls: 0.2053, d3.loss_bbox: 0.3931, d4.loss_cls: 0.1988, d4.loss_bbox: 0.3918, d5.loss_cls: 0.1971, d5.loss_bbox: 0.3912, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7476, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6224, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5930, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5893, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5902, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5937, d0.loss_map_cls_all: 0.2473, d0.loss_map_pts_all: 1.5357, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2473, d0.loss_map_pts: 1.5357, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2210, d1.loss_map_pts: 1.0645, d1.loss_map_dir: 0.0109, d2.loss_map_cls: 0.2048, d2.loss_map_pts: 0.9004, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1944, d3.loss_map_pts: 0.8323, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1871, d4.loss_map_pts: 0.8020, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1816, d5.loss_map_pts: 0.7955, d5.loss_map_dir: 0.0122, loss: 29.0436, grad_norm: 142.2308
2026-02-26 12:49:54,371 - DriveTransformer - INFO - Epoch [7][2150/39528]	lr: 8.550e-05, eta: 5 days, 20:02:13, time: 0.694, data_time: 0.033, memory: 19865, loss_cls: 0.1528, loss_bbox: 0.3479, loss_traj: 0.7810, loss_traj_cls: 0.0011, loss_map_cls: 0.1394, loss_map_pts: 0.6403, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.4944, d0.loss_plan_l1_fix_dist: 0.3957, d1.loss_plan_l1_fix_time: 1.1280, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 1.1236, d2.loss_plan_l1_fix_dist: 0.2042, d3.loss_plan_l1_fix_time: 1.1225, d3.loss_plan_l1_fix_dist: 0.2237, d4.loss_plan_l1_fix_time: 1.1256, d4.loss_plan_l1_fix_dist: 0.2428, d5.loss_plan_l1_fix_time: 1.1290, d5.loss_plan_l1_fix_dist: 0.2607, d6.loss_plan_l1_fix_time: 1.1319, d6.loss_plan_l1_fix_dist: 0.2816, d0.loss_cls_all: 0.1849, d0.loss_bbox_all: 0.4051, d0.loss_cls: 0.1849, d0.loss_bbox: 0.4051, d1.loss_cls: 0.1763, d1.loss_bbox: 0.3738, d2.loss_cls: 0.1667, d2.loss_bbox: 0.3541, d3.loss_cls: 0.1561, d3.loss_bbox: 0.3481, d4.loss_cls: 0.1522, d4.loss_bbox: 0.3466, d5.loss_cls: 0.1529, d5.loss_bbox: 0.3458, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9863, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8261, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7881, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7814, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7835, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7781, d0.loss_map_cls_all: 0.2098, d0.loss_map_pts_all: 1.2264, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2098, d0.loss_map_pts: 1.2264, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.1825, d1.loss_map_pts: 0.8673, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1631, d2.loss_map_pts: 0.7295, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1523, d3.loss_map_pts: 0.6701, d3.loss_map_dir: 0.0097, d4.loss_map_cls: 0.1439, d4.loss_map_pts: 0.6480, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1402, d5.loss_map_pts: 0.6432, d5.loss_map_dir: 0.0100, loss: 29.1108, grad_norm: 142.7914
2026-02-26 12:50:30,871 - DriveTransformer - INFO - Epoch [7][2200/39528]	lr: 8.550e-05, eta: 5 days, 20:06:49, time: 0.730, data_time: 0.034, memory: 19865, loss_cls: 0.1759, loss_bbox: 0.3798, loss_traj: 0.6357, loss_traj_cls: 0.0011, loss_map_cls: 0.1609, loss_map_pts: 0.7727, loss_map_dir: 0.0129, d0.loss_plan_l1_fix_time: 2.4323, d0.loss_plan_l1_fix_dist: 0.4264, d1.loss_plan_l1_fix_time: 1.0623, d1.loss_plan_l1_fix_dist: 0.1959, d2.loss_plan_l1_fix_time: 1.0557, d2.loss_plan_l1_fix_dist: 0.1997, d3.loss_plan_l1_fix_time: 1.0575, d3.loss_plan_l1_fix_dist: 0.2086, d4.loss_plan_l1_fix_time: 1.0616, d4.loss_plan_l1_fix_dist: 0.2193, d5.loss_plan_l1_fix_time: 1.0662, d5.loss_plan_l1_fix_dist: 0.2309, d6.loss_plan_l1_fix_time: 1.0710, d6.loss_plan_l1_fix_dist: 0.2473, d0.loss_cls_all: 0.2158, d0.loss_bbox_all: 0.4406, d0.loss_cls: 0.2158, d0.loss_bbox: 0.4406, d1.loss_cls: 0.2094, d1.loss_bbox: 0.4061, d2.loss_cls: 0.1939, d2.loss_bbox: 0.3881, d3.loss_cls: 0.1830, d3.loss_bbox: 0.3814, d4.loss_cls: 0.1776, d4.loss_bbox: 0.3796, d5.loss_cls: 0.1770, d5.loss_bbox: 0.3782, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8501, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6993, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6637, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6559, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6438, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6379, d0.loss_map_cls_all: 0.2317, d0.loss_map_pts_all: 1.5316, d0.loss_map_dir_all: 0.0124, d0.loss_map_cls: 0.2317, d0.loss_map_pts: 1.5316, d0.loss_map_dir: 0.0124, d1.loss_map_cls: 0.2036, d1.loss_map_pts: 1.0750, d1.loss_map_dir: 0.0123, d2.loss_map_cls: 0.1857, d2.loss_map_pts: 0.8908, d2.loss_map_dir: 0.0123, d3.loss_map_cls: 0.1712, d3.loss_map_pts: 0.8131, d3.loss_map_dir: 0.0126, d4.loss_map_cls: 0.1647, d4.loss_map_pts: 0.7824, d4.loss_map_dir: 0.0130, d5.loss_map_cls: 0.1623, d5.loss_map_pts: 0.7751, d5.loss_map_dir: 0.0130, loss: 29.8572, grad_norm: 142.7964
2026-02-26 12:51:05,923 - DriveTransformer - INFO - Epoch [7][2250/39528]	lr: 8.550e-05, eta: 5 days, 20:03:34, time: 0.701, data_time: 0.031, memory: 19865, loss_cls: 0.1661, loss_bbox: 0.3737, loss_traj: 0.6004, loss_traj_cls: 0.0011, loss_map_cls: 0.1642, loss_map_pts: 0.7296, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.8292, d0.loss_plan_l1_fix_dist: 0.4915, d1.loss_plan_l1_fix_time: 1.0621, d1.loss_plan_l1_fix_dist: 0.2002, d2.loss_plan_l1_fix_time: 1.0428, d2.loss_plan_l1_fix_dist: 0.2072, d3.loss_plan_l1_fix_time: 1.0504, d3.loss_plan_l1_fix_dist: 0.2242, d4.loss_plan_l1_fix_time: 1.0551, d4.loss_plan_l1_fix_dist: 0.2508, d5.loss_plan_l1_fix_time: 1.0599, d5.loss_plan_l1_fix_dist: 0.2780, d6.loss_plan_l1_fix_time: 1.0654, d6.loss_plan_l1_fix_dist: 0.3007, d0.loss_cls_all: 0.2065, d0.loss_bbox_all: 0.4403, d0.loss_cls: 0.2065, d0.loss_bbox: 0.4403, d1.loss_cls: 0.1999, d1.loss_bbox: 0.4028, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3852, d3.loss_cls: 0.1710, d3.loss_bbox: 0.3772, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3738, d5.loss_cls: 0.1663, d5.loss_bbox: 0.3736, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7597, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6405, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6056, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5990, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6009, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6013, d0.loss_map_cls_all: 0.2480, d0.loss_map_pts_all: 1.3924, d0.loss_map_dir_all: 0.0112, d0.loss_map_cls: 0.2480, d0.loss_map_pts: 1.3924, d0.loss_map_dir: 0.0112, d1.loss_map_cls: 0.2153, d1.loss_map_pts: 0.9747, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1932, d2.loss_map_pts: 0.8290, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1797, d3.loss_map_pts: 0.7623, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1714, d4.loss_map_pts: 0.7377, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1659, d5.loss_map_pts: 0.7315, d5.loss_map_dir: 0.0113, loss: 29.3883, grad_norm: 144.0238
2026-02-26 12:51:41,456 - DriveTransformer - INFO - Epoch [7][2300/39528]	lr: 8.550e-05, eta: 5 days, 20:02:53, time: 0.711, data_time: 0.031, memory: 19865, loss_cls: 0.1544, loss_bbox: 0.3493, loss_traj: 0.7779, loss_traj_cls: 0.0011, loss_map_cls: 0.1259, loss_map_pts: 0.5892, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.5436, d0.loss_plan_l1_fix_dist: 0.3951, d1.loss_plan_l1_fix_time: 1.0432, d1.loss_plan_l1_fix_dist: 0.1723, d2.loss_plan_l1_fix_time: 1.0373, d2.loss_plan_l1_fix_dist: 0.1828, d3.loss_plan_l1_fix_time: 1.0424, d3.loss_plan_l1_fix_dist: 0.1989, d4.loss_plan_l1_fix_time: 1.0464, d4.loss_plan_l1_fix_dist: 0.2207, d5.loss_plan_l1_fix_time: 1.0507, d5.loss_plan_l1_fix_dist: 0.2459, d6.loss_plan_l1_fix_time: 1.0561, d6.loss_plan_l1_fix_dist: 0.2706, d0.loss_cls_all: 0.1850, d0.loss_bbox_all: 0.4022, d0.loss_cls: 0.1850, d0.loss_bbox: 0.4022, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3736, d2.loss_cls: 0.1679, d2.loss_bbox: 0.3594, d3.loss_cls: 0.1578, d3.loss_bbox: 0.3533, d4.loss_cls: 0.1525, d4.loss_bbox: 0.3509, d5.loss_cls: 0.1529, d5.loss_bbox: 0.3501, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0132, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8389, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7818, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7742, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7759, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7756, d0.loss_map_cls_all: 0.2017, d0.loss_map_pts_all: 1.2379, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2017, d0.loss_map_pts: 1.2379, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1683, d1.loss_map_pts: 0.8361, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1464, d2.loss_map_pts: 0.6794, d2.loss_map_dir: 0.0093, d3.loss_map_cls: 0.1365, d3.loss_map_pts: 0.6128, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1308, d4.loss_map_pts: 0.5933, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1276, d5.loss_map_pts: 0.5893, d5.loss_map_dir: 0.0100, loss: 28.2152, grad_norm: 142.8623
2026-02-26 12:52:17,083 - DriveTransformer - INFO - Epoch [7][2350/39528]	lr: 8.550e-05, eta: 5 days, 20:02:43, time: 0.713, data_time: 0.035, memory: 19865, loss_cls: 0.1718, loss_bbox: 0.3592, loss_traj: 0.6508, loss_traj_cls: 0.0011, loss_map_cls: 0.1604, loss_map_pts: 0.7324, loss_map_dir: 0.0108, d0.loss_plan_l1_fix_time: 2.7903, d0.loss_plan_l1_fix_dist: 0.4715, d1.loss_plan_l1_fix_time: 1.0756, d1.loss_plan_l1_fix_dist: 0.1961, d2.loss_plan_l1_fix_time: 1.0586, d2.loss_plan_l1_fix_dist: 0.2113, d3.loss_plan_l1_fix_time: 1.0578, d3.loss_plan_l1_fix_dist: 0.2230, d4.loss_plan_l1_fix_time: 1.0603, d4.loss_plan_l1_fix_dist: 0.2330, d5.loss_plan_l1_fix_time: 1.0639, d5.loss_plan_l1_fix_dist: 0.2495, d6.loss_plan_l1_fix_time: 1.0678, d6.loss_plan_l1_fix_dist: 0.2699, d0.loss_cls_all: 0.2091, d0.loss_bbox_all: 0.4267, d0.loss_cls: 0.2091, d0.loss_bbox: 0.4267, d1.loss_cls: 0.2018, d1.loss_bbox: 0.3896, d2.loss_cls: 0.1920, d2.loss_bbox: 0.3713, d3.loss_cls: 0.1793, d3.loss_bbox: 0.3621, d4.loss_cls: 0.1717, d4.loss_bbox: 0.3607, d5.loss_cls: 0.1720, d5.loss_bbox: 0.3582, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8250, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7005, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6648, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6481, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6499, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6488, d0.loss_map_cls_all: 0.2319, d0.loss_map_pts_all: 1.4713, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2319, d0.loss_map_pts: 1.4713, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2053, d1.loss_map_pts: 1.0180, d1.loss_map_dir: 0.0101, d2.loss_map_cls: 0.1824, d2.loss_map_pts: 0.8432, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1708, d3.loss_map_pts: 0.7710, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1652, d4.loss_map_pts: 0.7433, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1615, d5.loss_map_pts: 0.7339, d5.loss_map_dir: 0.0107, loss: 29.7627, grad_norm: 144.6158
2026-02-26 12:52:52,030 - DriveTransformer - INFO - Epoch [7][2400/39528]	lr: 8.550e-05, eta: 5 days, 19:59:10, time: 0.699, data_time: 0.035, memory: 19865, loss_cls: 0.1459, loss_bbox: 0.3385, loss_traj: 0.6589, loss_traj_cls: 0.0012, loss_map_cls: 0.1430, loss_map_pts: 0.6377, loss_map_dir: 0.0087, d0.loss_plan_l1_fix_time: 2.7030, d0.loss_plan_l1_fix_dist: 0.5221, d1.loss_plan_l1_fix_time: 1.0994, d1.loss_plan_l1_fix_dist: 0.1805, d2.loss_plan_l1_fix_time: 1.0846, d2.loss_plan_l1_fix_dist: 0.1880, d3.loss_plan_l1_fix_time: 1.0829, d3.loss_plan_l1_fix_dist: 0.2072, d4.loss_plan_l1_fix_time: 1.0861, d4.loss_plan_l1_fix_dist: 0.2262, d5.loss_plan_l1_fix_time: 1.0895, d5.loss_plan_l1_fix_dist: 0.2461, d6.loss_plan_l1_fix_time: 1.0932, d6.loss_plan_l1_fix_dist: 0.2663, d0.loss_cls_all: 0.1888, d0.loss_bbox_all: 0.3906, d0.loss_cls: 0.1888, d0.loss_bbox: 0.3906, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3571, d2.loss_cls: 0.1635, d2.loss_bbox: 0.3437, d3.loss_cls: 0.1528, d3.loss_bbox: 0.3383, d4.loss_cls: 0.1476, d4.loss_bbox: 0.3379, d5.loss_cls: 0.1452, d5.loss_bbox: 0.3392, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8824, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7277, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6768, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6611, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6622, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.6595, d0.loss_map_cls_all: 0.2070, d0.loss_map_pts_all: 1.2630, d0.loss_map_dir_all: 0.0083, d0.loss_map_cls: 0.2070, d0.loss_map_pts: 1.2630, d0.loss_map_dir: 0.0083, d1.loss_map_cls: 0.1871, d1.loss_map_pts: 0.8601, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1668, d2.loss_map_pts: 0.7254, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1554, d3.loss_map_pts: 0.6681, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1488, d4.loss_map_pts: 0.6444, d4.loss_map_dir: 0.0085, d5.loss_map_cls: 0.1456, d5.loss_map_pts: 0.6375, d5.loss_map_dir: 0.0087, loss: 28.2869, grad_norm: 144.6879
2026-02-26 12:53:24,725 - DriveTransformer - INFO - Epoch [7][2450/39528]	lr: 8.550e-05, eta: 5 days, 19:44:53, time: 0.654, data_time: 0.029, memory: 19865, loss_cls: 0.1727, loss_bbox: 0.3637, loss_traj: 0.7740, loss_traj_cls: 0.0011, loss_map_cls: 0.1832, loss_map_pts: 0.6794, loss_map_dir: 0.0068, d0.loss_plan_l1_fix_time: 2.6630, d0.loss_plan_l1_fix_dist: 0.4173, d1.loss_plan_l1_fix_time: 1.0132, d1.loss_plan_l1_fix_dist: 0.1934, d2.loss_plan_l1_fix_time: 1.0001, d2.loss_plan_l1_fix_dist: 0.2006, d3.loss_plan_l1_fix_time: 0.9996, d3.loss_plan_l1_fix_dist: 0.2182, d4.loss_plan_l1_fix_time: 1.0029, d4.loss_plan_l1_fix_dist: 0.2388, d5.loss_plan_l1_fix_time: 1.0063, d5.loss_plan_l1_fix_dist: 0.2588, d6.loss_plan_l1_fix_time: 1.0098, d6.loss_plan_l1_fix_dist: 0.2805, d0.loss_cls_all: 0.2116, d0.loss_bbox_all: 0.4284, d0.loss_cls: 0.2116, d0.loss_bbox: 0.4284, d1.loss_cls: 0.2064, d1.loss_bbox: 0.3897, d2.loss_cls: 0.1896, d2.loss_bbox: 0.3714, d3.loss_cls: 0.1785, d3.loss_bbox: 0.3638, d4.loss_cls: 0.1743, d4.loss_bbox: 0.3612, d5.loss_cls: 0.1720, d5.loss_bbox: 0.3622, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0262, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8136, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7730, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.7609, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7672, d5.loss_traj_cls: 0.0015, d5.loss_traj: 0.7723, d0.loss_map_cls_all: 0.2646, d0.loss_map_pts_all: 1.2813, d0.loss_map_dir_all: 0.0064, d0.loss_map_cls: 0.2646, d0.loss_map_pts: 1.2813, d0.loss_map_dir: 0.0064, d1.loss_map_cls: 0.2346, d1.loss_map_pts: 0.9322, d1.loss_map_dir: 0.0064, d2.loss_map_cls: 0.2095, d2.loss_map_pts: 0.7918, d2.loss_map_dir: 0.0065, d3.loss_map_cls: 0.1983, d3.loss_map_pts: 0.7204, d3.loss_map_dir: 0.0066, d4.loss_map_cls: 0.1896, d4.loss_map_pts: 0.6930, d4.loss_map_dir: 0.0067, d5.loss_map_cls: 0.1850, d5.loss_map_pts: 0.6809, d5.loss_map_dir: 0.0068, loss: 29.6258, grad_norm: 143.3468
2026-02-26 12:54:01,474 - DriveTransformer - INFO - Epoch [7][2500/39528]	lr: 8.550e-05, eta: 5 days, 19:50:18, time: 0.735, data_time: 0.036, memory: 19865, loss_cls: 0.1959, loss_bbox: 0.3896, loss_traj: 0.6560, loss_traj_cls: 0.0011, loss_map_cls: 0.1863, loss_map_pts: 0.8078, loss_map_dir: 0.0111, d0.loss_plan_l1_fix_time: 3.2002, d0.loss_plan_l1_fix_dist: 0.4388, d1.loss_plan_l1_fix_time: 1.2478, d1.loss_plan_l1_fix_dist: 0.2104, d2.loss_plan_l1_fix_time: 1.2247, d2.loss_plan_l1_fix_dist: 0.2217, d3.loss_plan_l1_fix_time: 1.2277, d3.loss_plan_l1_fix_dist: 0.2335, d4.loss_plan_l1_fix_time: 1.2324, d4.loss_plan_l1_fix_dist: 0.2518, d5.loss_plan_l1_fix_time: 1.2376, d5.loss_plan_l1_fix_dist: 0.2738, d6.loss_plan_l1_fix_time: 1.2428, d6.loss_plan_l1_fix_dist: 0.2975, d0.loss_cls_all: 0.2379, d0.loss_bbox_all: 0.4586, d0.loss_cls: 0.2379, d0.loss_bbox: 0.4586, d1.loss_cls: 0.2264, d1.loss_bbox: 0.4212, d2.loss_cls: 0.2144, d2.loss_bbox: 0.4013, d3.loss_cls: 0.2018, d3.loss_bbox: 0.3936, d4.loss_cls: 0.1962, d4.loss_bbox: 0.3914, d5.loss_cls: 0.1973, d5.loss_bbox: 0.3881, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8801, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7102, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6776, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6722, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6616, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6599, d0.loss_map_cls_all: 0.2494, d0.loss_map_pts_all: 1.4962, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2494, d0.loss_map_pts: 1.4962, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.2259, d1.loss_map_pts: 1.0858, d1.loss_map_dir: 0.0097, d2.loss_map_cls: 0.2085, d2.loss_map_pts: 0.9162, d2.loss_map_dir: 0.0099, d3.loss_map_cls: 0.1966, d3.loss_map_pts: 0.8482, d3.loss_map_dir: 0.0105, d4.loss_map_cls: 0.1912, d4.loss_map_pts: 0.8212, d4.loss_map_dir: 0.0108, d5.loss_map_cls: 0.1880, d5.loss_map_pts: 0.8082, d5.loss_map_dir: 0.0110, loss: 32.5339, grad_norm: 143.9809
2026-02-26 12:54:36,326 - DriveTransformer - INFO - Epoch [7][2550/39528]	lr: 8.550e-05, eta: 5 days, 19:46:42, time: 0.697, data_time: 0.032, memory: 19865, loss_cls: 0.1581, loss_bbox: 0.3591, loss_traj: 0.5824, loss_traj_cls: 0.0011, loss_map_cls: 0.1719, loss_map_pts: 0.7669, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4732, d0.loss_plan_l1_fix_dist: 0.4428, d1.loss_plan_l1_fix_time: 1.0360, d1.loss_plan_l1_fix_dist: 0.1910, d2.loss_plan_l1_fix_time: 1.0165, d2.loss_plan_l1_fix_dist: 0.1996, d3.loss_plan_l1_fix_time: 1.0143, d3.loss_plan_l1_fix_dist: 0.2094, d4.loss_plan_l1_fix_time: 1.0164, d4.loss_plan_l1_fix_dist: 0.2220, d5.loss_plan_l1_fix_time: 1.0194, d5.loss_plan_l1_fix_dist: 0.2363, d6.loss_plan_l1_fix_time: 1.0230, d6.loss_plan_l1_fix_dist: 0.2533, d0.loss_cls_all: 0.2020, d0.loss_bbox_all: 0.4245, d0.loss_cls: 0.2020, d0.loss_bbox: 0.4245, d1.loss_cls: 0.2022, d1.loss_bbox: 0.3894, d2.loss_cls: 0.1838, d2.loss_bbox: 0.3716, d3.loss_cls: 0.1691, d3.loss_bbox: 0.3639, d4.loss_cls: 0.1589, d4.loss_bbox: 0.3622, d5.loss_cls: 0.1583, d5.loss_bbox: 0.3609, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7526, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6173, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5884, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5725, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5795, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5819, d0.loss_map_cls_all: 0.2532, d0.loss_map_pts_all: 1.4244, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2532, d0.loss_map_pts: 1.4244, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2233, d1.loss_map_pts: 1.0468, d1.loss_map_dir: 0.0085, d2.loss_map_cls: 0.2004, d2.loss_map_pts: 0.8824, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1868, d3.loss_map_pts: 0.8078, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1790, d4.loss_map_pts: 0.7775, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1750, d5.loss_map_pts: 0.7660, d5.loss_map_dir: 0.0094, loss: 28.7373, grad_norm: 140.8529
2026-02-26 12:55:12,787 - DriveTransformer - INFO - Epoch [7][2600/39528]	lr: 8.550e-05, eta: 5 days, 19:50:31, time: 0.729, data_time: 0.032, memory: 19865, loss_cls: 0.1948, loss_bbox: 0.4101, loss_traj: 0.7168, loss_traj_cls: 0.0011, loss_map_cls: 0.1796, loss_map_pts: 0.9047, loss_map_dir: 0.0122, d0.loss_plan_l1_fix_time: 3.1043, d0.loss_plan_l1_fix_dist: 0.4383, d1.loss_plan_l1_fix_time: 1.3818, d1.loss_plan_l1_fix_dist: 0.2387, d2.loss_plan_l1_fix_time: 1.3748, d2.loss_plan_l1_fix_dist: 0.2397, d3.loss_plan_l1_fix_time: 1.3794, d3.loss_plan_l1_fix_dist: 0.2531, d4.loss_plan_l1_fix_time: 1.3825, d4.loss_plan_l1_fix_dist: 0.2665, d5.loss_plan_l1_fix_time: 1.3852, d5.loss_plan_l1_fix_dist: 0.2827, d6.loss_plan_l1_fix_time: 1.3883, d6.loss_plan_l1_fix_dist: 0.3006, d0.loss_cls_all: 0.2396, d0.loss_bbox_all: 0.4751, d0.loss_cls: 0.2396, d0.loss_bbox: 0.4751, d1.loss_cls: 0.2295, d1.loss_bbox: 0.4403, d2.loss_cls: 0.2146, d2.loss_bbox: 0.4222, d3.loss_cls: 0.2026, d3.loss_bbox: 0.4154, d4.loss_cls: 0.1954, d4.loss_bbox: 0.4151, d5.loss_cls: 0.1928, d5.loss_bbox: 0.4140, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9680, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8082, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7438, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7272, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7229, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7189, d0.loss_map_cls_all: 0.2439, d0.loss_map_pts_all: 1.7183, d0.loss_map_dir_all: 0.0114, d0.loss_map_cls: 0.2439, d0.loss_map_pts: 1.7183, d0.loss_map_dir: 0.0114, d1.loss_map_cls: 0.2215, d1.loss_map_pts: 1.2204, d1.loss_map_dir: 0.0111, d2.loss_map_cls: 0.2006, d2.loss_map_pts: 1.0283, d2.loss_map_dir: 0.0112, d3.loss_map_cls: 0.1929, d3.loss_map_pts: 0.9479, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1861, d4.loss_map_pts: 0.9148, d4.loss_map_dir: 0.0119, d5.loss_map_cls: 0.1823, d5.loss_map_pts: 0.9053, d5.loss_map_dir: 0.0120, loss: 35.1072, grad_norm: 141.0890
2026-02-26 12:55:47,828 - DriveTransformer - INFO - Epoch [7][2650/39528]	lr: 8.550e-05, eta: 5 days, 19:47:50, time: 0.701, data_time: 0.031, memory: 19865, loss_cls: 0.1562, loss_bbox: 0.3658, loss_traj: 0.7046, loss_traj_cls: 0.0011, loss_map_cls: 0.1661, loss_map_pts: 0.7698, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.9248, d0.loss_plan_l1_fix_dist: 0.4745, d1.loss_plan_l1_fix_time: 1.0643, d1.loss_plan_l1_fix_dist: 0.2054, d2.loss_plan_l1_fix_time: 1.0467, d2.loss_plan_l1_fix_dist: 0.2039, d3.loss_plan_l1_fix_time: 1.0447, d3.loss_plan_l1_fix_dist: 0.2157, d4.loss_plan_l1_fix_time: 1.0481, d4.loss_plan_l1_fix_dist: 0.2276, d5.loss_plan_l1_fix_time: 1.0513, d5.loss_plan_l1_fix_dist: 0.2437, d6.loss_plan_l1_fix_time: 1.0549, d6.loss_plan_l1_fix_dist: 0.2620, d0.loss_cls_all: 0.1987, d0.loss_bbox_all: 0.4274, d0.loss_cls: 0.1987, d0.loss_bbox: 0.4274, d1.loss_cls: 0.1877, d1.loss_bbox: 0.3935, d2.loss_cls: 0.1738, d2.loss_bbox: 0.3787, d3.loss_cls: 0.1626, d3.loss_bbox: 0.3702, d4.loss_cls: 0.1554, d4.loss_bbox: 0.3692, d5.loss_cls: 0.1565, d5.loss_bbox: 0.3676, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9371, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7863, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7266, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7146, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7068, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.7066, d0.loss_map_cls_all: 0.2398, d0.loss_map_pts_all: 1.4325, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2398, d0.loss_map_pts: 1.4325, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2110, d1.loss_map_pts: 1.0452, d1.loss_map_dir: 0.0086, d2.loss_map_cls: 0.1849, d2.loss_map_pts: 0.8783, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1777, d3.loss_map_pts: 0.8022, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1715, d4.loss_map_pts: 0.7759, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1675, d5.loss_map_pts: 0.7709, d5.loss_map_dir: 0.0098, loss: 30.3862, grad_norm: 142.2349
2026-02-26 12:56:24,317 - DriveTransformer - INFO - Epoch [7][2700/39528]	lr: 8.550e-05, eta: 5 days, 19:51:35, time: 0.730, data_time: 0.032, memory: 19865, loss_cls: 0.1749, loss_bbox: 0.3964, loss_traj: 0.6070, loss_traj_cls: 0.0010, loss_map_cls: 0.1919, loss_map_pts: 0.8117, loss_map_dir: 0.0123, d0.loss_plan_l1_fix_time: 2.5172, d0.loss_plan_l1_fix_dist: 0.3743, d1.loss_plan_l1_fix_time: 1.0744, d1.loss_plan_l1_fix_dist: 0.2012, d2.loss_plan_l1_fix_time: 1.0601, d2.loss_plan_l1_fix_dist: 0.2059, d3.loss_plan_l1_fix_time: 1.0628, d3.loss_plan_l1_fix_dist: 0.2192, d4.loss_plan_l1_fix_time: 1.0654, d4.loss_plan_l1_fix_dist: 0.2375, d5.loss_plan_l1_fix_time: 1.0679, d5.loss_plan_l1_fix_dist: 0.2594, d6.loss_plan_l1_fix_time: 1.0706, d6.loss_plan_l1_fix_dist: 0.2842, d0.loss_cls_all: 0.2159, d0.loss_bbox_all: 0.4625, d0.loss_cls: 0.2159, d0.loss_bbox: 0.4625, d1.loss_cls: 0.2117, d1.loss_bbox: 0.4274, d2.loss_cls: 0.1978, d2.loss_bbox: 0.4090, d3.loss_cls: 0.1828, d3.loss_bbox: 0.4012, d4.loss_cls: 0.1766, d4.loss_bbox: 0.3969, d5.loss_cls: 0.1742, d5.loss_bbox: 0.3971, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8229, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6705, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6281, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6140, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6076, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6036, d0.loss_map_cls_all: 0.2691, d0.loss_map_pts_all: 1.5616, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2691, d0.loss_map_pts: 1.5616, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2381, d1.loss_map_pts: 1.1098, d1.loss_map_dir: 0.0114, d2.loss_map_cls: 0.2176, d2.loss_map_pts: 0.9210, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.2065, d3.loss_map_pts: 0.8449, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.2000, d4.loss_map_pts: 0.8184, d4.loss_map_dir: 0.0121, d5.loss_map_cls: 0.1953, d5.loss_map_pts: 0.8108, d5.loss_map_dir: 0.0123, loss: 30.4872, grad_norm: 144.8621
2026-02-26 12:57:01,507 - DriveTransformer - INFO - Epoch [7][2750/39528]	lr: 8.550e-05, eta: 5 days, 19:58:10, time: 0.744, data_time: 0.032, memory: 19865, loss_cls: 0.1565, loss_bbox: 0.3665, loss_traj: 0.5431, loss_traj_cls: 0.0010, loss_map_cls: 0.1575, loss_map_pts: 0.7648, loss_map_dir: 0.0134, d0.loss_plan_l1_fix_time: 2.7631, d0.loss_plan_l1_fix_dist: 0.4641, d1.loss_plan_l1_fix_time: 1.1035, d1.loss_plan_l1_fix_dist: 0.2134, d2.loss_plan_l1_fix_time: 1.0897, d2.loss_plan_l1_fix_dist: 0.2168, d3.loss_plan_l1_fix_time: 1.0899, d3.loss_plan_l1_fix_dist: 0.2253, d4.loss_plan_l1_fix_time: 1.0926, d4.loss_plan_l1_fix_dist: 0.2357, d5.loss_plan_l1_fix_time: 1.0960, d5.loss_plan_l1_fix_dist: 0.2451, d6.loss_plan_l1_fix_time: 1.0997, d6.loss_plan_l1_fix_dist: 0.2559, d0.loss_cls_all: 0.2042, d0.loss_bbox_all: 0.4167, d0.loss_cls: 0.2042, d0.loss_bbox: 0.4167, d1.loss_cls: 0.1962, d1.loss_bbox: 0.3879, d2.loss_cls: 0.1794, d2.loss_bbox: 0.3720, d3.loss_cls: 0.1640, d3.loss_bbox: 0.3680, d4.loss_cls: 0.1589, d4.loss_bbox: 0.3657, d5.loss_cls: 0.1566, d5.loss_bbox: 0.3657, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6947, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5944, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.5511, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5458, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5453, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.5440, d0.loss_map_cls_all: 0.2361, d0.loss_map_pts_all: 1.5026, d0.loss_map_dir_all: 0.0133, d0.loss_map_cls: 0.2361, d0.loss_map_pts: 1.5026, d0.loss_map_dir: 0.0133, d1.loss_map_cls: 0.2061, d1.loss_map_pts: 1.0333, d1.loss_map_dir: 0.0127, d2.loss_map_cls: 0.1813, d2.loss_map_pts: 0.8496, d2.loss_map_dir: 0.0127, d3.loss_map_cls: 0.1711, d3.loss_map_pts: 0.7883, d3.loss_map_dir: 0.0129, d4.loss_map_cls: 0.1640, d4.loss_map_pts: 0.7688, d4.loss_map_dir: 0.0133, d5.loss_map_cls: 0.1590, d5.loss_map_pts: 0.7656, d5.loss_map_dir: 0.0135, loss: 29.2880, grad_norm: 149.4237
2026-02-26 12:57:36,778 - DriveTransformer - INFO - Epoch [7][2800/39528]	lr: 8.550e-05, eta: 5 days, 19:56:42, time: 0.707, data_time: 0.031, memory: 19865, loss_cls: 0.2072, loss_bbox: 0.3910, loss_traj: 0.6650, loss_traj_cls: 0.0011, loss_map_cls: 0.1921, loss_map_pts: 0.8162, loss_map_dir: 0.0113, d0.loss_plan_l1_fix_time: 2.7044, d0.loss_plan_l1_fix_dist: 0.4611, d1.loss_plan_l1_fix_time: 1.1673, d1.loss_plan_l1_fix_dist: 0.1832, d2.loss_plan_l1_fix_time: 1.1455, d2.loss_plan_l1_fix_dist: 0.1951, d3.loss_plan_l1_fix_time: 1.1392, d3.loss_plan_l1_fix_dist: 0.2092, d4.loss_plan_l1_fix_time: 1.1409, d4.loss_plan_l1_fix_dist: 0.2230, d5.loss_plan_l1_fix_time: 1.1440, d5.loss_plan_l1_fix_dist: 0.2345, d6.loss_plan_l1_fix_time: 1.1476, d6.loss_plan_l1_fix_dist: 0.2463, d0.loss_cls_all: 0.2470, d0.loss_bbox_all: 0.4452, d0.loss_cls: 0.2470, d0.loss_bbox: 0.4452, d1.loss_cls: 0.2404, d1.loss_bbox: 0.4138, d2.loss_cls: 0.2250, d2.loss_bbox: 0.3968, d3.loss_cls: 0.2145, d3.loss_bbox: 0.3886, d4.loss_cls: 0.2063, d4.loss_bbox: 0.3884, d5.loss_cls: 0.2053, d5.loss_bbox: 0.3893, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8996, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7311, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6953, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6798, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6685, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6641, d0.loss_map_cls_all: 0.2712, d0.loss_map_pts_all: 1.5557, d0.loss_map_dir_all: 0.0095, d0.loss_map_cls: 0.2712, d0.loss_map_pts: 1.5557, d0.loss_map_dir: 0.0095, d1.loss_map_cls: 0.2389, d1.loss_map_pts: 1.0972, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.2160, d2.loss_map_pts: 0.9152, d2.loss_map_dir: 0.0101, d3.loss_map_cls: 0.2028, d3.loss_map_pts: 0.8474, d3.loss_map_dir: 0.0106, d4.loss_map_cls: 0.1960, d4.loss_map_pts: 0.8223, d4.loss_map_dir: 0.0111, d5.loss_map_cls: 0.1950, d5.loss_map_pts: 0.8169, d5.loss_map_dir: 0.0112, loss: 31.6961, grad_norm: 149.9411
2026-02-26 12:58:12,463 - DriveTransformer - INFO - Epoch [7][2850/39528]	lr: 8.550e-05, eta: 5 days, 19:56:25, time: 0.712, data_time: 0.030, memory: 19865, loss_cls: 0.1857, loss_bbox: 0.3728, loss_traj: 0.6041, loss_traj_cls: 0.0011, loss_map_cls: 0.1830, loss_map_pts: 0.7778, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.7280, d0.loss_plan_l1_fix_dist: 0.4245, d1.loss_plan_l1_fix_time: 1.0824, d1.loss_plan_l1_fix_dist: 0.1920, d2.loss_plan_l1_fix_time: 1.0725, d2.loss_plan_l1_fix_dist: 0.1935, d3.loss_plan_l1_fix_time: 1.0710, d3.loss_plan_l1_fix_dist: 0.2027, d4.loss_plan_l1_fix_time: 1.0737, d4.loss_plan_l1_fix_dist: 0.2161, d5.loss_plan_l1_fix_time: 1.0766, d5.loss_plan_l1_fix_dist: 0.2332, d6.loss_plan_l1_fix_time: 1.0798, d6.loss_plan_l1_fix_dist: 0.2530, d0.loss_cls_all: 0.2148, d0.loss_bbox_all: 0.4395, d0.loss_cls: 0.2148, d0.loss_bbox: 0.4395, d1.loss_cls: 0.2131, d1.loss_bbox: 0.4046, d2.loss_cls: 0.2010, d2.loss_bbox: 0.3850, d3.loss_cls: 0.1909, d3.loss_bbox: 0.3760, d4.loss_cls: 0.1870, d4.loss_bbox: 0.3744, d5.loss_cls: 0.1856, d5.loss_bbox: 0.3738, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8320, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6820, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6226, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6093, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6022, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6062, d0.loss_map_cls_all: 0.2474, d0.loss_map_pts_all: 1.4815, d0.loss_map_dir_all: 0.0101, d0.loss_map_cls: 0.2474, d0.loss_map_pts: 1.4815, d0.loss_map_dir: 0.0101, d1.loss_map_cls: 0.2151, d1.loss_map_pts: 1.0344, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1997, d2.loss_map_pts: 0.8622, d2.loss_map_dir: 0.0107, d3.loss_map_cls: 0.1922, d3.loss_map_pts: 0.8017, d3.loss_map_dir: 0.0110, d4.loss_map_cls: 0.1875, d4.loss_map_pts: 0.7822, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1854, d5.loss_map_pts: 0.7779, d5.loss_map_dir: 0.0116, loss: 29.9673, grad_norm: 150.4177
2026-02-26 12:58:45,461 - DriveTransformer - INFO - Epoch [7][2900/39528]	lr: 8.550e-05, eta: 5 days, 19:45:25, time: 0.660, data_time: 0.035, memory: 19865, loss_cls: 0.1776, loss_bbox: 0.3758, loss_traj: 0.8144, loss_traj_cls: 0.0010, loss_map_cls: 0.1952, loss_map_pts: 0.7511, loss_map_dir: 0.0083, d0.loss_plan_l1_fix_time: 3.0356, d0.loss_plan_l1_fix_dist: 0.3768, d1.loss_plan_l1_fix_time: 1.3257, d1.loss_plan_l1_fix_dist: 0.1978, d2.loss_plan_l1_fix_time: 1.3200, d2.loss_plan_l1_fix_dist: 0.2025, d3.loss_plan_l1_fix_time: 1.3210, d3.loss_plan_l1_fix_dist: 0.2109, d4.loss_plan_l1_fix_time: 1.3230, d4.loss_plan_l1_fix_dist: 0.2216, d5.loss_plan_l1_fix_time: 1.3247, d5.loss_plan_l1_fix_dist: 0.2332, d6.loss_plan_l1_fix_time: 1.3271, d6.loss_plan_l1_fix_dist: 0.2469, d0.loss_cls_all: 0.2242, d0.loss_bbox_all: 0.4454, d0.loss_cls: 0.2242, d0.loss_bbox: 0.4454, d1.loss_cls: 0.2118, d1.loss_bbox: 0.4062, d2.loss_cls: 0.1932, d2.loss_bbox: 0.3885, d3.loss_cls: 0.1816, d3.loss_bbox: 0.3800, d4.loss_cls: 0.1773, d4.loss_bbox: 0.3784, d5.loss_cls: 0.1764, d5.loss_bbox: 0.3774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.1142, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8867, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8339, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.8166, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.8145, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.8117, d0.loss_map_cls_all: 0.2758, d0.loss_map_pts_all: 1.2896, d0.loss_map_dir_all: 0.0070, d0.loss_map_cls: 0.2758, d0.loss_map_pts: 1.2896, d0.loss_map_dir: 0.0070, d1.loss_map_cls: 0.2456, d1.loss_map_pts: 0.9929, d1.loss_map_dir: 0.0073, d2.loss_map_cls: 0.2215, d2.loss_map_pts: 0.8488, d2.loss_map_dir: 0.0076, d3.loss_map_cls: 0.2083, d3.loss_map_pts: 0.7847, d3.loss_map_dir: 0.0079, d4.loss_map_cls: 0.2031, d4.loss_map_pts: 0.7632, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1980, d5.loss_map_pts: 0.7537, d5.loss_map_dir: 0.0083, loss: 32.8883, grad_norm: 146.5911
2026-02-26 12:59:19,853 - DriveTransformer - INFO - Epoch [7][2950/39528]	lr: 8.550e-05, eta: 5 days, 19:40:24, time: 0.688, data_time: 0.032, memory: 19865, loss_cls: 0.1692, loss_bbox: 0.3686, loss_traj: 0.7125, loss_traj_cls: 0.0010, loss_map_cls: 0.1748, loss_map_pts: 0.7148, loss_map_dir: 0.0098, d0.loss_plan_l1_fix_time: 2.6375, d0.loss_plan_l1_fix_dist: 0.3305, d1.loss_plan_l1_fix_time: 0.9953, d1.loss_plan_l1_fix_dist: 0.1795, d2.loss_plan_l1_fix_time: 0.9891, d2.loss_plan_l1_fix_dist: 0.1801, d3.loss_plan_l1_fix_time: 0.9922, d3.loss_plan_l1_fix_dist: 0.1881, d4.loss_plan_l1_fix_time: 0.9953, d4.loss_plan_l1_fix_dist: 0.2000, d5.loss_plan_l1_fix_time: 0.9988, d5.loss_plan_l1_fix_dist: 0.2134, d6.loss_plan_l1_fix_time: 1.0032, d6.loss_plan_l1_fix_dist: 0.2280, d0.loss_cls_all: 0.2050, d0.loss_bbox_all: 0.4248, d0.loss_cls: 0.2050, d0.loss_bbox: 0.4248, d1.loss_cls: 0.1949, d1.loss_bbox: 0.3959, d2.loss_cls: 0.1863, d2.loss_bbox: 0.3757, d3.loss_cls: 0.1750, d3.loss_bbox: 0.3719, d4.loss_cls: 0.1707, d4.loss_bbox: 0.3699, d5.loss_cls: 0.1698, d5.loss_bbox: 0.3674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9444, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7929, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7327, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7177, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7150, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7131, d0.loss_map_cls_all: 0.2478, d0.loss_map_pts_all: 1.3983, d0.loss_map_dir_all: 0.0088, d0.loss_map_cls: 0.2478, d0.loss_map_pts: 1.3983, d0.loss_map_dir: 0.0088, d1.loss_map_cls: 0.2141, d1.loss_map_pts: 0.9933, d1.loss_map_dir: 0.0089, d2.loss_map_cls: 0.1955, d2.loss_map_pts: 0.8134, d2.loss_map_dir: 0.0089, d3.loss_map_cls: 0.1877, d3.loss_map_pts: 0.7437, d3.loss_map_dir: 0.0093, d4.loss_map_cls: 0.1806, d4.loss_map_pts: 0.7232, d4.loss_map_dir: 0.0096, d5.loss_map_cls: 0.1780, d5.loss_map_pts: 0.7141, d5.loss_map_dir: 0.0097, loss: 29.2408, grad_norm: 146.7255
2026-02-26 12:59:54,798 - DriveTransformer - INFO - Epoch [7][3000/39528]	lr: 8.550e-05, eta: 5 days, 19:37:42, time: 0.699, data_time: 0.031, memory: 19865, loss_cls: 0.1653, loss_bbox: 0.3677, loss_traj: 0.6773, loss_traj_cls: 0.0010, loss_map_cls: 0.1442, loss_map_pts: 0.6884, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6452, d0.loss_plan_l1_fix_dist: 0.4583, d1.loss_plan_l1_fix_time: 1.0542, d1.loss_plan_l1_fix_dist: 0.2076, d2.loss_plan_l1_fix_time: 1.0436, d2.loss_plan_l1_fix_dist: 0.2054, d3.loss_plan_l1_fix_time: 1.0415, d3.loss_plan_l1_fix_dist: 0.2138, d4.loss_plan_l1_fix_time: 1.0432, d4.loss_plan_l1_fix_dist: 0.2248, d5.loss_plan_l1_fix_time: 1.0452, d5.loss_plan_l1_fix_dist: 0.2379, d6.loss_plan_l1_fix_time: 1.0483, d6.loss_plan_l1_fix_dist: 0.2531, d0.loss_cls_all: 0.2115, d0.loss_bbox_all: 0.4249, d0.loss_cls: 0.2115, d0.loss_bbox: 0.4249, d1.loss_cls: 0.2016, d1.loss_bbox: 0.3933, d2.loss_cls: 0.1845, d2.loss_bbox: 0.3763, d3.loss_cls: 0.1709, d3.loss_bbox: 0.3709, d4.loss_cls: 0.1665, d4.loss_bbox: 0.3691, d5.loss_cls: 0.1658, d5.loss_bbox: 0.3674, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9043, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7620, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7052, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6900, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6857, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6782, d0.loss_map_cls_all: 0.2185, d0.loss_map_pts_all: 1.3368, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2185, d0.loss_map_pts: 1.3368, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.1854, d1.loss_map_pts: 0.9320, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1658, d2.loss_map_pts: 0.7798, d2.loss_map_dir: 0.0095, d3.loss_map_cls: 0.1569, d3.loss_map_pts: 0.7174, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1490, d4.loss_map_pts: 0.6945, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1462, d5.loss_map_pts: 0.6863, d5.loss_map_dir: 0.0100, loss: 29.0391, grad_norm: 147.8176
2026-02-26 13:00:31,026 - DriveTransformer - INFO - Epoch [7][3050/39528]	lr: 8.550e-05, eta: 5 days, 19:40:01, time: 0.725, data_time: 0.030, memory: 19865, loss_cls: 0.1792, loss_bbox: 0.3764, loss_traj: 0.7097, loss_traj_cls: 0.0010, loss_map_cls: 0.1745, loss_map_pts: 0.7854, loss_map_dir: 0.0125, d0.loss_plan_l1_fix_time: 2.6154, d0.loss_plan_l1_fix_dist: 0.3919, d1.loss_plan_l1_fix_time: 0.9440, d1.loss_plan_l1_fix_dist: 0.1728, d2.loss_plan_l1_fix_time: 0.9327, d2.loss_plan_l1_fix_dist: 0.1734, d3.loss_plan_l1_fix_time: 0.9299, d3.loss_plan_l1_fix_dist: 0.1812, d4.loss_plan_l1_fix_time: 0.9322, d4.loss_plan_l1_fix_dist: 0.1883, d5.loss_plan_l1_fix_time: 0.9348, d5.loss_plan_l1_fix_dist: 0.1963, d6.loss_plan_l1_fix_time: 0.9369, d6.loss_plan_l1_fix_dist: 0.2060, d0.loss_cls_all: 0.2162, d0.loss_bbox_all: 0.4408, d0.loss_cls: 0.2162, d0.loss_bbox: 0.4408, d1.loss_cls: 0.2075, d1.loss_bbox: 0.4074, d2.loss_cls: 0.1958, d2.loss_bbox: 0.3880, d3.loss_cls: 0.1865, d3.loss_bbox: 0.3804, d4.loss_cls: 0.1810, d4.loss_bbox: 0.3784, d5.loss_cls: 0.1794, d5.loss_bbox: 0.3774, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9206, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7671, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7205, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7127, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7108, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7080, d0.loss_map_cls_all: 0.2472, d0.loss_map_pts_all: 1.5853, d0.loss_map_dir_all: 0.0115, d0.loss_map_cls: 0.2472, d0.loss_map_pts: 1.5853, d0.loss_map_dir: 0.0115, d1.loss_map_cls: 0.2180, d1.loss_map_pts: 1.1198, d1.loss_map_dir: 0.0110, d2.loss_map_cls: 0.1995, d2.loss_map_pts: 0.9087, d2.loss_map_dir: 0.0113, d3.loss_map_cls: 0.1893, d3.loss_map_pts: 0.8252, d3.loss_map_dir: 0.0118, d4.loss_map_cls: 0.1830, d4.loss_map_pts: 0.7976, d4.loss_map_dir: 0.0122, d5.loss_map_cls: 0.1761, d5.loss_map_pts: 0.7865, d5.loss_map_dir: 0.0124, loss: 29.8667, grad_norm: 147.8400
2026-02-26 13:01:07,198 - DriveTransformer - INFO - Epoch [7][3100/39528]	lr: 8.550e-05, eta: 5 days, 19:42:02, time: 0.723, data_time: 0.034, memory: 19865, loss_cls: 0.1867, loss_bbox: 0.3841, loss_traj: 0.6827, loss_traj_cls: 0.0010, loss_map_cls: 0.1813, loss_map_pts: 0.7614, loss_map_dir: 0.0126, d0.loss_plan_l1_fix_time: 2.5706, d0.loss_plan_l1_fix_dist: 0.3697, d1.loss_plan_l1_fix_time: 1.1895, d1.loss_plan_l1_fix_dist: 0.1997, d2.loss_plan_l1_fix_time: 1.1750, d2.loss_plan_l1_fix_dist: 0.1966, d3.loss_plan_l1_fix_time: 1.1807, d3.loss_plan_l1_fix_dist: 0.2029, d4.loss_plan_l1_fix_time: 1.1840, d4.loss_plan_l1_fix_dist: 0.2112, d5.loss_plan_l1_fix_time: 1.1874, d5.loss_plan_l1_fix_dist: 0.2199, d6.loss_plan_l1_fix_time: 1.1906, d6.loss_plan_l1_fix_dist: 0.2285, d0.loss_cls_all: 0.2248, d0.loss_bbox_all: 0.4294, d0.loss_cls: 0.2248, d0.loss_bbox: 0.4294, d1.loss_cls: 0.2165, d1.loss_bbox: 0.3996, d2.loss_cls: 0.1990, d2.loss_bbox: 0.3847, d3.loss_cls: 0.1915, d3.loss_bbox: 0.3813, d4.loss_cls: 0.1854, d4.loss_bbox: 0.3815, d5.loss_cls: 0.1858, d5.loss_bbox: 0.3824, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8752, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7399, d2.loss_traj_cls: 0.0016, d2.loss_traj: 0.7017, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6884, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6890, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6845, d0.loss_map_cls_all: 0.2567, d0.loss_map_pts_all: 1.5089, d0.loss_map_dir_all: 0.0120, d0.loss_map_cls: 0.2567, d0.loss_map_pts: 1.5089, d0.loss_map_dir: 0.0120, d1.loss_map_cls: 0.2260, d1.loss_map_pts: 1.0314, d1.loss_map_dir: 0.0116, d2.loss_map_cls: 0.2039, d2.loss_map_pts: 0.8574, d2.loss_map_dir: 0.0116, d3.loss_map_cls: 0.1939, d3.loss_map_pts: 0.7914, d3.loss_map_dir: 0.0121, d4.loss_map_cls: 0.1880, d4.loss_map_pts: 0.7667, d4.loss_map_dir: 0.0124, d5.loss_map_cls: 0.1837, d5.loss_map_pts: 0.7600, d5.loss_map_dir: 0.0125, loss: 30.9355, grad_norm: 146.8354
2026-02-26 13:01:41,014 - DriveTransformer - INFO - Epoch [7][3150/39528]	lr: 8.550e-05, eta: 5 days, 19:35:11, time: 0.677, data_time: 0.033, memory: 19865, loss_cls: 0.1622, loss_bbox: 0.3705, loss_traj: 0.7633, loss_traj_cls: 0.0010, loss_map_cls: 0.1548, loss_map_pts: 0.6287, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 3.1523, d0.loss_plan_l1_fix_dist: 0.3764, d1.loss_plan_l1_fix_time: 1.2001, d1.loss_plan_l1_fix_dist: 0.1912, d2.loss_plan_l1_fix_time: 1.1916, d2.loss_plan_l1_fix_dist: 0.1887, d3.loss_plan_l1_fix_time: 1.1943, d3.loss_plan_l1_fix_dist: 0.1941, d4.loss_plan_l1_fix_time: 1.1974, d4.loss_plan_l1_fix_dist: 0.2029, d5.loss_plan_l1_fix_time: 1.2010, d5.loss_plan_l1_fix_dist: 0.2137, d6.loss_plan_l1_fix_time: 1.2052, d6.loss_plan_l1_fix_dist: 0.2230, d0.loss_cls_all: 0.2051, d0.loss_bbox_all: 0.4273, d0.loss_cls: 0.2051, d0.loss_bbox: 0.4273, d1.loss_cls: 0.1975, d1.loss_bbox: 0.3951, d2.loss_cls: 0.1825, d2.loss_bbox: 0.3795, d3.loss_cls: 0.1684, d3.loss_bbox: 0.3750, d4.loss_cls: 0.1627, d4.loss_bbox: 0.3728, d5.loss_cls: 0.1608, d5.loss_bbox: 0.3720, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9368, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8128, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7816, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7686, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7649, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7660, d0.loss_map_cls_all: 0.2209, d0.loss_map_pts_all: 1.2445, d0.loss_map_dir_all: 0.0076, d0.loss_map_cls: 0.2209, d0.loss_map_pts: 1.2445, d0.loss_map_dir: 0.0076, d1.loss_map_cls: 0.1940, d1.loss_map_pts: 0.8825, d1.loss_map_dir: 0.0075, d2.loss_map_cls: 0.1728, d2.loss_map_pts: 0.7308, d2.loss_map_dir: 0.0078, d3.loss_map_cls: 0.1663, d3.loss_map_pts: 0.6689, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1615, d4.loss_map_pts: 0.6424, d4.loss_map_dir: 0.0083, d5.loss_map_cls: 0.1570, d5.loss_map_pts: 0.6300, d5.loss_map_dir: 0.0084, loss: 30.2811, grad_norm: 148.6506
2026-02-26 13:02:15,467 - DriveTransformer - INFO - Epoch [7][3200/39528]	lr: 8.550e-05, eta: 5 days, 19:30:48, time: 0.689, data_time: 0.033, memory: 19865, loss_cls: 0.1629, loss_bbox: 0.3896, loss_traj: 0.7800, loss_traj_cls: 0.0010, loss_map_cls: 0.1791, loss_map_pts: 0.7386, loss_map_dir: 0.0106, d0.loss_plan_l1_fix_time: 2.7817, d0.loss_plan_l1_fix_dist: 0.4444, d1.loss_plan_l1_fix_time: 1.0682, d1.loss_plan_l1_fix_dist: 0.1787, d2.loss_plan_l1_fix_time: 1.0618, d2.loss_plan_l1_fix_dist: 0.1790, d3.loss_plan_l1_fix_time: 1.0616, d3.loss_plan_l1_fix_dist: 0.1853, d4.loss_plan_l1_fix_time: 1.0655, d4.loss_plan_l1_fix_dist: 0.1941, d5.loss_plan_l1_fix_time: 1.0698, d5.loss_plan_l1_fix_dist: 0.2032, d6.loss_plan_l1_fix_time: 1.0751, d6.loss_plan_l1_fix_dist: 0.2174, d0.loss_cls_all: 0.2073, d0.loss_bbox_all: 0.4462, d0.loss_cls: 0.2073, d0.loss_bbox: 0.4462, d1.loss_cls: 0.2003, d1.loss_bbox: 0.4150, d2.loss_cls: 0.1847, d2.loss_bbox: 0.3961, d3.loss_cls: 0.1713, d3.loss_bbox: 0.3915, d4.loss_cls: 0.1636, d4.loss_bbox: 0.3898, d5.loss_cls: 0.1619, d5.loss_bbox: 0.3901, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9968, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8374, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7870, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7828, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7844, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7800, d0.loss_map_cls_all: 0.2472, d0.loss_map_pts_all: 1.3860, d0.loss_map_dir_all: 0.0098, d0.loss_map_cls: 0.2472, d0.loss_map_pts: 1.3860, d0.loss_map_dir: 0.0098, d1.loss_map_cls: 0.2198, d1.loss_map_pts: 0.9876, d1.loss_map_dir: 0.0098, d2.loss_map_cls: 0.2042, d2.loss_map_pts: 0.8331, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1899, d3.loss_map_pts: 0.7746, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1821, d4.loss_map_pts: 0.7496, d4.loss_map_dir: 0.0105, d5.loss_map_cls: 0.1802, d5.loss_map_pts: 0.7409, d5.loss_map_dir: 0.0105, loss: 30.5922, grad_norm: 146.4177
2026-02-26 13:02:48,327 - DriveTransformer - INFO - Epoch [7][3250/39528]	lr: 8.550e-05, eta: 5 days, 19:20:47, time: 0.657, data_time: 0.033, memory: 19865, loss_cls: 0.1798, loss_bbox: 0.4035, loss_traj: 0.8206, loss_traj_cls: 0.0009, loss_map_cls: 0.1922, loss_map_pts: 0.7613, loss_map_dir: 0.0090, d0.loss_plan_l1_fix_time: 2.9101, d0.loss_plan_l1_fix_dist: 0.3955, d1.loss_plan_l1_fix_time: 1.1597, d1.loss_plan_l1_fix_dist: 0.1633, d2.loss_plan_l1_fix_time: 1.1476, d2.loss_plan_l1_fix_dist: 0.1661, d3.loss_plan_l1_fix_time: 1.1519, d3.loss_plan_l1_fix_dist: 0.1756, d4.loss_plan_l1_fix_time: 1.1562, d4.loss_plan_l1_fix_dist: 0.1885, d5.loss_plan_l1_fix_time: 1.1607, d5.loss_plan_l1_fix_dist: 0.2041, d6.loss_plan_l1_fix_time: 1.1657, d6.loss_plan_l1_fix_dist: 0.2236, d0.loss_cls_all: 0.2237, d0.loss_bbox_all: 0.4775, d0.loss_cls: 0.2237, d0.loss_bbox: 0.4775, d1.loss_cls: 0.2143, d1.loss_bbox: 0.4378, d2.loss_cls: 0.2006, d2.loss_bbox: 0.4148, d3.loss_cls: 0.1881, d3.loss_bbox: 0.4084, d4.loss_cls: 0.1794, d4.loss_bbox: 0.4068, d5.loss_cls: 0.1782, d5.loss_bbox: 0.4049, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0773, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8909, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.8349, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.8183, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.8134, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.8198, d0.loss_map_cls_all: 0.2606, d0.loss_map_pts_all: 1.3935, d0.loss_map_dir_all: 0.0079, d0.loss_map_cls: 0.2606, d0.loss_map_pts: 1.3935, d0.loss_map_dir: 0.0079, d1.loss_map_cls: 0.2321, d1.loss_map_pts: 1.0414, d1.loss_map_dir: 0.0080, d2.loss_map_cls: 0.2127, d2.loss_map_pts: 0.8703, d2.loss_map_dir: 0.0082, d3.loss_map_cls: 0.2031, d3.loss_map_pts: 0.7960, d3.loss_map_dir: 0.0085, d4.loss_map_cls: 0.1966, d4.loss_map_pts: 0.7704, d4.loss_map_dir: 0.0088, d5.loss_map_cls: 0.1925, d5.loss_map_pts: 0.7631, d5.loss_map_dir: 0.0089, loss: 32.0767, grad_norm: 147.9624
2026-02-26 13:03:24,488 - DriveTransformer - INFO - Epoch [7][3300/39528]	lr: 8.550e-05, eta: 5 days, 19:22:52, time: 0.723, data_time: 0.033, memory: 19865, loss_cls: 0.1699, loss_bbox: 0.3590, loss_traj: 0.6349, loss_traj_cls: 0.0010, loss_map_cls: 0.1670, loss_map_pts: 0.7432, loss_map_dir: 0.0121, d0.loss_plan_l1_fix_time: 2.3997, d0.loss_plan_l1_fix_dist: 0.4588, d1.loss_plan_l1_fix_time: 0.9782, d1.loss_plan_l1_fix_dist: 0.1691, d2.loss_plan_l1_fix_time: 0.9648, d2.loss_plan_l1_fix_dist: 0.1719, d3.loss_plan_l1_fix_time: 0.9672, d3.loss_plan_l1_fix_dist: 0.1742, d4.loss_plan_l1_fix_time: 0.9711, d4.loss_plan_l1_fix_dist: 0.1816, d5.loss_plan_l1_fix_time: 0.9757, d5.loss_plan_l1_fix_dist: 0.1909, d6.loss_plan_l1_fix_time: 0.9808, d6.loss_plan_l1_fix_dist: 0.1991, d0.loss_cls_all: 0.2102, d0.loss_bbox_all: 0.4181, d0.loss_cls: 0.2102, d0.loss_bbox: 0.4181, d1.loss_cls: 0.2012, d1.loss_bbox: 0.3865, d2.loss_cls: 0.1852, d2.loss_bbox: 0.3666, d3.loss_cls: 0.1726, d3.loss_bbox: 0.3629, d4.loss_cls: 0.1698, d4.loss_bbox: 0.3598, d5.loss_cls: 0.1691, d5.loss_bbox: 0.3598, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7835, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6553, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6372, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6261, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.6279, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6322, d0.loss_map_cls_all: 0.2352, d0.loss_map_pts_all: 1.5534, d0.loss_map_dir_all: 0.0113, d0.loss_map_cls: 0.2352, d0.loss_map_pts: 1.5534, d0.loss_map_dir: 0.0113, d1.loss_map_cls: 0.2034, d1.loss_map_pts: 1.0370, d1.loss_map_dir: 0.0112, d2.loss_map_cls: 0.1875, d2.loss_map_pts: 0.8564, d2.loss_map_dir: 0.0114, d3.loss_map_cls: 0.1790, d3.loss_map_pts: 0.7790, d3.loss_map_dir: 0.0116, d4.loss_map_cls: 0.1733, d4.loss_map_pts: 0.7508, d4.loss_map_dir: 0.0120, d5.loss_map_cls: 0.1689, d5.loss_map_pts: 0.7430, d5.loss_map_dir: 0.0121, loss: 28.5654, grad_norm: 148.4985
2026-02-26 13:03:59,488 - DriveTransformer - INFO - Epoch [7][3350/39528]	lr: 8.550e-05, eta: 5 days, 19:20:47, time: 0.700, data_time: 0.034, memory: 19865, loss_cls: 0.1744, loss_bbox: 0.3706, loss_traj: 0.7469, loss_traj_cls: 0.0010, loss_map_cls: 0.1807, loss_map_pts: 0.7629, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.1857, d0.loss_plan_l1_fix_dist: 0.2780, d1.loss_plan_l1_fix_time: 0.9361, d1.loss_plan_l1_fix_dist: 0.1479, d2.loss_plan_l1_fix_time: 0.9135, d2.loss_plan_l1_fix_dist: 0.1511, d3.loss_plan_l1_fix_time: 0.9075, d3.loss_plan_l1_fix_dist: 0.1614, d4.loss_plan_l1_fix_time: 0.9091, d4.loss_plan_l1_fix_dist: 0.1716, d5.loss_plan_l1_fix_time: 0.9114, d5.loss_plan_l1_fix_dist: 0.1824, d6.loss_plan_l1_fix_time: 0.9147, d6.loss_plan_l1_fix_dist: 0.1937, d0.loss_cls_all: 0.2119, d0.loss_bbox_all: 0.4239, d0.loss_cls: 0.2119, d0.loss_bbox: 0.4239, d1.loss_cls: 0.2040, d1.loss_bbox: 0.3926, d2.loss_cls: 0.1885, d2.loss_bbox: 0.3759, d3.loss_cls: 0.1784, d3.loss_bbox: 0.3708, d4.loss_cls: 0.1742, d4.loss_bbox: 0.3711, d5.loss_cls: 0.1737, d5.loss_bbox: 0.3714, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9297, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7991, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.7576, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7490, d4.loss_traj_cls: 0.0011, d4.loss_traj: 0.7470, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7412, d0.loss_map_cls_all: 0.2479, d0.loss_map_pts_all: 1.4209, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2479, d0.loss_map_pts: 1.4209, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.2234, d1.loss_map_pts: 1.0150, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.2009, d2.loss_map_pts: 0.8586, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1918, d3.loss_map_pts: 0.7946, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1867, d4.loss_map_pts: 0.7713, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1819, d5.loss_map_pts: 0.7643, d5.loss_map_dir: 0.0095, loss: 28.6016, grad_norm: 149.8439
2026-02-26 13:04:35,132 - DriveTransformer - INFO - Epoch [7][3400/39528]	lr: 8.550e-05, eta: 5 days, 19:20:58, time: 0.713, data_time: 0.033, memory: 19865, loss_cls: 0.1346, loss_bbox: 0.3197, loss_traj: 0.6573, loss_traj_cls: 0.0010, loss_map_cls: 0.1440, loss_map_pts: 0.6294, loss_map_dir: 0.0103, d0.loss_plan_l1_fix_time: 2.3982, d0.loss_plan_l1_fix_dist: 0.3947, d1.loss_plan_l1_fix_time: 1.0590, d1.loss_plan_l1_fix_dist: 0.2031, d2.loss_plan_l1_fix_time: 1.0433, d2.loss_plan_l1_fix_dist: 0.1976, d3.loss_plan_l1_fix_time: 1.0392, d3.loss_plan_l1_fix_dist: 0.2034, d4.loss_plan_l1_fix_time: 1.0424, d4.loss_plan_l1_fix_dist: 0.2100, d5.loss_plan_l1_fix_time: 1.0461, d5.loss_plan_l1_fix_dist: 0.2188, d6.loss_plan_l1_fix_time: 1.0507, d6.loss_plan_l1_fix_dist: 0.2304, d0.loss_cls_all: 0.1729, d0.loss_bbox_all: 0.3803, d0.loss_cls: 0.1729, d0.loss_bbox: 0.3803, d1.loss_cls: 0.1707, d1.loss_bbox: 0.3469, d2.loss_cls: 0.1548, d2.loss_bbox: 0.3291, d3.loss_cls: 0.1430, d3.loss_bbox: 0.3247, d4.loss_cls: 0.1357, d4.loss_bbox: 0.3218, d5.loss_cls: 0.1328, d5.loss_bbox: 0.3219, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8695, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7158, d2.loss_traj_cls: 0.0017, d2.loss_traj: 0.6645, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.6603, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6584, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6543, d0.loss_map_cls_all: 0.2083, d0.loss_map_pts_all: 1.3462, d0.loss_map_dir_all: 0.0100, d0.loss_map_cls: 0.2083, d0.loss_map_pts: 1.3462, d0.loss_map_dir: 0.0100, d1.loss_map_cls: 0.1778, d1.loss_map_pts: 0.8840, d1.loss_map_dir: 0.0095, d2.loss_map_cls: 0.1612, d2.loss_map_pts: 0.7218, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1528, d3.loss_map_pts: 0.6629, d3.loss_map_dir: 0.0099, d4.loss_map_cls: 0.1480, d4.loss_map_pts: 0.6384, d4.loss_map_dir: 0.0101, d5.loss_map_cls: 0.1449, d5.loss_map_pts: 0.6304, d5.loss_map_dir: 0.0103, loss: 27.4509, grad_norm: 150.8121
2026-02-26 13:05:09,206 - DriveTransformer - INFO - Epoch [7][3450/39528]	lr: 8.550e-05, eta: 5 days, 19:15:46, time: 0.681, data_time: 0.036, memory: 19865, loss_cls: 0.1540, loss_bbox: 0.3409, loss_traj: 0.7166, loss_traj_cls: 0.0010, loss_map_cls: 0.1627, loss_map_pts: 0.5863, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4248, d0.loss_plan_l1_fix_dist: 0.3605, d1.loss_plan_l1_fix_time: 1.0878, d1.loss_plan_l1_fix_dist: 0.1813, d2.loss_plan_l1_fix_time: 1.0779, d2.loss_plan_l1_fix_dist: 0.1657, d3.loss_plan_l1_fix_time: 1.0796, d3.loss_plan_l1_fix_dist: 0.1730, d4.loss_plan_l1_fix_time: 1.0827, d4.loss_plan_l1_fix_dist: 0.1831, d5.loss_plan_l1_fix_time: 1.0856, d5.loss_plan_l1_fix_dist: 0.1961, d6.loss_plan_l1_fix_time: 1.0885, d6.loss_plan_l1_fix_dist: 0.2084, d0.loss_cls_all: 0.1899, d0.loss_bbox_all: 0.3984, d0.loss_cls: 0.1899, d0.loss_bbox: 0.3984, d1.loss_cls: 0.1824, d1.loss_bbox: 0.3700, d2.loss_cls: 0.1736, d2.loss_bbox: 0.3521, d3.loss_cls: 0.1643, d3.loss_bbox: 0.3432, d4.loss_cls: 0.1545, d4.loss_bbox: 0.3421, d5.loss_cls: 0.1543, d5.loss_bbox: 0.3409, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9714, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7795, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7315, d3.loss_traj_cls: 0.0011, d3.loss_traj: 0.7229, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7044, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7100, d0.loss_map_cls_all: 0.2231, d0.loss_map_pts_all: 1.2094, d0.loss_map_dir_all: 0.0096, d0.loss_map_cls: 0.2231, d0.loss_map_pts: 1.2094, d0.loss_map_dir: 0.0096, d1.loss_map_cls: 0.2008, d1.loss_map_pts: 0.8172, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1819, d2.loss_map_pts: 0.6676, d2.loss_map_dir: 0.0088, d3.loss_map_cls: 0.1735, d3.loss_map_pts: 0.6127, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1666, d4.loss_map_pts: 0.5929, d4.loss_map_dir: 0.0092, d5.loss_map_cls: 0.1642, d5.loss_map_pts: 0.5881, d5.loss_map_dir: 0.0093, loss: 27.8412, grad_norm: 149.4995
2026-02-26 13:05:45,414 - DriveTransformer - INFO - Epoch [7][3500/39528]	lr: 8.550e-05, eta: 5 days, 19:17:53, time: 0.724, data_time: 0.037, memory: 19865, loss_cls: 0.1535, loss_bbox: 0.3478, loss_traj: 0.6974, loss_traj_cls: 0.0010, loss_map_cls: 0.1565, loss_map_pts: 0.6780, loss_map_dir: 0.0100, d0.loss_plan_l1_fix_time: 2.8064, d0.loss_plan_l1_fix_dist: 0.4247, d1.loss_plan_l1_fix_time: 1.1241, d1.loss_plan_l1_fix_dist: 0.2128, d2.loss_plan_l1_fix_time: 1.1156, d2.loss_plan_l1_fix_dist: 0.2050, d3.loss_plan_l1_fix_time: 1.1189, d3.loss_plan_l1_fix_dist: 0.2141, d4.loss_plan_l1_fix_time: 1.1226, d4.loss_plan_l1_fix_dist: 0.2278, d5.loss_plan_l1_fix_time: 1.1262, d5.loss_plan_l1_fix_dist: 0.2412, d6.loss_plan_l1_fix_time: 1.1296, d6.loss_plan_l1_fix_dist: 0.2575, d0.loss_cls_all: 0.1932, d0.loss_bbox_all: 0.3971, d0.loss_cls: 0.1932, d0.loss_bbox: 0.3971, d1.loss_cls: 0.1894, d1.loss_bbox: 0.3662, d2.loss_cls: 0.1766, d2.loss_bbox: 0.3474, d3.loss_cls: 0.1605, d3.loss_bbox: 0.3461, d4.loss_cls: 0.1559, d4.loss_bbox: 0.3447, d5.loss_cls: 0.1522, d5.loss_bbox: 0.3463, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9038, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7597, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7090, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6993, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6981, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6959, d0.loss_map_cls_all: 0.2234, d0.loss_map_pts_all: 1.3778, d0.loss_map_dir_all: 0.0090, d0.loss_map_cls: 0.2234, d0.loss_map_pts: 1.3778, d0.loss_map_dir: 0.0090, d1.loss_map_cls: 0.1963, d1.loss_map_pts: 0.9612, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1754, d2.loss_map_pts: 0.7829, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1675, d3.loss_map_pts: 0.7107, d3.loss_map_dir: 0.0095, d4.loss_map_cls: 0.1606, d4.loss_map_pts: 0.6848, d4.loss_map_dir: 0.0098, d5.loss_map_cls: 0.1588, d5.loss_map_pts: 0.6786, d5.loss_map_dir: 0.0099, loss: 29.5540, grad_norm: 150.4551
2026-02-26 13:06:21,018 - DriveTransformer - INFO - Epoch [7][3550/39528]	lr: 8.550e-05, eta: 5 days, 19:17:55, time: 0.712, data_time: 0.033, memory: 19865, loss_cls: 0.1965, loss_bbox: 0.3900, loss_traj: 0.6512, loss_traj_cls: 0.0010, loss_map_cls: 0.1873, loss_map_pts: 0.7681, loss_map_dir: 0.0095, d0.loss_plan_l1_fix_time: 2.8375, d0.loss_plan_l1_fix_dist: 0.3537, d1.loss_plan_l1_fix_time: 1.1156, d1.loss_plan_l1_fix_dist: 0.1960, d2.loss_plan_l1_fix_time: 1.1035, d2.loss_plan_l1_fix_dist: 0.1882, d3.loss_plan_l1_fix_time: 1.0985, d3.loss_plan_l1_fix_dist: 0.1953, d4.loss_plan_l1_fix_time: 1.1002, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 1.1029, d5.loss_plan_l1_fix_dist: 0.2130, d6.loss_plan_l1_fix_time: 1.1057, d6.loss_plan_l1_fix_dist: 0.2244, d0.loss_cls_all: 0.2419, d0.loss_bbox_all: 0.4603, d0.loss_cls: 0.2419, d0.loss_bbox: 0.4603, d1.loss_cls: 0.2319, d1.loss_bbox: 0.4231, d2.loss_cls: 0.2171, d2.loss_bbox: 0.4035, d3.loss_cls: 0.2045, d3.loss_bbox: 0.3943, d4.loss_cls: 0.1990, d4.loss_bbox: 0.3894, d5.loss_cls: 0.1970, d5.loss_bbox: 0.3890, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8976, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.7149, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6641, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6489, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6472, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6505, d0.loss_map_cls_all: 0.2603, d0.loss_map_pts_all: 1.4478, d0.loss_map_dir_all: 0.0084, d0.loss_map_cls: 0.2603, d0.loss_map_pts: 1.4478, d0.loss_map_dir: 0.0084, d1.loss_map_cls: 0.2343, d1.loss_map_pts: 1.0499, d1.loss_map_dir: 0.0082, d2.loss_map_cls: 0.2115, d2.loss_map_pts: 0.8812, d2.loss_map_dir: 0.0085, d3.loss_map_cls: 0.1992, d3.loss_map_pts: 0.8134, d3.loss_map_dir: 0.0089, d4.loss_map_cls: 0.1929, d4.loss_map_pts: 0.7830, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1878, d5.loss_map_pts: 0.7713, d5.loss_map_dir: 0.0095, loss: 30.7267, grad_norm: 150.2360
2026-02-26 13:06:55,352 - DriveTransformer - INFO - Epoch [7][3600/39528]	lr: 8.550e-05, eta: 5 days, 19:14:00, time: 0.688, data_time: 0.033, memory: 19865, loss_cls: 0.1654, loss_bbox: 0.3615, loss_traj: 0.7655, loss_traj_cls: 0.0010, loss_map_cls: 0.1414, loss_map_pts: 0.6312, loss_map_dir: 0.0096, d0.loss_plan_l1_fix_time: 2.6470, d0.loss_plan_l1_fix_dist: 0.3841, d1.loss_plan_l1_fix_time: 1.3026, d1.loss_plan_l1_fix_dist: 0.1905, d2.loss_plan_l1_fix_time: 1.2988, d2.loss_plan_l1_fix_dist: 0.1940, d3.loss_plan_l1_fix_time: 1.2995, d3.loss_plan_l1_fix_dist: 0.2102, d4.loss_plan_l1_fix_time: 1.3031, d4.loss_plan_l1_fix_dist: 0.2256, d5.loss_plan_l1_fix_time: 1.3078, d5.loss_plan_l1_fix_dist: 0.2426, d6.loss_plan_l1_fix_time: 1.3142, d6.loss_plan_l1_fix_dist: 0.2584, d0.loss_cls_all: 0.1989, d0.loss_bbox_all: 0.4174, d0.loss_cls: 0.1989, d0.loss_bbox: 0.4174, d1.loss_cls: 0.1987, d1.loss_bbox: 0.3842, d2.loss_cls: 0.1816, d2.loss_bbox: 0.3705, d3.loss_cls: 0.1699, d3.loss_bbox: 0.3650, d4.loss_cls: 0.1648, d4.loss_bbox: 0.3634, d5.loss_cls: 0.1645, d5.loss_bbox: 0.3614, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9989, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8120, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7767, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7663, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.7696, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7666, d0.loss_map_cls_all: 0.2148, d0.loss_map_pts_all: 1.2740, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2148, d0.loss_map_pts: 1.2740, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1880, d1.loss_map_pts: 0.8833, d1.loss_map_dir: 0.0091, d2.loss_map_cls: 0.1665, d2.loss_map_pts: 0.7299, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1538, d3.loss_map_pts: 0.6700, d3.loss_map_dir: 0.0092, d4.loss_map_cls: 0.1472, d4.loss_map_pts: 0.6482, d4.loss_map_dir: 0.0094, d5.loss_map_cls: 0.1420, d5.loss_map_pts: 0.6346, d5.loss_map_dir: 0.0096, loss: 30.5139, grad_norm: 152.3655
2026-02-26 13:07:30,713 - DriveTransformer - INFO - Epoch [7][3650/39528]	lr: 8.550e-05, eta: 5 days, 19:13:03, time: 0.706, data_time: 0.033, memory: 19865, loss_cls: 0.1526, loss_bbox: 0.3615, loss_traj: 0.5646, loss_traj_cls: 0.0010, loss_map_cls: 0.1424, loss_map_pts: 0.6288, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.6910, d0.loss_plan_l1_fix_dist: 0.3750, d1.loss_plan_l1_fix_time: 1.2617, d1.loss_plan_l1_fix_dist: 0.1913, d2.loss_plan_l1_fix_time: 1.2398, d2.loss_plan_l1_fix_dist: 0.1908, d3.loss_plan_l1_fix_time: 1.2402, d3.loss_plan_l1_fix_dist: 0.1984, d4.loss_plan_l1_fix_time: 1.2442, d4.loss_plan_l1_fix_dist: 0.2064, d5.loss_plan_l1_fix_time: 1.2494, d5.loss_plan_l1_fix_dist: 0.2160, d6.loss_plan_l1_fix_time: 1.2566, d6.loss_plan_l1_fix_dist: 0.2253, d0.loss_cls_all: 0.1970, d0.loss_bbox_all: 0.4148, d0.loss_cls: 0.1970, d0.loss_bbox: 0.4148, d1.loss_cls: 0.1856, d1.loss_bbox: 0.3863, d2.loss_cls: 0.1703, d2.loss_bbox: 0.3690, d3.loss_cls: 0.1601, d3.loss_bbox: 0.3630, d4.loss_cls: 0.1525, d4.loss_bbox: 0.3617, d5.loss_cls: 0.1510, d5.loss_bbox: 0.3613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7226, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.5923, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5667, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5620, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.5614, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5622, d0.loss_map_cls_all: 0.2140, d0.loss_map_pts_all: 1.3660, d0.loss_map_dir_all: 0.0097, d0.loss_map_cls: 0.2140, d0.loss_map_pts: 1.3660, d0.loss_map_dir: 0.0097, d1.loss_map_cls: 0.1881, d1.loss_map_pts: 0.8886, d1.loss_map_dir: 0.0092, d2.loss_map_cls: 0.1680, d2.loss_map_pts: 0.7157, d2.loss_map_dir: 0.0092, d3.loss_map_cls: 0.1548, d3.loss_map_pts: 0.6505, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1476, d4.loss_map_pts: 0.6326, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1439, d5.loss_map_pts: 0.6277, d5.loss_map_dir: 0.0098, loss: 28.6492, grad_norm: 152.4998
2026-02-26 13:08:07,070 - DriveTransformer - INFO - Epoch [7][3700/39528]	lr: 8.550e-05, eta: 5 days, 19:15:30, time: 0.727, data_time: 0.032, memory: 19865, loss_cls: 0.1569, loss_bbox: 0.3631, loss_traj: 0.5387, loss_traj_cls: 0.0010, loss_map_cls: 0.1516, loss_map_pts: 0.7202, loss_map_dir: 0.0116, d0.loss_plan_l1_fix_time: 2.4720, d0.loss_plan_l1_fix_dist: 0.3700, d1.loss_plan_l1_fix_time: 1.0887, d1.loss_plan_l1_fix_dist: 0.1824, d2.loss_plan_l1_fix_time: 1.0759, d2.loss_plan_l1_fix_dist: 0.1862, d3.loss_plan_l1_fix_time: 1.0746, d3.loss_plan_l1_fix_dist: 0.1924, d4.loss_plan_l1_fix_time: 1.0768, d4.loss_plan_l1_fix_dist: 0.2006, d5.loss_plan_l1_fix_time: 1.0794, d5.loss_plan_l1_fix_dist: 0.2087, d6.loss_plan_l1_fix_time: 1.0826, d6.loss_plan_l1_fix_dist: 0.2189, d0.loss_cls_all: 0.2024, d0.loss_bbox_all: 0.4208, d0.loss_cls: 0.2024, d0.loss_bbox: 0.4208, d1.loss_cls: 0.1946, d1.loss_bbox: 0.3875, d2.loss_cls: 0.1795, d2.loss_bbox: 0.3685, d3.loss_cls: 0.1669, d3.loss_bbox: 0.3621, d4.loss_cls: 0.1594, d4.loss_bbox: 0.3617, d5.loss_cls: 0.1571, d5.loss_bbox: 0.3613, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7090, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5768, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5467, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5348, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5345, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5370, d0.loss_map_cls_all: 0.2301, d0.loss_map_pts_all: 1.4995, d0.loss_map_dir_all: 0.0111, d0.loss_map_cls: 0.2301, d0.loss_map_pts: 1.4995, d0.loss_map_dir: 0.0111, d1.loss_map_cls: 0.1975, d1.loss_map_pts: 1.0113, d1.loss_map_dir: 0.0108, d2.loss_map_cls: 0.1773, d2.loss_map_pts: 0.8244, d2.loss_map_dir: 0.0109, d3.loss_map_cls: 0.1653, d3.loss_map_pts: 0.7519, d3.loss_map_dir: 0.0112, d4.loss_map_cls: 0.1588, d4.loss_map_pts: 0.7277, d4.loss_map_dir: 0.0115, d5.loss_map_cls: 0.1527, d5.loss_map_pts: 0.7200, d5.loss_map_dir: 0.0116, loss: 28.2672, grad_norm: 152.2970
2026-02-26 13:08:42,378 - DriveTransformer - INFO - Epoch [7][3750/39528]	lr: 8.550e-05, eta: 5 days, 19:14:35, time: 0.706, data_time: 0.033, memory: 19865, loss_cls: 0.1544, loss_bbox: 0.3462, loss_traj: 0.6460, loss_traj_cls: 0.0010, loss_map_cls: 0.1565, loss_map_pts: 0.6683, loss_map_dir: 0.0084, d0.loss_plan_l1_fix_time: 2.8782, d0.loss_plan_l1_fix_dist: 0.4895, d1.loss_plan_l1_fix_time: 1.0874, d1.loss_plan_l1_fix_dist: 0.1833, d2.loss_plan_l1_fix_time: 1.0701, d2.loss_plan_l1_fix_dist: 0.1852, d3.loss_plan_l1_fix_time: 1.0665, d3.loss_plan_l1_fix_dist: 0.1913, d4.loss_plan_l1_fix_time: 1.0686, d4.loss_plan_l1_fix_dist: 0.2011, d5.loss_plan_l1_fix_time: 1.0709, d5.loss_plan_l1_fix_dist: 0.2130, d6.loss_plan_l1_fix_time: 1.0726, d6.loss_plan_l1_fix_dist: 0.2275, d0.loss_cls_all: 0.1877, d0.loss_bbox_all: 0.4094, d0.loss_cls: 0.1877, d0.loss_bbox: 0.4094, d1.loss_cls: 0.1790, d1.loss_bbox: 0.3735, d2.loss_cls: 0.1712, d2.loss_bbox: 0.3539, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3478, d4.loss_cls: 0.1544, d4.loss_bbox: 0.3459, d5.loss_cls: 0.1544, d5.loss_bbox: 0.3438, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8808, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7108, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6655, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6496, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6465, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6455, d0.loss_map_cls_all: 0.2298, d0.loss_map_pts_all: 1.3439, d0.loss_map_dir_all: 0.0085, d0.loss_map_cls: 0.2298, d0.loss_map_pts: 1.3439, d0.loss_map_dir: 0.0085, d1.loss_map_cls: 0.2030, d1.loss_map_pts: 0.9322, d1.loss_map_dir: 0.0081, d2.loss_map_cls: 0.1868, d2.loss_map_pts: 0.7693, d2.loss_map_dir: 0.0079, d3.loss_map_cls: 0.1704, d3.loss_map_pts: 0.6983, d3.loss_map_dir: 0.0081, d4.loss_map_cls: 0.1625, d4.loss_map_pts: 0.6754, d4.loss_map_dir: 0.0082, d5.loss_map_cls: 0.1582, d5.loss_map_pts: 0.6691, d5.loss_map_dir: 0.0083, loss: 28.7998, grad_norm: 150.9777
2026-02-26 13:09:18,804 - DriveTransformer - INFO - Epoch [7][3800/39528]	lr: 8.550e-05, eta: 5 days, 19:17:08, time: 0.729, data_time: 0.034, memory: 19865, loss_cls: 0.1456, loss_bbox: 0.3313, loss_traj: 0.6125, loss_traj_cls: 0.0010, loss_map_cls: 0.1556, loss_map_pts: 0.7102, loss_map_dir: 0.0104, d0.loss_plan_l1_fix_time: 2.2166, d0.loss_plan_l1_fix_dist: 0.3682, d1.loss_plan_l1_fix_time: 1.0152, d1.loss_plan_l1_fix_dist: 0.1973, d2.loss_plan_l1_fix_time: 1.0062, d2.loss_plan_l1_fix_dist: 0.1917, d3.loss_plan_l1_fix_time: 1.0134, d3.loss_plan_l1_fix_dist: 0.2004, d4.loss_plan_l1_fix_time: 1.0174, d4.loss_plan_l1_fix_dist: 0.2149, d5.loss_plan_l1_fix_time: 1.0210, d5.loss_plan_l1_fix_dist: 0.2323, d6.loss_plan_l1_fix_time: 1.0241, d6.loss_plan_l1_fix_dist: 0.2497, d0.loss_cls_all: 0.1808, d0.loss_bbox_all: 0.3885, d0.loss_cls: 0.1808, d0.loss_bbox: 0.3885, d1.loss_cls: 0.1759, d1.loss_bbox: 0.3549, d2.loss_cls: 0.1633, d2.loss_bbox: 0.3370, d3.loss_cls: 0.1517, d3.loss_bbox: 0.3319, d4.loss_cls: 0.1479, d4.loss_bbox: 0.3297, d5.loss_cls: 0.1459, d5.loss_bbox: 0.3299, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8115, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6680, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6217, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6171, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6156, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6118, d0.loss_map_cls_all: 0.2326, d0.loss_map_pts_all: 1.4665, d0.loss_map_dir_all: 0.0099, d0.loss_map_cls: 0.2326, d0.loss_map_pts: 1.4665, d0.loss_map_dir: 0.0099, d1.loss_map_cls: 0.2035, d1.loss_map_pts: 0.9982, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1799, d2.loss_map_pts: 0.8208, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1686, d3.loss_map_pts: 0.7470, d3.loss_map_dir: 0.0100, d4.loss_map_cls: 0.1603, d4.loss_map_pts: 0.7218, d4.loss_map_dir: 0.0103, d5.loss_map_cls: 0.1568, d5.loss_map_pts: 0.7120, d5.loss_map_dir: 0.0105, loss: 27.8310, grad_norm: 150.6470
2026-02-26 13:09:53,189 - DriveTransformer - INFO - Epoch [7][3850/39528]	lr: 8.550e-05, eta: 5 days, 19:13:21, time: 0.688, data_time: 0.034, memory: 19865, loss_cls: 0.1504, loss_bbox: 0.3621, loss_traj: 0.5030, loss_traj_cls: 0.0009, loss_map_cls: 0.1717, loss_map_pts: 0.7916, loss_map_dir: 0.0094, d0.loss_plan_l1_fix_time: 2.4981, d0.loss_plan_l1_fix_dist: 0.4284, d1.loss_plan_l1_fix_time: 1.0933, d1.loss_plan_l1_fix_dist: 0.1850, d2.loss_plan_l1_fix_time: 1.0845, d2.loss_plan_l1_fix_dist: 0.1795, d3.loss_plan_l1_fix_time: 1.0779, d3.loss_plan_l1_fix_dist: 0.1895, d4.loss_plan_l1_fix_time: 1.0800, d4.loss_plan_l1_fix_dist: 0.2016, d5.loss_plan_l1_fix_time: 1.0821, d5.loss_plan_l1_fix_dist: 0.2155, d6.loss_plan_l1_fix_time: 1.0845, d6.loss_plan_l1_fix_dist: 0.2342, d0.loss_cls_all: 0.1856, d0.loss_bbox_all: 0.4103, d0.loss_cls: 0.1856, d0.loss_bbox: 0.4103, d1.loss_cls: 0.1732, d1.loss_bbox: 0.3829, d2.loss_cls: 0.1656, d2.loss_bbox: 0.3668, d3.loss_cls: 0.1581, d3.loss_bbox: 0.3591, d4.loss_cls: 0.1508, d4.loss_bbox: 0.3612, d5.loss_cls: 0.1513, d5.loss_bbox: 0.3600, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.6518, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.5581, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5182, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5012, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5024, d5.loss_traj_cls: 0.0012, d5.loss_traj: 0.4995, d0.loss_map_cls_all: 0.2358, d0.loss_map_pts_all: 1.5249, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2358, d0.loss_map_pts: 1.5249, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2146, d1.loss_map_pts: 1.0790, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1922, d2.loss_map_pts: 0.9015, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1837, d3.loss_map_pts: 0.8200, d3.loss_map_dir: 0.0090, d4.loss_map_cls: 0.1775, d4.loss_map_pts: 0.7941, d4.loss_map_dir: 0.0093, d5.loss_map_cls: 0.1737, d5.loss_map_pts: 0.7920, d5.loss_map_dir: 0.0094, loss: 28.5952, grad_norm: 147.2255
2026-02-26 13:10:29,908 - DriveTransformer - INFO - Epoch [7][3900/39528]	lr: 8.550e-05, eta: 5 days, 19:16:43, time: 0.734, data_time: 0.035, memory: 19865, loss_cls: 0.1654, loss_bbox: 0.3779, loss_traj: 0.6203, loss_traj_cls: 0.0010, loss_map_cls: 0.1732, loss_map_pts: 0.7986, loss_map_dir: 0.0115, d0.loss_plan_l1_fix_time: 2.5542, d0.loss_plan_l1_fix_dist: 0.4539, d1.loss_plan_l1_fix_time: 1.1210, d1.loss_plan_l1_fix_dist: 0.2010, d2.loss_plan_l1_fix_time: 1.1137, d2.loss_plan_l1_fix_dist: 0.2009, d3.loss_plan_l1_fix_time: 1.1081, d3.loss_plan_l1_fix_dist: 0.2140, d4.loss_plan_l1_fix_time: 1.1105, d4.loss_plan_l1_fix_dist: 0.2227, d5.loss_plan_l1_fix_time: 1.1137, d5.loss_plan_l1_fix_dist: 0.2338, d6.loss_plan_l1_fix_time: 1.1176, d6.loss_plan_l1_fix_dist: 0.2491, d0.loss_cls_all: 0.2091, d0.loss_bbox_all: 0.4413, d0.loss_cls: 0.2091, d0.loss_bbox: 0.4413, d1.loss_cls: 0.1991, d1.loss_bbox: 0.4043, d2.loss_cls: 0.1871, d2.loss_bbox: 0.3849, d3.loss_cls: 0.1745, d3.loss_bbox: 0.3800, d4.loss_cls: 0.1666, d4.loss_bbox: 0.3790, d5.loss_cls: 0.1639, d5.loss_bbox: 0.3786, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7896, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6734, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6267, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6190, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6189, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6173, d0.loss_map_cls_all: 0.2495, d0.loss_map_pts_all: 1.6189, d0.loss_map_dir_all: 0.0107, d0.loss_map_cls: 0.2495, d0.loss_map_pts: 1.6189, d0.loss_map_dir: 0.0107, d1.loss_map_cls: 0.2189, d1.loss_map_pts: 1.1050, d1.loss_map_dir: 0.0103, d2.loss_map_cls: 0.1965, d2.loss_map_pts: 0.9194, d2.loss_map_dir: 0.0105, d3.loss_map_cls: 0.1844, d3.loss_map_pts: 0.8387, d3.loss_map_dir: 0.0109, d4.loss_map_cls: 0.1797, d4.loss_map_pts: 0.8095, d4.loss_map_dir: 0.0114, d5.loss_map_cls: 0.1740, d5.loss_map_pts: 0.7999, d5.loss_map_dir: 0.0114, loss: 30.4715, grad_norm: 148.2270
2026-02-26 13:11:05,162 - DriveTransformer - INFO - Epoch [7][3950/39528]	lr: 8.550e-05, eta: 5 days, 19:15:36, time: 0.705, data_time: 0.033, memory: 19865, loss_cls: 0.1465, loss_bbox: 0.3540, loss_traj: 0.6373, loss_traj_cls: 0.0010, loss_map_cls: 0.1537, loss_map_pts: 0.6574, loss_map_dir: 0.0101, d0.loss_plan_l1_fix_time: 2.3754, d0.loss_plan_l1_fix_dist: 0.4307, d1.loss_plan_l1_fix_time: 0.9552, d1.loss_plan_l1_fix_dist: 0.1782, d2.loss_plan_l1_fix_time: 0.9414, d2.loss_plan_l1_fix_dist: 0.1741, d3.loss_plan_l1_fix_time: 0.9399, d3.loss_plan_l1_fix_dist: 0.1859, d4.loss_plan_l1_fix_time: 0.9429, d4.loss_plan_l1_fix_dist: 0.1953, d5.loss_plan_l1_fix_time: 0.9471, d5.loss_plan_l1_fix_dist: 0.2055, d6.loss_plan_l1_fix_time: 0.9524, d6.loss_plan_l1_fix_dist: 0.2158, d0.loss_cls_all: 0.1803, d0.loss_bbox_all: 0.4065, d0.loss_cls: 0.1803, d0.loss_bbox: 0.4065, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3752, d2.loss_cls: 0.1668, d2.loss_bbox: 0.3573, d3.loss_cls: 0.1548, d3.loss_bbox: 0.3520, d4.loss_cls: 0.1494, d4.loss_bbox: 0.3511, d5.loss_cls: 0.1480, d5.loss_bbox: 0.3511, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8857, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.7028, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6455, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6371, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6235, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6356, d0.loss_map_cls_all: 0.2281, d0.loss_map_pts_all: 1.4338, d0.loss_map_dir_all: 0.0093, d0.loss_map_cls: 0.2281, d0.loss_map_pts: 1.4338, d0.loss_map_dir: 0.0093, d1.loss_map_cls: 0.2012, d1.loss_map_pts: 0.9474, d1.loss_map_dir: 0.0090, d2.loss_map_cls: 0.1827, d2.loss_map_pts: 0.7715, d2.loss_map_dir: 0.0091, d3.loss_map_cls: 0.1695, d3.loss_map_pts: 0.6955, d3.loss_map_dir: 0.0096, d4.loss_map_cls: 0.1618, d4.loss_map_pts: 0.6682, d4.loss_map_dir: 0.0099, d5.loss_map_cls: 0.1548, d5.loss_map_pts: 0.6599, d5.loss_map_dir: 0.0100, loss: 27.4942, grad_norm: 146.7682
2026-02-26 13:11:40,063 - DriveTransformer - INFO - Epoch [7][4000/39528]	lr: 8.550e-05, eta: 5 days, 19:13:27, time: 0.698, data_time: 0.033, memory: 19865, loss_cls: 0.1701, loss_bbox: 0.3637, loss_traj: 0.7898, loss_traj_cls: 0.0010, loss_map_cls: 0.1406, loss_map_pts: 0.6384, loss_map_dir: 0.0089, d0.loss_plan_l1_fix_time: 2.8476, d0.loss_plan_l1_fix_dist: 0.4454, d1.loss_plan_l1_fix_time: 1.1947, d1.loss_plan_l1_fix_dist: 0.2007, d2.loss_plan_l1_fix_time: 1.1763, d2.loss_plan_l1_fix_dist: 0.1965, d3.loss_plan_l1_fix_time: 1.1690, d3.loss_plan_l1_fix_dist: 0.2016, d4.loss_plan_l1_fix_time: 1.1708, d4.loss_plan_l1_fix_dist: 0.2122, d5.loss_plan_l1_fix_time: 1.1738, d5.loss_plan_l1_fix_dist: 0.2250, d6.loss_plan_l1_fix_time: 1.1781, d6.loss_plan_l1_fix_dist: 0.2392, d0.loss_cls_all: 0.2028, d0.loss_bbox_all: 0.4232, d0.loss_cls: 0.2028, d0.loss_bbox: 0.4232, d1.loss_cls: 0.1958, d1.loss_bbox: 0.3875, d2.loss_cls: 0.1841, d2.loss_bbox: 0.3714, d3.loss_cls: 0.1777, d3.loss_bbox: 0.3646, d4.loss_cls: 0.1713, d4.loss_bbox: 0.3632, d5.loss_cls: 0.1702, d5.loss_bbox: 0.3620, d0.loss_traj_cls: 0.0001, d0.loss_traj: 1.0394, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.8458, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.8058, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7925, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7887, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7917, d0.loss_map_cls_all: 0.2217, d0.loss_map_pts_all: 1.2888, d0.loss_map_dir_all: 0.0080, d0.loss_map_cls: 0.2217, d0.loss_map_pts: 1.2888, d0.loss_map_dir: 0.0080, d1.loss_map_cls: 0.1907, d1.loss_map_pts: 0.8769, d1.loss_map_dir: 0.0078, d2.loss_map_cls: 0.1673, d2.loss_map_pts: 0.7204, d2.loss_map_dir: 0.0081, d3.loss_map_cls: 0.1564, d3.loss_map_pts: 0.6661, d3.loss_map_dir: 0.0084, d4.loss_map_cls: 0.1479, d4.loss_map_pts: 0.6448, d4.loss_map_dir: 0.0087, d5.loss_map_cls: 0.1415, d5.loss_map_pts: 0.6379, d5.loss_map_dir: 0.0090, loss: 30.2427, grad_norm: 147.2288
2026-02-26 13:12:15,910 - DriveTransformer - INFO - Epoch [7][4050/39528]	lr: 8.550e-05, eta: 5 days, 19:14:06, time: 0.717, data_time: 0.035, memory: 19865, loss_cls: 0.1488, loss_bbox: 0.3406, loss_traj: 0.6263, loss_traj_cls: 0.0010, loss_map_cls: 0.1494, loss_map_pts: 0.6524, loss_map_dir: 0.0099, d0.loss_plan_l1_fix_time: 2.8806, d0.loss_plan_l1_fix_dist: 0.4508, d1.loss_plan_l1_fix_time: 1.0098, d1.loss_plan_l1_fix_dist: 0.1801, d2.loss_plan_l1_fix_time: 0.9863, d2.loss_plan_l1_fix_dist: 0.1816, d3.loss_plan_l1_fix_time: 0.9757, d3.loss_plan_l1_fix_dist: 0.1914, d4.loss_plan_l1_fix_time: 0.9766, d4.loss_plan_l1_fix_dist: 0.2033, d5.loss_plan_l1_fix_time: 0.9786, d5.loss_plan_l1_fix_dist: 0.2193, d6.loss_plan_l1_fix_time: 0.9815, d6.loss_plan_l1_fix_dist: 0.2387, d0.loss_cls_all: 0.1834, d0.loss_bbox_all: 0.3986, d0.loss_cls: 0.1834, d0.loss_bbox: 0.3986, d1.loss_cls: 0.1754, d1.loss_bbox: 0.3684, d2.loss_cls: 0.1638, d2.loss_bbox: 0.3497, d3.loss_cls: 0.1560, d3.loss_bbox: 0.3411, d4.loss_cls: 0.1513, d4.loss_bbox: 0.3395, d5.loss_cls: 0.1505, d5.loss_bbox: 0.3383, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7931, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6699, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6409, d3.loss_traj_cls: 0.0013, d3.loss_traj: 0.6287, d4.loss_traj_cls: 0.0013, d4.loss_traj: 0.6221, d5.loss_traj_cls: 0.0014, d5.loss_traj: 0.6240, d0.loss_map_cls_all: 0.2104, d0.loss_map_pts_all: 1.3225, d0.loss_map_dir_all: 0.0091, d0.loss_map_cls: 0.2104, d0.loss_map_pts: 1.3225, d0.loss_map_dir: 0.0091, d1.loss_map_cls: 0.1837, d1.loss_map_pts: 0.9027, d1.loss_map_dir: 0.0087, d2.loss_map_cls: 0.1661, d2.loss_map_pts: 0.7369, d2.loss_map_dir: 0.0090, d3.loss_map_cls: 0.1559, d3.loss_map_pts: 0.6724, d3.loss_map_dir: 0.0094, d4.loss_map_cls: 0.1520, d4.loss_map_pts: 0.6569, d4.loss_map_dir: 0.0097, d5.loss_map_cls: 0.1495, d5.loss_map_pts: 0.6510, d5.loss_map_dir: 0.0099, loss: 27.6242, grad_norm: 147.1538
2026-02-26 13:12:52,962 - DriveTransformer - INFO - Epoch [7][4100/39528]	lr: 8.550e-05, eta: 5 days, 19:18:11, time: 0.741, data_time: 0.035, memory: 19865, loss_cls: 0.1551, loss_bbox: 0.3556, loss_traj: 0.7501, loss_traj_cls: 0.0010, loss_map_cls: 0.1322, loss_map_pts: 0.7096, loss_map_dir: 0.0110, d0.loss_plan_l1_fix_time: 2.5450, d0.loss_plan_l1_fix_dist: 0.4937, d1.loss_plan_l1_fix_time: 1.0859, d1.loss_plan_l1_fix_dist: 0.2066, d2.loss_plan_l1_fix_time: 1.0606, d2.loss_plan_l1_fix_dist: 0.2151, d3.loss_plan_l1_fix_time: 1.0604, d3.loss_plan_l1_fix_dist: 0.2376, d4.loss_plan_l1_fix_time: 1.0638, d4.loss_plan_l1_fix_dist: 0.2623, d5.loss_plan_l1_fix_time: 1.0670, d5.loss_plan_l1_fix_dist: 0.2874, d6.loss_plan_l1_fix_time: 1.0707, d6.loss_plan_l1_fix_dist: 0.3160, d0.loss_cls_all: 0.1905, d0.loss_bbox_all: 0.4099, d0.loss_cls: 0.1905, d0.loss_bbox: 0.4099, d1.loss_cls: 0.1828, d1.loss_bbox: 0.3802, d2.loss_cls: 0.1689, d2.loss_bbox: 0.3654, d3.loss_cls: 0.1603, d3.loss_bbox: 0.3596, d4.loss_cls: 0.1549, d4.loss_bbox: 0.3588, d5.loss_cls: 0.1541, d5.loss_bbox: 0.3567, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.9469, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.8170, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.7606, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.7483, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.7526, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.7530, d0.loss_map_cls_all: 0.2030, d0.loss_map_pts_all: 1.4744, d0.loss_map_dir_all: 0.0094, d0.loss_map_cls: 0.2030, d0.loss_map_pts: 1.4744, d0.loss_map_dir: 0.0094, d1.loss_map_cls: 0.1749, d1.loss_map_pts: 0.9974, d1.loss_map_dir: 0.0093, d2.loss_map_cls: 0.1552, d2.loss_map_pts: 0.8106, d2.loss_map_dir: 0.0096, d3.loss_map_cls: 0.1441, d3.loss_map_pts: 0.7415, d3.loss_map_dir: 0.0103, d4.loss_map_cls: 0.1379, d4.loss_map_pts: 0.7168, d4.loss_map_dir: 0.0107, d5.loss_map_cls: 0.1341, d5.loss_map_pts: 0.7088, d5.loss_map_dir: 0.0108, loss: 29.8603, grad_norm: 146.2060
2026-02-26 13:13:28,958 - DriveTransformer - INFO - Epoch [7][4150/39528]	lr: 8.550e-05, eta: 5 days, 19:19:09, time: 0.720, data_time: 0.036, memory: 19865, loss_cls: 0.1462, loss_bbox: 0.3384, loss_traj: 0.6558, loss_traj_cls: 0.0009, loss_map_cls: 0.1626, loss_map_pts: 0.7205, loss_map_dir: 0.0097, d0.loss_plan_l1_fix_time: 2.5053, d0.loss_plan_l1_fix_dist: 0.3810, d1.loss_plan_l1_fix_time: 1.0298, d1.loss_plan_l1_fix_dist: 0.1926, d2.loss_plan_l1_fix_time: 1.0104, d2.loss_plan_l1_fix_dist: 0.1962, d3.loss_plan_l1_fix_time: 1.0110, d3.loss_plan_l1_fix_dist: 0.2044, d4.loss_plan_l1_fix_time: 1.0129, d4.loss_plan_l1_fix_dist: 0.2164, d5.loss_plan_l1_fix_time: 1.0155, d5.loss_plan_l1_fix_dist: 0.2291, d6.loss_plan_l1_fix_time: 1.0183, d6.loss_plan_l1_fix_dist: 0.2420, d0.loss_cls_all: 0.1879, d0.loss_bbox_all: 0.4012, d0.loss_cls: 0.1879, d0.loss_bbox: 0.4012, d1.loss_cls: 0.1785, d1.loss_bbox: 0.3671, d2.loss_cls: 0.1614, d2.loss_bbox: 0.3492, d3.loss_cls: 0.1516, d3.loss_bbox: 0.3440, d4.loss_cls: 0.1478, d4.loss_bbox: 0.3406, d5.loss_cls: 0.1455, d5.loss_bbox: 0.3395, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.8567, d1.loss_traj_cls: 0.0011, d1.loss_traj: 0.6999, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.6635, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.6576, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.6540, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.6554, d0.loss_map_cls_all: 0.2246, d0.loss_map_pts_all: 1.3563, d0.loss_map_dir_all: 0.0087, d0.loss_map_cls: 0.2246, d0.loss_map_pts: 1.3563, d0.loss_map_dir: 0.0087, d1.loss_map_cls: 0.2017, d1.loss_map_pts: 0.9709, d1.loss_map_dir: 0.0083, d2.loss_map_cls: 0.1850, d2.loss_map_pts: 0.8148, d2.loss_map_dir: 0.0087, d3.loss_map_cls: 0.1744, d3.loss_map_pts: 0.7493, d3.loss_map_dir: 0.0091, d4.loss_map_cls: 0.1678, d4.loss_map_pts: 0.7257, d4.loss_map_dir: 0.0095, d5.loss_map_cls: 0.1653, d5.loss_map_pts: 0.7197, d5.loss_map_dir: 0.0097, loss: 28.2951, grad_norm: 146.6375
2026-02-26 13:14:06,055 - DriveTransformer - INFO - Epoch [7][4200/39528]	lr: 8.550e-05, eta: 5 days, 19:23:10, time: 0.742, data_time: 0.034, memory: 19865, loss_cls: 0.1597, loss_bbox: 0.3571, loss_traj: 0.5639, loss_traj_cls: 0.0010, loss_map_cls: 0.1609, loss_map_pts: 0.7103, loss_map_dir: 0.0107, d0.loss_plan_l1_fix_time: 2.3597, d0.loss_plan_l1_fix_dist: 0.4650, d1.loss_plan_l1_fix_time: 0.9472, d1.loss_plan_l1_fix_dist: 0.1856, d2.loss_plan_l1_fix_time: 0.9432, d2.loss_plan_l1_fix_dist: 0.1859, d3.loss_plan_l1_fix_time: 0.9428, d3.loss_plan_l1_fix_dist: 0.1964, d4.loss_plan_l1_fix_time: 0.9466, d4.loss_plan_l1_fix_dist: 0.2098, d5.loss_plan_l1_fix_time: 0.9510, d5.loss_plan_l1_fix_dist: 0.2243, d6.loss_plan_l1_fix_time: 0.9553, d6.loss_plan_l1_fix_dist: 0.2374, d0.loss_cls_all: 0.1935, d0.loss_bbox_all: 0.4140, d0.loss_cls: 0.1935, d0.loss_bbox: 0.4140, d1.loss_cls: 0.1891, d1.loss_bbox: 0.3845, d2.loss_cls: 0.1767, d2.loss_bbox: 0.3657, d3.loss_cls: 0.1647, d3.loss_bbox: 0.3610, d4.loss_cls: 0.1591, d4.loss_bbox: 0.3578, d5.loss_cls: 0.1588, d5.loss_bbox: 0.3568, d0.loss_traj_cls: 0.0001, d0.loss_traj: 0.7644, d1.loss_traj_cls: 0.0012, d1.loss_traj: 0.6294, d2.loss_traj_cls: 0.0018, d2.loss_traj: 0.5755, d3.loss_traj_cls: 0.0012, d3.loss_traj: 0.5698, d4.loss_traj_cls: 0.0012, d4.loss_traj: 0.5662, d5.loss_traj_cls: 0.0013, d5.loss_traj: 0.5669, d0.loss_map_cls_all: 0.2313, d0.loss_map_pts_all: 1.4779, d0.loss_map_dir_all: 0.0104, d0.loss_map_cls: 0.2313, d0.loss_map_pts: 1.4779, d0.loss_map_dir: 0.0104, d1.loss_map_cls: 0.2038, d1.loss_map_pts: 0.9932, d1.loss_map_dir: 0.0096, d2.loss_map_cls: 0.1837, d2.loss_map_pts: 0.8130, d2.loss_map_dir: 0.0098, d3.loss_map_cls: 0.1709, d3.loss_map_pts: 0.7425, d3.loss_map_dir: 0.0102, d4.loss_map_cls: 0.1658, d4.loss_map_pts: 0.7167, d4.loss_map_dir: 0.0106, d5.loss_map_cls: 0.1618, d5.loss_map_pts: 0.7099, d5.loss_map_dir: 0.0107, loss: 27.6334, grad_norm: 145.2679