2026-02-23 23:13:13,336 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} 2026-02-23 23:13:13,454 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} Name of parameter - Initialization information pts_bbox_head.code_weights - torch.Size([10]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_code_weights - torch.Size([4]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.position_range - torch.Size([6]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.pc_range - torch.Size([6]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_query.weight - torch.Size([900, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_query.weight - torch.Size([100, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.time_embedding.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.time_embedding.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.time_embedding.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-23 23:13:13,506 - 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() ) 2026-02-23 23:13:13,707 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu 2026-02-23 23:13:13,708 - 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 -------------------- 2026-02-23 23:13:13,708 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs 2026-02-23 23:13:13,710 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. 2026-02-23 23:13:18,843 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. 2026-02-23 23:13:37,703 - DriveTransformer - INFO - Epoch [1][50/117620] lr: 1.441e-05, eta: 39 days, 3:00:41, time: 0.479, data_time: 0.099, memory: 7284, loss_cls: 657.0177, loss_bbox: 1.7126, loss_traj: 4.0331, loss_traj_cls: 0.0986, loss_map_cls: 9.2025, loss_map_pts: 5.1980, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 9.3064, d0.loss_plan_l1_fix_dist: 3.1385, d1.loss_plan_l1_fix_time: 9.7504, d1.loss_plan_l1_fix_dist: 4.0820, d2.loss_plan_l1_fix_time: 10.2569, d2.loss_plan_l1_fix_dist: 5.5467, d3.loss_plan_l1_fix_time: 10.8451, d3.loss_plan_l1_fix_dist: 7.2853, d4.loss_plan_l1_fix_time: 11.3784, d4.loss_plan_l1_fix_dist: 9.8207, d5.loss_plan_l1_fix_time: 11.9745, d5.loss_plan_l1_fix_dist: 12.4756, d6.loss_plan_l1_fix_time: 12.5522, d6.loss_plan_l1_fix_dist: 14.9600, d0.loss_cls_all: 450.4785, d0.loss_bbox_all: 1.6361, d0.loss_cls: 450.4785, d0.loss_bbox: 1.6361, d1.loss_cls: 498.7639, d1.loss_bbox: 1.6127, d2.loss_cls: 493.9947, d2.loss_bbox: 1.6771, d3.loss_cls: 564.4796, d3.loss_bbox: 1.6715, d4.loss_cls: 529.9633, d4.loss_bbox: 1.6285, d5.loss_cls: 598.1542, d5.loss_bbox: 1.7129, d0.loss_traj_cls: 0.0725, d0.loss_traj: 4.0100, d1.loss_traj_cls: 0.0616, d1.loss_traj: 4.0386, d2.loss_traj_cls: 0.0645, d2.loss_traj: 4.1268, d3.loss_traj_cls: 0.1104, d3.loss_traj: 4.0976, d4.loss_traj_cls: 0.0551, d4.loss_traj: 3.9702, d5.loss_traj_cls: 0.0604, d5.loss_traj: 4.0178, d0.loss_map_cls_all: 6.9678, d0.loss_map_pts_all: 4.8605, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 6.9678, d0.loss_map_pts: 4.8605, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.2881, d1.loss_map_pts: 4.8943, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 6.9919, d2.loss_map_pts: 4.9406, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 9.5294, d3.loss_map_pts: 4.9800, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.5364, d4.loss_map_pts: 5.0468, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.5420, d5.loss_map_pts: 5.1216, d5.loss_map_dir: 0.0947, loss: 4524.4928 2026-02-23 23:13:54,942 - DriveTransformer - INFO - Epoch [1][100/117620] lr: 1.891e-05, eta: 33 days, 15:28:37, time: 0.345, data_time: 0.016, memory: 8389, loss_cls: 626.4423, loss_bbox: 1.5986, loss_traj: 6.4412, loss_traj_cls: 0.0977, loss_map_cls: 10.3471, loss_map_pts: 5.7189, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 12.7941, d0.loss_plan_l1_fix_dist: 3.4560, d1.loss_plan_l1_fix_time: 13.1416, d1.loss_plan_l1_fix_dist: 4.5200, d2.loss_plan_l1_fix_time: 13.5316, d2.loss_plan_l1_fix_dist: 6.3581, d3.loss_plan_l1_fix_time: 14.0300, d3.loss_plan_l1_fix_dist: 8.3249, d4.loss_plan_l1_fix_time: 14.4850, d4.loss_plan_l1_fix_dist: 11.1415, d5.loss_plan_l1_fix_time: 15.0075, d5.loss_plan_l1_fix_dist: 14.0320, d6.loss_plan_l1_fix_time: 15.4970, d6.loss_plan_l1_fix_dist: 16.7320, d0.loss_cls_all: 439.3889, d0.loss_bbox_all: 1.5691, d0.loss_cls: 439.3889, d0.loss_bbox: 1.5691, d1.loss_cls: 475.7485, d1.loss_bbox: 1.5340, d2.loss_cls: 472.1050, d2.loss_bbox: 1.6203, d3.loss_cls: 534.0959, d3.loss_bbox: 1.6084, d4.loss_cls: 507.8107, d4.loss_bbox: 1.5102, d5.loss_cls: 568.9101, d5.loss_bbox: 1.6094, d0.loss_traj_cls: 0.0739, d0.loss_traj: 6.4160, d1.loss_traj_cls: 0.0622, d1.loss_traj: 6.4786, d2.loss_traj_cls: 0.0639, d2.loss_traj: 6.5505, d3.loss_traj_cls: 0.1072, d3.loss_traj: 6.4956, d4.loss_traj_cls: 0.0534, d4.loss_traj: 6.4070, d5.loss_traj_cls: 0.0578, d5.loss_traj: 6.4554, d0.loss_map_cls_all: 7.8838, d0.loss_map_pts_all: 5.4573, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.8838, d0.loss_map_pts: 5.4573, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.5399, d1.loss_map_pts: 5.4801, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.0800, d2.loss_map_pts: 5.5107, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.8225, d3.loss_map_pts: 5.5467, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.6928, d4.loss_map_pts: 5.6095, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.5945, d5.loss_map_pts: 5.6656, d5.loss_map_dir: 0.0948, loss: 4404.3713, grad_norm: 60564.4180 2026-02-23 23:14:11,830 - DriveTransformer - INFO - Epoch [1][150/117620] lr: 2.341e-05, eta: 31 days, 14:59:07, time: 0.338, data_time: 0.014, memory: 8392, loss_cls: 304.2264, loss_bbox: 1.9153, loss_traj: 5.3777, loss_traj_cls: 0.0796, loss_map_cls: 10.8681, loss_map_pts: 5.5583, loss_map_dir: 0.0954, d0.loss_plan_l1_fix_time: 11.5006, d0.loss_plan_l1_fix_dist: 3.2705, d1.loss_plan_l1_fix_time: 11.8258, d1.loss_plan_l1_fix_dist: 4.1176, d2.loss_plan_l1_fix_time: 12.2162, d2.loss_plan_l1_fix_dist: 5.5551, d3.loss_plan_l1_fix_time: 12.7129, d3.loss_plan_l1_fix_dist: 7.1503, d4.loss_plan_l1_fix_time: 13.1407, d4.loss_plan_l1_fix_dist: 9.1856, d5.loss_plan_l1_fix_time: 13.6123, d5.loss_plan_l1_fix_dist: 11.1148, d6.loss_plan_l1_fix_time: 14.0798, d6.loss_plan_l1_fix_dist: 12.9513, d0.loss_cls_all: 273.0269, d0.loss_bbox_all: 1.5982, d0.loss_cls: 273.0269, d0.loss_bbox: 1.5982, d1.loss_cls: 283.4932, d1.loss_bbox: 1.5694, d2.loss_cls: 251.1035, d2.loss_bbox: 1.6338, d3.loss_cls: 261.5273, d3.loss_bbox: 1.6313, d4.loss_cls: 239.7305, d4.loss_bbox: 1.6924, d5.loss_cls: 278.1803, d5.loss_bbox: 1.8730, d0.loss_traj_cls: 0.0615, d0.loss_traj: 5.2645, d1.loss_traj_cls: 0.0470, d1.loss_traj: 5.3895, d2.loss_traj_cls: 0.0434, d2.loss_traj: 5.4401, d3.loss_traj_cls: 0.0905, d3.loss_traj: 5.4115, d4.loss_traj_cls: 0.0426, d4.loss_traj: 5.3370, d5.loss_traj_cls: 0.0518, d5.loss_traj: 5.3934, d0.loss_map_cls_all: 8.0538, d0.loss_map_pts_all: 5.2660, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 8.0538, d0.loss_map_pts: 5.2660, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 7.6627, d1.loss_map_pts: 5.3052, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.3483, d2.loss_map_pts: 5.3479, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 11.9259, d3.loss_map_pts: 5.3764, d3.loss_map_dir: 0.0953, d4.loss_map_cls: 11.4619, d4.loss_map_pts: 5.4331, d4.loss_map_dir: 0.0955, d5.loss_map_cls: 11.3641, d5.loss_map_pts: 5.4940, d5.loss_map_dir: 0.0953, loss: 2479.8382, grad_norm: 60564.4180 2026-02-23 23:14:28,470 - DriveTransformer - INFO - Epoch [1][200/117620] lr: 2.791e-05, eta: 30 days, 12:20:04, time: 0.333, data_time: 0.014, memory: 8392, loss_cls: 279.1683, loss_bbox: 1.8880, loss_traj: 5.5597, loss_traj_cls: 0.0761, loss_map_cls: 8.8517, loss_map_pts: 5.3317, loss_map_dir: 0.0956, d0.loss_plan_l1_fix_time: 12.1687, d0.loss_plan_l1_fix_dist: 3.2580, d1.loss_plan_l1_fix_time: 12.4261, d1.loss_plan_l1_fix_dist: 3.9923, d2.loss_plan_l1_fix_time: 12.7427, d2.loss_plan_l1_fix_dist: 5.3854, d3.loss_plan_l1_fix_time: 13.1551, d3.loss_plan_l1_fix_dist: 6.8306, d4.loss_plan_l1_fix_time: 13.5195, d4.loss_plan_l1_fix_dist: 8.6923, d5.loss_plan_l1_fix_time: 13.9350, d5.loss_plan_l1_fix_dist: 10.4222, d6.loss_plan_l1_fix_time: 14.3541, d6.loss_plan_l1_fix_dist: 12.0619, d0.loss_cls_all: 255.7239, d0.loss_bbox_all: 1.5567, d0.loss_cls: 255.7239, d0.loss_bbox: 1.5567, d1.loss_cls: 264.1303, d1.loss_bbox: 1.5163, d2.loss_cls: 229.5322, d2.loss_bbox: 1.5773, d3.loss_cls: 236.7735, d3.loss_bbox: 1.5671, d4.loss_cls: 217.6831, d4.loss_bbox: 1.6270, d5.loss_cls: 255.2735, d5.loss_bbox: 1.8372, d0.loss_traj_cls: 0.0590, d0.loss_traj: 5.4155, d1.loss_traj_cls: 0.0459, d1.loss_traj: 5.5547, d2.loss_traj_cls: 0.0429, d2.loss_traj: 5.6045, d3.loss_traj_cls: 0.0876, d3.loss_traj: 5.5848, d4.loss_traj_cls: 0.0423, d4.loss_traj: 5.5243, d5.loss_traj_cls: 0.0489, d5.loss_traj: 5.5798, d0.loss_map_cls_all: 6.6891, d0.loss_map_pts_all: 5.1565, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 6.6891, d0.loss_map_pts: 5.1565, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 6.3889, d1.loss_map_pts: 5.1763, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 6.9013, d2.loss_map_pts: 5.1947, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 9.8591, d3.loss_map_pts: 5.2115, d3.loss_map_dir: 0.0954, d4.loss_map_cls: 9.3899, d4.loss_map_pts: 5.2462, d4.loss_map_dir: 0.0955, d5.loss_map_cls: 9.3578, d5.loss_map_pts: 5.2920, d5.loss_map_dir: 0.0956, loss: 2295.9602, grad_norm: 46417.6348 2026-02-23 23:14:45,446 - DriveTransformer - INFO - Epoch [1][250/117620] lr: 3.241e-05, eta: 29 days, 22:58:01, time: 0.340, data_time: 0.016, memory: 8392, loss_cls: 118.8165, loss_bbox: 1.8936, loss_traj: 5.4645, loss_traj_cls: 0.0642, loss_map_cls: 8.7064, loss_map_pts: 5.4567, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 10.5593, d0.loss_plan_l1_fix_dist: 3.1679, d1.loss_plan_l1_fix_time: 10.7962, d1.loss_plan_l1_fix_dist: 3.6672, d2.loss_plan_l1_fix_time: 11.1035, d2.loss_plan_l1_fix_dist: 4.9681, d3.loss_plan_l1_fix_time: 11.4938, d3.loss_plan_l1_fix_dist: 6.4380, d4.loss_plan_l1_fix_time: 11.8636, d4.loss_plan_l1_fix_dist: 8.0701, d5.loss_plan_l1_fix_time: 12.2550, d5.loss_plan_l1_fix_dist: 9.4082, d6.loss_plan_l1_fix_time: 12.6721, d6.loss_plan_l1_fix_dist: 10.2223, d0.loss_cls_all: 150.2000, d0.loss_bbox_all: 1.5651, d0.loss_cls: 150.2000, d0.loss_bbox: 1.5651, d1.loss_cls: 137.1770, d1.loss_bbox: 1.6234, d2.loss_cls: 104.6323, d2.loss_bbox: 1.6663, d3.loss_cls: 98.3676, d3.loss_bbox: 1.5952, d4.loss_cls: 95.7741, d4.loss_bbox: 1.6881, d5.loss_cls: 115.2410, d5.loss_bbox: 1.8499, d0.loss_traj_cls: 0.0486, d0.loss_traj: 5.2744, d1.loss_traj_cls: 0.0328, d1.loss_traj: 5.4563, d2.loss_traj_cls: 0.0304, d2.loss_traj: 5.4445, d3.loss_traj_cls: 0.0612, d3.loss_traj: 5.4704, d4.loss_traj_cls: 0.0284, d4.loss_traj: 5.4347, d5.loss_traj_cls: 0.0370, d5.loss_traj: 5.5049, d0.loss_map_cls_all: 6.6490, d0.loss_map_pts_all: 5.2697, d0.loss_map_dir_all: 0.0960, d0.loss_map_cls: 6.6490, d0.loss_map_pts: 5.2697, d0.loss_map_dir: 0.0960, d1.loss_map_cls: 6.7324, d1.loss_map_pts: 5.3024, d1.loss_map_dir: 0.0961, d2.loss_map_cls: 7.3017, d2.loss_map_pts: 5.3332, d2.loss_map_dir: 0.0961, d3.loss_map_cls: 10.3287, d3.loss_map_pts: 5.3417, d3.loss_map_dir: 0.0960, d4.loss_map_cls: 9.6059, d4.loss_map_pts: 5.3705, d4.loss_map_dir: 0.0961, d5.loss_map_cls: 9.3639, d5.loss_map_pts: 5.4062, d5.loss_map_dir: 0.0962, loss: 1257.7482, grad_norm: 46417.6348 2026-02-23 23:15:01,925 - DriveTransformer - INFO - Epoch [1][300/117620] lr: 3.691e-05, eta: 29 days, 10:47:18, time: 0.330, data_time: 0.016, memory: 8392, loss_cls: 93.3809, loss_bbox: 1.8152, loss_traj: 5.7054, loss_traj_cls: 0.0669, loss_map_cls: 7.5694, loss_map_pts: 5.4962, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 11.1261, d0.loss_plan_l1_fix_dist: 3.1714, d1.loss_plan_l1_fix_time: 11.3548, d1.loss_plan_l1_fix_dist: 3.6295, d2.loss_plan_l1_fix_time: 11.6502, d2.loss_plan_l1_fix_dist: 4.9081, d3.loss_plan_l1_fix_time: 12.0446, d3.loss_plan_l1_fix_dist: 6.2635, d4.loss_plan_l1_fix_time: 12.4405, d4.loss_plan_l1_fix_dist: 7.6791, d5.loss_plan_l1_fix_time: 12.8452, d5.loss_plan_l1_fix_dist: 8.9206, d6.loss_plan_l1_fix_time: 13.2650, d6.loss_plan_l1_fix_dist: 9.5938, d0.loss_cls_all: 118.9566, d0.loss_bbox_all: 1.5416, d0.loss_cls: 118.9566, d0.loss_bbox: 1.5416, d1.loss_cls: 105.8456, d1.loss_bbox: 1.6264, d2.loss_cls: 79.5773, d2.loss_bbox: 1.6418, d3.loss_cls: 76.0537, d3.loss_bbox: 1.5707, d4.loss_cls: 74.7411, d4.loss_bbox: 1.6662, d5.loss_cls: 89.5834, d5.loss_bbox: 1.7887, d0.loss_traj_cls: 0.0447, d0.loss_traj: 5.5213, d1.loss_traj_cls: 0.0313, d1.loss_traj: 5.6864, d2.loss_traj_cls: 0.0298, d2.loss_traj: 5.6658, d3.loss_traj_cls: 0.0604, d3.loss_traj: 5.6948, d4.loss_traj_cls: 0.0286, d4.loss_traj: 5.6691, d5.loss_traj_cls: 0.0370, d5.loss_traj: 5.7457, d0.loss_map_cls_all: 6.1976, d0.loss_map_pts_all: 5.3953, d0.loss_map_dir_all: 0.0962, d0.loss_map_cls: 6.1976, d0.loss_map_pts: 5.3953, d0.loss_map_dir: 0.0962, d1.loss_map_cls: 6.2696, d1.loss_map_pts: 5.4140, d1.loss_map_dir: 0.0960, d2.loss_map_cls: 6.6788, d2.loss_map_pts: 5.4292, d2.loss_map_dir: 0.0960, d3.loss_map_cls: 9.2347, d3.loss_map_pts: 5.4321, d3.loss_map_dir: 0.0961, d4.loss_map_cls: 8.5333, d4.loss_map_pts: 5.4466, d4.loss_map_dir: 0.0961, d5.loss_map_cls: 8.2352, d5.loss_map_pts: 5.4689, d5.loss_map_dir: 0.0961, loss: 1042.3299, grad_norm: 35614.8210 2026-02-23 23:15:18,021 - DriveTransformer - INFO - Epoch [1][350/117620] lr: 4.141e-05, eta: 28 days, 23:57:06, time: 0.322, data_time: 0.015, memory: 8392, loss_cls: 33.5969, loss_bbox: 1.6434, loss_traj: 6.5622, loss_traj_cls: 0.0436, loss_map_cls: 4.9871, loss_map_pts: 5.2635, loss_map_dir: 0.0977, d0.loss_plan_l1_fix_time: 12.7414, d0.loss_plan_l1_fix_dist: 3.2510, d1.loss_plan_l1_fix_time: 12.9101, d1.loss_plan_l1_fix_dist: 3.4680, d2.loss_plan_l1_fix_time: 13.1505, d2.loss_plan_l1_fix_dist: 4.6443, d3.loss_plan_l1_fix_time: 13.5101, d3.loss_plan_l1_fix_dist: 5.7555, d4.loss_plan_l1_fix_time: 13.9524, d4.loss_plan_l1_fix_dist: 6.9441, d5.loss_plan_l1_fix_time: 14.3527, d5.loss_plan_l1_fix_dist: 7.7428, d6.loss_plan_l1_fix_time: 14.7922, d6.loss_plan_l1_fix_dist: 7.8665, d0.loss_cls_all: 63.3213, d0.loss_bbox_all: 1.4637, d0.loss_cls: 63.3213, d0.loss_bbox: 1.4637, d1.loss_cls: 49.0229, d1.loss_bbox: 1.5566, d2.loss_cls: 32.4956, d2.loss_bbox: 1.5338, d3.loss_cls: 29.1100, d3.loss_bbox: 1.4331, d4.loss_cls: 27.4430, d4.loss_bbox: 1.5225, d5.loss_cls: 33.3288, d5.loss_bbox: 1.6348, d0.loss_traj_cls: 0.0329, d0.loss_traj: 6.3757, d1.loss_traj_cls: 0.0222, d1.loss_traj: 6.5432, d2.loss_traj_cls: 0.0214, d2.loss_traj: 6.4816, d3.loss_traj_cls: 0.0387, d3.loss_traj: 6.5287, d4.loss_traj_cls: 0.0218, d4.loss_traj: 6.5103, d5.loss_traj_cls: 0.0246, d5.loss_traj: 6.6089, d0.loss_map_cls_all: 4.6627, d0.loss_map_pts_all: 5.2210, d0.loss_map_dir_all: 0.0977, d0.loss_map_cls: 4.6627, d0.loss_map_pts: 5.2210, d0.loss_map_dir: 0.0977, d1.loss_map_cls: 4.8069, d1.loss_map_pts: 5.2441, d1.loss_map_dir: 0.0977, d2.loss_map_cls: 4.9554, d2.loss_map_pts: 5.2501, d2.loss_map_dir: 0.0978, d3.loss_map_cls: 6.0601, d3.loss_map_pts: 5.2467, d3.loss_map_dir: 0.0978, d4.loss_map_cls: 5.8758, d4.loss_map_pts: 5.2488, d4.loss_map_dir: 0.0978, d5.loss_map_cls: 5.4762, d5.loss_map_pts: 5.2499, d5.loss_map_dir: 0.0977, loss: 609.0024, grad_norm: 35614.8210 2026-02-23 23:15:34,684 - DriveTransformer - INFO - Epoch [1][400/117620] lr: 4.591e-05, eta: 28 days, 18:36:45, time: 0.333, data_time: 0.015, memory: 8392, loss_cls: 24.6391, loss_bbox: 1.6130, loss_traj: 5.9725, loss_traj_cls: 0.0443, loss_map_cls: 5.3045, loss_map_pts: 5.1623, loss_map_dir: 0.0979, d0.loss_plan_l1_fix_time: 9.7844, d0.loss_plan_l1_fix_dist: 3.0411, d1.loss_plan_l1_fix_time: 9.9496, d1.loss_plan_l1_fix_dist: 3.1719, d2.loss_plan_l1_fix_time: 10.1855, d2.loss_plan_l1_fix_dist: 3.9104, d3.loss_plan_l1_fix_time: 10.5254, d3.loss_plan_l1_fix_dist: 4.7044, d4.loss_plan_l1_fix_time: 10.9394, d4.loss_plan_l1_fix_dist: 5.4436, d5.loss_plan_l1_fix_time: 11.3375, d5.loss_plan_l1_fix_dist: 6.0921, d6.loss_plan_l1_fix_time: 11.7667, d6.loss_plan_l1_fix_dist: 6.4760, d0.loss_cls_all: 49.1777, d0.loss_bbox_all: 1.4941, d0.loss_cls: 49.1777, d0.loss_bbox: 1.4941, d1.loss_cls: 38.0129, d1.loss_bbox: 1.5871, d2.loss_cls: 24.2309, d2.loss_bbox: 1.5507, d3.loss_cls: 21.9212, d3.loss_bbox: 1.4507, d4.loss_cls: 20.1722, d4.loss_bbox: 1.5338, d5.loss_cls: 24.6191, d5.loss_bbox: 1.6113, d0.loss_traj_cls: 0.0283, d0.loss_traj: 5.8160, d1.loss_traj_cls: 0.0204, d1.loss_traj: 5.9724, d2.loss_traj_cls: 0.0208, d2.loss_traj: 5.9055, d3.loss_traj_cls: 0.0390, d3.loss_traj: 5.9435, d4.loss_traj_cls: 0.0206, d4.loss_traj: 5.9287, d5.loss_traj_cls: 0.0249, d5.loss_traj: 6.0095, d0.loss_map_cls_all: 5.4224, d0.loss_map_pts_all: 5.1406, d0.loss_map_dir_all: 0.0980, d0.loss_map_cls: 5.4224, d0.loss_map_pts: 5.1406, d0.loss_map_dir: 0.0980, d1.loss_map_cls: 5.4489, d1.loss_map_pts: 5.1559, d1.loss_map_dir: 0.0981, d2.loss_map_cls: 5.5800, d2.loss_map_pts: 5.1577, d2.loss_map_dir: 0.0981, d3.loss_map_cls: 6.5905, d3.loss_map_pts: 5.1540, d3.loss_map_dir: 0.0980, d4.loss_map_cls: 6.4674, d4.loss_map_pts: 5.1536, d4.loss_map_dir: 0.0980, d5.loss_map_cls: 5.9332, d5.loss_map_pts: 5.1527, d5.loss_map_dir: 0.0979, loss: 501.5304, grad_norm: 27999.5945 2026-02-23 23:15:51,631 - DriveTransformer - INFO - Epoch [1][450/117620] lr: 5.041e-05, eta: 28 days, 15:41:42, time: 0.339, data_time: 0.014, memory: 8392, loss_cls: 9.3690, loss_bbox: 1.4882, loss_traj: 6.7813, loss_traj_cls: 0.0353, loss_map_cls: 3.2561, loss_map_pts: 5.4190, loss_map_dir: 0.0979, d0.loss_plan_l1_fix_time: 13.1956, d0.loss_plan_l1_fix_dist: 3.0269, d1.loss_plan_l1_fix_time: 13.2765, d1.loss_plan_l1_fix_dist: 3.2757, d2.loss_plan_l1_fix_time: 13.4419, d2.loss_plan_l1_fix_dist: 3.4983, d3.loss_plan_l1_fix_time: 13.6845, d3.loss_plan_l1_fix_dist: 3.5776, d4.loss_plan_l1_fix_time: 13.9947, d4.loss_plan_l1_fix_dist: 3.5498, d5.loss_plan_l1_fix_time: 14.2627, d5.loss_plan_l1_fix_dist: 4.0079, d6.loss_plan_l1_fix_time: 14.5687, d6.loss_plan_l1_fix_dist: 5.2099, d0.loss_cls_all: 24.4731, d0.loss_bbox_all: 1.5234, d0.loss_cls: 24.4731, d0.loss_bbox: 1.5234, d1.loss_cls: 18.4519, d1.loss_bbox: 1.5868, d2.loss_cls: 10.5757, d2.loss_bbox: 1.5122, d3.loss_cls: 9.3493, d3.loss_bbox: 1.4228, d4.loss_cls: 7.6997, d4.loss_bbox: 1.4783, d5.loss_cls: 9.1629, d5.loss_bbox: 1.5098, d0.loss_traj_cls: 0.0195, d0.loss_traj: 6.6361, d1.loss_traj_cls: 0.0158, d1.loss_traj: 6.8196, d2.loss_traj_cls: 0.0187, d2.loss_traj: 6.7181, d3.loss_traj_cls: 0.0322, d3.loss_traj: 6.7381, d4.loss_traj_cls: 0.0180, d4.loss_traj: 6.7516, d5.loss_traj_cls: 0.0219, d5.loss_traj: 6.8019, d0.loss_map_cls_all: 4.2335, d0.loss_map_pts_all: 5.4224, d0.loss_map_dir_all: 0.0980, d0.loss_map_cls: 4.2335, d0.loss_map_pts: 5.4224, d0.loss_map_dir: 0.0980, d1.loss_map_cls: 4.2879, d1.loss_map_pts: 5.4323, d1.loss_map_dir: 0.0981, d2.loss_map_cls: 4.1548, d2.loss_map_pts: 5.4295, d2.loss_map_dir: 0.0980, d3.loss_map_cls: 4.1831, d3.loss_map_pts: 5.4243, d3.loss_map_dir: 0.0979, d4.loss_map_cls: 4.4571, d4.loss_map_pts: 5.4222, d4.loss_map_dir: 0.0979, d5.loss_map_cls: 3.9123, d5.loss_map_pts: 5.4171, d5.loss_map_dir: 0.0978, loss: 372.4692, grad_norm: 27999.5945 2026-02-23 23:16:09,469 - DriveTransformer - INFO - Epoch [1][500/117620] lr: 5.491e-05, eta: 28 days, 16:51:02, time: 0.357, data_time: 0.016, memory: 8392, loss_cls: 7.5002, loss_bbox: 1.5428, loss_traj: 6.5607, loss_traj_cls: 0.0328, loss_map_cls: 1.8306, loss_map_pts: 5.0145, loss_map_dir: 0.0963, d0.loss_plan_l1_fix_time: 13.4037, d0.loss_plan_l1_fix_dist: 2.8616, d1.loss_plan_l1_fix_time: 13.4624, d1.loss_plan_l1_fix_dist: 3.0023, d2.loss_plan_l1_fix_time: 13.6073, d2.loss_plan_l1_fix_dist: 3.1435, d3.loss_plan_l1_fix_time: 13.8202, d3.loss_plan_l1_fix_dist: 3.4854, d4.loss_plan_l1_fix_time: 14.0544, d4.loss_plan_l1_fix_dist: 3.8708, d5.loss_plan_l1_fix_time: 14.2650, d5.loss_plan_l1_fix_dist: 4.7065, d6.loss_plan_l1_fix_time: 14.5122, d6.loss_plan_l1_fix_dist: 6.0068, d0.loss_cls_all: 19.4166, d0.loss_bbox_all: 1.5796, d0.loss_cls: 19.4166, d0.loss_bbox: 1.5796, d1.loss_cls: 14.4075, d1.loss_bbox: 1.6186, d2.loss_cls: 8.2369, d2.loss_bbox: 1.5346, d3.loss_cls: 7.3773, d3.loss_bbox: 1.4797, d4.loss_cls: 6.0380, d4.loss_bbox: 1.5265, d5.loss_cls: 7.2839, d5.loss_bbox: 1.5664, d0.loss_traj_cls: 0.0157, d0.loss_traj: 6.4443, d1.loss_traj_cls: 0.0141, d1.loss_traj: 6.6135, d2.loss_traj_cls: 0.0186, d2.loss_traj: 6.5187, d3.loss_traj_cls: 0.0291, d3.loss_traj: 6.5167, d4.loss_traj_cls: 0.0169, d4.loss_traj: 6.5279, d5.loss_traj_cls: 0.0206, d5.loss_traj: 6.5652, d0.loss_map_cls_all: 2.5907, d0.loss_map_pts_all: 5.0026, d0.loss_map_dir_all: 0.0966, d0.loss_map_cls: 2.5907, d0.loss_map_pts: 5.0026, d0.loss_map_dir: 0.0966, d1.loss_map_cls: 2.6305, d1.loss_map_pts: 5.0115, d1.loss_map_dir: 0.0966, d2.loss_map_cls: 2.5225, d2.loss_map_pts: 5.0112, d2.loss_map_dir: 0.0964, d3.loss_map_cls: 2.3790, d3.loss_map_pts: 5.0068, d3.loss_map_dir: 0.0965, d4.loss_map_cls: 2.6556, d4.loss_map_pts: 5.0078, d4.loss_map_dir: 0.0965, d5.loss_map_cls: 2.2258, d5.loss_map_pts: 5.0084, d5.loss_map_dir: 0.0963, loss: 332.4643, grad_norm: 22780.0710 2026-02-23 23:16:26,231 - DriveTransformer - INFO - Epoch [1][550/117620] lr: 5.941e-05, eta: 28 days, 13:56:38, time: 0.335, data_time: 0.015, memory: 8392, loss_cls: 3.8144, loss_bbox: 1.5131, loss_traj: 4.6797, loss_traj_cls: 0.0233, loss_map_cls: 1.1945, loss_map_pts: 5.1504, loss_map_dir: 0.0955, d0.loss_plan_l1_fix_time: 11.4806, d0.loss_plan_l1_fix_dist: 3.0239, d1.loss_plan_l1_fix_time: 11.5076, d1.loss_plan_l1_fix_dist: 2.9703, d2.loss_plan_l1_fix_time: 11.6760, d2.loss_plan_l1_fix_dist: 2.7514, d3.loss_plan_l1_fix_time: 11.9139, d3.loss_plan_l1_fix_dist: 3.3519, d4.loss_plan_l1_fix_time: 12.1197, d4.loss_plan_l1_fix_dist: 4.4576, d5.loss_plan_l1_fix_time: 12.3373, d5.loss_plan_l1_fix_dist: 5.7115, d6.loss_plan_l1_fix_time: 12.5666, d6.loss_plan_l1_fix_dist: 7.1530, d0.loss_cls_all: 11.5783, d0.loss_bbox_all: 1.5465, d0.loss_cls: 11.5783, d0.loss_bbox: 1.5465, d1.loss_cls: 7.7192, d1.loss_bbox: 1.6007, d2.loss_cls: 4.6621, d2.loss_bbox: 1.5141, d3.loss_cls: 4.2051, d3.loss_bbox: 1.4772, d4.loss_cls: 3.4210, d4.loss_bbox: 1.5031, d5.loss_cls: 3.7990, d5.loss_bbox: 1.5420, d0.loss_traj_cls: 0.0102, d0.loss_traj: 4.5898, d1.loss_traj_cls: 0.0106, d1.loss_traj: 4.7554, d2.loss_traj_cls: 0.0162, d2.loss_traj: 4.6418, d3.loss_traj_cls: 0.0229, d3.loss_traj: 4.6256, d4.loss_traj_cls: 0.0148, d4.loss_traj: 4.6341, d5.loss_traj_cls: 0.0176, d5.loss_traj: 4.6448, d0.loss_map_cls_all: 1.8909, d0.loss_map_pts_all: 5.1393, d0.loss_map_dir_all: 0.0960, d0.loss_map_cls: 1.8909, d0.loss_map_pts: 5.1393, d0.loss_map_dir: 0.0960, d1.loss_map_cls: 1.9748, d1.loss_map_pts: 5.1493, d1.loss_map_dir: 0.0960, d2.loss_map_cls: 1.8568, d2.loss_map_pts: 5.1427, d2.loss_map_dir: 0.0959, d3.loss_map_cls: 1.5473, d3.loss_map_pts: 5.1372, d3.loss_map_dir: 0.0958, d4.loss_map_cls: 1.9510, d4.loss_map_pts: 5.1381, d4.loss_map_dir: 0.0956, d5.loss_map_cls: 1.5166, d5.loss_map_pts: 5.1392, d5.loss_map_dir: 0.0955, loss: 264.4534, grad_norm: 22780.0710 2026-02-23 23:16:43,107 - DriveTransformer - INFO - Epoch [1][600/117620] lr: 6.391e-05, eta: 28 days, 11:54:56, time: 0.338, data_time: 0.015, memory: 8392, loss_cls: 3.1018, loss_bbox: 1.5241, loss_traj: 6.5058, loss_traj_cls: 0.0181, loss_map_cls: 0.9797, loss_map_pts: 5.0470, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 13.4301, d0.loss_plan_l1_fix_dist: 2.7410, d1.loss_plan_l1_fix_time: 13.3564, d1.loss_plan_l1_fix_dist: 2.6543, d2.loss_plan_l1_fix_time: 13.4291, d2.loss_plan_l1_fix_dist: 2.8594, d3.loss_plan_l1_fix_time: 13.5780, d3.loss_plan_l1_fix_dist: 3.5063, d4.loss_plan_l1_fix_time: 13.7020, d4.loss_plan_l1_fix_dist: 4.5052, d5.loss_plan_l1_fix_time: 13.8426, d5.loss_plan_l1_fix_dist: 5.7033, d6.loss_plan_l1_fix_time: 13.9874, d6.loss_plan_l1_fix_dist: 7.2035, d0.loss_cls_all: 9.0472, d0.loss_bbox_all: 1.5463, d0.loss_cls: 9.0472, d0.loss_bbox: 1.5463, d1.loss_cls: 5.9610, d1.loss_bbox: 1.5667, d2.loss_cls: 3.7651, d2.loss_bbox: 1.5131, d3.loss_cls: 3.4252, d3.loss_bbox: 1.4792, d4.loss_cls: 2.8450, d4.loss_bbox: 1.5221, d5.loss_cls: 3.0928, d5.loss_bbox: 1.5545, d0.loss_traj_cls: 0.0073, d0.loss_traj: 6.4177, d1.loss_traj_cls: 0.0091, d1.loss_traj: 6.5671, d2.loss_traj_cls: 0.0125, d2.loss_traj: 6.5025, d3.loss_traj_cls: 0.0185, d3.loss_traj: 6.4578, d4.loss_traj_cls: 0.0122, d4.loss_traj: 6.4489, d5.loss_traj_cls: 0.0167, d5.loss_traj: 6.4640, d0.loss_map_cls_all: 1.4848, d0.loss_map_pts_all: 5.0600, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 1.4848, d0.loss_map_pts: 5.0600, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 1.5276, d1.loss_map_pts: 5.0727, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 1.4298, d2.loss_map_pts: 5.0580, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 1.2036, d3.loss_map_pts: 5.0447, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 1.4738, d4.loss_map_pts: 5.0386, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 1.1650, d5.loss_map_pts: 5.0347, d5.loss_map_dir: 0.0950, loss: 274.4201, grad_norm: 19153.3416 2026-02-23 23:16:59,915 - DriveTransformer - INFO - Epoch [1][650/117620] lr: 6.841e-05, eta: 28 days, 9:59:22, time: 0.336, data_time: 0.016, memory: 8392, loss_cls: 2.0678, loss_bbox: 1.5357, loss_traj: 5.3479, loss_traj_cls: 0.0153, loss_map_cls: 0.8329, loss_map_pts: 5.0247, loss_map_dir: 0.0942, d0.loss_plan_l1_fix_time: 9.7649, d0.loss_plan_l1_fix_dist: 2.5502, d1.loss_plan_l1_fix_time: 9.7483, d1.loss_plan_l1_fix_dist: 2.5208, d2.loss_plan_l1_fix_time: 9.8815, d2.loss_plan_l1_fix_dist: 3.0757, d3.loss_plan_l1_fix_time: 10.0788, d3.loss_plan_l1_fix_dist: 3.6694, d4.loss_plan_l1_fix_time: 10.2282, d4.loss_plan_l1_fix_dist: 4.4666, d5.loss_plan_l1_fix_time: 10.4354, d5.loss_plan_l1_fix_dist: 5.5529, d6.loss_plan_l1_fix_time: 10.6222, d6.loss_plan_l1_fix_dist: 7.1600, d0.loss_cls_all: 4.6591, d0.loss_bbox_all: 1.5361, d0.loss_cls: 4.6591, d0.loss_bbox: 1.5361, d1.loss_cls: 3.1630, d1.loss_bbox: 1.5417, d2.loss_cls: 2.3133, d2.loss_bbox: 1.5355, d3.loss_cls: 2.1775, d3.loss_bbox: 1.5202, d4.loss_cls: 1.9560, d4.loss_bbox: 1.5539, d5.loss_cls: 2.0783, d5.loss_bbox: 1.5751, d0.loss_traj_cls: 0.0043, d0.loss_traj: 5.2373, d1.loss_traj_cls: 0.0077, d1.loss_traj: 5.3799, d2.loss_traj_cls: 0.0102, d2.loss_traj: 5.3442, d3.loss_traj_cls: 0.0159, d3.loss_traj: 5.3240, d4.loss_traj_cls: 0.0107, d4.loss_traj: 5.2905, d5.loss_traj_cls: 0.0161, d5.loss_traj: 5.2887, d0.loss_map_cls_all: 1.1484, d0.loss_map_pts_all: 5.0592, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 1.1484, d0.loss_map_pts: 5.0592, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 1.1836, d1.loss_map_pts: 5.0576, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 1.1354, d2.loss_map_pts: 5.0458, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 0.9883, d3.loss_map_pts: 5.0336, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 1.1637, d4.loss_map_pts: 5.0250, d4.loss_map_dir: 0.0943, d5.loss_map_cls: 0.9272, d5.loss_map_pts: 5.0213, d5.loss_map_dir: 0.0942, loss: 222.0653, grad_norm: 19153.3416 2026-02-23 23:17:17,170 - DriveTransformer - INFO - Epoch [1][700/117620] lr: 7.291e-05, eta: 28 days, 9:35:10, time: 0.345, data_time: 0.016, memory: 8392, loss_cls: 1.8359, loss_bbox: 1.5005, loss_traj: 6.7626, loss_traj_cls: 0.0143, loss_map_cls: 0.8685, loss_map_pts: 5.2678, loss_map_dir: 0.0948, d0.loss_plan_l1_fix_time: 11.9349, d0.loss_plan_l1_fix_dist: 2.3649, d1.loss_plan_l1_fix_time: 11.8313, d1.loss_plan_l1_fix_dist: 2.4107, d2.loss_plan_l1_fix_time: 11.8909, d2.loss_plan_l1_fix_dist: 3.0574, d3.loss_plan_l1_fix_time: 12.0042, d3.loss_plan_l1_fix_dist: 3.9247, d4.loss_plan_l1_fix_time: 12.1014, d4.loss_plan_l1_fix_dist: 5.1839, d5.loss_plan_l1_fix_time: 12.2726, d5.loss_plan_l1_fix_dist: 6.3077, d6.loss_plan_l1_fix_time: 12.4444, d6.loss_plan_l1_fix_dist: 7.2992, d0.loss_cls_all: 3.7087, d0.loss_bbox_all: 1.5535, d0.loss_cls: 3.7087, d0.loss_bbox: 1.5535, d1.loss_cls: 2.6697, d1.loss_bbox: 1.5246, d2.loss_cls: 1.9997, d2.loss_bbox: 1.5219, d3.loss_cls: 1.9168, d3.loss_bbox: 1.4997, d4.loss_cls: 1.7841, d4.loss_bbox: 1.5373, d5.loss_cls: 1.8558, d5.loss_bbox: 1.5360, d0.loss_traj_cls: 0.0030, d0.loss_traj: 6.6229, d1.loss_traj_cls: 0.0056, d1.loss_traj: 6.7484, d2.loss_traj_cls: 0.0094, d2.loss_traj: 6.7694, d3.loss_traj_cls: 0.0142, d3.loss_traj: 6.7433, d4.loss_traj_cls: 0.0093, d4.loss_traj: 6.6995, d5.loss_traj_cls: 0.0139, d5.loss_traj: 6.7155, d0.loss_map_cls_all: 1.1186, d0.loss_map_pts_all: 5.3504, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 1.1186, d0.loss_map_pts: 5.3504, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 1.1104, d1.loss_map_pts: 5.3408, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 1.0670, d2.loss_map_pts: 5.3120, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 0.9546, d3.loss_map_pts: 5.2905, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 1.0854, d4.loss_map_pts: 5.2748, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 0.9186, d5.loss_map_pts: 5.2675, d5.loss_map_dir: 0.0948, loss: 245.3209, grad_norm: 16539.4023 2026-02-23 23:17:33,531 - DriveTransformer - INFO - Epoch [1][750/117620] lr: 7.741e-05, eta: 28 days, 6:53:59, time: 0.327, data_time: 0.015, memory: 8392, loss_cls: 1.5799, loss_bbox: 1.4439, loss_traj: 5.5254, loss_traj_cls: 0.0134, loss_map_cls: 0.8476, loss_map_pts: 5.1339, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 10.7003, d0.loss_plan_l1_fix_dist: 2.2602, d1.loss_plan_l1_fix_time: 10.5914, d1.loss_plan_l1_fix_dist: 2.5126, d2.loss_plan_l1_fix_time: 10.6119, d2.loss_plan_l1_fix_dist: 3.2210, d3.loss_plan_l1_fix_time: 10.6840, d3.loss_plan_l1_fix_dist: 4.2021, d4.loss_plan_l1_fix_time: 10.7490, d4.loss_plan_l1_fix_dist: 5.7465, d5.loss_plan_l1_fix_time: 10.9362, d5.loss_plan_l1_fix_dist: 6.9113, d6.loss_plan_l1_fix_time: 11.1409, d6.loss_plan_l1_fix_dist: 7.5018, d0.loss_cls_all: 2.4768, d0.loss_bbox_all: 1.5026, d0.loss_cls: 2.4768, d0.loss_bbox: 1.5026, d1.loss_cls: 2.0048, d1.loss_bbox: 1.4544, d2.loss_cls: 1.6297, d2.loss_bbox: 1.4666, d3.loss_cls: 1.6038, d3.loss_bbox: 1.4399, d4.loss_cls: 1.5694, d4.loss_bbox: 1.4842, d5.loss_cls: 1.5969, d5.loss_bbox: 1.4712, d0.loss_traj_cls: 0.0018, d0.loss_traj: 5.3390, d1.loss_traj_cls: 0.0045, d1.loss_traj: 5.4497, d2.loss_traj_cls: 0.0092, d2.loss_traj: 5.5204, d3.loss_traj_cls: 0.0132, d3.loss_traj: 5.5164, d4.loss_traj_cls: 0.0082, d4.loss_traj: 5.4591, d5.loss_traj_cls: 0.0115, d5.loss_traj: 5.4783, d0.loss_map_cls_all: 0.8579, d0.loss_map_pts_all: 5.2240, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 0.8579, d0.loss_map_pts: 5.2240, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 0.8317, d1.loss_map_pts: 5.2054, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 0.8275, d2.loss_map_pts: 5.1762, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 0.8050, d3.loss_map_pts: 5.1561, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 0.8622, d4.loss_map_pts: 5.1446, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 0.8082, d5.loss_map_pts: 5.1385, d5.loss_map_dir: 0.0944, loss: 221.6784, grad_norm: 16539.4023 2026-02-23 23:17:50,293 - DriveTransformer - INFO - Epoch [1][800/117620] lr: 8.191e-05, eta: 28 days, 5:31:51, time: 0.335, data_time: 0.015, memory: 8392, loss_cls: 1.6243, loss_bbox: 1.5477, loss_traj: 4.7211, loss_traj_cls: 0.0139, loss_map_cls: 0.8296, loss_map_pts: 4.9901, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 11.0934, d0.loss_plan_l1_fix_dist: 2.3337, d1.loss_plan_l1_fix_time: 10.9207, d1.loss_plan_l1_fix_dist: 2.5577, d2.loss_plan_l1_fix_time: 10.8454, d2.loss_plan_l1_fix_dist: 3.3779, d3.loss_plan_l1_fix_time: 10.8534, d3.loss_plan_l1_fix_dist: 4.3531, d4.loss_plan_l1_fix_time: 10.8773, d4.loss_plan_l1_fix_dist: 5.5339, d5.loss_plan_l1_fix_time: 11.0249, d5.loss_plan_l1_fix_dist: 6.6876, d6.loss_plan_l1_fix_time: 11.2314, d6.loss_plan_l1_fix_dist: 7.7926, d0.loss_cls_all: 2.2415, d0.loss_bbox_all: 1.5376, d0.loss_cls: 2.2415, d0.loss_bbox: 1.5376, d1.loss_cls: 1.8891, d1.loss_bbox: 1.5162, d2.loss_cls: 1.6314, d2.loss_bbox: 1.5155, d3.loss_cls: 1.6058, d3.loss_bbox: 1.5161, d4.loss_cls: 1.5822, d4.loss_bbox: 1.5345, d5.loss_cls: 1.6117, d5.loss_bbox: 1.5265, d0.loss_traj_cls: 0.0015, d0.loss_traj: 4.6062, d1.loss_traj_cls: 0.0032, d1.loss_traj: 4.6812, d2.loss_traj_cls: 0.0079, d2.loss_traj: 4.7249, d3.loss_traj_cls: 0.0120, d3.loss_traj: 4.7470, d4.loss_traj_cls: 0.0071, d4.loss_traj: 4.7015, d5.loss_traj_cls: 0.0104, d5.loss_traj: 4.7060, d0.loss_map_cls_all: 0.8190, d0.loss_map_pts_all: 5.0756, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 0.8190, d0.loss_map_pts: 5.0756, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 0.7936, d1.loss_map_pts: 5.0525, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 0.7907, d2.loss_map_pts: 5.0219, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 0.7802, d3.loss_map_pts: 5.0045, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 0.8334, d4.loss_map_pts: 4.9930, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 0.8047, d5.loss_map_pts: 4.9911, d5.loss_map_dir: 0.0944, loss: 216.5159, grad_norm: 14590.8012 2026-02-23 23:18:07,793 - DriveTransformer - INFO - Epoch [1][850/117620] lr: 8.641e-05, eta: 28 days, 6:01:32, time: 0.350, data_time: 0.015, memory: 8392, loss_cls: 1.4829, loss_bbox: 1.4263, loss_traj: 5.8674, loss_traj_cls: 0.0139, loss_map_cls: 0.8373, loss_map_pts: 5.0178, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 12.2983, d0.loss_plan_l1_fix_dist: 2.3348, d1.loss_plan_l1_fix_time: 12.0844, d1.loss_plan_l1_fix_dist: 2.4556, d2.loss_plan_l1_fix_time: 11.9576, d2.loss_plan_l1_fix_dist: 3.3390, d3.loss_plan_l1_fix_time: 11.9248, d3.loss_plan_l1_fix_dist: 4.1813, d4.loss_plan_l1_fix_time: 11.9053, d4.loss_plan_l1_fix_dist: 5.0471, d5.loss_plan_l1_fix_time: 12.0261, d5.loss_plan_l1_fix_dist: 6.0204, d6.loss_plan_l1_fix_time: 12.1959, d6.loss_plan_l1_fix_dist: 7.1998, d0.loss_cls_all: 1.8641, d0.loss_bbox_all: 1.4654, d0.loss_cls: 1.8641, d0.loss_bbox: 1.4654, d1.loss_cls: 1.6792, d1.loss_bbox: 1.4425, d2.loss_cls: 1.5068, d2.loss_bbox: 1.4499, d3.loss_cls: 1.4942, d3.loss_bbox: 1.4286, d4.loss_cls: 1.4849, d4.loss_bbox: 1.4552, d5.loss_cls: 1.4886, d5.loss_bbox: 1.4360, d0.loss_traj_cls: 0.0013, d0.loss_traj: 5.8215, d1.loss_traj_cls: 0.0024, d1.loss_traj: 5.8518, d2.loss_traj_cls: 0.0071, d2.loss_traj: 5.8884, d3.loss_traj_cls: 0.0111, d3.loss_traj: 5.9102, d4.loss_traj_cls: 0.0061, d4.loss_traj: 5.8742, d5.loss_traj_cls: 0.0092, d5.loss_traj: 5.8762, d0.loss_map_cls_all: 0.7609, d0.loss_map_pts_all: 5.0428, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 0.7609, d0.loss_map_pts: 5.0428, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 0.7332, d1.loss_map_pts: 5.0269, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 0.7420, d2.loss_map_pts: 5.0046, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 0.7541, d3.loss_map_pts: 5.0018, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 0.7940, d4.loss_map_pts: 5.0014, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 0.7847, d5.loss_map_pts: 5.0089, d5.loss_map_dir: 0.0944, loss: 227.6148, grad_norm: 14590.8012 2026-02-23 23:18:25,011 - DriveTransformer - INFO - Epoch [1][900/117620] lr: 9.091e-05, eta: 28 days, 5:50:21, time: 0.344, data_time: 0.015, memory: 8392, loss_cls: 1.4749, loss_bbox: 1.4426, loss_traj: 4.9401, loss_traj_cls: 0.0116, loss_map_cls: 0.8474, loss_map_pts: 5.2066, loss_map_dir: 0.0961, d0.loss_plan_l1_fix_time: 10.6354, d0.loss_plan_l1_fix_dist: 2.1969, d1.loss_plan_l1_fix_time: 10.3763, d1.loss_plan_l1_fix_dist: 2.4165, d2.loss_plan_l1_fix_time: 10.2024, d2.loss_plan_l1_fix_dist: 3.5179, d3.loss_plan_l1_fix_time: 10.1282, d3.loss_plan_l1_fix_dist: 4.9119, d4.loss_plan_l1_fix_time: 10.0926, d4.loss_plan_l1_fix_dist: 6.0960, d5.loss_plan_l1_fix_time: 10.1687, d5.loss_plan_l1_fix_dist: 7.4610, d6.loss_plan_l1_fix_time: 10.2905, d6.loss_plan_l1_fix_dist: 9.0414, d0.loss_cls_all: 1.7142, d0.loss_bbox_all: 1.4741, d0.loss_cls: 1.7142, d0.loss_bbox: 1.4741, d1.loss_cls: 1.6163, d1.loss_bbox: 1.4718, d2.loss_cls: 1.5004, d2.loss_bbox: 1.4491, d3.loss_cls: 1.4745, d3.loss_bbox: 1.4411, d4.loss_cls: 1.4625, d4.loss_bbox: 1.4396, d5.loss_cls: 1.4627, d5.loss_bbox: 1.4364, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.9135, d1.loss_traj_cls: 0.0017, d1.loss_traj: 4.9254, d2.loss_traj_cls: 0.0052, d2.loss_traj: 4.9360, d3.loss_traj_cls: 0.0084, d3.loss_traj: 4.9541, d4.loss_traj_cls: 0.0054, d4.loss_traj: 4.9391, d5.loss_traj_cls: 0.0080, d5.loss_traj: 4.9315, d0.loss_map_cls_all: 0.7863, d0.loss_map_pts_all: 5.2792, d0.loss_map_dir_all: 0.0964, d0.loss_map_cls: 0.7863, d0.loss_map_pts: 5.2792, d0.loss_map_dir: 0.0964, d1.loss_map_cls: 0.7608, d1.loss_map_pts: 5.2444, d1.loss_map_dir: 0.0963, d2.loss_map_cls: 0.7611, d2.loss_map_pts: 5.2172, d2.loss_map_dir: 0.0963, d3.loss_map_cls: 0.7731, d3.loss_map_pts: 5.2038, d3.loss_map_dir: 0.0962, d4.loss_map_cls: 0.8041, d4.loss_map_pts: 5.1983, d4.loss_map_dir: 0.0962, d5.loss_map_cls: 0.8072, d5.loss_map_pts: 5.2008, d5.loss_map_dir: 0.0961, loss: 215.0906, grad_norm: 13041.5467 2026-02-23 23:18:42,119 - DriveTransformer - INFO - Epoch [1][950/117620] lr: 9.541e-05, eta: 28 days, 5:27:51, time: 0.342, data_time: 0.017, memory: 8392, loss_cls: 1.4808, loss_bbox: 1.5119, loss_traj: 5.6818, loss_traj_cls: 0.0107, loss_map_cls: 0.8614, loss_map_pts: 5.1906, loss_map_dir: 0.0962, d0.loss_plan_l1_fix_time: 9.9541, d0.loss_plan_l1_fix_dist: 2.1953, d1.loss_plan_l1_fix_time: 9.7786, d1.loss_plan_l1_fix_dist: 2.4028, d2.loss_plan_l1_fix_time: 9.6951, d2.loss_plan_l1_fix_dist: 3.5299, d3.loss_plan_l1_fix_time: 9.7173, d3.loss_plan_l1_fix_dist: 5.2755, d4.loss_plan_l1_fix_time: 9.7726, d4.loss_plan_l1_fix_dist: 6.6707, d5.loss_plan_l1_fix_time: 9.9319, d5.loss_plan_l1_fix_dist: 8.2907, d6.loss_plan_l1_fix_time: 10.1377, d6.loss_plan_l1_fix_dist: 10.1413, d0.loss_cls_all: 1.5877, d0.loss_bbox_all: 1.5216, d0.loss_cls: 1.5877, d0.loss_bbox: 1.5216, d1.loss_cls: 1.5752, d1.loss_bbox: 1.5412, d2.loss_cls: 1.4998, d2.loss_bbox: 1.5009, d3.loss_cls: 1.4724, d3.loss_bbox: 1.4951, d4.loss_cls: 1.4633, d4.loss_bbox: 1.4981, d5.loss_cls: 1.4595, d5.loss_bbox: 1.5022, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.6419, d1.loss_traj_cls: 0.0014, d1.loss_traj: 5.6578, d2.loss_traj_cls: 0.0043, d2.loss_traj: 5.6582, d3.loss_traj_cls: 0.0072, d3.loss_traj: 5.6840, d4.loss_traj_cls: 0.0050, d4.loss_traj: 5.6799, d5.loss_traj_cls: 0.0075, d5.loss_traj: 5.6627, d0.loss_map_cls_all: 0.7854, d0.loss_map_pts_all: 5.2974, d0.loss_map_dir_all: 0.0966, d0.loss_map_cls: 0.7854, d0.loss_map_pts: 5.2974, d0.loss_map_dir: 0.0966, d1.loss_map_cls: 0.7649, d1.loss_map_pts: 5.2594, d1.loss_map_dir: 0.0965, d2.loss_map_cls: 0.7596, d2.loss_map_pts: 5.2204, d2.loss_map_dir: 0.0965, d3.loss_map_cls: 0.7791, d3.loss_map_pts: 5.1979, d3.loss_map_dir: 0.0964, d4.loss_map_cls: 0.8096, d4.loss_map_pts: 5.1871, d4.loss_map_dir: 0.0964, d5.loss_map_cls: 0.8191, d5.loss_map_pts: 5.1854, d5.loss_map_dir: 0.0963, loss: 220.3871, grad_norm: 13041.5467 2026-02-23 23:18:59,241 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-23 23:18:59,241 - DriveTransformer - INFO - Epoch [1][1000/117620] lr: 9.991e-05, eta: 28 days, 5:09:05, time: 0.342, data_time: 0.015, memory: 8392, loss_cls: 1.5246, loss_bbox: 1.4894, loss_traj: 4.4721, loss_traj_cls: 0.0111, loss_map_cls: 0.7641, loss_map_pts: 5.0734, loss_map_dir: 0.0955, d0.loss_plan_l1_fix_time: 9.4062, d0.loss_plan_l1_fix_dist: 1.8315, d1.loss_plan_l1_fix_time: 9.1843, d1.loss_plan_l1_fix_dist: 1.9727, d2.loss_plan_l1_fix_time: 9.0716, d2.loss_plan_l1_fix_dist: 2.6860, d3.loss_plan_l1_fix_time: 9.0608, d3.loss_plan_l1_fix_dist: 3.8659, d4.loss_plan_l1_fix_time: 9.0961, d4.loss_plan_l1_fix_dist: 5.0294, d5.loss_plan_l1_fix_time: 9.2022, d5.loss_plan_l1_fix_dist: 6.2420, d6.loss_plan_l1_fix_time: 9.3504, d6.loss_plan_l1_fix_dist: 7.6139, d0.loss_cls_all: 1.5744, d0.loss_bbox_all: 1.4948, d0.loss_cls: 1.5744, d0.loss_bbox: 1.4948, d1.loss_cls: 1.5907, d1.loss_bbox: 1.5095, d2.loss_cls: 1.5446, d2.loss_bbox: 1.5005, d3.loss_cls: 1.5143, d3.loss_bbox: 1.4990, d4.loss_cls: 1.4968, d4.loss_bbox: 1.4989, d5.loss_cls: 1.5009, d5.loss_bbox: 1.4987, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.3866, d1.loss_traj_cls: 0.0016, d1.loss_traj: 4.3977, d2.loss_traj_cls: 0.0036, d2.loss_traj: 4.4306, d3.loss_traj_cls: 0.0074, d3.loss_traj: 4.4249, d4.loss_traj_cls: 0.0040, d4.loss_traj: 4.4580, d5.loss_traj_cls: 0.0063, d5.loss_traj: 4.4597, d0.loss_map_cls_all: 0.7248, d0.loss_map_pts_all: 5.2029, d0.loss_map_dir_all: 0.0958, d0.loss_map_cls: 0.7248, d0.loss_map_pts: 5.2029, d0.loss_map_dir: 0.0958, d1.loss_map_cls: 0.7081, d1.loss_map_pts: 5.1462, d1.loss_map_dir: 0.0957, d2.loss_map_cls: 0.7026, d2.loss_map_pts: 5.1025, d2.loss_map_dir: 0.0957, d3.loss_map_cls: 0.7264, d3.loss_map_pts: 5.0745, d3.loss_map_dir: 0.0956, d4.loss_map_cls: 0.7409, d4.loss_map_pts: 5.0658, d4.loss_map_dir: 0.0955, d5.loss_map_cls: 0.7385, d5.loss_map_pts: 5.0679, d5.loss_map_dir: 0.0956, loss: 196.5149, grad_norm: 11821.4935 2026-02-23 23:19:17,012 - DriveTransformer - INFO - Epoch [1][1050/117620] lr: 1.000e-04, eta: 28 days, 6:04:08, time: 0.355, data_time: 0.015, memory: 8392, loss_cls: 1.4597, loss_bbox: 1.3729, loss_traj: 5.2983, loss_traj_cls: 0.0112, loss_map_cls: 0.8268, loss_map_pts: 5.0847, loss_map_dir: 0.0953, d0.loss_plan_l1_fix_time: 11.8534, d0.loss_plan_l1_fix_dist: 1.8623, d1.loss_plan_l1_fix_time: 11.5368, d1.loss_plan_l1_fix_dist: 1.9498, d2.loss_plan_l1_fix_time: 11.3117, d2.loss_plan_l1_fix_dist: 2.4431, d3.loss_plan_l1_fix_time: 11.1768, d3.loss_plan_l1_fix_dist: 3.4323, d4.loss_plan_l1_fix_time: 11.0779, d4.loss_plan_l1_fix_dist: 4.4684, d5.loss_plan_l1_fix_time: 11.0322, d5.loss_plan_l1_fix_dist: 5.5231, d6.loss_plan_l1_fix_time: 11.0407, d6.loss_plan_l1_fix_dist: 6.7441, d0.loss_cls_all: 1.5108, d0.loss_bbox_all: 1.4200, d0.loss_cls: 1.5108, d0.loss_bbox: 1.4200, d1.loss_cls: 1.5435, d1.loss_bbox: 1.4530, d2.loss_cls: 1.5072, d2.loss_bbox: 1.4195, d3.loss_cls: 1.4570, d3.loss_bbox: 1.4084, d4.loss_cls: 1.4403, d4.loss_bbox: 1.4005, d5.loss_cls: 1.4373, d5.loss_bbox: 1.3883, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.2110, d1.loss_traj_cls: 0.0015, d1.loss_traj: 5.2138, d2.loss_traj_cls: 0.0033, d2.loss_traj: 5.2563, d3.loss_traj_cls: 0.0075, d3.loss_traj: 5.2429, d4.loss_traj_cls: 0.0039, d4.loss_traj: 5.2797, d5.loss_traj_cls: 0.0061, d5.loss_traj: 5.2850, d0.loss_map_cls_all: 0.7660, d0.loss_map_pts_all: 5.0153, d0.loss_map_dir_all: 0.0954, d0.loss_map_cls: 0.7660, d0.loss_map_pts: 5.0153, d0.loss_map_dir: 0.0954, d1.loss_map_cls: 0.7626, d1.loss_map_pts: 4.9872, d1.loss_map_dir: 0.0954, d2.loss_map_cls: 0.7651, d2.loss_map_pts: 4.9787, d2.loss_map_dir: 0.0954, d3.loss_map_cls: 0.7884, d3.loss_map_pts: 4.9918, d3.loss_map_dir: 0.0954, d4.loss_map_cls: 0.8036, d4.loss_map_pts: 5.0226, d4.loss_map_dir: 0.0954, d5.loss_map_cls: 0.8015, d5.loss_map_pts: 5.0553, d5.loss_map_dir: 0.0954, loss: 212.6168, grad_norm: 11821.4935 2026-02-23 23:19:33,911 - DriveTransformer - INFO - Epoch [1][1100/117620] lr: 1.000e-04, eta: 28 days, 5:20:54, time: 0.338, data_time: 0.019, memory: 8394, loss_cls: 1.4893, loss_bbox: 1.4871, loss_traj: 5.2321, loss_traj_cls: 0.0107, loss_map_cls: 0.7402, loss_map_pts: 4.8468, loss_map_dir: 0.0935, d0.loss_plan_l1_fix_time: 11.9905, d0.loss_plan_l1_fix_dist: 1.9636, d1.loss_plan_l1_fix_time: 11.6701, d1.loss_plan_l1_fix_dist: 2.1299, d2.loss_plan_l1_fix_time: 11.4309, d2.loss_plan_l1_fix_dist: 2.8353, d3.loss_plan_l1_fix_time: 11.3029, d3.loss_plan_l1_fix_dist: 3.7594, d4.loss_plan_l1_fix_time: 11.2019, d4.loss_plan_l1_fix_dist: 4.7084, d5.loss_plan_l1_fix_time: 11.1418, d5.loss_plan_l1_fix_dist: 5.6318, d6.loss_plan_l1_fix_time: 11.1372, d6.loss_plan_l1_fix_dist: 6.6541, d0.loss_cls_all: 1.5124, d0.loss_bbox_all: 1.4423, d0.loss_cls: 1.5124, d0.loss_bbox: 1.4423, d1.loss_cls: 1.5437, d1.loss_bbox: 1.4549, d2.loss_cls: 1.5285, d2.loss_bbox: 1.4539, d3.loss_cls: 1.4802, d3.loss_bbox: 1.4388, d4.loss_cls: 1.4582, d4.loss_bbox: 1.4543, d5.loss_cls: 1.4691, d5.loss_bbox: 1.4426, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.1184, d1.loss_traj_cls: 0.0016, d1.loss_traj: 5.1601, d2.loss_traj_cls: 0.0043, d2.loss_traj: 5.2049, d3.loss_traj_cls: 0.0083, d3.loss_traj: 5.1947, d4.loss_traj_cls: 0.0033, d4.loss_traj: 5.2020, d5.loss_traj_cls: 0.0051, d5.loss_traj: 5.2096, d0.loss_map_cls_all: 0.7265, d0.loss_map_pts_all: 4.7891, d0.loss_map_dir_all: 0.0937, d0.loss_map_cls: 0.7265, d0.loss_map_pts: 4.7891, d0.loss_map_dir: 0.0937, d1.loss_map_cls: 0.7263, d1.loss_map_pts: 4.7687, d1.loss_map_dir: 0.0938, d2.loss_map_cls: 0.7283, d2.loss_map_pts: 4.7691, d2.loss_map_dir: 0.0938, d3.loss_map_cls: 0.7373, d3.loss_map_pts: 4.7812, d3.loss_map_dir: 0.0936, d4.loss_map_cls: 0.7447, d4.loss_map_pts: 4.8070, d4.loss_map_dir: 0.0936, d5.loss_map_cls: 0.7303, d5.loss_map_pts: 4.8309, d5.loss_map_dir: 0.0935, loss: 212.5147, grad_norm: 10806.9396 2026-02-23 23:19:50,050 - DriveTransformer - INFO - Epoch [1][1150/117620] lr: 1.000e-04, eta: 28 days, 3:23:50, time: 0.323, data_time: 0.015, memory: 8394, loss_cls: 1.4058, loss_bbox: 1.2444, loss_traj: 6.4300, loss_traj_cls: 0.0102, loss_map_cls: 0.7926, loss_map_pts: 5.2719, loss_map_dir: 0.0928, d0.loss_plan_l1_fix_time: 11.0335, d0.loss_plan_l1_fix_dist: 1.9167, d1.loss_plan_l1_fix_time: 10.7042, d1.loss_plan_l1_fix_dist: 2.1204, d2.loss_plan_l1_fix_time: 10.4585, d2.loss_plan_l1_fix_dist: 2.8398, d3.loss_plan_l1_fix_time: 10.3271, d3.loss_plan_l1_fix_dist: 3.7048, d4.loss_plan_l1_fix_time: 10.2152, d4.loss_plan_l1_fix_dist: 4.6224, d5.loss_plan_l1_fix_time: 10.1492, d5.loss_plan_l1_fix_dist: 5.4720, d6.loss_plan_l1_fix_time: 10.1470, d6.loss_plan_l1_fix_dist: 6.4139, d0.loss_cls_all: 1.4962, d0.loss_bbox_all: 1.3053, d0.loss_cls: 1.4962, d0.loss_bbox: 1.3053, d1.loss_cls: 1.5032, d1.loss_bbox: 1.3065, d2.loss_cls: 1.4675, d2.loss_bbox: 1.2916, d3.loss_cls: 1.4003, d3.loss_bbox: 1.2448, d4.loss_cls: 1.3902, d4.loss_bbox: 1.2472, d5.loss_cls: 1.3903, d5.loss_bbox: 1.2101, d0.loss_traj_cls: 0.0006, d0.loss_traj: 6.3113, d1.loss_traj_cls: 0.0013, d1.loss_traj: 6.3480, d2.loss_traj_cls: 0.0038, d2.loss_traj: 6.4038, d3.loss_traj_cls: 0.0077, d3.loss_traj: 6.3962, d4.loss_traj_cls: 0.0031, d4.loss_traj: 6.4005, d5.loss_traj_cls: 0.0050, d5.loss_traj: 6.4102, d0.loss_map_cls_all: 0.7553, d0.loss_map_pts_all: 5.3416, d0.loss_map_dir_all: 0.0930, d0.loss_map_cls: 0.7553, d0.loss_map_pts: 5.3416, d0.loss_map_dir: 0.0930, d1.loss_map_cls: 0.7691, d1.loss_map_pts: 5.2915, d1.loss_map_dir: 0.0931, d2.loss_map_cls: 0.7833, d2.loss_map_pts: 5.2718, d2.loss_map_dir: 0.0931, d3.loss_map_cls: 0.7885, d3.loss_map_pts: 5.2602, d3.loss_map_dir: 0.0930, d4.loss_map_cls: 0.7967, d4.loss_map_pts: 5.2634, d4.loss_map_dir: 0.0929, d5.loss_map_cls: 0.7733, d5.loss_map_pts: 5.2690, d5.loss_map_dir: 0.0928, loss: 215.8302, grad_norm: 10806.9396 2026-02-23 23:20:07,159 - DriveTransformer - INFO - Epoch [1][1200/117620] lr: 1.000e-04, eta: 28 days, 3:12:12, time: 0.342, data_time: 0.016, memory: 8394, loss_cls: 1.4305, loss_bbox: 1.3282, loss_traj: 5.1602, loss_traj_cls: 0.0078, loss_map_cls: 0.7834, loss_map_pts: 4.9873, loss_map_dir: 0.0912, d0.loss_plan_l1_fix_time: 11.5055, d0.loss_plan_l1_fix_dist: 1.8472, d1.loss_plan_l1_fix_time: 11.1283, d1.loss_plan_l1_fix_dist: 2.0370, d2.loss_plan_l1_fix_time: 10.8346, d2.loss_plan_l1_fix_dist: 3.0361, d3.loss_plan_l1_fix_time: 10.6183, d3.loss_plan_l1_fix_dist: 4.0815, d4.loss_plan_l1_fix_time: 10.4658, d4.loss_plan_l1_fix_dist: 5.2425, d5.loss_plan_l1_fix_time: 10.3607, d5.loss_plan_l1_fix_dist: 6.3466, d6.loss_plan_l1_fix_time: 10.3135, d6.loss_plan_l1_fix_dist: 7.2895, d0.loss_cls_all: 1.4500, d0.loss_bbox_all: 1.3039, d0.loss_cls: 1.4500, d0.loss_bbox: 1.3039, d1.loss_cls: 1.4888, d1.loss_bbox: 1.3306, d2.loss_cls: 1.4706, d2.loss_bbox: 1.3220, d3.loss_cls: 1.4252, d3.loss_bbox: 1.2813, d4.loss_cls: 1.4122, d4.loss_bbox: 1.2772, d5.loss_cls: 1.4185, d5.loss_bbox: 1.2930, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.0517, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.0756, d2.loss_traj_cls: 0.0020, d2.loss_traj: 5.1341, d3.loss_traj_cls: 0.0039, d3.loss_traj: 5.1368, d4.loss_traj_cls: 0.0026, d4.loss_traj: 5.1398, d5.loss_traj_cls: 0.0043, d5.loss_traj: 5.1415, d0.loss_map_cls_all: 0.7209, d0.loss_map_pts_all: 5.0141, d0.loss_map_dir_all: 0.0915, d0.loss_map_cls: 0.7209, d0.loss_map_pts: 5.0141, d0.loss_map_dir: 0.0915, d1.loss_map_cls: 0.7316, d1.loss_map_pts: 4.9793, d1.loss_map_dir: 0.0917, d2.loss_map_cls: 0.7479, d2.loss_map_pts: 4.9741, d2.loss_map_dir: 0.0916, d3.loss_map_cls: 0.7555, d3.loss_map_pts: 4.9789, d3.loss_map_dir: 0.0914, d4.loss_map_cls: 0.7436, d4.loss_map_pts: 4.9863, d4.loss_map_dir: 0.0912, d5.loss_map_cls: 0.7527, d5.loss_map_pts: 4.9900, d5.loss_map_dir: 0.0912, loss: 209.5668, grad_norm: 9955.3990 2026-02-23 23:20:24,634 - DriveTransformer - INFO - Epoch [1][1250/117620] lr: 1.000e-04, eta: 28 days, 3:35:38, time: 0.350, data_time: 0.016, memory: 8394, loss_cls: 1.4516, loss_bbox: 1.2962, loss_traj: 5.9337, loss_traj_cls: 0.0080, loss_map_cls: 0.8187, loss_map_pts: 4.9969, loss_map_dir: 0.0906, d0.loss_plan_l1_fix_time: 11.0047, d0.loss_plan_l1_fix_dist: 1.6658, d1.loss_plan_l1_fix_time: 10.6453, d1.loss_plan_l1_fix_dist: 1.8008, d2.loss_plan_l1_fix_time: 10.3777, d2.loss_plan_l1_fix_dist: 2.8441, d3.loss_plan_l1_fix_time: 10.2065, d3.loss_plan_l1_fix_dist: 3.8853, d4.loss_plan_l1_fix_time: 10.1034, d4.loss_plan_l1_fix_dist: 5.0436, d5.loss_plan_l1_fix_time: 10.0593, d5.loss_plan_l1_fix_dist: 6.0577, d6.loss_plan_l1_fix_time: 10.0750, d6.loss_plan_l1_fix_dist: 6.9427, d0.loss_cls_all: 1.4693, d0.loss_bbox_all: 1.3172, d0.loss_cls: 1.4693, d0.loss_bbox: 1.3172, d1.loss_cls: 1.5056, d1.loss_bbox: 1.3379, d2.loss_cls: 1.4910, d2.loss_bbox: 1.3177, d3.loss_cls: 1.4540, d3.loss_bbox: 1.2751, d4.loss_cls: 1.4418, d4.loss_bbox: 1.2584, d5.loss_cls: 1.4414, d5.loss_bbox: 1.2723, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.8131, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.8457, d2.loss_traj_cls: 0.0019, d2.loss_traj: 5.9050, d3.loss_traj_cls: 0.0037, d3.loss_traj: 5.9117, d4.loss_traj_cls: 0.0028, d4.loss_traj: 5.9199, d5.loss_traj_cls: 0.0044, d5.loss_traj: 5.9207, d0.loss_map_cls_all: 0.7423, d0.loss_map_pts_all: 5.0453, d0.loss_map_dir_all: 0.0909, d0.loss_map_cls: 0.7423, d0.loss_map_pts: 5.0453, d0.loss_map_dir: 0.0909, d1.loss_map_cls: 0.7551, d1.loss_map_pts: 5.0083, d1.loss_map_dir: 0.0910, d2.loss_map_cls: 0.7809, d2.loss_map_pts: 5.0008, d2.loss_map_dir: 0.0910, d3.loss_map_cls: 0.7797, d3.loss_map_pts: 4.9992, d3.loss_map_dir: 0.0908, d4.loss_map_cls: 0.7751, d4.loss_map_pts: 4.9992, d4.loss_map_dir: 0.0906, d5.loss_map_cls: 0.7886, d5.loss_map_pts: 4.9997, d5.loss_map_dir: 0.0906, loss: 211.1032, grad_norm: 9232.1755 2026-02-23 23:20:41,193 - DriveTransformer - INFO - Epoch [1][1300/117620] lr: 1.000e-04, eta: 28 days, 2:34:01, time: 0.331, data_time: 0.015, memory: 8394, loss_cls: 1.4606, loss_bbox: 1.3015, loss_traj: 6.4580, loss_traj_cls: 0.0091, loss_map_cls: 0.8324, loss_map_pts: 5.2067, loss_map_dir: 0.0827, d0.loss_plan_l1_fix_time: 11.4345, d0.loss_plan_l1_fix_dist: 1.6171, d1.loss_plan_l1_fix_time: 11.0523, d1.loss_plan_l1_fix_dist: 1.7670, d2.loss_plan_l1_fix_time: 10.7713, d2.loss_plan_l1_fix_dist: 2.5060, d3.loss_plan_l1_fix_time: 10.5769, d3.loss_plan_l1_fix_dist: 3.2618, d4.loss_plan_l1_fix_time: 10.4593, d4.loss_plan_l1_fix_dist: 4.1666, d5.loss_plan_l1_fix_time: 10.3855, d5.loss_plan_l1_fix_dist: 5.0749, d6.loss_plan_l1_fix_time: 10.3370, d6.loss_plan_l1_fix_dist: 6.0242, d0.loss_cls_all: 1.4330, d0.loss_bbox_all: 1.2745, d0.loss_cls: 1.4330, d0.loss_bbox: 1.2745, d1.loss_cls: 1.4772, d1.loss_bbox: 1.2928, d2.loss_cls: 1.4653, d2.loss_bbox: 1.2703, d3.loss_cls: 1.4701, d3.loss_bbox: 1.2615, d4.loss_cls: 1.4680, d4.loss_bbox: 1.2860, d5.loss_cls: 1.4664, d5.loss_bbox: 1.3083, d0.loss_traj_cls: 0.0007, d0.loss_traj: 6.3422, d1.loss_traj_cls: 0.0006, d1.loss_traj: 6.3689, d2.loss_traj_cls: 0.0013, d2.loss_traj: 6.3982, d3.loss_traj_cls: 0.0037, d3.loss_traj: 6.4231, d4.loss_traj_cls: 0.0023, d4.loss_traj: 6.4634, d5.loss_traj_cls: 0.0033, d5.loss_traj: 6.4724, d0.loss_map_cls_all: 0.7964, d0.loss_map_pts_all: 5.2642, d0.loss_map_dir_all: 0.0822, d0.loss_map_cls: 0.7964, d0.loss_map_pts: 5.2642, d0.loss_map_dir: 0.0822, d1.loss_map_cls: 0.7890, d1.loss_map_pts: 5.2314, d1.loss_map_dir: 0.0826, d2.loss_map_cls: 0.8071, d2.loss_map_pts: 5.2193, d2.loss_map_dir: 0.0827, d3.loss_map_cls: 0.7987, d3.loss_map_pts: 5.2161, d3.loss_map_dir: 0.0826, d4.loss_map_cls: 0.7990, d4.loss_map_pts: 5.2130, d4.loss_map_dir: 0.0826, d5.loss_map_cls: 0.8206, d5.loss_map_pts: 5.2096, d5.loss_map_dir: 0.0827, loss: 215.2493, grad_norm: 9232.1755 2026-02-23 23:20:58,561 - DriveTransformer - INFO - Epoch [1][1350/117620] lr: 1.000e-04, eta: 28 days, 2:47:16, time: 0.347, data_time: 0.014, memory: 8394, loss_cls: 1.5636, loss_bbox: 1.4314, loss_traj: 4.6480, loss_traj_cls: 0.0088, loss_map_cls: 0.7132, loss_map_pts: 4.8618, loss_map_dir: 0.0838, d0.loss_plan_l1_fix_time: 10.4225, d0.loss_plan_l1_fix_dist: 1.7818, d1.loss_plan_l1_fix_time: 10.1014, d1.loss_plan_l1_fix_dist: 1.9322, d2.loss_plan_l1_fix_time: 9.8848, d2.loss_plan_l1_fix_dist: 2.6334, d3.loss_plan_l1_fix_time: 9.7616, d3.loss_plan_l1_fix_dist: 3.3566, d4.loss_plan_l1_fix_time: 9.7265, d4.loss_plan_l1_fix_dist: 4.2133, d5.loss_plan_l1_fix_time: 9.7224, d5.loss_plan_l1_fix_dist: 5.0402, d6.loss_plan_l1_fix_time: 9.7415, d6.loss_plan_l1_fix_dist: 5.9435, d0.loss_cls_all: 1.5063, d0.loss_bbox_all: 1.4034, d0.loss_cls: 1.5063, d0.loss_bbox: 1.4034, d1.loss_cls: 1.5625, d1.loss_bbox: 1.4088, d2.loss_cls: 1.5598, d2.loss_bbox: 1.4063, d3.loss_cls: 1.6004, d3.loss_bbox: 1.4110, d4.loss_cls: 1.5835, d4.loss_bbox: 1.4381, d5.loss_cls: 1.5807, d5.loss_bbox: 1.4523, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.5619, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.5839, d2.loss_traj_cls: 0.0013, d2.loss_traj: 4.5943, d3.loss_traj_cls: 0.0038, d3.loss_traj: 4.6155, d4.loss_traj_cls: 0.0022, d4.loss_traj: 4.6483, d5.loss_traj_cls: 0.0034, d5.loss_traj: 4.6546, d0.loss_map_cls_all: 0.6692, d0.loss_map_pts_all: 4.9568, d0.loss_map_dir_all: 0.0834, d0.loss_map_cls: 0.6692, d0.loss_map_pts: 4.9568, d0.loss_map_dir: 0.0834, d1.loss_map_cls: 0.6772, d1.loss_map_pts: 4.9080, d1.loss_map_dir: 0.0836, d2.loss_map_cls: 0.6844, d2.loss_map_pts: 4.8854, d2.loss_map_dir: 0.0841, d3.loss_map_cls: 0.6928, d3.loss_map_pts: 4.8735, d3.loss_map_dir: 0.0841, d4.loss_map_cls: 0.6827, d4.loss_map_pts: 4.8661, d4.loss_map_dir: 0.0840, d5.loss_map_cls: 0.7020, d5.loss_map_pts: 4.8619, d5.loss_map_dir: 0.0839, loss: 195.7381, grad_norm: 8609.1419 2026-02-23 23:21:15,012 - DriveTransformer - INFO - Epoch [1][1400/117620] lr: 1.000e-04, eta: 28 days, 1:43:00, time: 0.329, data_time: 0.015, memory: 8394, loss_cls: 1.5405, loss_bbox: 1.4896, loss_traj: 5.0378, loss_traj_cls: 0.0074, loss_map_cls: 0.7831, loss_map_pts: 5.0140, loss_map_dir: 0.0839, d0.loss_plan_l1_fix_time: 11.7158, d0.loss_plan_l1_fix_dist: 1.4285, d1.loss_plan_l1_fix_time: 11.2797, d1.loss_plan_l1_fix_dist: 1.8773, d2.loss_plan_l1_fix_time: 10.9252, d2.loss_plan_l1_fix_dist: 2.2968, d3.loss_plan_l1_fix_time: 10.6610, d3.loss_plan_l1_fix_dist: 2.9827, d4.loss_plan_l1_fix_time: 10.4648, d4.loss_plan_l1_fix_dist: 3.6137, d5.loss_plan_l1_fix_time: 10.3287, d5.loss_plan_l1_fix_dist: 4.5639, d6.loss_plan_l1_fix_time: 10.2511, d6.loss_plan_l1_fix_dist: 5.6715, d0.loss_cls_all: 1.4941, d0.loss_bbox_all: 1.4840, d0.loss_cls: 1.4941, d0.loss_bbox: 1.4840, d1.loss_cls: 1.5623, d1.loss_bbox: 1.4895, d2.loss_cls: 1.5521, d2.loss_bbox: 1.4819, d3.loss_cls: 1.5809, d3.loss_bbox: 1.5221, d4.loss_cls: 1.5378, d4.loss_bbox: 1.5278, d5.loss_cls: 1.5414, d5.loss_bbox: 1.5050, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.8714, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9387, d2.loss_traj_cls: 0.0013, d2.loss_traj: 4.9604, d3.loss_traj_cls: 0.0042, d3.loss_traj: 4.9730, d4.loss_traj_cls: 0.0016, d4.loss_traj: 5.0113, d5.loss_traj_cls: 0.0032, d5.loss_traj: 5.0187, d0.loss_map_cls_all: 0.7788, d0.loss_map_pts_all: 5.1004, d0.loss_map_dir_all: 0.0839, d0.loss_map_cls: 0.7788, d0.loss_map_pts: 5.1004, d0.loss_map_dir: 0.0839, d1.loss_map_cls: 0.7555, d1.loss_map_pts: 5.0460, d1.loss_map_dir: 0.0839, d2.loss_map_cls: 0.7634, d2.loss_map_pts: 5.0198, d2.loss_map_dir: 0.0839, d3.loss_map_cls: 0.7642, d3.loss_map_pts: 5.0067, d3.loss_map_dir: 0.0841, d4.loss_map_cls: 0.7707, d4.loss_map_pts: 4.9999, d4.loss_map_dir: 0.0841, d5.loss_map_cls: 0.7759, d5.loss_map_pts: 5.0000, d5.loss_map_dir: 0.0838, loss: 204.3080, grad_norm: 8609.1419 2026-02-23 23:21:31,819 - DriveTransformer - INFO - Epoch [1][1450/117620] lr: 1.000e-04, eta: 28 days, 1:11:25, time: 0.336, data_time: 0.016, memory: 8394, loss_cls: 1.4905, loss_bbox: 1.4118, loss_traj: 5.6897, loss_traj_cls: 0.0072, loss_map_cls: 0.7462, loss_map_pts: 4.8933, loss_map_dir: 0.0847, d0.loss_plan_l1_fix_time: 9.1380, d0.loss_plan_l1_fix_dist: 1.4691, d1.loss_plan_l1_fix_time: 8.9162, d1.loss_plan_l1_fix_dist: 1.9492, d2.loss_plan_l1_fix_time: 8.7958, d2.loss_plan_l1_fix_dist: 2.4113, d3.loss_plan_l1_fix_time: 8.7561, d3.loss_plan_l1_fix_dist: 3.1041, d4.loss_plan_l1_fix_time: 8.7700, d4.loss_plan_l1_fix_dist: 3.7238, d5.loss_plan_l1_fix_time: 8.8293, d5.loss_plan_l1_fix_dist: 4.6055, d6.loss_plan_l1_fix_time: 8.9237, d6.loss_plan_l1_fix_dist: 5.6314, d0.loss_cls_all: 1.4537, d0.loss_bbox_all: 1.3887, d0.loss_cls: 1.4537, d0.loss_bbox: 1.3887, d1.loss_cls: 1.5186, d1.loss_bbox: 1.3855, d2.loss_cls: 1.5045, d2.loss_bbox: 1.3889, d3.loss_cls: 1.5175, d3.loss_bbox: 1.4221, d4.loss_cls: 1.4848, d4.loss_bbox: 1.4253, d5.loss_cls: 1.4916, d5.loss_bbox: 1.4150, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.5256, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.5843, d2.loss_traj_cls: 0.0013, d2.loss_traj: 5.6224, d3.loss_traj_cls: 0.0040, d3.loss_traj: 5.6350, d4.loss_traj_cls: 0.0017, d4.loss_traj: 5.6559, d5.loss_traj_cls: 0.0031, d5.loss_traj: 5.6709, d0.loss_map_cls_all: 0.6916, d0.loss_map_pts_all: 4.9788, d0.loss_map_dir_all: 0.0848, d0.loss_map_cls: 0.6916, d0.loss_map_pts: 4.9788, d0.loss_map_dir: 0.0848, d1.loss_map_cls: 0.6957, d1.loss_map_pts: 4.9343, d1.loss_map_dir: 0.0847, d2.loss_map_cls: 0.7102, d2.loss_map_pts: 4.9111, d2.loss_map_dir: 0.0848, d3.loss_map_cls: 0.7171, d3.loss_map_pts: 4.8959, d3.loss_map_dir: 0.0849, d4.loss_map_cls: 0.7198, d4.loss_map_pts: 4.8886, d4.loss_map_dir: 0.0850, d5.loss_map_cls: 0.7310, d5.loss_map_pts: 4.8862, d5.loss_map_dir: 0.0848, loss: 193.3153, grad_norm: 8069.7351 2026-02-23 23:21:49,526 - DriveTransformer - INFO - Epoch [1][1500/117620] lr: 1.000e-04, eta: 28 days, 1:53:20, time: 0.354, data_time: 0.017, memory: 8394, loss_cls: 1.4904, loss_bbox: 1.3352, loss_traj: 6.6433, loss_traj_cls: 0.0058, loss_map_cls: 0.7667, loss_map_pts: 5.0473, loss_map_dir: 0.0876, d0.loss_plan_l1_fix_time: 11.3568, d0.loss_plan_l1_fix_dist: 1.4770, d1.loss_plan_l1_fix_time: 11.0173, d1.loss_plan_l1_fix_dist: 2.0805, d2.loss_plan_l1_fix_time: 10.7902, d2.loss_plan_l1_fix_dist: 2.7246, d3.loss_plan_l1_fix_time: 10.6855, d3.loss_plan_l1_fix_dist: 3.4746, d4.loss_plan_l1_fix_time: 10.6381, d4.loss_plan_l1_fix_dist: 4.1821, d5.loss_plan_l1_fix_time: 10.6263, d5.loss_plan_l1_fix_dist: 4.9766, d6.loss_plan_l1_fix_time: 10.6413, d6.loss_plan_l1_fix_dist: 5.8437, d0.loss_cls_all: 1.4556, d0.loss_bbox_all: 1.2996, d0.loss_cls: 1.4556, d0.loss_bbox: 1.2996, d1.loss_cls: 1.5186, d1.loss_bbox: 1.2990, d2.loss_cls: 1.5034, d2.loss_bbox: 1.3031, d3.loss_cls: 1.5019, d3.loss_bbox: 1.3142, d4.loss_cls: 1.4849, d4.loss_bbox: 1.3005, d5.loss_cls: 1.4919, d5.loss_bbox: 1.3267, d0.loss_traj_cls: 0.0008, d0.loss_traj: 6.4393, d1.loss_traj_cls: 0.0006, d1.loss_traj: 6.5187, d2.loss_traj_cls: 0.0011, d2.loss_traj: 6.5957, d3.loss_traj_cls: 0.0034, d3.loss_traj: 6.5937, d4.loss_traj_cls: 0.0017, d4.loss_traj: 6.5949, d5.loss_traj_cls: 0.0026, d5.loss_traj: 6.6038, d0.loss_map_cls_all: 0.7043, d0.loss_map_pts_all: 5.1290, d0.loss_map_dir_all: 0.0877, d0.loss_map_cls: 0.7043, d0.loss_map_pts: 5.1290, d0.loss_map_dir: 0.0877, d1.loss_map_cls: 0.7053, d1.loss_map_pts: 5.0699, d1.loss_map_dir: 0.0878, d2.loss_map_cls: 0.7302, d2.loss_map_pts: 5.0433, d2.loss_map_dir: 0.0881, d3.loss_map_cls: 0.7366, d3.loss_map_pts: 5.0261, d3.loss_map_dir: 0.0877, d4.loss_map_cls: 0.7438, d4.loss_map_pts: 5.0199, d4.loss_map_dir: 0.0877, d5.loss_map_cls: 0.7488, d5.loss_map_pts: 5.0257, d5.loss_map_dir: 0.0875, loss: 215.9323, grad_norm: 8069.7351 2026-02-23 23:22:06,861 - DriveTransformer - INFO - Epoch [1][1550/117620] lr: 1.000e-04, eta: 28 days, 2:03:36, time: 0.347, data_time: 0.015, memory: 8394, loss_cls: 1.5028, loss_bbox: 1.5047, loss_traj: 5.4842, loss_traj_cls: 0.0059, loss_map_cls: 0.7604, loss_map_pts: 4.6249, loss_map_dir: 0.0867, d0.loss_plan_l1_fix_time: 10.6964, d0.loss_plan_l1_fix_dist: 1.4304, d1.loss_plan_l1_fix_time: 10.3903, d1.loss_plan_l1_fix_dist: 2.0230, d2.loss_plan_l1_fix_time: 10.2037, d2.loss_plan_l1_fix_dist: 2.6177, d3.loss_plan_l1_fix_time: 10.1212, d3.loss_plan_l1_fix_dist: 3.3348, d4.loss_plan_l1_fix_time: 10.0905, d4.loss_plan_l1_fix_dist: 4.0292, d5.loss_plan_l1_fix_time: 10.1027, d5.loss_plan_l1_fix_dist: 4.7965, d6.loss_plan_l1_fix_time: 10.1648, d6.loss_plan_l1_fix_dist: 5.6466, d0.loss_cls_all: 1.4720, d0.loss_bbox_all: 1.4976, d0.loss_cls: 1.4720, d0.loss_bbox: 1.4976, d1.loss_cls: 1.5585, d1.loss_bbox: 1.4934, d2.loss_cls: 1.5281, d2.loss_bbox: 1.4908, d3.loss_cls: 1.5280, d3.loss_bbox: 1.5005, d4.loss_cls: 1.4938, d4.loss_bbox: 1.4957, d5.loss_cls: 1.5052, d5.loss_bbox: 1.5002, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.2789, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.3619, d2.loss_traj_cls: 0.0011, d2.loss_traj: 5.4399, d3.loss_traj_cls: 0.0031, d3.loss_traj: 5.4402, d4.loss_traj_cls: 0.0016, d4.loss_traj: 5.4462, d5.loss_traj_cls: 0.0025, d5.loss_traj: 5.4495, d0.loss_map_cls_all: 0.6979, d0.loss_map_pts_all: 4.6989, d0.loss_map_dir_all: 0.0866, d0.loss_map_cls: 0.6979, d0.loss_map_pts: 4.6989, d0.loss_map_dir: 0.0866, d1.loss_map_cls: 0.6959, d1.loss_map_pts: 4.6364, d1.loss_map_dir: 0.0868, d2.loss_map_cls: 0.7187, d2.loss_map_pts: 4.6057, d2.loss_map_dir: 0.0868, d3.loss_map_cls: 0.7225, d3.loss_map_pts: 4.5934, d3.loss_map_dir: 0.0869, d4.loss_map_cls: 0.7285, d4.loss_map_pts: 4.5937, d4.loss_map_dir: 0.0868, d5.loss_map_cls: 0.7377, d5.loss_map_pts: 4.6020, d5.loss_map_dir: 0.0868, loss: 201.1127, grad_norm: 7599.4295 2026-02-23 23:22:25,186 - DriveTransformer - INFO - Epoch [1][1600/117620] lr: 1.000e-04, eta: 28 days, 3:26:38, time: 0.367, data_time: 0.015, memory: 8394, loss_cls: 1.4772, loss_bbox: 1.3362, loss_traj: 4.7417, loss_traj_cls: 0.0064, loss_map_cls: 0.7986, loss_map_pts: 4.9372, loss_map_dir: 0.0811, d0.loss_plan_l1_fix_time: 9.9303, d0.loss_plan_l1_fix_dist: 1.4106, d1.loss_plan_l1_fix_time: 9.6287, d1.loss_plan_l1_fix_dist: 1.9074, d2.loss_plan_l1_fix_time: 9.4341, d2.loss_plan_l1_fix_dist: 2.4343, d3.loss_plan_l1_fix_time: 9.3451, d3.loss_plan_l1_fix_dist: 3.0453, d4.loss_plan_l1_fix_time: 9.3353, d4.loss_plan_l1_fix_dist: 3.7391, d5.loss_plan_l1_fix_time: 9.3769, d5.loss_plan_l1_fix_dist: 4.3811, d6.loss_plan_l1_fix_time: 9.4689, d6.loss_plan_l1_fix_dist: 5.0781, d0.loss_cls_all: 1.4751, d0.loss_bbox_all: 1.2718, d0.loss_cls: 1.4751, d0.loss_bbox: 1.2718, d1.loss_cls: 1.5371, d1.loss_bbox: 1.2656, d2.loss_cls: 1.4963, d2.loss_bbox: 1.2781, d3.loss_cls: 1.4874, d3.loss_bbox: 1.2744, d4.loss_cls: 1.4793, d4.loss_bbox: 1.2777, d5.loss_cls: 1.4885, d5.loss_bbox: 1.3105, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.5382, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.6057, d2.loss_traj_cls: 0.0010, d2.loss_traj: 4.6922, d3.loss_traj_cls: 0.0022, d3.loss_traj: 4.7079, d4.loss_traj_cls: 0.0015, d4.loss_traj: 4.7270, d5.loss_traj_cls: 0.0021, d5.loss_traj: 4.7266, d0.loss_map_cls_all: 0.7361, d0.loss_map_pts_all: 5.0067, d0.loss_map_dir_all: 0.0812, d0.loss_map_cls: 0.7361, d0.loss_map_pts: 5.0067, d0.loss_map_dir: 0.0812, d1.loss_map_cls: 0.7322, d1.loss_map_pts: 4.9638, d1.loss_map_dir: 0.0812, d2.loss_map_cls: 0.7630, d2.loss_map_pts: 4.9488, d2.loss_map_dir: 0.0815, d3.loss_map_cls: 0.7690, d3.loss_map_pts: 4.9429, d3.loss_map_dir: 0.0814, d4.loss_map_cls: 0.7770, d4.loss_map_pts: 4.9395, d4.loss_map_dir: 0.0813, d5.loss_map_cls: 0.7755, d5.loss_map_pts: 4.9371, d5.loss_map_dir: 0.0813, loss: 189.8911, grad_norm: 7599.4295 2026-02-23 23:22:41,840 - DriveTransformer - INFO - Epoch [1][1650/117620] lr: 1.000e-04, eta: 28 days, 2:44:55, time: 0.333, data_time: 0.016, memory: 8394, loss_cls: 1.5335, loss_bbox: 1.4541, loss_traj: 5.6503, loss_traj_cls: 0.0062, loss_map_cls: 0.7604, loss_map_pts: 4.8191, loss_map_dir: 0.0818, d0.loss_plan_l1_fix_time: 12.5454, d0.loss_plan_l1_fix_dist: 1.2772, d1.loss_plan_l1_fix_time: 11.9626, d1.loss_plan_l1_fix_dist: 1.7284, d2.loss_plan_l1_fix_time: 11.4890, d2.loss_plan_l1_fix_dist: 2.3048, d3.loss_plan_l1_fix_time: 11.1444, d3.loss_plan_l1_fix_dist: 2.8795, d4.loss_plan_l1_fix_time: 10.8997, d4.loss_plan_l1_fix_dist: 3.5551, d5.loss_plan_l1_fix_time: 10.7202, d5.loss_plan_l1_fix_dist: 4.1287, d6.loss_plan_l1_fix_time: 10.6366, d6.loss_plan_l1_fix_dist: 4.7617, d0.loss_cls_all: 1.5224, d0.loss_bbox_all: 1.4032, d0.loss_cls: 1.5224, d0.loss_bbox: 1.4032, d1.loss_cls: 1.6015, d1.loss_bbox: 1.3990, d2.loss_cls: 1.5433, d2.loss_bbox: 1.4081, d3.loss_cls: 1.5495, d3.loss_bbox: 1.3948, d4.loss_cls: 1.5355, d4.loss_bbox: 1.4003, d5.loss_cls: 1.5504, d5.loss_bbox: 1.4267, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.4261, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.5156, d2.loss_traj_cls: 0.0009, d2.loss_traj: 5.5849, d3.loss_traj_cls: 0.0021, d3.loss_traj: 5.6087, d4.loss_traj_cls: 0.0013, d4.loss_traj: 5.6361, d5.loss_traj_cls: 0.0021, d5.loss_traj: 5.6384, d0.loss_map_cls_all: 0.7085, d0.loss_map_pts_all: 4.8701, d0.loss_map_dir_all: 0.0822, d0.loss_map_cls: 0.7085, d0.loss_map_pts: 4.8701, d0.loss_map_dir: 0.0822, d1.loss_map_cls: 0.7111, d1.loss_map_pts: 4.8317, d1.loss_map_dir: 0.0820, d2.loss_map_cls: 0.7301, d2.loss_map_pts: 4.8185, d2.loss_map_dir: 0.0820, d3.loss_map_cls: 0.7325, d3.loss_map_pts: 4.8100, d3.loss_map_dir: 0.0818, d4.loss_map_cls: 0.7359, d4.loss_map_pts: 4.8081, d4.loss_map_dir: 0.0819, d5.loss_map_cls: 0.7401, d5.loss_map_pts: 4.8101, d5.loss_map_dir: 0.0817, loss: 207.8753, grad_norm: 7179.1819 2026-02-23 23:22:58,896 - DriveTransformer - INFO - Epoch [1][1700/117620] lr: 1.000e-04, eta: 28 days, 2:34:08, time: 0.341, data_time: 0.014, memory: 8394, loss_cls: 1.4373, loss_bbox: 1.2781, loss_traj: 4.9246, loss_traj_cls: 0.0062, loss_map_cls: 0.8005, loss_map_pts: 4.7881, loss_map_dir: 0.0820, d0.loss_plan_l1_fix_time: 11.4298, d0.loss_plan_l1_fix_dist: 1.3393, d1.loss_plan_l1_fix_time: 10.8478, d1.loss_plan_l1_fix_dist: 1.7414, d2.loss_plan_l1_fix_time: 10.3825, d2.loss_plan_l1_fix_dist: 2.3484, d3.loss_plan_l1_fix_time: 10.0369, d3.loss_plan_l1_fix_dist: 2.7977, d4.loss_plan_l1_fix_time: 9.7839, d4.loss_plan_l1_fix_dist: 3.4420, d5.loss_plan_l1_fix_time: 9.6272, d5.loss_plan_l1_fix_dist: 3.9072, d6.loss_plan_l1_fix_time: 9.5942, d6.loss_plan_l1_fix_dist: 4.4303, d0.loss_cls_all: 1.4268, d0.loss_bbox_all: 1.1982, d0.loss_cls: 1.4268, d0.loss_bbox: 1.1982, d1.loss_cls: 1.4780, d1.loss_bbox: 1.2086, d2.loss_cls: 1.4260, d2.loss_bbox: 1.1988, d3.loss_cls: 1.4517, d3.loss_bbox: 1.1980, d4.loss_cls: 1.4501, d4.loss_bbox: 1.2140, d5.loss_cls: 1.4593, d5.loss_bbox: 1.2474, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.7160, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8153, d2.loss_traj_cls: 0.0008, d2.loss_traj: 4.8489, d3.loss_traj_cls: 0.0017, d3.loss_traj: 4.8934, d4.loss_traj_cls: 0.0010, d4.loss_traj: 4.9194, d5.loss_traj_cls: 0.0019, d5.loss_traj: 4.9283, d0.loss_map_cls_all: 0.7491, d0.loss_map_pts_all: 4.8570, d0.loss_map_dir_all: 0.0818, d0.loss_map_cls: 0.7491, d0.loss_map_pts: 4.8570, d0.loss_map_dir: 0.0818, d1.loss_map_cls: 0.7499, d1.loss_map_pts: 4.8055, d1.loss_map_dir: 0.0817, d2.loss_map_cls: 0.7649, d2.loss_map_pts: 4.7852, d2.loss_map_dir: 0.0818, d3.loss_map_cls: 0.7741, d3.loss_map_pts: 4.7748, d3.loss_map_dir: 0.0818, d4.loss_map_cls: 0.7666, d4.loss_map_pts: 4.7708, d4.loss_map_dir: 0.0818, d5.loss_map_cls: 0.7846, d5.loss_map_pts: 4.7733, d5.loss_map_dir: 0.0818, loss: 192.2700, grad_norm: 7179.1819 2026-02-23 23:23:16,223 - DriveTransformer - INFO - Epoch [1][1750/117620] lr: 1.000e-04, eta: 28 days, 2:41:16, time: 0.346, data_time: 0.014, memory: 8394, loss_cls: 1.4748, loss_bbox: 1.4401, loss_traj: 5.7908, loss_traj_cls: 0.0054, loss_map_cls: 0.7643, loss_map_pts: 4.6509, loss_map_dir: 0.0816, d0.loss_plan_l1_fix_time: 9.9538, d0.loss_plan_l1_fix_dist: 1.2685, d1.loss_plan_l1_fix_time: 9.4441, d1.loss_plan_l1_fix_dist: 1.6780, d2.loss_plan_l1_fix_time: 9.0670, d2.loss_plan_l1_fix_dist: 2.2186, d3.loss_plan_l1_fix_time: 8.8241, d3.loss_plan_l1_fix_dist: 2.7285, d4.loss_plan_l1_fix_time: 8.6857, d4.loss_plan_l1_fix_dist: 3.3547, d5.loss_plan_l1_fix_time: 8.6264, d5.loss_plan_l1_fix_dist: 3.8937, d6.loss_plan_l1_fix_time: 8.6980, d6.loss_plan_l1_fix_dist: 4.4984, d0.loss_cls_all: 1.4866, d0.loss_bbox_all: 1.3654, d0.loss_cls: 1.4866, d0.loss_bbox: 1.3654, d1.loss_cls: 1.5259, d1.loss_bbox: 1.3718, d2.loss_cls: 1.4814, d2.loss_bbox: 1.3684, d3.loss_cls: 1.5076, d3.loss_bbox: 1.3793, d4.loss_cls: 1.4968, d4.loss_bbox: 1.3865, d5.loss_cls: 1.4916, d5.loss_bbox: 1.4112, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.5239, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.6517, d2.loss_traj_cls: 0.0008, d2.loss_traj: 5.6949, d3.loss_traj_cls: 0.0018, d3.loss_traj: 5.7415, d4.loss_traj_cls: 0.0010, d4.loss_traj: 5.7708, d5.loss_traj_cls: 0.0018, d5.loss_traj: 5.7805, d0.loss_map_cls_all: 0.7259, d0.loss_map_pts_all: 4.7187, d0.loss_map_dir_all: 0.0817, d0.loss_map_cls: 0.7259, d0.loss_map_pts: 4.7187, d0.loss_map_dir: 0.0817, d1.loss_map_cls: 0.7209, d1.loss_map_pts: 4.6675, d1.loss_map_dir: 0.0820, d2.loss_map_cls: 0.7447, d2.loss_map_pts: 4.6495, d2.loss_map_dir: 0.0820, d3.loss_map_cls: 0.7470, d3.loss_map_pts: 4.6390, d3.loss_map_dir: 0.0820, d4.loss_map_cls: 0.7446, d4.loss_map_pts: 4.6355, d4.loss_map_dir: 0.0820, d5.loss_map_cls: 0.7558, d5.loss_map_pts: 4.6371, d5.loss_map_dir: 0.0818, loss: 189.8460, grad_norm: 6813.1128 2026-02-23 23:23:32,669 - DriveTransformer - INFO - Epoch [1][1800/117620] lr: 1.000e-04, eta: 28 days, 1:50:58, time: 0.329, data_time: 0.014, memory: 8394, loss_cls: 1.4120, loss_bbox: 1.3492, loss_traj: 5.1242, loss_traj_cls: 0.0050, loss_map_cls: 0.7225, loss_map_pts: 4.8644, loss_map_dir: 0.0782, d0.loss_plan_l1_fix_time: 9.8160, d0.loss_plan_l1_fix_dist: 1.1532, d1.loss_plan_l1_fix_time: 9.6021, d1.loss_plan_l1_fix_dist: 1.5730, d2.loss_plan_l1_fix_time: 9.4945, d2.loss_plan_l1_fix_dist: 2.0820, d3.loss_plan_l1_fix_time: 9.4372, d3.loss_plan_l1_fix_dist: 2.6831, d4.loss_plan_l1_fix_time: 9.4411, d4.loss_plan_l1_fix_dist: 3.3152, d5.loss_plan_l1_fix_time: 9.5019, d5.loss_plan_l1_fix_dist: 3.9986, d6.loss_plan_l1_fix_time: 9.6774, d6.loss_plan_l1_fix_dist: 4.7589, d0.loss_cls_all: 1.4104, d0.loss_bbox_all: 1.2797, d0.loss_cls: 1.4104, d0.loss_bbox: 1.2797, d1.loss_cls: 1.4394, d1.loss_bbox: 1.2848, d2.loss_cls: 1.4113, d2.loss_bbox: 1.2898, d3.loss_cls: 1.4546, d3.loss_bbox: 1.3123, d4.loss_cls: 1.4394, d4.loss_bbox: 1.3244, d5.loss_cls: 1.4324, d5.loss_bbox: 1.3401, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.8416, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9921, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.0252, d3.loss_traj_cls: 0.0020, d3.loss_traj: 5.0642, d4.loss_traj_cls: 0.0010, d4.loss_traj: 5.0849, d5.loss_traj_cls: 0.0016, d5.loss_traj: 5.1001, d0.loss_map_cls_all: 0.7115, d0.loss_map_pts_all: 4.9491, d0.loss_map_dir_all: 0.0785, d0.loss_map_cls: 0.7115, d0.loss_map_pts: 4.9491, d0.loss_map_dir: 0.0785, d1.loss_map_cls: 0.6962, d1.loss_map_pts: 4.8801, d1.loss_map_dir: 0.0782, d2.loss_map_cls: 0.7140, d2.loss_map_pts: 4.8557, d2.loss_map_dir: 0.0783, d3.loss_map_cls: 0.7127, d3.loss_map_pts: 4.8422, d3.loss_map_dir: 0.0783, d4.loss_map_cls: 0.7137, d4.loss_map_pts: 4.8405, d4.loss_map_dir: 0.0783, d5.loss_map_cls: 0.7194, d5.loss_map_pts: 4.8461, d5.loss_map_dir: 0.0782, loss: 189.0038, grad_norm: 6813.1128 2026-02-23 23:23:49,877 - DriveTransformer - INFO - Epoch [1][1850/117620] lr: 1.000e-04, eta: 28 days, 1:51:29, time: 0.344, data_time: 0.014, memory: 8394, loss_cls: 1.4429, loss_bbox: 1.3154, loss_traj: 6.5959, loss_traj_cls: 0.0047, loss_map_cls: 0.7658, loss_map_pts: 4.8696, loss_map_dir: 0.0789, d0.loss_plan_l1_fix_time: 12.4728, d0.loss_plan_l1_fix_dist: 1.2009, d1.loss_plan_l1_fix_time: 11.6558, d1.loss_plan_l1_fix_dist: 1.5749, d2.loss_plan_l1_fix_time: 10.9965, d2.loss_plan_l1_fix_dist: 1.9150, d3.loss_plan_l1_fix_time: 10.4657, d3.loss_plan_l1_fix_dist: 2.3407, d4.loss_plan_l1_fix_time: 10.0602, d4.loss_plan_l1_fix_dist: 2.8814, d5.loss_plan_l1_fix_time: 9.7664, d5.loss_plan_l1_fix_dist: 3.4981, d6.loss_plan_l1_fix_time: 9.6389, d6.loss_plan_l1_fix_dist: 4.2595, d0.loss_cls_all: 1.4254, d0.loss_bbox_all: 1.2219, d0.loss_cls: 1.4254, d0.loss_bbox: 1.2219, d1.loss_cls: 1.4695, d1.loss_bbox: 1.2302, d2.loss_cls: 1.4469, d2.loss_bbox: 1.2278, d3.loss_cls: 1.4940, d3.loss_bbox: 1.2483, d4.loss_cls: 1.4711, d4.loss_bbox: 1.2655, d5.loss_cls: 1.4575, d5.loss_bbox: 1.3009, d0.loss_traj_cls: 0.0009, d0.loss_traj: 6.2546, d1.loss_traj_cls: 0.0007, d1.loss_traj: 6.4130, d2.loss_traj_cls: 0.0007, d2.loss_traj: 6.4845, d3.loss_traj_cls: 0.0020, d3.loss_traj: 6.5237, d4.loss_traj_cls: 0.0010, d4.loss_traj: 6.5432, d5.loss_traj_cls: 0.0015, d5.loss_traj: 6.5574, d0.loss_map_cls_all: 0.7332, d0.loss_map_pts_all: 4.9495, d0.loss_map_dir_all: 0.0791, d0.loss_map_cls: 0.7332, d0.loss_map_pts: 4.9495, d0.loss_map_dir: 0.0791, d1.loss_map_cls: 0.7324, d1.loss_map_pts: 4.9080, d1.loss_map_dir: 0.0790, d2.loss_map_cls: 0.7485, d2.loss_map_pts: 4.8974, d2.loss_map_dir: 0.0790, d3.loss_map_cls: 0.7602, d3.loss_map_pts: 4.8933, d3.loss_map_dir: 0.0790, d4.loss_map_cls: 0.7586, d4.loss_map_pts: 4.8859, d4.loss_map_dir: 0.0791, d5.loss_map_cls: 0.7624, d5.loss_map_pts: 4.8763, d5.loss_map_dir: 0.0790, loss: 205.6313, grad_norm: 6477.2291 2026-02-23 23:24:07,007 - DriveTransformer - INFO - Epoch [1][1900/117620] lr: 1.000e-04, eta: 28 days, 1:47:19, time: 0.343, data_time: 0.017, memory: 8394, loss_cls: 1.4211, loss_bbox: 1.2604, loss_traj: 5.8852, loss_traj_cls: 0.0042, loss_map_cls: 0.7739, loss_map_pts: 5.0891, loss_map_dir: 0.0798, d0.loss_plan_l1_fix_time: 9.7990, d0.loss_plan_l1_fix_dist: 1.3040, d1.loss_plan_l1_fix_time: 9.3235, d1.loss_plan_l1_fix_dist: 1.5684, d2.loss_plan_l1_fix_time: 9.0603, d2.loss_plan_l1_fix_dist: 1.7935, d3.loss_plan_l1_fix_time: 8.8897, d3.loss_plan_l1_fix_dist: 2.0643, d4.loss_plan_l1_fix_time: 8.8227, d4.loss_plan_l1_fix_dist: 2.5040, d5.loss_plan_l1_fix_time: 8.8644, d5.loss_plan_l1_fix_dist: 3.0086, d6.loss_plan_l1_fix_time: 9.0258, d6.loss_plan_l1_fix_dist: 3.7076, d0.loss_cls_all: 1.4073, d0.loss_bbox_all: 1.1907, d0.loss_cls: 1.4073, d0.loss_bbox: 1.1907, d1.loss_cls: 1.4458, d1.loss_bbox: 1.2066, d2.loss_cls: 1.4303, d2.loss_bbox: 1.2015, d3.loss_cls: 1.4661, d3.loss_bbox: 1.2208, d4.loss_cls: 1.4452, d4.loss_bbox: 1.2373, d5.loss_cls: 1.4303, d5.loss_bbox: 1.2652, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.5820, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7160, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.7938, d3.loss_traj_cls: 0.0021, d3.loss_traj: 5.8173, d4.loss_traj_cls: 0.0009, d4.loss_traj: 5.8247, d5.loss_traj_cls: 0.0014, d5.loss_traj: 5.8348, d0.loss_map_cls_all: 0.7477, d0.loss_map_pts_all: 5.2027, d0.loss_map_dir_all: 0.0798, d0.loss_map_cls: 0.7477, d0.loss_map_pts: 5.2027, d0.loss_map_dir: 0.0798, d1.loss_map_cls: 0.7462, d1.loss_map_pts: 5.1414, d1.loss_map_dir: 0.0798, d2.loss_map_cls: 0.7593, d2.loss_map_pts: 5.1140, d2.loss_map_dir: 0.0797, d3.loss_map_cls: 0.7747, d3.loss_map_pts: 5.1067, d3.loss_map_dir: 0.0800, d4.loss_map_cls: 0.7710, d4.loss_map_pts: 5.0993, d4.loss_map_dir: 0.0800, d5.loss_map_cls: 0.7710, d5.loss_map_pts: 5.0933, d5.loss_map_dir: 0.0799, loss: 189.2056, grad_norm: 6477.2291 2026-02-23 23:24:23,811 - DriveTransformer - INFO - Epoch [1][1950/117620] lr: 1.000e-04, eta: 28 days, 1:23:55, time: 0.336, data_time: 0.016, memory: 8394, loss_cls: 1.4527, loss_bbox: 1.2187, loss_traj: 5.0470, loss_traj_cls: 0.0048, loss_map_cls: 0.7405, loss_map_pts: 4.6320, loss_map_dir: 0.0802, d0.loss_plan_l1_fix_time: 8.7675, d0.loss_plan_l1_fix_dist: 1.3287, d1.loss_plan_l1_fix_time: 8.4598, d1.loss_plan_l1_fix_dist: 1.5807, d2.loss_plan_l1_fix_time: 8.3179, d2.loss_plan_l1_fix_dist: 1.7898, d3.loss_plan_l1_fix_time: 8.2272, d3.loss_plan_l1_fix_dist: 2.1101, d4.loss_plan_l1_fix_time: 8.2119, d4.loss_plan_l1_fix_dist: 2.5312, d5.loss_plan_l1_fix_time: 8.2855, d5.loss_plan_l1_fix_dist: 2.9728, d6.loss_plan_l1_fix_time: 8.4745, d6.loss_plan_l1_fix_dist: 3.5489, d0.loss_cls_all: 1.4291, d0.loss_bbox_all: 1.1665, d0.loss_cls: 1.4291, d0.loss_bbox: 1.1665, d1.loss_cls: 1.4714, d1.loss_bbox: 1.1888, d2.loss_cls: 1.4587, d2.loss_bbox: 1.1691, d3.loss_cls: 1.4808, d3.loss_bbox: 1.1927, d4.loss_cls: 1.4598, d4.loss_bbox: 1.2000, d5.loss_cls: 1.4426, d5.loss_bbox: 1.2173, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.7804, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8923, d2.loss_traj_cls: 0.0007, d2.loss_traj: 4.9721, d3.loss_traj_cls: 0.0017, d3.loss_traj: 4.9973, d4.loss_traj_cls: 0.0009, d4.loss_traj: 5.0231, d5.loss_traj_cls: 0.0013, d5.loss_traj: 5.0196, d0.loss_map_cls_all: 0.7248, d0.loss_map_pts_all: 4.7120, d0.loss_map_dir_all: 0.0805, d0.loss_map_cls: 0.7248, d0.loss_map_pts: 4.7120, d0.loss_map_dir: 0.0805, d1.loss_map_cls: 0.7147, d1.loss_map_pts: 4.6582, d1.loss_map_dir: 0.0802, d2.loss_map_cls: 0.7275, d2.loss_map_pts: 4.6442, d2.loss_map_dir: 0.0802, d3.loss_map_cls: 0.7305, d3.loss_map_pts: 4.6389, d3.loss_map_dir: 0.0802, d4.loss_map_cls: 0.7359, d4.loss_map_pts: 4.6350, d4.loss_map_dir: 0.0803, d5.loss_map_cls: 0.7379, d5.loss_map_pts: 4.6334, d5.loss_map_dir: 0.0803, loss: 174.2378, grad_norm: 6176.0000 2026-02-23 23:24:40,971 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-23 23:24:40,971 - DriveTransformer - INFO - Epoch [1][2000/117620] lr: 1.000e-04, eta: 28 days, 1:22:29, time: 0.343, data_time: 0.014, memory: 8394, loss_cls: 1.4334, loss_bbox: 1.3092, loss_traj: 5.6665, loss_traj_cls: 0.0052, loss_map_cls: 0.7247, loss_map_pts: 4.6287, loss_map_dir: 0.0808, d0.loss_plan_l1_fix_time: 9.6079, d0.loss_plan_l1_fix_dist: 1.4457, d1.loss_plan_l1_fix_time: 9.0905, d1.loss_plan_l1_fix_dist: 1.7197, d2.loss_plan_l1_fix_time: 8.7597, d2.loss_plan_l1_fix_dist: 1.9509, d3.loss_plan_l1_fix_time: 8.5694, d3.loss_plan_l1_fix_dist: 2.3541, d4.loss_plan_l1_fix_time: 8.4826, d4.loss_plan_l1_fix_dist: 2.8275, d5.loss_plan_l1_fix_time: 8.4877, d5.loss_plan_l1_fix_dist: 3.2778, d6.loss_plan_l1_fix_time: 8.5999, d6.loss_plan_l1_fix_dist: 3.8351, d0.loss_cls_all: 1.4091, d0.loss_bbox_all: 1.2592, d0.loss_cls: 1.4091, d0.loss_bbox: 1.2592, d1.loss_cls: 1.4401, d1.loss_bbox: 1.2833, d2.loss_cls: 1.4220, d2.loss_bbox: 1.2656, d3.loss_cls: 1.4285, d3.loss_bbox: 1.2908, d4.loss_cls: 1.4226, d4.loss_bbox: 1.2949, d5.loss_cls: 1.4159, d5.loss_bbox: 1.2965, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.3287, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.4732, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.5723, d3.loss_traj_cls: 0.0015, d3.loss_traj: 5.6068, d4.loss_traj_cls: 0.0008, d4.loss_traj: 5.6534, d5.loss_traj_cls: 0.0012, d5.loss_traj: 5.6458, d0.loss_map_cls_all: 0.7166, d0.loss_map_pts_all: 4.7679, d0.loss_map_dir_all: 0.0809, d0.loss_map_cls: 0.7166, d0.loss_map_pts: 4.7679, d0.loss_map_dir: 0.0809, d1.loss_map_cls: 0.6995, d1.loss_map_pts: 4.6728, d1.loss_map_dir: 0.0807, d2.loss_map_cls: 0.7133, d2.loss_map_pts: 4.6365, d2.loss_map_dir: 0.0808, d3.loss_map_cls: 0.7141, d3.loss_map_pts: 4.6207, d3.loss_map_dir: 0.0809, d4.loss_map_cls: 0.7217, d4.loss_map_pts: 4.6174, d4.loss_map_dir: 0.0811, d5.loss_map_cls: 0.7231, d5.loss_map_pts: 4.6211, d5.loss_map_dir: 0.0810, loss: 183.3152, grad_norm: 6176.0000 2026-02-23 23:24:57,686 - DriveTransformer - INFO - Epoch [1][2050/117620] lr: 1.000e-04, eta: 28 days, 0:55:16, time: 0.334, data_time: 0.015, memory: 8394, loss_cls: 1.5150, loss_bbox: 1.3858, loss_traj: 5.1423, loss_traj_cls: 0.0045, loss_map_cls: 0.7387, loss_map_pts: 5.0894, loss_map_dir: 0.0822, d0.loss_plan_l1_fix_time: 9.5341, d0.loss_plan_l1_fix_dist: 1.3883, d1.loss_plan_l1_fix_time: 8.9670, d1.loss_plan_l1_fix_dist: 1.6387, d2.loss_plan_l1_fix_time: 8.6042, d2.loss_plan_l1_fix_dist: 1.9460, d3.loss_plan_l1_fix_time: 8.3808, d3.loss_plan_l1_fix_dist: 2.3923, d4.loss_plan_l1_fix_time: 8.2409, d4.loss_plan_l1_fix_dist: 2.8580, d5.loss_plan_l1_fix_time: 8.2170, d5.loss_plan_l1_fix_dist: 3.3078, d6.loss_plan_l1_fix_time: 8.3041, d6.loss_plan_l1_fix_dist: 3.7018, d0.loss_cls_all: 1.4734, d0.loss_bbox_all: 1.3336, d0.loss_cls: 1.4734, d0.loss_bbox: 1.3336, d1.loss_cls: 1.5291, d1.loss_bbox: 1.3654, d2.loss_cls: 1.5027, d2.loss_bbox: 1.3368, d3.loss_cls: 1.5224, d3.loss_bbox: 1.3465, d4.loss_cls: 1.5219, d4.loss_bbox: 1.3516, d5.loss_cls: 1.5047, d5.loss_bbox: 1.3620, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.7844, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9633, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.0419, d3.loss_traj_cls: 0.0013, d3.loss_traj: 5.0861, d4.loss_traj_cls: 0.0008, d4.loss_traj: 5.1279, d5.loss_traj_cls: 0.0011, d5.loss_traj: 5.1288, d0.loss_map_cls_all: 0.7224, d0.loss_map_pts_all: 5.2697, d0.loss_map_dir_all: 0.0827, d0.loss_map_cls: 0.7224, d0.loss_map_pts: 5.2697, d0.loss_map_dir: 0.0827, d1.loss_map_cls: 0.7164, d1.loss_map_pts: 5.1659, d1.loss_map_dir: 0.0825, d2.loss_map_cls: 0.7277, d2.loss_map_pts: 5.1271, d2.loss_map_dir: 0.0823, d3.loss_map_cls: 0.7271, d3.loss_map_pts: 5.1079, d3.loss_map_dir: 0.0822, d4.loss_map_cls: 0.7317, d4.loss_map_pts: 5.0967, d4.loss_map_dir: 0.0823, d5.loss_map_cls: 0.7359, d5.loss_map_pts: 5.0906, d5.loss_map_dir: 0.0822, loss: 183.3215, grad_norm: 5897.2598 2026-02-23 23:25:14,953 - DriveTransformer - INFO - Epoch [1][2100/117620] lr: 1.000e-04, eta: 28 days, 1:00:23, time: 0.345, data_time: 0.015, memory: 8394, loss_cls: 1.5375, loss_bbox: 1.3465, loss_traj: 5.2491, loss_traj_cls: 0.0045, loss_map_cls: 0.7367, loss_map_pts: 4.9005, loss_map_dir: 0.0835, d0.loss_plan_l1_fix_time: 10.9373, d0.loss_plan_l1_fix_dist: 1.1216, d1.loss_plan_l1_fix_time: 10.2438, d1.loss_plan_l1_fix_dist: 1.3985, d2.loss_plan_l1_fix_time: 9.7404, d2.loss_plan_l1_fix_dist: 1.7543, d3.loss_plan_l1_fix_time: 9.3992, d3.loss_plan_l1_fix_dist: 2.2565, d4.loss_plan_l1_fix_time: 9.1224, d4.loss_plan_l1_fix_dist: 2.7401, d5.loss_plan_l1_fix_time: 8.9448, d5.loss_plan_l1_fix_dist: 3.2145, d6.loss_plan_l1_fix_time: 8.8657, d6.loss_plan_l1_fix_dist: 3.5681, d0.loss_cls_all: 1.4664, d0.loss_bbox_all: 1.2777, d0.loss_cls: 1.4664, d0.loss_bbox: 1.2777, d1.loss_cls: 1.5057, d1.loss_bbox: 1.3016, d2.loss_cls: 1.5003, d2.loss_bbox: 1.2808, d3.loss_cls: 1.5111, d3.loss_bbox: 1.2961, d4.loss_cls: 1.5427, d4.loss_bbox: 1.2942, d5.loss_cls: 1.5296, d5.loss_bbox: 1.3018, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.9559, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.1131, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.1661, d3.loss_traj_cls: 0.0011, d3.loss_traj: 5.2217, d4.loss_traj_cls: 0.0007, d4.loss_traj: 5.2395, d5.loss_traj_cls: 0.0010, d5.loss_traj: 5.2513, d0.loss_map_cls_all: 0.7171, d0.loss_map_pts_all: 4.9716, d0.loss_map_dir_all: 0.0839, d0.loss_map_cls: 0.7171, d0.loss_map_pts: 4.9716, d0.loss_map_dir: 0.0839, d1.loss_map_cls: 0.7080, d1.loss_map_pts: 4.9176, d1.loss_map_dir: 0.0836, d2.loss_map_cls: 0.7219, d2.loss_map_pts: 4.9167, d2.loss_map_dir: 0.0835, d3.loss_map_cls: 0.7232, d3.loss_map_pts: 4.9246, d3.loss_map_dir: 0.0835, d4.loss_map_cls: 0.7292, d4.loss_map_pts: 4.9219, d4.loss_map_dir: 0.0836, d5.loss_map_cls: 0.7321, d5.loss_map_pts: 4.9117, d5.loss_map_dir: 0.0835, loss: 187.8394, grad_norm: 5897.2598 2026-02-23 23:25:32,534 - DriveTransformer - INFO - Epoch [1][2150/117620] lr: 1.000e-04, eta: 28 days, 1:22:35, time: 0.352, data_time: 0.015, memory: 8394, loss_cls: 1.5071, loss_bbox: 1.3898, loss_traj: 5.5508, loss_traj_cls: 0.0036, loss_map_cls: 0.7369, loss_map_pts: 5.0899, loss_map_dir: 0.0863, d0.loss_plan_l1_fix_time: 8.1748, d0.loss_plan_l1_fix_dist: 1.1481, d1.loss_plan_l1_fix_time: 8.0056, d1.loss_plan_l1_fix_dist: 1.4090, d2.loss_plan_l1_fix_time: 7.9819, d2.loss_plan_l1_fix_dist: 1.6245, d3.loss_plan_l1_fix_time: 8.0653, d3.loss_plan_l1_fix_dist: 1.9309, d4.loss_plan_l1_fix_time: 8.1603, d4.loss_plan_l1_fix_dist: 2.2805, d5.loss_plan_l1_fix_time: 8.3006, d5.loss_plan_l1_fix_dist: 2.6241, d6.loss_plan_l1_fix_time: 8.4647, d6.loss_plan_l1_fix_dist: 3.0915, d0.loss_cls_all: 1.4690, d0.loss_bbox_all: 1.3431, d0.loss_cls: 1.4690, d0.loss_bbox: 1.3431, d1.loss_cls: 1.5173, d1.loss_bbox: 1.3692, d2.loss_cls: 1.5029, d2.loss_bbox: 1.3519, d3.loss_cls: 1.5311, d3.loss_bbox: 1.3585, d4.loss_cls: 1.5328, d4.loss_bbox: 1.3627, d5.loss_cls: 1.4989, d5.loss_bbox: 1.3758, d0.loss_traj_cls: 0.0010, d0.loss_traj: 5.1337, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3575, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.4314, d3.loss_traj_cls: 0.0011, d3.loss_traj: 5.4956, d4.loss_traj_cls: 0.0008, d4.loss_traj: 5.5112, d5.loss_traj_cls: 0.0010, d5.loss_traj: 5.5225, d0.loss_map_cls_all: 0.7111, d0.loss_map_pts_all: 5.2820, d0.loss_map_dir_all: 0.0862, d0.loss_map_cls: 0.7111, d0.loss_map_pts: 5.2820, d0.loss_map_dir: 0.0862, d1.loss_map_cls: 0.7102, d1.loss_map_pts: 5.1546, d1.loss_map_dir: 0.0860, d2.loss_map_cls: 0.7224, d2.loss_map_pts: 5.1052, d2.loss_map_dir: 0.0862, d3.loss_map_cls: 0.7286, d3.loss_map_pts: 5.0836, d3.loss_map_dir: 0.0862, d4.loss_map_cls: 0.7341, d4.loss_map_pts: 5.0783, d4.loss_map_dir: 0.0862, d5.loss_map_cls: 0.7338, d5.loss_map_pts: 5.0815, d5.loss_map_dir: 0.0862, loss: 179.8298, grad_norm: 5647.4855 2026-02-23 23:25:49,583 - DriveTransformer - INFO - Epoch [1][2200/117620] lr: 1.000e-04, eta: 28 days, 1:15:08, time: 0.341, data_time: 0.015, memory: 8394, loss_cls: 1.4047, loss_bbox: 1.3475, loss_traj: 5.5159, loss_traj_cls: 0.0033, loss_map_cls: 0.7734, loss_map_pts: 4.8713, loss_map_dir: 0.0876, d0.loss_plan_l1_fix_time: 10.2012, d0.loss_plan_l1_fix_dist: 1.2769, d1.loss_plan_l1_fix_time: 9.5314, d1.loss_plan_l1_fix_dist: 1.5227, d2.loss_plan_l1_fix_time: 9.0834, d2.loss_plan_l1_fix_dist: 1.6862, d3.loss_plan_l1_fix_time: 8.8547, d3.loss_plan_l1_fix_dist: 1.9383, d4.loss_plan_l1_fix_time: 8.7430, d4.loss_plan_l1_fix_dist: 2.2255, d5.loss_plan_l1_fix_time: 8.7226, d5.loss_plan_l1_fix_dist: 2.5379, d6.loss_plan_l1_fix_time: 8.7541, d6.loss_plan_l1_fix_dist: 3.0024, d0.loss_cls_all: 1.4030, d0.loss_bbox_all: 1.3427, d0.loss_cls: 1.4030, d0.loss_bbox: 1.3427, d1.loss_cls: 1.4425, d1.loss_bbox: 1.3641, d2.loss_cls: 1.4060, d2.loss_bbox: 1.3519, d3.loss_cls: 1.4143, d3.loss_bbox: 1.3663, d4.loss_cls: 1.4188, d4.loss_bbox: 1.3590, d5.loss_cls: 1.4087, d5.loss_bbox: 1.3468, d0.loss_traj_cls: 0.0009, d0.loss_traj: 5.1244, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.3303, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.3992, d3.loss_traj_cls: 0.0010, d3.loss_traj: 5.4644, d4.loss_traj_cls: 0.0008, d4.loss_traj: 5.4697, d5.loss_traj_cls: 0.0010, d5.loss_traj: 5.4861, d0.loss_map_cls_all: 0.7717, d0.loss_map_pts_all: 5.0005, d0.loss_map_dir_all: 0.0873, d0.loss_map_cls: 0.7717, d0.loss_map_pts: 5.0005, d0.loss_map_dir: 0.0873, d1.loss_map_cls: 0.7703, d1.loss_map_pts: 4.9082, d1.loss_map_dir: 0.0874, d2.loss_map_cls: 0.7778, d2.loss_map_pts: 4.8791, d2.loss_map_dir: 0.0875, d3.loss_map_cls: 0.7705, d3.loss_map_pts: 4.8689, d3.loss_map_dir: 0.0876, d4.loss_map_cls: 0.7823, d4.loss_map_pts: 4.8669, d4.loss_map_dir: 0.0875, d5.loss_map_cls: 0.7717, d5.loss_map_pts: 4.8677, d5.loss_map_dir: 0.0876, loss: 184.1531, grad_norm: 5647.4855 2026-02-23 23:26:07,220 - DriveTransformer - INFO - Epoch [1][2250/117620] lr: 1.000e-04, eta: 28 days, 1:38:54, time: 0.353, data_time: 0.016, memory: 8394, loss_cls: 1.4820, loss_bbox: 1.4477, loss_traj: 4.7724, loss_traj_cls: 0.0034, loss_map_cls: 0.7252, loss_map_pts: 4.7254, loss_map_dir: 0.0889, d0.loss_plan_l1_fix_time: 9.7062, d0.loss_plan_l1_fix_dist: 1.2764, d1.loss_plan_l1_fix_time: 9.2942, d1.loss_plan_l1_fix_dist: 1.5713, d2.loss_plan_l1_fix_time: 9.0969, d2.loss_plan_l1_fix_dist: 1.8062, d3.loss_plan_l1_fix_time: 9.0426, d3.loss_plan_l1_fix_dist: 2.2326, d4.loss_plan_l1_fix_time: 9.0708, d4.loss_plan_l1_fix_dist: 2.5558, d5.loss_plan_l1_fix_time: 9.1742, d5.loss_plan_l1_fix_dist: 2.8428, d6.loss_plan_l1_fix_time: 9.3293, d6.loss_plan_l1_fix_dist: 3.1418, d0.loss_cls_all: 1.4441, d0.loss_bbox_all: 1.3735, d0.loss_cls: 1.4441, d0.loss_bbox: 1.3735, d1.loss_cls: 1.4962, d1.loss_bbox: 1.3769, d2.loss_cls: 1.4759, d2.loss_bbox: 1.3737, d3.loss_cls: 1.4942, d3.loss_bbox: 1.3828, d4.loss_cls: 1.4920, d4.loss_bbox: 1.3999, d5.loss_cls: 1.4639, d5.loss_bbox: 1.4150, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.4243, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.6186, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.6810, d3.loss_traj_cls: 0.0012, d3.loss_traj: 4.7275, d4.loss_traj_cls: 0.0007, d4.loss_traj: 4.7449, d5.loss_traj_cls: 0.0009, d5.loss_traj: 4.7460, d0.loss_map_cls_all: 0.7105, d0.loss_map_pts_all: 4.9341, d0.loss_map_dir_all: 0.0885, d0.loss_map_cls: 0.7105, d0.loss_map_pts: 4.9341, d0.loss_map_dir: 0.0885, d1.loss_map_cls: 0.7107, d1.loss_map_pts: 4.8094, d1.loss_map_dir: 0.0884, d2.loss_map_cls: 0.7139, d2.loss_map_pts: 4.7646, d2.loss_map_dir: 0.0887, d3.loss_map_cls: 0.7225, d3.loss_map_pts: 4.7462, d3.loss_map_dir: 0.0889, d4.loss_map_cls: 0.7256, d4.loss_map_pts: 4.7382, d4.loss_map_dir: 0.0889, d5.loss_map_cls: 0.7247, d5.loss_map_pts: 4.7312, d5.loss_map_dir: 0.0890, loss: 180.6362, grad_norm: 5414.4645 2026-02-23 23:26:24,183 - DriveTransformer - INFO - Epoch [1][2300/117620] lr: 1.000e-04, eta: 28 days, 1:27:11, time: 0.339, data_time: 0.015, memory: 8394, loss_cls: 1.4953, loss_bbox: 1.4328, loss_traj: 5.1095, loss_traj_cls: 0.0034, loss_map_cls: 0.7696, loss_map_pts: 5.0000, loss_map_dir: 0.0890, d0.loss_plan_l1_fix_time: 10.8553, d0.loss_plan_l1_fix_dist: 1.2033, d1.loss_plan_l1_fix_time: 9.9744, d1.loss_plan_l1_fix_dist: 1.4932, d2.loss_plan_l1_fix_time: 9.3360, d2.loss_plan_l1_fix_dist: 1.7656, d3.loss_plan_l1_fix_time: 8.8710, d3.loss_plan_l1_fix_dist: 2.2008, d4.loss_plan_l1_fix_time: 8.5715, d4.loss_plan_l1_fix_dist: 2.5179, d5.loss_plan_l1_fix_time: 8.3904, d5.loss_plan_l1_fix_dist: 2.7890, d6.loss_plan_l1_fix_time: 8.3115, d6.loss_plan_l1_fix_dist: 3.0326, d0.loss_cls_all: 1.4666, d0.loss_bbox_all: 1.3533, d0.loss_cls: 1.4666, d0.loss_bbox: 1.3533, d1.loss_cls: 1.5083, d1.loss_bbox: 1.3593, d2.loss_cls: 1.4941, d2.loss_bbox: 1.3532, d3.loss_cls: 1.5030, d3.loss_bbox: 1.3638, d4.loss_cls: 1.5003, d4.loss_bbox: 1.3883, d5.loss_cls: 1.4826, d5.loss_bbox: 1.4103, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.7136, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9233, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0008, d3.loss_traj_cls: 0.0012, d3.loss_traj: 5.0497, d4.loss_traj_cls: 0.0007, d4.loss_traj: 5.0758, d5.loss_traj_cls: 0.0009, d5.loss_traj: 5.0810, d0.loss_map_cls_all: 0.7766, d0.loss_map_pts_all: 5.1298, d0.loss_map_dir_all: 0.0886, d0.loss_map_cls: 0.7766, d0.loss_map_pts: 5.1298, d0.loss_map_dir: 0.0886, d1.loss_map_cls: 0.7620, d1.loss_map_pts: 5.0437, d1.loss_map_dir: 0.0885, d2.loss_map_cls: 0.7702, d2.loss_map_pts: 5.0258, d2.loss_map_dir: 0.0889, d3.loss_map_cls: 0.7691, d3.loss_map_pts: 5.0204, d3.loss_map_dir: 0.0890, d4.loss_map_cls: 0.7745, d4.loss_map_pts: 5.0149, d4.loss_map_dir: 0.0890, d5.loss_map_cls: 0.7711, d5.loss_map_pts: 5.0070, d5.loss_map_dir: 0.0890, loss: 184.4572, grad_norm: 5414.4645 2026-02-23 23:26:41,779 - DriveTransformer - INFO - Epoch [1][2350/117620] lr: 1.000e-04, eta: 28 days, 1:47:37, time: 0.352, data_time: 0.015, memory: 8394, loss_cls: 1.4347, loss_bbox: 1.3231, loss_traj: 5.8350, loss_traj_cls: 0.0039, loss_map_cls: 0.7287, loss_map_pts: 5.0482, loss_map_dir: 0.0868, d0.loss_plan_l1_fix_time: 10.3223, d0.loss_plan_l1_fix_dist: 1.0151, d1.loss_plan_l1_fix_time: 9.5849, d1.loss_plan_l1_fix_dist: 1.2331, d2.loss_plan_l1_fix_time: 9.1059, d2.loss_plan_l1_fix_dist: 1.5647, d3.loss_plan_l1_fix_time: 8.7598, d3.loss_plan_l1_fix_dist: 1.9111, d4.loss_plan_l1_fix_time: 8.5389, d4.loss_plan_l1_fix_dist: 2.2781, d5.loss_plan_l1_fix_time: 8.4198, d5.loss_plan_l1_fix_dist: 2.6008, d6.loss_plan_l1_fix_time: 8.3867, d6.loss_plan_l1_fix_dist: 2.8877, d0.loss_cls_all: 1.3753, d0.loss_bbox_all: 1.2326, d0.loss_cls: 1.3753, d0.loss_bbox: 1.2326, d1.loss_cls: 1.4049, d1.loss_bbox: 1.2382, d2.loss_cls: 1.3940, d2.loss_bbox: 1.2354, d3.loss_cls: 1.3993, d3.loss_bbox: 1.2519, d4.loss_cls: 1.4158, d4.loss_bbox: 1.2783, d5.loss_cls: 1.4167, d5.loss_bbox: 1.2952, d0.loss_traj_cls: 0.0009, d0.loss_traj: 5.3704, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.5995, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.6992, d3.loss_traj_cls: 0.0012, d3.loss_traj: 5.7627, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.8173, d5.loss_traj_cls: 0.0008, d5.loss_traj: 5.8325, d0.loss_map_cls_all: 0.7334, d0.loss_map_pts_all: 5.1356, d0.loss_map_dir_all: 0.0864, d0.loss_map_cls: 0.7334, d0.loss_map_pts: 5.1356, d0.loss_map_dir: 0.0864, d1.loss_map_cls: 0.7233, d1.loss_map_pts: 5.0615, d1.loss_map_dir: 0.0865, d2.loss_map_cls: 0.7300, d2.loss_map_pts: 5.0508, d2.loss_map_dir: 0.0867, d3.loss_map_cls: 0.7313, d3.loss_map_pts: 5.0566, d3.loss_map_dir: 0.0869, d4.loss_map_cls: 0.7347, d4.loss_map_pts: 5.0564, d4.loss_map_dir: 0.0869, d5.loss_map_cls: 0.7290, d5.loss_map_pts: 5.0505, d5.loss_map_dir: 0.0869, loss: 184.9699, grad_norm: 5209.6392 2026-02-23 23:26:59,669 - DriveTransformer - INFO - Epoch [1][2400/117620] lr: 1.000e-04, eta: 28 days, 2:22:24, time: 0.358, data_time: 0.015, memory: 8394, loss_cls: 1.5412, loss_bbox: 1.4587, loss_traj: 3.7903, loss_traj_cls: 0.0039, loss_map_cls: 0.7159, loss_map_pts: 4.8101, loss_map_dir: 0.0878, d0.loss_plan_l1_fix_time: 8.2149, d0.loss_plan_l1_fix_dist: 1.2528, d1.loss_plan_l1_fix_time: 7.7270, d1.loss_plan_l1_fix_dist: 1.4537, d2.loss_plan_l1_fix_time: 7.5351, d2.loss_plan_l1_fix_dist: 1.7721, d3.loss_plan_l1_fix_time: 7.5028, d3.loss_plan_l1_fix_dist: 2.0867, d4.loss_plan_l1_fix_time: 7.5798, d4.loss_plan_l1_fix_dist: 2.4482, d5.loss_plan_l1_fix_time: 7.7304, d5.loss_plan_l1_fix_dist: 2.7601, d6.loss_plan_l1_fix_time: 7.9609, d6.loss_plan_l1_fix_dist: 3.0463, d0.loss_cls_all: 1.4930, d0.loss_bbox_all: 1.4148, d0.loss_cls: 1.4930, d0.loss_bbox: 1.4148, d1.loss_cls: 1.5354, d1.loss_bbox: 1.4189, d2.loss_cls: 1.5313, d2.loss_bbox: 1.4143, d3.loss_cls: 1.5435, d3.loss_bbox: 1.4281, d4.loss_cls: 1.5424, d4.loss_bbox: 1.4421, d5.loss_cls: 1.5249, d5.loss_bbox: 1.4430, d0.loss_traj_cls: 0.0009, d0.loss_traj: 3.4584, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.6321, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.6947, d3.loss_traj_cls: 0.0012, d3.loss_traj: 3.7411, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.7826, d5.loss_traj_cls: 0.0008, d5.loss_traj: 3.7945, d0.loss_map_cls_all: 0.7057, d0.loss_map_pts_all: 5.0351, d0.loss_map_dir_all: 0.0875, d0.loss_map_cls: 0.7057, d0.loss_map_pts: 5.0351, d0.loss_map_dir: 0.0875, d1.loss_map_cls: 0.7033, d1.loss_map_pts: 4.8878, d1.loss_map_dir: 0.0873, d2.loss_map_cls: 0.7151, d2.loss_map_pts: 4.8426, d2.loss_map_dir: 0.0877, d3.loss_map_cls: 0.7206, d3.loss_map_pts: 4.8305, d3.loss_map_dir: 0.0879, d4.loss_map_cls: 0.7234, d4.loss_map_pts: 4.8215, d4.loss_map_dir: 0.0879, d5.loss_map_cls: 0.7188, d5.loss_map_pts: 4.8135, d5.loss_map_dir: 0.0879, loss: 164.0986, grad_norm: 5013.2594 2026-02-23 23:27:17,289 - DriveTransformer - INFO - Epoch [1][2450/117620] lr: 1.000e-04, eta: 28 days, 2:40:58, time: 0.352, data_time: 0.016, memory: 8394, loss_cls: 1.4231, loss_bbox: 1.3249, loss_traj: 6.7407, loss_traj_cls: 0.0031, loss_map_cls: 0.7334, loss_map_pts: 4.9424, loss_map_dir: 0.0873, d0.loss_plan_l1_fix_time: 10.2713, d0.loss_plan_l1_fix_dist: 1.0627, d1.loss_plan_l1_fix_time: 9.4982, d1.loss_plan_l1_fix_dist: 1.2462, d2.loss_plan_l1_fix_time: 9.0128, d2.loss_plan_l1_fix_dist: 1.5434, d3.loss_plan_l1_fix_time: 8.6709, d3.loss_plan_l1_fix_dist: 1.7905, d4.loss_plan_l1_fix_time: 8.4858, d4.loss_plan_l1_fix_dist: 2.1252, d5.loss_plan_l1_fix_time: 8.4087, d5.loss_plan_l1_fix_dist: 2.5320, d6.loss_plan_l1_fix_time: 8.4528, d6.loss_plan_l1_fix_dist: 3.0765, d0.loss_cls_all: 1.3819, d0.loss_bbox_all: 1.2065, d0.loss_cls: 1.3819, d0.loss_bbox: 1.2065, d1.loss_cls: 1.4039, d1.loss_bbox: 1.2135, d2.loss_cls: 1.3942, d2.loss_bbox: 1.2223, d3.loss_cls: 1.4022, d3.loss_bbox: 1.2325, d4.loss_cls: 1.4228, d4.loss_bbox: 1.2463, d5.loss_cls: 1.4236, d5.loss_bbox: 1.2639, d0.loss_traj_cls: 0.0009, d0.loss_traj: 6.1613, d1.loss_traj_cls: 0.0006, d1.loss_traj: 6.4256, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.5645, d3.loss_traj_cls: 0.0009, d3.loss_traj: 6.6529, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.7169, d5.loss_traj_cls: 0.0007, d5.loss_traj: 6.7190, d0.loss_map_cls_all: 0.7327, d0.loss_map_pts_all: 5.1277, d0.loss_map_dir_all: 0.0872, d0.loss_map_cls: 0.7327, d0.loss_map_pts: 5.1277, d0.loss_map_dir: 0.0872, d1.loss_map_cls: 0.7380, d1.loss_map_pts: 5.0172, d1.loss_map_dir: 0.0869, d2.loss_map_cls: 0.7366, d2.loss_map_pts: 4.9831, d2.loss_map_dir: 0.0872, d3.loss_map_cls: 0.7342, d3.loss_map_pts: 4.9709, d3.loss_map_dir: 0.0873, d4.loss_map_cls: 0.7369, d4.loss_map_pts: 4.9606, d4.loss_map_dir: 0.0873, d5.loss_map_cls: 0.7356, d5.loss_map_pts: 4.9504, d5.loss_map_dir: 0.0873, loss: 189.9729, grad_norm: 5013.2594 2026-02-23 23:27:35,743 - DriveTransformer - INFO - Epoch [1][2500/117620] lr: 1.000e-04, eta: 28 days, 3:38:53, time: 0.369, data_time: 0.016, memory: 8394, loss_cls: 1.4501, loss_bbox: 1.4744, loss_traj: 4.7729, loss_traj_cls: 0.0031, loss_map_cls: 0.6833, loss_map_pts: 4.6466, loss_map_dir: 0.0884, d0.loss_plan_l1_fix_time: 8.1971, d0.loss_plan_l1_fix_dist: 1.0610, d1.loss_plan_l1_fix_time: 7.9311, d1.loss_plan_l1_fix_dist: 1.2497, d2.loss_plan_l1_fix_time: 7.8798, d2.loss_plan_l1_fix_dist: 1.5209, d3.loss_plan_l1_fix_time: 7.8748, d3.loss_plan_l1_fix_dist: 1.7682, d4.loss_plan_l1_fix_time: 7.9376, d4.loss_plan_l1_fix_dist: 2.0898, d5.loss_plan_l1_fix_time: 8.0665, d5.loss_plan_l1_fix_dist: 2.4907, d6.loss_plan_l1_fix_time: 8.2810, d6.loss_plan_l1_fix_dist: 3.0365, d0.loss_cls_all: 1.4024, d0.loss_bbox_all: 1.3915, d0.loss_cls: 1.4024, d0.loss_bbox: 1.3915, d1.loss_cls: 1.4296, d1.loss_bbox: 1.4057, d2.loss_cls: 1.4199, d2.loss_bbox: 1.4158, d3.loss_cls: 1.4345, d3.loss_bbox: 1.4236, d4.loss_cls: 1.4581, d4.loss_bbox: 1.4321, d5.loss_cls: 1.4501, d5.loss_bbox: 1.4392, d0.loss_traj_cls: 0.0010, d0.loss_traj: 4.2686, d1.loss_traj_cls: 0.0007, d1.loss_traj: 4.5072, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.6205, d3.loss_traj_cls: 0.0009, d3.loss_traj: 4.6941, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.7505, d5.loss_traj_cls: 0.0008, d5.loss_traj: 4.7510, d0.loss_map_cls_all: 0.6849, d0.loss_map_pts_all: 4.8550, d0.loss_map_dir_all: 0.0883, d0.loss_map_cls: 0.6849, d0.loss_map_pts: 4.8550, d0.loss_map_dir: 0.0883, d1.loss_map_cls: 0.6883, d1.loss_map_pts: 4.7270, d1.loss_map_dir: 0.0881, d2.loss_map_cls: 0.6873, d2.loss_map_pts: 4.6868, d2.loss_map_dir: 0.0882, d3.loss_map_cls: 0.6838, d3.loss_map_pts: 4.6736, d3.loss_map_dir: 0.0884, d4.loss_map_cls: 0.6843, d4.loss_map_pts: 4.6635, d4.loss_map_dir: 0.0884, d5.loss_map_cls: 0.6834, d5.loss_map_pts: 4.6536, d5.loss_map_dir: 0.0884, loss: 168.5262, grad_norm: 4834.5729 2026-02-23 23:27:52,847 - DriveTransformer - INFO - Epoch [1][2550/117620] lr: 1.000e-04, eta: 28 days, 3:32:25, time: 0.342, data_time: 0.016, memory: 8394, loss_cls: 1.4376, loss_bbox: 1.2519, loss_traj: 5.7632, loss_traj_cls: 0.0023, loss_map_cls: 0.7938, loss_map_pts: 4.8337, loss_map_dir: 0.0876, d0.loss_plan_l1_fix_time: 11.2589, d0.loss_plan_l1_fix_dist: 1.0279, d1.loss_plan_l1_fix_time: 10.2632, d1.loss_plan_l1_fix_dist: 1.2739, d2.loss_plan_l1_fix_time: 9.6159, d2.loss_plan_l1_fix_dist: 1.5877, d3.loss_plan_l1_fix_time: 9.1490, d3.loss_plan_l1_fix_dist: 1.8116, d4.loss_plan_l1_fix_time: 8.7983, d4.loss_plan_l1_fix_dist: 2.0678, d5.loss_plan_l1_fix_time: 8.5680, d5.loss_plan_l1_fix_dist: 2.4324, d6.loss_plan_l1_fix_time: 8.4507, d6.loss_plan_l1_fix_dist: 2.9299, d0.loss_cls_all: 1.4406, d0.loss_bbox_all: 1.2225, d0.loss_cls: 1.4406, d0.loss_bbox: 1.2225, d1.loss_cls: 1.4723, d1.loss_bbox: 1.2372, d2.loss_cls: 1.4502, d2.loss_bbox: 1.2268, d3.loss_cls: 1.4511, d3.loss_bbox: 1.2304, d4.loss_cls: 1.4438, d4.loss_bbox: 1.2381, d5.loss_cls: 1.4358, d5.loss_bbox: 1.2382, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.2881, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.5266, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.6425, d3.loss_traj_cls: 0.0007, d3.loss_traj: 5.7074, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.7337, d5.loss_traj_cls: 0.0007, d5.loss_traj: 5.7487, d0.loss_map_cls_all: 0.7638, d0.loss_map_pts_all: 4.9705, d0.loss_map_dir_all: 0.0874, d0.loss_map_cls: 0.7638, d0.loss_map_pts: 4.9705, d0.loss_map_dir: 0.0874, d1.loss_map_cls: 0.7795, d1.loss_map_pts: 4.9053, d1.loss_map_dir: 0.0876, d2.loss_map_cls: 0.7678, d2.loss_map_pts: 4.8905, d2.loss_map_dir: 0.0877, d3.loss_map_cls: 0.7762, d3.loss_map_pts: 4.8834, d3.loss_map_dir: 0.0878, d4.loss_map_cls: 0.7861, d4.loss_map_pts: 4.8694, d4.loss_map_dir: 0.0877, d5.loss_map_cls: 0.7964, d5.loss_map_pts: 4.8494, d5.loss_map_dir: 0.0876, loss: 186.1920, grad_norm: 4834.5729 2026-02-23 23:28:10,036 - DriveTransformer - INFO - Epoch [1][2600/117620] lr: 1.000e-04, eta: 28 days, 3:30:03, time: 0.344, data_time: 0.015, memory: 8394, loss_cls: 1.4084, loss_bbox: 1.3341, loss_traj: 6.3194, loss_traj_cls: 0.0024, loss_map_cls: 0.7190, loss_map_pts: 5.0305, loss_map_dir: 0.0880, d0.loss_plan_l1_fix_time: 10.1442, d0.loss_plan_l1_fix_dist: 1.1320, d1.loss_plan_l1_fix_time: 9.3127, d1.loss_plan_l1_fix_dist: 1.3778, d2.loss_plan_l1_fix_time: 8.8431, d2.loss_plan_l1_fix_dist: 1.6594, d3.loss_plan_l1_fix_time: 8.5595, d3.loss_plan_l1_fix_dist: 1.8804, d4.loss_plan_l1_fix_time: 8.3872, d4.loss_plan_l1_fix_dist: 2.1442, d5.loss_plan_l1_fix_time: 8.3268, d5.loss_plan_l1_fix_dist: 2.4854, d6.loss_plan_l1_fix_time: 8.3565, d6.loss_plan_l1_fix_dist: 2.9262, d0.loss_cls_all: 1.3893, d0.loss_bbox_all: 1.3026, d0.loss_cls: 1.3893, d0.loss_bbox: 1.3026, d1.loss_cls: 1.4180, d1.loss_bbox: 1.3184, d2.loss_cls: 1.3994, d2.loss_bbox: 1.3055, d3.loss_cls: 1.4130, d3.loss_bbox: 1.3100, d4.loss_cls: 1.4209, d4.loss_bbox: 1.3180, d5.loss_cls: 1.4084, d5.loss_bbox: 1.3186, d0.loss_traj_cls: 0.0010, d0.loss_traj: 5.7278, d1.loss_traj_cls: 0.0007, d1.loss_traj: 6.0244, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.1656, d3.loss_traj_cls: 0.0008, d3.loss_traj: 6.2467, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.2790, d5.loss_traj_cls: 0.0008, d5.loss_traj: 6.2989, d0.loss_map_cls_all: 0.7058, d0.loss_map_pts_all: 5.1803, d0.loss_map_dir_all: 0.0879, d0.loss_map_cls: 0.7058, d0.loss_map_pts: 5.1803, d0.loss_map_dir: 0.0879, d1.loss_map_cls: 0.7157, d1.loss_map_pts: 5.1033, d1.loss_map_dir: 0.0880, d2.loss_map_cls: 0.7108, d2.loss_map_pts: 5.0784, d2.loss_map_dir: 0.0881, d3.loss_map_cls: 0.7113, d3.loss_map_pts: 5.0679, d3.loss_map_dir: 0.0881, d4.loss_map_cls: 0.7147, d4.loss_map_pts: 5.0566, d4.loss_map_dir: 0.0881, d5.loss_map_cls: 0.7199, d5.loss_map_pts: 5.0418, d5.loss_map_dir: 0.0880, loss: 187.5068, grad_norm: 4667.9432 2026-02-23 23:28:26,439 - DriveTransformer - INFO - Epoch [1][2650/117620] lr: 1.000e-04, eta: 28 days, 2:52:54, time: 0.328, data_time: 0.014, memory: 8394, loss_cls: 1.4609, loss_bbox: 1.4001, loss_traj: 5.6192, loss_traj_cls: 0.0023, loss_map_cls: 0.7472, loss_map_pts: 4.6592, loss_map_dir: 0.0890, d0.loss_plan_l1_fix_time: 10.3836, d0.loss_plan_l1_fix_dist: 1.1716, d1.loss_plan_l1_fix_time: 9.7744, d1.loss_plan_l1_fix_dist: 1.3370, d2.loss_plan_l1_fix_time: 9.4247, d2.loss_plan_l1_fix_dist: 1.5394, d3.loss_plan_l1_fix_time: 9.2322, d3.loss_plan_l1_fix_dist: 1.7674, d4.loss_plan_l1_fix_time: 9.1384, d4.loss_plan_l1_fix_dist: 2.1171, d5.loss_plan_l1_fix_time: 9.1470, d5.loss_plan_l1_fix_dist: 2.4558, d6.loss_plan_l1_fix_time: 9.2240, d6.loss_plan_l1_fix_dist: 2.8150, d0.loss_cls_all: 1.4384, d0.loss_bbox_all: 1.3739, d0.loss_cls: 1.4384, d0.loss_bbox: 1.3739, d1.loss_cls: 1.4598, d1.loss_bbox: 1.3865, d2.loss_cls: 1.4466, d2.loss_bbox: 1.3718, d3.loss_cls: 1.4426, d3.loss_bbox: 1.3715, d4.loss_cls: 1.4477, d4.loss_bbox: 1.3796, d5.loss_cls: 1.4477, d5.loss_bbox: 1.3871, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.0615, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3559, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.4740, d3.loss_traj_cls: 0.0008, d3.loss_traj: 5.5541, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.5788, d5.loss_traj_cls: 0.0007, d5.loss_traj: 5.6129, d0.loss_map_cls_all: 0.7299, d0.loss_map_pts_all: 4.8911, d0.loss_map_dir_all: 0.0889, d0.loss_map_cls: 0.7299, d0.loss_map_pts: 4.8911, d0.loss_map_dir: 0.0889, d1.loss_map_cls: 0.7332, d1.loss_map_pts: 4.7570, d1.loss_map_dir: 0.0891, d2.loss_map_cls: 0.7311, d2.loss_map_pts: 4.7017, d2.loss_map_dir: 0.0892, d3.loss_map_cls: 0.7333, d3.loss_map_pts: 4.6756, d3.loss_map_dir: 0.0892, d4.loss_map_cls: 0.7396, d4.loss_map_pts: 4.6658, d4.loss_map_dir: 0.0891, d5.loss_map_cls: 0.7475, d5.loss_map_pts: 4.6626, d5.loss_map_dir: 0.0891, loss: 184.9252, grad_norm: 4667.9432 2026-02-23 23:28:43,359 - DriveTransformer - INFO - Epoch [1][2700/117620] lr: 1.000e-04, eta: 28 days, 2:39:27, time: 0.338, data_time: 0.015, memory: 8394, loss_cls: 1.4221, loss_bbox: 1.2284, loss_traj: 6.7562, loss_traj_cls: 0.0023, loss_map_cls: 0.7476, loss_map_pts: 5.0385, loss_map_dir: 0.0875, d0.loss_plan_l1_fix_time: 11.1240, d0.loss_plan_l1_fix_dist: 1.1070, d1.loss_plan_l1_fix_time: 10.1904, d1.loss_plan_l1_fix_dist: 1.3044, d2.loss_plan_l1_fix_time: 9.5650, d2.loss_plan_l1_fix_dist: 1.5573, d3.loss_plan_l1_fix_time: 9.1460, d3.loss_plan_l1_fix_dist: 1.8322, d4.loss_plan_l1_fix_time: 8.8421, d4.loss_plan_l1_fix_dist: 2.2137, d5.loss_plan_l1_fix_time: 8.6562, d5.loss_plan_l1_fix_dist: 2.5690, d6.loss_plan_l1_fix_time: 8.5710, d6.loss_plan_l1_fix_dist: 2.9033, d0.loss_cls_all: 1.4116, d0.loss_bbox_all: 1.1731, d0.loss_cls: 1.4116, d0.loss_bbox: 1.1731, d1.loss_cls: 1.4366, d1.loss_bbox: 1.1826, d2.loss_cls: 1.4232, d2.loss_bbox: 1.1662, d3.loss_cls: 1.4339, d3.loss_bbox: 1.1744, d4.loss_cls: 1.4261, d4.loss_bbox: 1.1895, d5.loss_cls: 1.4150, d5.loss_bbox: 1.2029, d0.loss_traj_cls: 0.0008, d0.loss_traj: 6.0881, d1.loss_traj_cls: 0.0007, d1.loss_traj: 6.4259, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.5765, d3.loss_traj_cls: 0.0008, d3.loss_traj: 6.6674, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.7073, d5.loss_traj_cls: 0.0007, d5.loss_traj: 6.7422, d0.loss_map_cls_all: 0.7292, d0.loss_map_pts_all: 5.2278, d0.loss_map_dir_all: 0.0876, d0.loss_map_cls: 0.7292, d0.loss_map_pts: 5.2278, d0.loss_map_dir: 0.0876, d1.loss_map_cls: 0.7345, d1.loss_map_pts: 5.1355, d1.loss_map_dir: 0.0876, d2.loss_map_cls: 0.7320, d2.loss_map_pts: 5.0996, d2.loss_map_dir: 0.0877, d3.loss_map_cls: 0.7373, d3.loss_map_pts: 5.0782, d3.loss_map_dir: 0.0876, d4.loss_map_cls: 0.7426, d4.loss_map_pts: 5.0616, d4.loss_map_dir: 0.0876, d5.loss_map_cls: 0.7473, d5.loss_map_pts: 5.0477, d5.loss_map_dir: 0.0875, loss: 193.9392, grad_norm: 4511.4064 2026-02-23 23:28:59,865 - DriveTransformer - INFO - Epoch [1][2750/117620] lr: 1.000e-04, eta: 28 days, 2:08:53, time: 0.330, data_time: 0.014, memory: 8394, loss_cls: 1.4887, loss_bbox: 1.2562, loss_traj: 6.0549, loss_traj_cls: 0.0023, loss_map_cls: 0.7490, loss_map_pts: 4.8754, loss_map_dir: 0.0873, d0.loss_plan_l1_fix_time: 10.6616, d0.loss_plan_l1_fix_dist: 0.9745, d1.loss_plan_l1_fix_time: 9.7191, d1.loss_plan_l1_fix_dist: 1.1357, d2.loss_plan_l1_fix_time: 9.0690, d2.loss_plan_l1_fix_dist: 1.4280, d3.loss_plan_l1_fix_time: 8.6273, d3.loss_plan_l1_fix_dist: 1.7467, d4.loss_plan_l1_fix_time: 8.3223, d4.loss_plan_l1_fix_dist: 2.1194, d5.loss_plan_l1_fix_time: 8.1425, d5.loss_plan_l1_fix_dist: 2.4308, d6.loss_plan_l1_fix_time: 8.0546, d6.loss_plan_l1_fix_dist: 2.6145, d0.loss_cls_all: 1.4738, d0.loss_bbox_all: 1.1208, d0.loss_cls: 1.4738, d0.loss_bbox: 1.1208, d1.loss_cls: 1.4966, d1.loss_bbox: 1.1312, d2.loss_cls: 1.4713, d2.loss_bbox: 1.1282, d3.loss_cls: 1.4867, d3.loss_bbox: 1.1373, d4.loss_cls: 1.4776, d4.loss_bbox: 1.1587, d5.loss_cls: 1.4736, d5.loss_bbox: 1.1884, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.3704, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7051, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.8567, d3.loss_traj_cls: 0.0009, d3.loss_traj: 5.9436, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.0134, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.0371, d0.loss_map_cls_all: 0.7383, d0.loss_map_pts_all: 5.0998, d0.loss_map_dir_all: 0.0876, d0.loss_map_cls: 0.7383, d0.loss_map_pts: 5.0998, d0.loss_map_dir: 0.0876, d1.loss_map_cls: 0.7417, d1.loss_map_pts: 4.9816, d1.loss_map_dir: 0.0875, d2.loss_map_cls: 0.7387, d2.loss_map_pts: 4.9323, d2.loss_map_dir: 0.0875, d3.loss_map_cls: 0.7423, d3.loss_map_pts: 4.9000, d3.loss_map_dir: 0.0875, d4.loss_map_cls: 0.7508, d4.loss_map_pts: 4.8816, d4.loss_map_dir: 0.0875, d5.loss_map_cls: 0.7467, d5.loss_map_pts: 4.8745, d5.loss_map_dir: 0.0874, loss: 183.4073, grad_norm: 4511.4064 2026-02-23 23:29:16,693 - DriveTransformer - INFO - Epoch [1][2800/117620] lr: 1.000e-04, eta: 28 days, 1:52:54, time: 0.337, data_time: 0.015, memory: 8394, loss_cls: 1.4851, loss_bbox: 1.3309, loss_traj: 5.6982, loss_traj_cls: 0.0022, loss_map_cls: 0.7375, loss_map_pts: 4.7509, loss_map_dir: 0.0883, d0.loss_plan_l1_fix_time: 8.2538, d0.loss_plan_l1_fix_dist: 1.1061, d1.loss_plan_l1_fix_time: 8.0556, d1.loss_plan_l1_fix_dist: 1.2593, d2.loss_plan_l1_fix_time: 8.0760, d2.loss_plan_l1_fix_dist: 1.5168, d3.loss_plan_l1_fix_time: 8.2113, d3.loss_plan_l1_fix_dist: 1.7626, d4.loss_plan_l1_fix_time: 8.3850, d4.loss_plan_l1_fix_dist: 2.0534, d5.loss_plan_l1_fix_time: 8.6011, d5.loss_plan_l1_fix_dist: 2.3316, d6.loss_plan_l1_fix_time: 8.8291, d6.loss_plan_l1_fix_dist: 2.5693, d0.loss_cls_all: 1.4687, d0.loss_bbox_all: 1.2323, d0.loss_cls: 1.4687, d0.loss_bbox: 1.2323, d1.loss_cls: 1.5029, d1.loss_bbox: 1.2430, d2.loss_cls: 1.4699, d2.loss_bbox: 1.2452, d3.loss_cls: 1.4891, d3.loss_bbox: 1.2563, d4.loss_cls: 1.4875, d4.loss_bbox: 1.2703, d5.loss_cls: 1.4763, d5.loss_bbox: 1.2871, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.9985, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3396, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.4984, d3.loss_traj_cls: 0.0010, d3.loss_traj: 5.5805, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.6563, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.6762, d0.loss_map_cls_all: 0.7300, d0.loss_map_pts_all: 5.0111, d0.loss_map_dir_all: 0.0883, d0.loss_map_cls: 0.7300, d0.loss_map_pts: 5.0111, d0.loss_map_dir: 0.0883, d1.loss_map_cls: 0.7323, d1.loss_map_pts: 4.8461, d1.loss_map_dir: 0.0885, d2.loss_map_cls: 0.7315, d2.loss_map_pts: 4.7745, d2.loss_map_dir: 0.0885, d3.loss_map_cls: 0.7324, d3.loss_map_pts: 4.7416, d3.loss_map_dir: 0.0885, d4.loss_map_cls: 0.7399, d4.loss_map_pts: 4.7352, d4.loss_map_dir: 0.0884, d5.loss_map_cls: 0.7357, d5.loss_map_pts: 4.7416, d5.loss_map_dir: 0.0883, loss: 176.5994, grad_norm: 4365.7658 2026-02-23 23:29:33,582 - DriveTransformer - INFO - Epoch [1][2850/117620] lr: 1.000e-04, eta: 28 days, 1:39:49, time: 0.338, data_time: 0.015, memory: 8394, loss_cls: 1.4725, loss_bbox: 1.4541, loss_traj: 4.6701, loss_traj_cls: 0.0021, loss_map_cls: 0.6931, loss_map_pts: 4.6263, loss_map_dir: 0.0891, d0.loss_plan_l1_fix_time: 9.0443, d0.loss_plan_l1_fix_dist: 1.0910, d1.loss_plan_l1_fix_time: 8.7230, d1.loss_plan_l1_fix_dist: 1.2807, d2.loss_plan_l1_fix_time: 8.6100, d2.loss_plan_l1_fix_dist: 1.6180, d3.loss_plan_l1_fix_time: 8.6126, d3.loss_plan_l1_fix_dist: 1.8684, d4.loss_plan_l1_fix_time: 8.6640, d4.loss_plan_l1_fix_dist: 2.1299, d5.loss_plan_l1_fix_time: 8.7684, d5.loss_plan_l1_fix_dist: 2.3975, d6.loss_plan_l1_fix_time: 8.9142, d6.loss_plan_l1_fix_dist: 2.7912, d0.loss_cls_all: 1.4547, d0.loss_bbox_all: 1.4287, d0.loss_cls: 1.4547, d0.loss_bbox: 1.4287, d1.loss_cls: 1.4904, d1.loss_bbox: 1.4288, d2.loss_cls: 1.4720, d2.loss_bbox: 1.4382, d3.loss_cls: 1.4883, d3.loss_bbox: 1.4446, d4.loss_cls: 1.4853, d4.loss_bbox: 1.4522, d5.loss_cls: 1.4661, d5.loss_bbox: 1.4532, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.0653, d1.loss_traj_cls: 0.0008, d1.loss_traj: 4.3608, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.5086, d3.loss_traj_cls: 0.0009, d3.loss_traj: 4.5767, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.6396, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.6446, d0.loss_map_cls_all: 0.6878, d0.loss_map_pts_all: 4.8355, d0.loss_map_dir_all: 0.0896, d0.loss_map_cls: 0.6878, d0.loss_map_pts: 4.8355, d0.loss_map_dir: 0.0896, d1.loss_map_cls: 0.6904, d1.loss_map_pts: 4.6675, d1.loss_map_dir: 0.0895, d2.loss_map_cls: 0.6935, d2.loss_map_pts: 4.6094, d2.loss_map_dir: 0.0894, d3.loss_map_cls: 0.6901, d3.loss_map_pts: 4.5898, d3.loss_map_dir: 0.0894, d4.loss_map_cls: 0.6922, d4.loss_map_pts: 4.5925, d4.loss_map_dir: 0.0893, d5.loss_map_cls: 0.6953, d5.loss_map_pts: 4.6089, d5.loss_map_dir: 0.0891, loss: 172.9081, grad_norm: 4365.7658 2026-02-23 23:29:50,514 - DriveTransformer - INFO - Epoch [1][2900/117620] lr: 1.000e-04, eta: 28 days, 1:29:11, time: 0.339, data_time: 0.016, memory: 8394, loss_cls: 1.4530, loss_bbox: 1.3606, loss_traj: 5.7188, loss_traj_cls: 0.0020, loss_map_cls: 0.7131, loss_map_pts: 4.9308, loss_map_dir: 0.0872, d0.loss_plan_l1_fix_time: 10.1161, d0.loss_plan_l1_fix_dist: 1.1097, d1.loss_plan_l1_fix_time: 9.1542, d1.loss_plan_l1_fix_dist: 1.2682, d2.loss_plan_l1_fix_time: 8.5317, d2.loss_plan_l1_fix_dist: 1.5787, d3.loss_plan_l1_fix_time: 8.1190, d3.loss_plan_l1_fix_dist: 1.8048, d4.loss_plan_l1_fix_time: 7.8519, d4.loss_plan_l1_fix_dist: 2.0492, d5.loss_plan_l1_fix_time: 7.7082, d5.loss_plan_l1_fix_dist: 2.2855, d6.loss_plan_l1_fix_time: 7.6785, d6.loss_plan_l1_fix_dist: 2.6578, d0.loss_cls_all: 1.4466, d0.loss_bbox_all: 1.3071, d0.loss_cls: 1.4466, d0.loss_bbox: 1.3071, d1.loss_cls: 1.4744, d1.loss_bbox: 1.3105, d2.loss_cls: 1.4600, d2.loss_bbox: 1.3229, d3.loss_cls: 1.4685, d3.loss_bbox: 1.3365, d4.loss_cls: 1.4631, d4.loss_bbox: 1.3526, d5.loss_cls: 1.4493, d5.loss_bbox: 1.3565, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.9669, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3319, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.5244, d3.loss_traj_cls: 0.0008, d3.loss_traj: 5.6162, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.6837, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.6968, d0.loss_map_cls_all: 0.7009, d0.loss_map_pts_all: 5.1947, d0.loss_map_dir_all: 0.0876, d0.loss_map_cls: 0.7009, d0.loss_map_pts: 5.1947, d0.loss_map_dir: 0.0876, d1.loss_map_cls: 0.7060, d1.loss_map_pts: 5.0390, d1.loss_map_dir: 0.0875, d2.loss_map_cls: 0.7082, d2.loss_map_pts: 4.9737, d2.loss_map_dir: 0.0875, d3.loss_map_cls: 0.7081, d3.loss_map_pts: 4.9416, d3.loss_map_dir: 0.0873, d4.loss_map_cls: 0.7128, d4.loss_map_pts: 4.9302, d4.loss_map_dir: 0.0873, d5.loss_map_cls: 0.7149, d5.loss_map_pts: 4.9291, d5.loss_map_dir: 0.0872, loss: 179.2713, grad_norm: 4232.1341 2026-02-23 23:30:06,797 - DriveTransformer - INFO - Epoch [1][2950/117620] lr: 1.000e-04, eta: 28 days, 0:52:51, time: 0.326, data_time: 0.015, memory: 8394, loss_cls: 1.4835, loss_bbox: 1.4206, loss_traj: 5.2047, loss_traj_cls: 0.0017, loss_map_cls: 0.7617, loss_map_pts: 4.8147, loss_map_dir: 0.0853, d0.loss_plan_l1_fix_time: 9.7795, d0.loss_plan_l1_fix_dist: 1.0288, d1.loss_plan_l1_fix_time: 8.8991, d1.loss_plan_l1_fix_dist: 1.1873, d2.loss_plan_l1_fix_time: 8.3586, d2.loss_plan_l1_fix_dist: 1.4735, d3.loss_plan_l1_fix_time: 8.0246, d3.loss_plan_l1_fix_dist: 1.6411, d4.loss_plan_l1_fix_time: 7.8046, d4.loss_plan_l1_fix_dist: 1.8599, d5.loss_plan_l1_fix_time: 7.6712, d5.loss_plan_l1_fix_dist: 2.0380, d6.loss_plan_l1_fix_time: 7.6388, d6.loss_plan_l1_fix_dist: 2.3710, d0.loss_cls_all: 1.4709, d0.loss_bbox_all: 1.3587, d0.loss_cls: 1.4709, d0.loss_bbox: 1.3587, d1.loss_cls: 1.4870, d1.loss_bbox: 1.3550, d2.loss_cls: 1.4868, d2.loss_bbox: 1.3750, d3.loss_cls: 1.4867, d3.loss_bbox: 1.3902, d4.loss_cls: 1.4888, d4.loss_bbox: 1.4049, d5.loss_cls: 1.4795, d5.loss_bbox: 1.4141, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.5562, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8897, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.0580, d3.loss_traj_cls: 0.0007, d3.loss_traj: 5.1454, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1887, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.1998, d0.loss_map_cls_all: 0.7568, d0.loss_map_pts_all: 5.1204, d0.loss_map_dir_all: 0.0856, d0.loss_map_cls: 0.7568, d0.loss_map_pts: 5.1204, d0.loss_map_dir: 0.0856, d1.loss_map_cls: 0.7692, d1.loss_map_pts: 4.9298, d1.loss_map_dir: 0.0857, d2.loss_map_cls: 0.7658, d2.loss_map_pts: 4.8501, d2.loss_map_dir: 0.0854, d3.loss_map_cls: 0.7622, d3.loss_map_pts: 4.8181, d3.loss_map_dir: 0.0854, d4.loss_map_cls: 0.7611, d4.loss_map_pts: 4.8088, d4.loss_map_dir: 0.0854, d5.loss_map_cls: 0.7628, d5.loss_map_pts: 4.8123, d5.loss_map_dir: 0.0853, loss: 174.0098, grad_norm: 4232.1341 2026-02-23 23:30:24,260 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-23 23:30:24,260 - DriveTransformer - INFO - Epoch [1][3000/117620] lr: 1.000e-04, eta: 28 days, 1:04:05, time: 0.349, data_time: 0.015, memory: 8394, loss_cls: 1.4541, loss_bbox: 1.3512, loss_traj: 6.5258, loss_traj_cls: 0.0017, loss_map_cls: 0.7532, loss_map_pts: 4.6822, loss_map_dir: 0.0850, d0.loss_plan_l1_fix_time: 9.4426, d0.loss_plan_l1_fix_dist: 0.9997, d1.loss_plan_l1_fix_time: 8.7267, d1.loss_plan_l1_fix_dist: 1.1578, d2.loss_plan_l1_fix_time: 8.3758, d2.loss_plan_l1_fix_dist: 1.3937, d3.loss_plan_l1_fix_time: 8.1929, d3.loss_plan_l1_fix_dist: 1.6354, d4.loss_plan_l1_fix_time: 8.1263, d4.loss_plan_l1_fix_dist: 1.8765, d5.loss_plan_l1_fix_time: 8.1646, d5.loss_plan_l1_fix_dist: 2.0956, d6.loss_plan_l1_fix_time: 8.2723, d6.loss_plan_l1_fix_dist: 2.3469, d0.loss_cls_all: 1.4332, d0.loss_bbox_all: 1.3025, d0.loss_cls: 1.4332, d0.loss_bbox: 1.3025, d1.loss_cls: 1.4534, d1.loss_bbox: 1.3083, d2.loss_cls: 1.4524, d2.loss_bbox: 1.3162, d3.loss_cls: 1.4446, d3.loss_bbox: 1.3288, d4.loss_cls: 1.4395, d4.loss_bbox: 1.3450, d5.loss_cls: 1.4401, d5.loss_bbox: 1.3503, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.6791, d1.loss_traj_cls: 0.0007, d1.loss_traj: 6.0993, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.3091, d3.loss_traj_cls: 0.0007, d3.loss_traj: 6.4301, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.4835, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.5008, d0.loss_map_cls_all: 0.7456, d0.loss_map_pts_all: 4.9286, d0.loss_map_dir_all: 0.0851, d0.loss_map_cls: 0.7456, d0.loss_map_pts: 4.9286, d0.loss_map_dir: 0.0851, d1.loss_map_cls: 0.7488, d1.loss_map_pts: 4.7549, d1.loss_map_dir: 0.0852, d2.loss_map_cls: 0.7515, d2.loss_map_pts: 4.6946, d2.loss_map_dir: 0.0851, d3.loss_map_cls: 0.7495, d3.loss_map_pts: 4.6749, d3.loss_map_dir: 0.0851, d4.loss_map_cls: 0.7502, d4.loss_map_pts: 4.6717, d4.loss_map_dir: 0.0851, d5.loss_map_cls: 0.7566, d5.loss_map_pts: 4.6762, d5.loss_map_dir: 0.0850, loss: 181.6889, grad_norm: 4103.3972 2026-02-23 23:30:41,670 - DriveTransformer - INFO - Epoch [1][3050/117620] lr: 1.000e-04, eta: 28 days, 1:12:54, time: 0.348, data_time: 0.014, memory: 8394, loss_cls: 1.4503, loss_bbox: 1.3435, loss_traj: 5.3609, loss_traj_cls: 0.0016, loss_map_cls: 0.7202, loss_map_pts: 4.7105, loss_map_dir: 0.0850, d0.loss_plan_l1_fix_time: 9.0746, d0.loss_plan_l1_fix_dist: 1.1318, d1.loss_plan_l1_fix_time: 8.2567, d1.loss_plan_l1_fix_dist: 1.2956, d2.loss_plan_l1_fix_time: 7.7895, d2.loss_plan_l1_fix_dist: 1.4918, d3.loss_plan_l1_fix_time: 7.5275, d3.loss_plan_l1_fix_dist: 1.7866, d4.loss_plan_l1_fix_time: 7.4210, d4.loss_plan_l1_fix_dist: 2.0249, d5.loss_plan_l1_fix_time: 7.4250, d5.loss_plan_l1_fix_dist: 2.2822, d6.loss_plan_l1_fix_time: 7.5187, d6.loss_plan_l1_fix_dist: 2.4151, d0.loss_cls_all: 1.4177, d0.loss_bbox_all: 1.3321, d0.loss_cls: 1.4177, d0.loss_bbox: 1.3321, d1.loss_cls: 1.4513, d1.loss_bbox: 1.3386, d2.loss_cls: 1.4370, d2.loss_bbox: 1.3312, d3.loss_cls: 1.4379, d3.loss_bbox: 1.3342, d4.loss_cls: 1.4325, d4.loss_bbox: 1.3399, d5.loss_cls: 1.4251, d5.loss_bbox: 1.3414, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.5928, d1.loss_traj_cls: 0.0007, d1.loss_traj: 4.9701, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1479, d3.loss_traj_cls: 0.0007, d3.loss_traj: 5.2700, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.2984, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.3221, d0.loss_map_cls_all: 0.7032, d0.loss_map_pts_all: 4.9353, d0.loss_map_dir_all: 0.0849, d0.loss_map_cls: 0.7032, d0.loss_map_pts: 4.9353, d0.loss_map_dir: 0.0849, d1.loss_map_cls: 0.7090, d1.loss_map_pts: 4.7831, d1.loss_map_dir: 0.0850, d2.loss_map_cls: 0.7098, d2.loss_map_pts: 4.7374, d2.loss_map_dir: 0.0850, d3.loss_map_cls: 0.7121, d3.loss_map_pts: 4.7195, d3.loss_map_dir: 0.0850, d4.loss_map_cls: 0.7192, d4.loss_map_pts: 4.7113, d4.loss_map_dir: 0.0850, d5.loss_map_cls: 0.7255, d5.loss_map_pts: 4.7083, d5.loss_map_dir: 0.0850, loss: 170.1942, grad_norm: 4103.3972 2026-02-23 23:30:58,712 - DriveTransformer - INFO - Epoch [1][3100/117620] lr: 1.000e-04, eta: 28 days, 1:07:23, time: 0.341, data_time: 0.015, memory: 8394, loss_cls: 1.4919, loss_bbox: 1.4899, loss_traj: 5.4281, loss_traj_cls: 0.0017, loss_map_cls: 0.7006, loss_map_pts: 4.5794, loss_map_dir: 0.0849, d0.loss_plan_l1_fix_time: 9.8407, d0.loss_plan_l1_fix_dist: 0.9563, d1.loss_plan_l1_fix_time: 8.6468, d1.loss_plan_l1_fix_dist: 1.0865, d2.loss_plan_l1_fix_time: 7.9472, d2.loss_plan_l1_fix_dist: 1.2611, d3.loss_plan_l1_fix_time: 7.5515, d3.loss_plan_l1_fix_dist: 1.5263, d4.loss_plan_l1_fix_time: 7.3398, d4.loss_plan_l1_fix_dist: 1.8131, d5.loss_plan_l1_fix_time: 7.2760, d5.loss_plan_l1_fix_dist: 2.1396, d6.loss_plan_l1_fix_time: 7.2977, d6.loss_plan_l1_fix_dist: 2.3774, d0.loss_cls_all: 1.4653, d0.loss_bbox_all: 1.4114, d0.loss_cls: 1.4653, d0.loss_bbox: 1.4114, d1.loss_cls: 1.4970, d1.loss_bbox: 1.4422, d2.loss_cls: 1.4905, d2.loss_bbox: 1.4379, d3.loss_cls: 1.4942, d3.loss_bbox: 1.4477, d4.loss_cls: 1.4870, d4.loss_bbox: 1.4576, d5.loss_cls: 1.4785, d5.loss_bbox: 1.4684, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.6703, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.0374, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.2199, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.3274, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3716, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.3997, d0.loss_map_cls_all: 0.6838, d0.loss_map_pts_all: 4.8592, d0.loss_map_dir_all: 0.0846, d0.loss_map_cls: 0.6838, d0.loss_map_pts: 4.8592, d0.loss_map_dir: 0.0846, d1.loss_map_cls: 0.6851, d1.loss_map_pts: 4.6696, d1.loss_map_dir: 0.0848, d2.loss_map_cls: 0.6886, d2.loss_map_pts: 4.6113, d2.loss_map_dir: 0.0849, d3.loss_map_cls: 0.6916, d3.loss_map_pts: 4.5905, d3.loss_map_dir: 0.0849, d4.loss_map_cls: 0.6969, d4.loss_map_pts: 4.5809, d4.loss_map_dir: 0.0848, d5.loss_map_cls: 0.7042, d5.loss_map_pts: 4.5759, d5.loss_map_dir: 0.0849, loss: 170.4949, grad_norm: 3984.8450 2026-02-23 23:31:15,685 - DriveTransformer - INFO - Epoch [1][3150/117620] lr: 1.000e-04, eta: 28 days, 0:59:30, time: 0.339, data_time: 0.016, memory: 8394, loss_cls: 1.4260, loss_bbox: 1.4728, loss_traj: 6.1539, loss_traj_cls: 0.0017, loss_map_cls: 0.7252, loss_map_pts: 4.8007, loss_map_dir: 0.0850, d0.loss_plan_l1_fix_time: 9.6681, d0.loss_plan_l1_fix_dist: 1.1287, d1.loss_plan_l1_fix_time: 8.4933, d1.loss_plan_l1_fix_dist: 1.2585, d2.loss_plan_l1_fix_time: 7.7866, d2.loss_plan_l1_fix_dist: 1.4240, d3.loss_plan_l1_fix_time: 7.3785, d3.loss_plan_l1_fix_dist: 1.7283, d4.loss_plan_l1_fix_time: 7.2054, d4.loss_plan_l1_fix_dist: 2.0629, d5.loss_plan_l1_fix_time: 7.1917, d5.loss_plan_l1_fix_dist: 2.4776, d6.loss_plan_l1_fix_time: 7.2614, d6.loss_plan_l1_fix_dist: 2.8289, d0.loss_cls_all: 1.3927, d0.loss_bbox_all: 1.3335, d0.loss_cls: 1.3927, d0.loss_bbox: 1.3335, d1.loss_cls: 1.4087, d1.loss_bbox: 1.3821, d2.loss_cls: 1.4079, d2.loss_bbox: 1.3933, d3.loss_cls: 1.3990, d3.loss_bbox: 1.4003, d4.loss_cls: 1.4061, d4.loss_bbox: 1.4144, d5.loss_cls: 1.4172, d5.loss_bbox: 1.4287, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.2712, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7019, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.9206, d3.loss_traj_cls: 0.0006, d3.loss_traj: 6.0307, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.0935, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.1318, d0.loss_map_cls_all: 0.7168, d0.loss_map_pts_all: 5.0671, d0.loss_map_dir_all: 0.0849, d0.loss_map_cls: 0.7168, d0.loss_map_pts: 5.0671, d0.loss_map_dir: 0.0849, d1.loss_map_cls: 0.7225, d1.loss_map_pts: 4.8792, d1.loss_map_dir: 0.0849, d2.loss_map_cls: 0.7249, d2.loss_map_pts: 4.8215, d2.loss_map_dir: 0.0850, d3.loss_map_cls: 0.7215, d3.loss_map_pts: 4.8068, d3.loss_map_dir: 0.0851, d4.loss_map_cls: 0.7229, d4.loss_map_pts: 4.7994, d4.loss_map_dir: 0.0851, d5.loss_map_cls: 0.7274, d5.loss_map_pts: 4.7954, d5.loss_map_dir: 0.0850, loss: 177.1067, grad_norm: 3984.8450 2026-02-23 23:31:33,220 - DriveTransformer - INFO - Epoch [1][3200/117620] lr: 1.000e-04, eta: 28 days, 1:12:39, time: 0.351, data_time: 0.016, memory: 8394, loss_cls: 1.4556, loss_bbox: 1.3889, loss_traj: 5.2556, loss_traj_cls: 0.0017, loss_map_cls: 0.7117, loss_map_pts: 4.7260, loss_map_dir: 0.0837, d0.loss_plan_l1_fix_time: 8.8905, d0.loss_plan_l1_fix_dist: 0.9974, d1.loss_plan_l1_fix_time: 7.7964, d1.loss_plan_l1_fix_dist: 1.1320, d2.loss_plan_l1_fix_time: 7.2261, d2.loss_plan_l1_fix_dist: 1.2988, d3.loss_plan_l1_fix_time: 6.9633, d3.loss_plan_l1_fix_dist: 1.5247, d4.loss_plan_l1_fix_time: 6.9139, d4.loss_plan_l1_fix_dist: 1.7760, d5.loss_plan_l1_fix_time: 6.9765, d5.loss_plan_l1_fix_dist: 2.0728, d6.loss_plan_l1_fix_time: 7.0822, d6.loss_plan_l1_fix_dist: 2.4056, d0.loss_cls_all: 1.4436, d0.loss_bbox_all: 1.3307, d0.loss_cls: 1.4436, d0.loss_bbox: 1.3307, d1.loss_cls: 1.4797, d1.loss_bbox: 1.3491, d2.loss_cls: 1.4584, d2.loss_bbox: 1.3485, d3.loss_cls: 1.4611, d3.loss_bbox: 1.3495, d4.loss_cls: 1.4555, d4.loss_bbox: 1.3584, d5.loss_cls: 1.4491, d5.loss_bbox: 1.3694, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.5297, d1.loss_traj_cls: 0.0007, d1.loss_traj: 4.8811, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0614, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.1359, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.2085, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.2345, d0.loss_map_cls_all: 0.6979, d0.loss_map_pts_all: 4.9964, d0.loss_map_dir_all: 0.0838, d0.loss_map_cls: 0.6979, d0.loss_map_pts: 4.9964, d0.loss_map_dir: 0.0838, d1.loss_map_cls: 0.7042, d1.loss_map_pts: 4.7874, d1.loss_map_dir: 0.0838, d2.loss_map_cls: 0.7060, d2.loss_map_pts: 4.7331, d2.loss_map_dir: 0.0837, d3.loss_map_cls: 0.7041, d3.loss_map_pts: 4.7242, d3.loss_map_dir: 0.0837, d4.loss_map_cls: 0.7068, d4.loss_map_pts: 4.7238, d4.loss_map_dir: 0.0837, d5.loss_map_cls: 0.7131, d5.loss_map_pts: 4.7247, d5.loss_map_dir: 0.0837, loss: 165.5642, grad_norm: 3873.7402 2026-02-23 23:31:50,819 - DriveTransformer - INFO - Epoch [1][3250/117620] lr: 1.000e-04, eta: 28 days, 1:27:31, time: 0.352, data_time: 0.014, memory: 8394, loss_cls: 1.4760, loss_bbox: 1.3881, loss_traj: 6.1555, loss_traj_cls: 0.0015, loss_map_cls: 0.7580, loss_map_pts: 4.6529, loss_map_dir: 0.0841, d0.loss_plan_l1_fix_time: 8.5250, d0.loss_plan_l1_fix_dist: 0.8364, d1.loss_plan_l1_fix_time: 7.8279, d1.loss_plan_l1_fix_dist: 1.0214, d2.loss_plan_l1_fix_time: 7.5126, d2.loss_plan_l1_fix_dist: 1.2071, d3.loss_plan_l1_fix_time: 7.3727, d3.loss_plan_l1_fix_dist: 1.4232, d4.loss_plan_l1_fix_time: 7.3252, d4.loss_plan_l1_fix_dist: 1.6517, d5.loss_plan_l1_fix_time: 7.3456, d5.loss_plan_l1_fix_dist: 1.8952, d6.loss_plan_l1_fix_time: 7.4048, d6.loss_plan_l1_fix_dist: 2.2252, d0.loss_cls_all: 1.4639, d0.loss_bbox_all: 1.3581, d0.loss_cls: 1.4639, d0.loss_bbox: 1.3581, d1.loss_cls: 1.4803, d1.loss_bbox: 1.3701, d2.loss_cls: 1.4829, d2.loss_bbox: 1.3698, d3.loss_cls: 1.4777, d3.loss_bbox: 1.3646, d4.loss_cls: 1.4711, d4.loss_bbox: 1.3668, d5.loss_cls: 1.4786, d5.loss_bbox: 1.3763, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.2343, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.6827, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.9120, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.9987, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.1042, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.1256, d0.loss_map_cls_all: 0.7526, d0.loss_map_pts_all: 5.0381, d0.loss_map_dir_all: 0.0841, d0.loss_map_cls: 0.7526, d0.loss_map_pts: 5.0381, d0.loss_map_dir: 0.0841, d1.loss_map_cls: 0.7549, d1.loss_map_pts: 4.7658, d1.loss_map_dir: 0.0841, d2.loss_map_cls: 0.7613, d2.loss_map_pts: 4.6907, d2.loss_map_dir: 0.0840, d3.loss_map_cls: 0.7541, d3.loss_map_pts: 4.6700, d3.loss_map_dir: 0.0840, d4.loss_map_cls: 0.7563, d4.loss_map_pts: 4.6641, d4.loss_map_dir: 0.0840, d5.loss_map_cls: 0.7563, d5.loss_map_pts: 4.6611, d5.loss_map_dir: 0.0840, loss: 172.4372, grad_norm: 3873.7402 2026-02-23 23:32:08,275 - DriveTransformer - INFO - Epoch [1][3300/117620] lr: 1.000e-04, eta: 28 days, 1:36:51, time: 0.349, data_time: 0.016, memory: 8394, loss_cls: 1.4145, loss_bbox: 1.3843, loss_traj: 4.9104, loss_traj_cls: 0.0014, loss_map_cls: 0.7178, loss_map_pts: 4.8108, loss_map_dir: 0.0840, d0.loss_plan_l1_fix_time: 7.9135, d0.loss_plan_l1_fix_dist: 1.2039, d1.loss_plan_l1_fix_time: 7.2234, d1.loss_plan_l1_fix_dist: 1.3342, d2.loss_plan_l1_fix_time: 6.9734, d2.loss_plan_l1_fix_dist: 1.5457, d3.loss_plan_l1_fix_time: 6.9443, d3.loss_plan_l1_fix_dist: 1.7411, d4.loss_plan_l1_fix_time: 7.0548, d4.loss_plan_l1_fix_dist: 1.9761, d5.loss_plan_l1_fix_time: 7.2622, d5.loss_plan_l1_fix_dist: 2.2329, d6.loss_plan_l1_fix_time: 7.4915, d6.loss_plan_l1_fix_dist: 2.5050, d0.loss_cls_all: 1.4094, d0.loss_bbox_all: 1.3320, d0.loss_cls: 1.4094, d0.loss_bbox: 1.3320, d1.loss_cls: 1.4323, d1.loss_bbox: 1.3422, d2.loss_cls: 1.4257, d2.loss_bbox: 1.3532, d3.loss_cls: 1.4246, d3.loss_bbox: 1.3573, d4.loss_cls: 1.4180, d4.loss_bbox: 1.3654, d5.loss_cls: 1.4190, d5.loss_bbox: 1.3813, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.0557, d1.loss_traj_cls: 0.0007, d1.loss_traj: 4.4684, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.6778, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.7766, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.8556, d5.loss_traj_cls: 0.0007, d5.loss_traj: 4.8748, d0.loss_map_cls_all: 0.7098, d0.loss_map_pts_all: 5.1400, d0.loss_map_dir_all: 0.0840, d0.loss_map_cls: 0.7098, d0.loss_map_pts: 5.1400, d0.loss_map_dir: 0.0840, d1.loss_map_cls: 0.7223, d1.loss_map_pts: 4.8873, d1.loss_map_dir: 0.0839, d2.loss_map_cls: 0.7166, d2.loss_map_pts: 4.8258, d2.loss_map_dir: 0.0839, d3.loss_map_cls: 0.7155, d3.loss_map_pts: 4.8205, d3.loss_map_dir: 0.0839, d4.loss_map_cls: 0.7178, d4.loss_map_pts: 4.8198, d4.loss_map_dir: 0.0839, d5.loss_map_cls: 0.7178, d5.loss_map_pts: 4.8160, d5.loss_map_dir: 0.0839, loss: 163.8865, grad_norm: 3767.3799 2026-02-23 23:32:26,110 - DriveTransformer - INFO - Epoch [1][3350/117620] lr: 1.000e-04, eta: 28 days, 1:59:10, time: 0.357, data_time: 0.014, memory: 8394, loss_cls: 1.4241, loss_bbox: 1.3664, loss_traj: 4.8151, loss_traj_cls: 0.0013, loss_map_cls: 0.7045, loss_map_pts: 4.4605, loss_map_dir: 0.0843, d0.loss_plan_l1_fix_time: 8.2655, d0.loss_plan_l1_fix_dist: 0.9484, d1.loss_plan_l1_fix_time: 7.4364, d1.loss_plan_l1_fix_dist: 1.0629, d2.loss_plan_l1_fix_time: 7.0983, d2.loss_plan_l1_fix_dist: 1.3161, d3.loss_plan_l1_fix_time: 6.9734, d3.loss_plan_l1_fix_dist: 1.5294, d4.loss_plan_l1_fix_time: 6.9696, d4.loss_plan_l1_fix_dist: 1.7858, d5.loss_plan_l1_fix_time: 7.0494, d5.loss_plan_l1_fix_dist: 2.0601, d6.loss_plan_l1_fix_time: 7.1630, d6.loss_plan_l1_fix_dist: 2.3208, d0.loss_cls_all: 1.4111, d0.loss_bbox_all: 1.3177, d0.loss_cls: 1.4111, d0.loss_bbox: 1.3177, d1.loss_cls: 1.4159, d1.loss_bbox: 1.3208, d2.loss_cls: 1.4309, d2.loss_bbox: 1.3337, d3.loss_cls: 1.4222, d3.loss_bbox: 1.3398, d4.loss_cls: 1.4174, d4.loss_bbox: 1.3501, d5.loss_cls: 1.4277, d5.loss_bbox: 1.3663, d0.loss_traj_cls: 0.0007, d0.loss_traj: 3.9855, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.3921, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.5917, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.6957, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.7655, d5.loss_traj_cls: 0.0007, d5.loss_traj: 4.7790, d0.loss_map_cls_all: 0.6957, d0.loss_map_pts_all: 4.7369, d0.loss_map_dir_all: 0.0844, d0.loss_map_cls: 0.6957, d0.loss_map_pts: 4.7369, d0.loss_map_dir: 0.0844, d1.loss_map_cls: 0.7026, d1.loss_map_pts: 4.5077, d1.loss_map_dir: 0.0843, d2.loss_map_cls: 0.7029, d2.loss_map_pts: 4.4638, d2.loss_map_dir: 0.0842, d3.loss_map_cls: 0.7014, d3.loss_map_pts: 4.4576, d3.loss_map_dir: 0.0842, d4.loss_map_cls: 0.7098, d4.loss_map_pts: 4.4526, d4.loss_map_dir: 0.0842, d5.loss_map_cls: 0.7067, d5.loss_map_pts: 4.4496, d5.loss_map_dir: 0.0842, loss: 158.6405, grad_norm: 3767.3799 2026-02-23 23:32:42,471 - DriveTransformer - INFO - Epoch [1][3400/117620] lr: 1.000e-04, eta: 28 days, 1:29:55, time: 0.327, data_time: 0.014, memory: 8394, loss_cls: 1.4869, loss_bbox: 1.2506, loss_traj: 6.7382, loss_traj_cls: 0.0012, loss_map_cls: 0.7373, loss_map_pts: 4.6413, loss_map_dir: 0.0833, d0.loss_plan_l1_fix_time: 9.7640, d0.loss_plan_l1_fix_dist: 0.8092, d1.loss_plan_l1_fix_time: 8.3521, d1.loss_plan_l1_fix_dist: 0.9434, d2.loss_plan_l1_fix_time: 7.4609, d2.loss_plan_l1_fix_dist: 1.2028, d3.loss_plan_l1_fix_time: 6.8790, d3.loss_plan_l1_fix_dist: 1.4332, d4.loss_plan_l1_fix_time: 6.5013, d4.loss_plan_l1_fix_dist: 1.7143, d5.loss_plan_l1_fix_time: 6.2680, d5.loss_plan_l1_fix_dist: 1.9958, d6.loss_plan_l1_fix_time: 6.1459, d6.loss_plan_l1_fix_dist: 2.3453, d0.loss_cls_all: 1.4344, d0.loss_bbox_all: 1.1949, d0.loss_cls: 1.4344, d0.loss_bbox: 1.1949, d1.loss_cls: 1.4493, d1.loss_bbox: 1.1934, d2.loss_cls: 1.4558, d2.loss_bbox: 1.2125, d3.loss_cls: 1.4491, d3.loss_bbox: 1.2195, d4.loss_cls: 1.4658, d4.loss_bbox: 1.2322, d5.loss_cls: 1.4704, d5.loss_bbox: 1.2436, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.5671, d1.loss_traj_cls: 0.0006, d1.loss_traj: 6.1653, d2.loss_traj_cls: 0.0005, d2.loss_traj: 6.4298, d3.loss_traj_cls: 0.0006, d3.loss_traj: 6.5681, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.6517, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.6918, d0.loss_map_cls_all: 0.7205, d0.loss_map_pts_all: 4.8180, d0.loss_map_dir_all: 0.0833, d0.loss_map_cls: 0.7205, d0.loss_map_pts: 4.8180, d0.loss_map_dir: 0.0833, d1.loss_map_cls: 0.7315, d1.loss_map_pts: 4.6301, d1.loss_map_dir: 0.0835, d2.loss_map_cls: 0.7337, d2.loss_map_pts: 4.5944, d2.loss_map_dir: 0.0835, d3.loss_map_cls: 0.7336, d3.loss_map_pts: 4.6004, d3.loss_map_dir: 0.0834, d4.loss_map_cls: 0.7377, d4.loss_map_pts: 4.6022, d4.loss_map_dir: 0.0834, d5.loss_map_cls: 0.7374, d5.loss_map_pts: 4.6048, d5.loss_map_dir: 0.0833, loss: 171.8475, grad_norm: 3668.2765 2026-02-23 23:32:59,958 - DriveTransformer - INFO - Epoch [1][3450/117620] lr: 1.000e-04, eta: 28 days, 1:39:51, time: 0.350, data_time: 0.014, memory: 8394, loss_cls: 1.3812, loss_bbox: 1.2306, loss_traj: 5.4196, loss_traj_cls: 0.0012, loss_map_cls: 0.7338, loss_map_pts: 4.5656, loss_map_dir: 0.0833, d0.loss_plan_l1_fix_time: 8.5094, d0.loss_plan_l1_fix_dist: 1.1245, d1.loss_plan_l1_fix_time: 7.4704, d1.loss_plan_l1_fix_dist: 1.2225, d2.loss_plan_l1_fix_time: 6.9517, d2.loss_plan_l1_fix_dist: 1.4413, d3.loss_plan_l1_fix_time: 6.6819, d3.loss_plan_l1_fix_dist: 1.6557, d4.loss_plan_l1_fix_time: 6.5869, d4.loss_plan_l1_fix_dist: 1.9258, d5.loss_plan_l1_fix_time: 6.5872, d5.loss_plan_l1_fix_dist: 2.1987, d6.loss_plan_l1_fix_time: 6.6415, d6.loss_plan_l1_fix_dist: 2.5522, d0.loss_cls_all: 1.3511, d0.loss_bbox_all: 1.1875, d0.loss_cls: 1.3511, d0.loss_bbox: 1.1875, d1.loss_cls: 1.3566, d1.loss_bbox: 1.1825, d2.loss_cls: 1.3639, d2.loss_bbox: 1.1974, d3.loss_cls: 1.3615, d3.loss_bbox: 1.2064, d4.loss_cls: 1.3675, d4.loss_bbox: 1.2152, d5.loss_cls: 1.3729, d5.loss_bbox: 1.2232, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.3999, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9036, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1350, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.2648, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.3399, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.3797, d0.loss_map_cls_all: 0.7184, d0.loss_map_pts_all: 4.7290, d0.loss_map_dir_all: 0.0835, d0.loss_map_cls: 0.7184, d0.loss_map_pts: 4.7290, d0.loss_map_dir: 0.0835, d1.loss_map_cls: 0.7287, d1.loss_map_pts: 4.5190, d1.loss_map_dir: 0.0833, d2.loss_map_cls: 0.7322, d2.loss_map_pts: 4.4857, d2.loss_map_dir: 0.0832, d3.loss_map_cls: 0.7321, d3.loss_map_pts: 4.4934, d3.loss_map_dir: 0.0832, d4.loss_map_cls: 0.7358, d4.loss_map_pts: 4.5010, d4.loss_map_dir: 0.0833, d5.loss_map_cls: 0.7345, d5.loss_map_pts: 4.5088, d5.loss_map_dir: 0.0833, loss: 160.9653, grad_norm: 3668.2765 2026-02-23 23:33:16,894 - DriveTransformer - INFO - Epoch [1][3500/117620] lr: 1.000e-04, eta: 28 days, 1:30:59, time: 0.339, data_time: 0.017, memory: 8394, loss_cls: 1.4864, loss_bbox: 1.4342, loss_traj: 4.2695, loss_traj_cls: 0.0011, loss_map_cls: 0.7090, loss_map_pts: 4.5384, loss_map_dir: 0.0840, d0.loss_plan_l1_fix_time: 7.8440, d0.loss_plan_l1_fix_dist: 1.1937, d1.loss_plan_l1_fix_time: 7.0203, d1.loss_plan_l1_fix_dist: 1.3080, d2.loss_plan_l1_fix_time: 6.7935, d2.loss_plan_l1_fix_dist: 1.4894, d3.loss_plan_l1_fix_time: 6.7780, d3.loss_plan_l1_fix_dist: 1.6924, d4.loss_plan_l1_fix_time: 6.8655, d4.loss_plan_l1_fix_dist: 1.9327, d5.loss_plan_l1_fix_time: 6.9954, d5.loss_plan_l1_fix_dist: 2.1732, d6.loss_plan_l1_fix_time: 7.1472, d6.loss_plan_l1_fix_dist: 2.3505, d0.loss_cls_all: 1.4592, d0.loss_bbox_all: 1.3281, d0.loss_cls: 1.4592, d0.loss_bbox: 1.3281, d1.loss_cls: 1.4983, d1.loss_bbox: 1.3376, d2.loss_cls: 1.4669, d2.loss_bbox: 1.3476, d3.loss_cls: 1.4731, d3.loss_bbox: 1.3684, d4.loss_cls: 1.4749, d4.loss_bbox: 1.3921, d5.loss_cls: 1.4738, d5.loss_bbox: 1.4134, d0.loss_traj_cls: 0.0007, d0.loss_traj: 3.4482, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.8327, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.0409, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.1290, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.2069, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2317, d0.loss_map_cls_all: 0.6953, d0.loss_map_pts_all: 4.8202, d0.loss_map_dir_all: 0.0842, d0.loss_map_cls: 0.6953, d0.loss_map_pts: 4.8202, d0.loss_map_dir: 0.0842, d1.loss_map_cls: 0.7089, d1.loss_map_pts: 4.5634, d1.loss_map_dir: 0.0841, d2.loss_map_cls: 0.7097, d2.loss_map_pts: 4.5290, d2.loss_map_dir: 0.0840, d3.loss_map_cls: 0.7067, d3.loss_map_pts: 4.5264, d3.loss_map_dir: 0.0840, d4.loss_map_cls: 0.7094, d4.loss_map_pts: 4.5253, d4.loss_map_dir: 0.0840, d5.loss_map_cls: 0.7119, d5.loss_map_pts: 4.5287, d5.loss_map_dir: 0.0840, loss: 155.6589, grad_norm: 3574.0847 2026-02-23 23:33:34,059 - DriveTransformer - INFO - Epoch [1][3550/117620] lr: 1.000e-04, eta: 28 days, 1:29:52, time: 0.343, data_time: 0.014, memory: 8394, loss_cls: 1.4458, loss_bbox: 1.3923, loss_traj: 6.4449, loss_traj_cls: 0.0011, loss_map_cls: 0.7430, loss_map_pts: 4.5512, loss_map_dir: 0.0835, d0.loss_plan_l1_fix_time: 8.5035, d0.loss_plan_l1_fix_dist: 1.0276, d1.loss_plan_l1_fix_time: 7.5061, d1.loss_plan_l1_fix_dist: 1.1662, d2.loss_plan_l1_fix_time: 7.1248, d2.loss_plan_l1_fix_dist: 1.3530, d3.loss_plan_l1_fix_time: 6.9794, d3.loss_plan_l1_fix_dist: 1.5609, d4.loss_plan_l1_fix_time: 6.9765, d4.loss_plan_l1_fix_dist: 1.8022, d5.loss_plan_l1_fix_time: 7.0336, d5.loss_plan_l1_fix_dist: 2.0527, d6.loss_plan_l1_fix_time: 7.1342, d6.loss_plan_l1_fix_dist: 2.2325, d0.loss_cls_all: 1.4103, d0.loss_bbox_all: 1.2687, d0.loss_cls: 1.4103, d0.loss_bbox: 1.2687, d1.loss_cls: 1.4256, d1.loss_bbox: 1.2728, d2.loss_cls: 1.4282, d2.loss_bbox: 1.2890, d3.loss_cls: 1.4238, d3.loss_bbox: 1.3098, d4.loss_cls: 1.4359, d4.loss_bbox: 1.3373, d5.loss_cls: 1.4396, d5.loss_bbox: 1.3675, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.2126, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.8178, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.1200, d3.loss_traj_cls: 0.0006, d3.loss_traj: 6.2446, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.3568, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.3911, d0.loss_map_cls_all: 0.7274, d0.loss_map_pts_all: 4.8672, d0.loss_map_dir_all: 0.0838, d0.loss_map_cls: 0.7274, d0.loss_map_pts: 4.8672, d0.loss_map_dir: 0.0838, d1.loss_map_cls: 0.7403, d1.loss_map_pts: 4.6144, d1.loss_map_dir: 0.0836, d2.loss_map_cls: 0.7417, d2.loss_map_pts: 4.5646, d2.loss_map_dir: 0.0835, d3.loss_map_cls: 0.7396, d3.loss_map_pts: 4.5565, d3.loss_map_dir: 0.0835, d4.loss_map_cls: 0.7410, d4.loss_map_pts: 4.5497, d4.loss_map_dir: 0.0835, d5.loss_map_cls: 0.7452, d5.loss_map_pts: 4.5495, d5.loss_map_dir: 0.0835, loss: 170.6657, grad_norm: 3574.0847 2026-02-23 23:33:50,542 - DriveTransformer - INFO - Epoch [1][3600/117620] lr: 1.000e-04, eta: 28 days, 1:06:43, time: 0.330, data_time: 0.015, memory: 8394, loss_cls: 1.4103, loss_bbox: 1.2571, loss_traj: 5.5002, loss_traj_cls: 0.0011, loss_map_cls: 0.7346, loss_map_pts: 4.7101, loss_map_dir: 0.0830, d0.loss_plan_l1_fix_time: 8.7822, d0.loss_plan_l1_fix_dist: 1.0440, d1.loss_plan_l1_fix_time: 7.5943, d1.loss_plan_l1_fix_dist: 1.1498, d2.loss_plan_l1_fix_time: 7.0237, d2.loss_plan_l1_fix_dist: 1.3158, d3.loss_plan_l1_fix_time: 6.7649, d3.loss_plan_l1_fix_dist: 1.4700, d4.loss_plan_l1_fix_time: 6.7006, d4.loss_plan_l1_fix_dist: 1.6527, d5.loss_plan_l1_fix_time: 6.7099, d5.loss_plan_l1_fix_dist: 1.8896, d6.loss_plan_l1_fix_time: 6.7803, d6.loss_plan_l1_fix_dist: 2.2686, d0.loss_cls_all: 1.3934, d0.loss_bbox_all: 1.2406, d0.loss_cls: 1.3934, d0.loss_bbox: 1.2406, d1.loss_cls: 1.4083, d1.loss_bbox: 1.2491, d2.loss_cls: 1.4124, d2.loss_bbox: 1.2436, d3.loss_cls: 1.4114, d3.loss_bbox: 1.2397, d4.loss_cls: 1.4069, d4.loss_bbox: 1.2422, d5.loss_cls: 1.4062, d5.loss_bbox: 1.2542, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.3421, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.8949, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1949, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.3182, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.4223, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.4526, d0.loss_map_cls_all: 0.7154, d0.loss_map_pts_all: 4.9760, d0.loss_map_dir_all: 0.0834, d0.loss_map_cls: 0.7154, d0.loss_map_pts: 4.9760, d0.loss_map_dir: 0.0834, d1.loss_map_cls: 0.7260, d1.loss_map_pts: 4.7449, d1.loss_map_dir: 0.0831, d2.loss_map_cls: 0.7267, d2.loss_map_pts: 4.7041, d2.loss_map_dir: 0.0830, d3.loss_map_cls: 0.7264, d3.loss_map_pts: 4.6957, d3.loss_map_dir: 0.0830, d4.loss_map_cls: 0.7329, d4.loss_map_pts: 4.6927, d4.loss_map_dir: 0.0830, d5.loss_map_cls: 0.7361, d5.loss_map_pts: 4.7005, d5.loss_map_dir: 0.0830, loss: 163.1638, grad_norm: 3485.4840 2026-02-23 23:34:08,599 - DriveTransformer - INFO - Epoch [1][3650/117620] lr: 1.000e-04, eta: 28 days, 1:34:37, time: 0.361, data_time: 0.017, memory: 8394, loss_cls: 1.4433, loss_bbox: 1.3470, loss_traj: 5.7413, loss_traj_cls: 0.0012, loss_map_cls: 0.7130, loss_map_pts: 4.5113, loss_map_dir: 0.0834, d0.loss_plan_l1_fix_time: 9.6575, d0.loss_plan_l1_fix_dist: 0.9816, d1.loss_plan_l1_fix_time: 8.2021, d1.loss_plan_l1_fix_dist: 1.1174, d2.loss_plan_l1_fix_time: 7.3376, d2.loss_plan_l1_fix_dist: 1.2934, d3.loss_plan_l1_fix_time: 6.8230, d3.loss_plan_l1_fix_dist: 1.4600, d4.loss_plan_l1_fix_time: 6.5303, d4.loss_plan_l1_fix_dist: 1.6543, d5.loss_plan_l1_fix_time: 6.3558, d5.loss_plan_l1_fix_dist: 1.9021, d6.loss_plan_l1_fix_time: 6.2693, d6.loss_plan_l1_fix_dist: 2.2969, d0.loss_cls_all: 1.4236, d0.loss_bbox_all: 1.3398, d0.loss_cls: 1.4236, d0.loss_bbox: 1.3398, d1.loss_cls: 1.4434, d1.loss_bbox: 1.3450, d2.loss_cls: 1.4412, d2.loss_bbox: 1.3380, d3.loss_cls: 1.4381, d3.loss_bbox: 1.3338, d4.loss_cls: 1.4394, d4.loss_bbox: 1.3342, d5.loss_cls: 1.4387, d5.loss_bbox: 1.3443, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.5270, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.1128, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.4214, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.5495, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.6572, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.6900, d0.loss_map_cls_all: 0.6995, d0.loss_map_pts_all: 4.6635, d0.loss_map_dir_all: 0.0838, d0.loss_map_cls: 0.6995, d0.loss_map_pts: 4.6635, d0.loss_map_dir: 0.0838, d1.loss_map_cls: 0.7123, d1.loss_map_pts: 4.4850, d1.loss_map_dir: 0.0836, d2.loss_map_cls: 0.7103, d2.loss_map_pts: 4.4704, d2.loss_map_dir: 0.0836, d3.loss_map_cls: 0.7071, d3.loss_map_pts: 4.4816, d3.loss_map_dir: 0.0837, d4.loss_map_cls: 0.7077, d4.loss_map_pts: 4.4894, d4.loss_map_dir: 0.0836, d5.loss_map_cls: 0.7125, d5.loss_map_pts: 4.5019, d5.loss_map_dir: 0.0835, loss: 164.3955, grad_norm: 3401.6935 2026-02-23 23:34:24,923 - DriveTransformer - INFO - Epoch [1][3700/117620] lr: 1.000e-04, eta: 28 days, 1:06:56, time: 0.327, data_time: 0.015, memory: 8394, loss_cls: 1.4144, loss_bbox: 1.2383, loss_traj: 4.5286, loss_traj_cls: 0.0010, loss_map_cls: 0.6960, loss_map_pts: 4.6459, loss_map_dir: 0.0830, d0.loss_plan_l1_fix_time: 8.6646, d0.loss_plan_l1_fix_dist: 0.9578, d1.loss_plan_l1_fix_time: 7.3844, d1.loss_plan_l1_fix_dist: 1.0567, d2.loss_plan_l1_fix_time: 6.7270, d2.loss_plan_l1_fix_dist: 1.1980, d3.loss_plan_l1_fix_time: 6.4089, d3.loss_plan_l1_fix_dist: 1.4032, d4.loss_plan_l1_fix_time: 6.2707, d4.loss_plan_l1_fix_dist: 1.6183, d5.loss_plan_l1_fix_time: 6.2184, d5.loss_plan_l1_fix_dist: 1.8663, d6.loss_plan_l1_fix_time: 6.2186, d6.loss_plan_l1_fix_dist: 2.0704, d0.loss_cls_all: 1.3843, d0.loss_bbox_all: 1.1797, d0.loss_cls: 1.3843, d0.loss_bbox: 1.1797, d1.loss_cls: 1.3996, d1.loss_bbox: 1.1933, d2.loss_cls: 1.4111, d2.loss_bbox: 1.1999, d3.loss_cls: 1.4042, d3.loss_bbox: 1.2093, d4.loss_cls: 1.4044, d4.loss_bbox: 1.2167, d5.loss_cls: 1.4037, d5.loss_bbox: 1.2313, d0.loss_traj_cls: 0.0007, d0.loss_traj: 3.6266, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.0512, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.2924, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.3944, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4717, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.4876, d0.loss_map_cls_all: 0.6856, d0.loss_map_pts_all: 4.8638, d0.loss_map_dir_all: 0.0832, d0.loss_map_cls: 0.6856, d0.loss_map_pts: 4.8638, d0.loss_map_dir: 0.0832, d1.loss_map_cls: 0.6862, d1.loss_map_pts: 4.6511, d1.loss_map_dir: 0.0832, d2.loss_map_cls: 0.6918, d2.loss_map_pts: 4.6336, d2.loss_map_dir: 0.0831, d3.loss_map_cls: 0.6913, d3.loss_map_pts: 4.6332, d3.loss_map_dir: 0.0830, d4.loss_map_cls: 0.7050, d4.loss_map_pts: 4.6313, d4.loss_map_dir: 0.0830, d5.loss_map_cls: 0.6961, d5.loss_map_pts: 4.6384, d5.loss_map_dir: 0.0829, loss: 152.5379, grad_norm: 3401.6935 2026-02-23 23:34:40,991 - DriveTransformer - INFO - Epoch [1][3750/117620] lr: 1.000e-04, eta: 28 days, 0:31:54, time: 0.321, data_time: 0.013, memory: 8394, loss_cls: 1.4226, loss_bbox: 1.2916, loss_traj: 5.7137, loss_traj_cls: 0.0010, loss_map_cls: 0.7418, loss_map_pts: 4.3304, loss_map_dir: 0.0830, d0.loss_plan_l1_fix_time: 8.8430, d0.loss_plan_l1_fix_dist: 0.8587, d1.loss_plan_l1_fix_time: 7.3707, d1.loss_plan_l1_fix_dist: 0.9960, d2.loss_plan_l1_fix_time: 6.5827, d2.loss_plan_l1_fix_dist: 1.1701, d3.loss_plan_l1_fix_time: 6.1367, d3.loss_plan_l1_fix_dist: 1.4062, d4.loss_plan_l1_fix_time: 5.8974, d4.loss_plan_l1_fix_dist: 1.6506, d5.loss_plan_l1_fix_time: 5.7810, d5.loss_plan_l1_fix_dist: 1.9131, d6.loss_plan_l1_fix_time: 5.7284, d6.loss_plan_l1_fix_dist: 2.1331, d0.loss_cls_all: 1.3980, d0.loss_bbox_all: 1.2555, d0.loss_cls: 1.3980, d0.loss_bbox: 1.2555, d1.loss_cls: 1.3972, d1.loss_bbox: 1.2653, d2.loss_cls: 1.4257, d2.loss_bbox: 1.2648, d3.loss_cls: 1.4146, d3.loss_bbox: 1.2696, d4.loss_cls: 1.4137, d4.loss_bbox: 1.2770, d5.loss_cls: 1.4160, d5.loss_bbox: 1.2870, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.4361, d1.loss_traj_cls: 0.0005, d1.loss_traj: 5.0491, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.3771, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.5219, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6300, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.6575, d0.loss_map_cls_all: 0.7289, d0.loss_map_pts_all: 4.5598, d0.loss_map_dir_all: 0.0832, d0.loss_map_cls: 0.7289, d0.loss_map_pts: 4.5598, d0.loss_map_dir: 0.0832, d1.loss_map_cls: 0.7388, d1.loss_map_pts: 4.3378, d1.loss_map_dir: 0.0831, d2.loss_map_cls: 0.7395, d2.loss_map_pts: 4.3043, d2.loss_map_dir: 0.0830, d3.loss_map_cls: 0.7389, d3.loss_map_pts: 4.3005, d3.loss_map_dir: 0.0830, d4.loss_map_cls: 0.7511, d4.loss_map_pts: 4.3061, d4.loss_map_dir: 0.0829, d5.loss_map_cls: 0.7450, d5.loss_map_pts: 4.3211, d5.loss_map_dir: 0.0829, loss: 156.9066, grad_norm: 3321.3717 2026-02-23 23:34:57,856 - DriveTransformer - INFO - Epoch [1][3800/117620] lr: 1.000e-04, eta: 28 days, 0:22:14, time: 0.337, data_time: 0.014, memory: 8394, loss_cls: 1.4388, loss_bbox: 1.3618, loss_traj: 5.2304, loss_traj_cls: 0.0009, loss_map_cls: 0.6908, loss_map_pts: 4.5820, loss_map_dir: 0.0834, d0.loss_plan_l1_fix_time: 7.4842, d0.loss_plan_l1_fix_dist: 1.0444, d1.loss_plan_l1_fix_time: 6.4312, d1.loss_plan_l1_fix_dist: 1.1257, d2.loss_plan_l1_fix_time: 6.0789, d2.loss_plan_l1_fix_dist: 1.2520, d3.loss_plan_l1_fix_time: 5.9906, d3.loss_plan_l1_fix_dist: 1.4387, d4.loss_plan_l1_fix_time: 6.0384, d4.loss_plan_l1_fix_dist: 1.5995, d5.loss_plan_l1_fix_time: 6.1762, d5.loss_plan_l1_fix_dist: 1.7643, d6.loss_plan_l1_fix_time: 6.3734, d6.loss_plan_l1_fix_dist: 1.9516, d0.loss_cls_all: 1.4126, d0.loss_bbox_all: 1.3350, d0.loss_cls: 1.4126, d0.loss_bbox: 1.3350, d1.loss_cls: 1.4188, d1.loss_bbox: 1.3421, d2.loss_cls: 1.4315, d2.loss_bbox: 1.3428, d3.loss_cls: 1.4232, d3.loss_bbox: 1.3495, d4.loss_cls: 1.4290, d4.loss_bbox: 1.3520, d5.loss_cls: 1.4296, d5.loss_bbox: 1.3574, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.1133, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.6205, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.9038, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.0498, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1494, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.1765, d0.loss_map_cls_all: 0.6746, d0.loss_map_pts_all: 4.6844, d0.loss_map_dir_all: 0.0835, d0.loss_map_cls: 0.6746, d0.loss_map_pts: 4.6844, d0.loss_map_dir: 0.0835, d1.loss_map_cls: 0.6872, d1.loss_map_pts: 4.4249, d1.loss_map_dir: 0.0835, d2.loss_map_cls: 0.6910, d2.loss_map_pts: 4.3844, d2.loss_map_dir: 0.0834, d3.loss_map_cls: 0.6899, d3.loss_map_pts: 4.3966, d3.loss_map_dir: 0.0835, d4.loss_map_cls: 0.6953, d4.loss_map_pts: 4.4515, d4.loss_map_dir: 0.0835, d5.loss_map_cls: 0.6916, d5.loss_map_pts: 4.5266, d5.loss_map_dir: 0.0835, loss: 153.4661, grad_norm: 3321.3717 2026-02-23 23:35:13,647 - DriveTransformer - INFO - Epoch [1][3850/117620] lr: 1.000e-04, eta: 27 days, 23:40:11, time: 0.316, data_time: 0.014, memory: 8394, loss_cls: 1.4319, loss_bbox: 1.2138, loss_traj: 4.9234, loss_traj_cls: 0.0008, loss_map_cls: 0.7498, loss_map_pts: 4.3484, loss_map_dir: 0.0821, d0.loss_plan_l1_fix_time: 8.4962, d0.loss_plan_l1_fix_dist: 1.0528, d1.loss_plan_l1_fix_time: 6.9567, d1.loss_plan_l1_fix_dist: 1.1368, d2.loss_plan_l1_fix_time: 6.2498, d2.loss_plan_l1_fix_dist: 1.2735, d3.loss_plan_l1_fix_time: 5.9297, d3.loss_plan_l1_fix_dist: 1.4648, d4.loss_plan_l1_fix_time: 5.7824, d4.loss_plan_l1_fix_dist: 1.6383, d5.loss_plan_l1_fix_time: 5.7182, d5.loss_plan_l1_fix_dist: 1.8020, d6.loss_plan_l1_fix_time: 5.7309, d6.loss_plan_l1_fix_dist: 1.9673, d0.loss_cls_all: 1.4102, d0.loss_bbox_all: 1.1715, d0.loss_cls: 1.4102, d0.loss_bbox: 1.1715, d1.loss_cls: 1.4155, d1.loss_bbox: 1.1821, d2.loss_cls: 1.4355, d2.loss_bbox: 1.1842, d3.loss_cls: 1.4247, d3.loss_bbox: 1.1907, d4.loss_cls: 1.4219, d4.loss_bbox: 1.1962, d5.loss_cls: 1.4244, d5.loss_bbox: 1.2071, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.8473, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.3514, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.6248, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.7552, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8489, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.8766, d0.loss_map_cls_all: 0.7376, d0.loss_map_pts_all: 4.4831, d0.loss_map_dir_all: 0.0823, d0.loss_map_cls: 0.7376, d0.loss_map_pts: 4.4831, d0.loss_map_dir: 0.0823, d1.loss_map_cls: 0.7531, d1.loss_map_pts: 4.3079, d1.loss_map_dir: 0.0822, d2.loss_map_cls: 0.7527, d2.loss_map_pts: 4.2739, d2.loss_map_dir: 0.0821, d3.loss_map_cls: 0.7490, d3.loss_map_pts: 4.2566, d3.loss_map_dir: 0.0820, d4.loss_map_cls: 0.7543, d4.loss_map_pts: 4.2690, d4.loss_map_dir: 0.0821, d5.loss_map_cls: 0.7526, d5.loss_map_pts: 4.3078, d5.loss_map_dir: 0.0821, loss: 149.6960, grad_norm: 3244.4305 2026-02-23 23:35:29,730 - DriveTransformer - INFO - Epoch [1][3900/117620] lr: 1.000e-04, eta: 27 days, 23:07:59, time: 0.322, data_time: 0.014, memory: 8394, loss_cls: 1.4159, loss_bbox: 1.3036, loss_traj: 5.6786, loss_traj_cls: 0.0008, loss_map_cls: 0.7158, loss_map_pts: 4.4642, loss_map_dir: 0.0809, d0.loss_plan_l1_fix_time: 8.5869, d0.loss_plan_l1_fix_dist: 1.0431, d1.loss_plan_l1_fix_time: 7.1002, d1.loss_plan_l1_fix_dist: 1.1048, d2.loss_plan_l1_fix_time: 6.4507, d2.loss_plan_l1_fix_dist: 1.2086, d3.loss_plan_l1_fix_time: 6.2408, d3.loss_plan_l1_fix_dist: 1.3225, d4.loss_plan_l1_fix_time: 6.1685, d4.loss_plan_l1_fix_dist: 1.4884, d5.loss_plan_l1_fix_time: 6.1547, d5.loss_plan_l1_fix_dist: 1.6328, d6.loss_plan_l1_fix_time: 6.2193, d6.loss_plan_l1_fix_dist: 1.7298, d0.loss_cls_all: 1.3965, d0.loss_bbox_all: 1.2288, d0.loss_cls: 1.3965, d0.loss_bbox: 1.2288, d1.loss_cls: 1.4098, d1.loss_bbox: 1.2428, d2.loss_cls: 1.4092, d2.loss_bbox: 1.2611, d3.loss_cls: 1.4066, d3.loss_bbox: 1.2751, d4.loss_cls: 1.4098, d4.loss_bbox: 1.2916, d5.loss_cls: 1.4110, d5.loss_bbox: 1.3081, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.3752, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.9747, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.3117, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.4674, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.5906, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.6252, d0.loss_map_cls_all: 0.7015, d0.loss_map_pts_all: 4.6947, d0.loss_map_dir_all: 0.0811, d0.loss_map_cls: 0.7015, d0.loss_map_pts: 4.6947, d0.loss_map_dir: 0.0811, d1.loss_map_cls: 0.7135, d1.loss_map_pts: 4.4482, d1.loss_map_dir: 0.0809, d2.loss_map_cls: 0.7157, d2.loss_map_pts: 4.4234, d2.loss_map_dir: 0.0809, d3.loss_map_cls: 0.7138, d3.loss_map_pts: 4.4194, d3.loss_map_dir: 0.0810, d4.loss_map_cls: 0.7159, d4.loss_map_pts: 4.4240, d4.loss_map_dir: 0.0810, d5.loss_map_cls: 0.7164, d5.loss_map_pts: 4.4440, d5.loss_map_dir: 0.0809, loss: 157.2284, grad_norm: 3244.4305 2026-02-23 23:35:45,991 - DriveTransformer - INFO - Epoch [1][3950/117620] lr: 1.000e-04, eta: 27 days, 22:41:53, time: 0.325, data_time: 0.013, memory: 8394, loss_cls: 1.4113, loss_bbox: 1.2334, loss_traj: 5.4047, loss_traj_cls: 0.0008, loss_map_cls: 0.7695, loss_map_pts: 4.4410, loss_map_dir: 0.0809, d0.loss_plan_l1_fix_time: 6.4423, d0.loss_plan_l1_fix_dist: 0.7965, d1.loss_plan_l1_fix_time: 5.4333, d1.loss_plan_l1_fix_dist: 0.8875, d2.loss_plan_l1_fix_time: 5.1858, d2.loss_plan_l1_fix_dist: 1.0392, d3.loss_plan_l1_fix_time: 5.1978, d3.loss_plan_l1_fix_dist: 1.1839, d4.loss_plan_l1_fix_time: 5.2947, d4.loss_plan_l1_fix_dist: 1.3739, d5.loss_plan_l1_fix_time: 5.4123, d5.loss_plan_l1_fix_dist: 1.5516, d6.loss_plan_l1_fix_time: 5.5857, d6.loss_plan_l1_fix_dist: 1.6834, d0.loss_cls_all: 1.3887, d0.loss_bbox_all: 1.1547, d0.loss_cls: 1.3887, d0.loss_bbox: 1.1547, d1.loss_cls: 1.3953, d1.loss_bbox: 1.1706, d2.loss_cls: 1.4084, d2.loss_bbox: 1.1827, d3.loss_cls: 1.4064, d3.loss_bbox: 1.1961, d4.loss_cls: 1.4084, d4.loss_bbox: 1.2127, d5.loss_cls: 1.4060, d5.loss_bbox: 1.2283, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.0020, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.6560, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0178, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.1836, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3184, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.3562, d0.loss_map_cls_all: 0.7517, d0.loss_map_pts_all: 4.6991, d0.loss_map_dir_all: 0.0811, d0.loss_map_cls: 0.7517, d0.loss_map_pts: 4.6991, d0.loss_map_dir: 0.0811, d1.loss_map_cls: 0.7719, d1.loss_map_pts: 4.4259, d1.loss_map_dir: 0.0810, d2.loss_map_cls: 0.7707, d2.loss_map_pts: 4.3857, d2.loss_map_dir: 0.0809, d3.loss_map_cls: 0.7695, d3.loss_map_pts: 4.3829, d3.loss_map_dir: 0.0809, d4.loss_map_cls: 0.7666, d4.loss_map_pts: 4.3964, d4.loss_map_dir: 0.0809, d5.loss_map_cls: 0.7713, d5.loss_map_pts: 4.4224, d5.loss_map_dir: 0.0809, loss: 145.3802, grad_norm: 3171.3105 2026-02-23 23:36:01,815 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-23 23:36:01,815 - DriveTransformer - INFO - Epoch [1][4000/117620] lr: 1.000e-04, eta: 27 days, 22:03:42, time: 0.317, data_time: 0.014, memory: 8394, loss_cls: 1.4535, loss_bbox: 1.5247, loss_traj: 5.6431, loss_traj_cls: 0.0009, loss_map_cls: 0.7144, loss_map_pts: 4.1399, loss_map_dir: 0.0815, d0.loss_plan_l1_fix_time: 7.0952, d0.loss_plan_l1_fix_dist: 0.8358, d1.loss_plan_l1_fix_time: 5.9971, d1.loss_plan_l1_fix_dist: 0.9408, d2.loss_plan_l1_fix_time: 5.7753, d2.loss_plan_l1_fix_dist: 1.1697, d3.loss_plan_l1_fix_time: 5.8001, d3.loss_plan_l1_fix_dist: 1.3608, d4.loss_plan_l1_fix_time: 5.9006, d4.loss_plan_l1_fix_dist: 1.5815, d5.loss_plan_l1_fix_time: 6.0431, d5.loss_plan_l1_fix_dist: 1.8211, d6.loss_plan_l1_fix_time: 6.2643, d6.loss_plan_l1_fix_dist: 2.0746, d0.loss_cls_all: 1.4271, d0.loss_bbox_all: 1.4965, d0.loss_cls: 1.4271, d0.loss_bbox: 1.4965, d1.loss_cls: 1.4375, d1.loss_bbox: 1.5013, d2.loss_cls: 1.4508, d2.loss_bbox: 1.5079, d3.loss_cls: 1.4497, d3.loss_bbox: 1.5067, d4.loss_cls: 1.4596, d4.loss_bbox: 1.5105, d5.loss_cls: 1.4537, d5.loss_bbox: 1.5157, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.3756, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.9486, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.2995, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.4522, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.5722, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.5984, d0.loss_map_cls_all: 0.6985, d0.loss_map_pts_all: 4.3832, d0.loss_map_dir_all: 0.0816, d0.loss_map_cls: 0.6985, d0.loss_map_pts: 4.3832, d0.loss_map_dir: 0.0816, d1.loss_map_cls: 0.7092, d1.loss_map_pts: 4.1463, d1.loss_map_dir: 0.0815, d2.loss_map_cls: 0.7096, d2.loss_map_pts: 4.1185, d2.loss_map_dir: 0.0815, d3.loss_map_cls: 0.7137, d3.loss_map_pts: 4.1081, d3.loss_map_dir: 0.0816, d4.loss_map_cls: 0.7203, d4.loss_map_pts: 4.1082, d4.loss_map_dir: 0.0815, d5.loss_map_cls: 0.7164, d5.loss_map_pts: 4.1230, d5.loss_map_dir: 0.0815, loss: 153.0163, grad_norm: 3171.3105 2026-02-23 23:36:19,197 - DriveTransformer - INFO - Epoch [1][4050/117620] lr: 1.000e-04, eta: 27 days, 22:11:29, time: 0.348, data_time: 0.015, memory: 8394, loss_cls: 1.4607, loss_bbox: 1.5236, loss_traj: 4.7619, loss_traj_cls: 0.0009, loss_map_cls: 0.7214, loss_map_pts: 4.4665, loss_map_dir: 0.0807, d0.loss_plan_l1_fix_time: 6.5935, d0.loss_plan_l1_fix_dist: 0.9772, d1.loss_plan_l1_fix_time: 5.5839, d1.loss_plan_l1_fix_dist: 1.0583, d2.loss_plan_l1_fix_time: 5.4371, d2.loss_plan_l1_fix_dist: 1.2511, d3.loss_plan_l1_fix_time: 5.5604, d3.loss_plan_l1_fix_dist: 1.4269, d4.loss_plan_l1_fix_time: 5.7679, d4.loss_plan_l1_fix_dist: 1.6304, d5.loss_plan_l1_fix_time: 6.0043, d5.loss_plan_l1_fix_dist: 1.8504, d6.loss_plan_l1_fix_time: 6.3009, d6.loss_plan_l1_fix_dist: 2.1127, d0.loss_cls_all: 1.4328, d0.loss_bbox_all: 1.4718, d0.loss_cls: 1.4328, d0.loss_bbox: 1.4718, d1.loss_cls: 1.4429, d1.loss_bbox: 1.4832, d2.loss_cls: 1.4552, d2.loss_bbox: 1.4929, d3.loss_cls: 1.4548, d3.loss_bbox: 1.4991, d4.loss_cls: 1.4607, d4.loss_bbox: 1.5070, d5.loss_cls: 1.4611, d5.loss_bbox: 1.5139, d0.loss_traj_cls: 0.0006, d0.loss_traj: 3.4571, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.0416, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3914, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.5562, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.6782, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.7113, d0.loss_map_cls_all: 0.7010, d0.loss_map_pts_all: 4.7845, d0.loss_map_dir_all: 0.0809, d0.loss_map_cls: 0.7010, d0.loss_map_pts: 4.7845, d0.loss_map_dir: 0.0809, d1.loss_map_cls: 0.7133, d1.loss_map_pts: 4.4652, d1.loss_map_dir: 0.0806, d2.loss_map_cls: 0.7151, d2.loss_map_pts: 4.4204, d2.loss_map_dir: 0.0807, d3.loss_map_cls: 0.7192, d3.loss_map_pts: 4.4244, d3.loss_map_dir: 0.0808, d4.loss_map_cls: 0.7220, d4.loss_map_pts: 4.4397, d4.loss_map_dir: 0.0807, d5.loss_map_cls: 0.7222, d5.loss_map_pts: 4.4578, d5.loss_map_dir: 0.0808, loss: 148.3252, grad_norm: 3102.5134 2026-02-23 23:36:35,083 - DriveTransformer - INFO - Epoch [1][4100/117620] lr: 1.000e-04, eta: 27 days, 21:36:19, time: 0.318, data_time: 0.015, memory: 8394, loss_cls: 1.4583, loss_bbox: 1.2837, loss_traj: 6.7633, loss_traj_cls: 0.0010, loss_map_cls: 0.7693, loss_map_pts: 4.3725, loss_map_dir: 0.0787, d0.loss_plan_l1_fix_time: 7.3581, d0.loss_plan_l1_fix_dist: 0.8479, d1.loss_plan_l1_fix_time: 5.9011, d1.loss_plan_l1_fix_dist: 0.9369, d2.loss_plan_l1_fix_time: 5.4758, d2.loss_plan_l1_fix_dist: 1.0932, d3.loss_plan_l1_fix_time: 5.3715, d3.loss_plan_l1_fix_dist: 1.2775, d4.loss_plan_l1_fix_time: 5.3678, d4.loss_plan_l1_fix_dist: 1.4621, d5.loss_plan_l1_fix_time: 5.4394, d5.loss_plan_l1_fix_dist: 1.6490, d6.loss_plan_l1_fix_time: 5.6242, d6.loss_plan_l1_fix_dist: 1.9187, d0.loss_cls_all: 1.4337, d0.loss_bbox_all: 1.1457, d0.loss_cls: 1.4337, d0.loss_bbox: 1.1457, d1.loss_cls: 1.4317, d1.loss_bbox: 1.1740, d2.loss_cls: 1.4583, d2.loss_bbox: 1.1878, d3.loss_cls: 1.4587, d3.loss_bbox: 1.2152, d4.loss_cls: 1.4545, d4.loss_bbox: 1.2311, d5.loss_cls: 1.4547, d5.loss_bbox: 1.2553, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.8896, d1.loss_traj_cls: 0.0005, d1.loss_traj: 5.7797, d2.loss_traj_cls: 0.0005, d2.loss_traj: 6.2645, d3.loss_traj_cls: 0.0006, d3.loss_traj: 6.4761, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.6343, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.6930, d0.loss_map_cls_all: 0.7546, d0.loss_map_pts_all: 4.6928, d0.loss_map_dir_all: 0.0788, d0.loss_map_cls: 0.7546, d0.loss_map_pts: 4.6928, d0.loss_map_dir: 0.0788, d1.loss_map_cls: 0.7586, d1.loss_map_pts: 4.4317, d1.loss_map_dir: 0.0786, d2.loss_map_cls: 0.7643, d2.loss_map_pts: 4.3795, d2.loss_map_dir: 0.0787, d3.loss_map_cls: 0.7645, d3.loss_map_pts: 4.3692, d3.loss_map_dir: 0.0787, d4.loss_map_cls: 0.7691, d4.loss_map_pts: 4.3728, d4.loss_map_dir: 0.0787, d5.loss_map_cls: 0.7689, d5.loss_map_pts: 4.3753, d5.loss_map_dir: 0.0788, loss: 156.8700, grad_norm: 3102.5134 2026-02-23 23:36:52,110 - DriveTransformer - INFO - Epoch [1][4150/117620] lr: 1.000e-04, eta: 27 days, 21:34:17, time: 0.341, data_time: 0.014, memory: 8394, loss_cls: 1.3926, loss_bbox: 1.3336, loss_traj: 4.5577, loss_traj_cls: 0.0009, loss_map_cls: 0.7184, loss_map_pts: 4.2529, loss_map_dir: 0.0787, d0.loss_plan_l1_fix_time: 7.4664, d0.loss_plan_l1_fix_dist: 0.9160, d1.loss_plan_l1_fix_time: 6.0513, d1.loss_plan_l1_fix_dist: 0.9910, d2.loss_plan_l1_fix_time: 5.5165, d2.loss_plan_l1_fix_dist: 1.1351, d3.loss_plan_l1_fix_time: 5.3046, d3.loss_plan_l1_fix_dist: 1.2980, d4.loss_plan_l1_fix_time: 5.2308, d4.loss_plan_l1_fix_dist: 1.4929, d5.loss_plan_l1_fix_time: 5.2691, d5.loss_plan_l1_fix_dist: 1.6911, d6.loss_plan_l1_fix_time: 5.4207, d6.loss_plan_l1_fix_dist: 1.9144, d0.loss_cls_all: 1.3723, d0.loss_bbox_all: 1.2689, d0.loss_cls: 1.3723, d0.loss_bbox: 1.2689, d1.loss_cls: 1.3829, d1.loss_bbox: 1.2832, d2.loss_cls: 1.3899, d2.loss_bbox: 1.2891, d3.loss_cls: 1.3921, d3.loss_bbox: 1.3020, d4.loss_cls: 1.3933, d4.loss_bbox: 1.3075, d5.loss_cls: 1.3897, d5.loss_bbox: 1.3180, d0.loss_traj_cls: 0.0006, d0.loss_traj: 3.3158, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8761, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.1928, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.3476, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.4617, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.5046, d0.loss_map_cls_all: 0.6948, d0.loss_map_pts_all: 4.5910, d0.loss_map_dir_all: 0.0785, d0.loss_map_cls: 0.6948, d0.loss_map_pts: 4.5910, d0.loss_map_dir: 0.0785, d1.loss_map_cls: 0.7140, d1.loss_map_pts: 4.3260, d1.loss_map_dir: 0.0783, d2.loss_map_cls: 0.7143, d2.loss_map_pts: 4.2699, d2.loss_map_dir: 0.0785, d3.loss_map_cls: 0.7176, d3.loss_map_pts: 4.2564, d3.loss_map_dir: 0.0785, d4.loss_map_cls: 0.7220, d4.loss_map_pts: 4.2554, d4.loss_map_dir: 0.0786, d5.loss_map_cls: 0.7214, d5.loss_map_pts: 4.2567, d5.loss_map_dir: 0.0786, loss: 141.5401, grad_norm: 3036.4817 2026-02-23 23:37:08,161 - DriveTransformer - INFO - Epoch [1][4200/117620] lr: 1.000e-04, eta: 27 days, 21:05:02, time: 0.321, data_time: 0.014, memory: 8394, loss_cls: 1.4329, loss_bbox: 1.3397, loss_traj: 5.0661, loss_traj_cls: 0.0008, loss_map_cls: 0.6993, loss_map_pts: 4.4085, loss_map_dir: 0.0762, d0.loss_plan_l1_fix_time: 6.5861, d0.loss_plan_l1_fix_dist: 0.8237, d1.loss_plan_l1_fix_time: 5.4974, d1.loss_plan_l1_fix_dist: 0.9195, d2.loss_plan_l1_fix_time: 5.2386, d2.loss_plan_l1_fix_dist: 1.0373, d3.loss_plan_l1_fix_time: 5.1650, d3.loss_plan_l1_fix_dist: 1.1697, d4.loss_plan_l1_fix_time: 5.1679, d4.loss_plan_l1_fix_dist: 1.3703, d5.loss_plan_l1_fix_time: 5.2524, d5.loss_plan_l1_fix_dist: 1.5816, d6.loss_plan_l1_fix_time: 5.4339, d6.loss_plan_l1_fix_dist: 1.7680, d0.loss_cls_all: 1.4072, d0.loss_bbox_all: 1.2747, d0.loss_cls: 1.4072, d0.loss_bbox: 1.2747, d1.loss_cls: 1.4147, d1.loss_bbox: 1.2914, d2.loss_cls: 1.4274, d2.loss_bbox: 1.2957, d3.loss_cls: 1.4259, d3.loss_bbox: 1.3085, d4.loss_cls: 1.4284, d4.loss_bbox: 1.3141, d5.loss_cls: 1.4314, d5.loss_bbox: 1.3262, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.5726, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.2371, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.6215, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.8165, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9595, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.0079, d0.loss_map_cls_all: 0.6724, d0.loss_map_pts_all: 4.7624, d0.loss_map_dir_all: 0.0762, d0.loss_map_cls: 0.6724, d0.loss_map_pts: 4.7624, d0.loss_map_dir: 0.0762, d1.loss_map_cls: 0.6970, d1.loss_map_pts: 4.4899, d1.loss_map_dir: 0.0760, d2.loss_map_cls: 0.6954, d2.loss_map_pts: 4.4341, d2.loss_map_dir: 0.0760, d3.loss_map_cls: 0.7018, d3.loss_map_pts: 4.4208, d3.loss_map_dir: 0.0761, d4.loss_map_cls: 0.7007, d4.loss_map_pts: 4.4174, d4.loss_map_dir: 0.0762, d5.loss_map_cls: 0.7020, d5.loss_map_pts: 4.4147, d5.loss_map_dir: 0.0762, loss: 143.3569, grad_norm: 3036.4817 2026-02-23 23:37:24,112 - DriveTransformer - INFO - Epoch [1][4250/117620] lr: 1.000e-04, eta: 27 days, 20:33:31, time: 0.319, data_time: 0.014, memory: 8394, loss_cls: 1.4343, loss_bbox: 1.3017, loss_traj: 5.7979, loss_traj_cls: 0.0007, loss_map_cls: 0.7579, loss_map_pts: 4.2602, loss_map_dir: 0.0748, d0.loss_plan_l1_fix_time: 7.5583, d0.loss_plan_l1_fix_dist: 0.8102, d1.loss_plan_l1_fix_time: 6.2682, d1.loss_plan_l1_fix_dist: 0.8885, d2.loss_plan_l1_fix_time: 5.8593, d2.loss_plan_l1_fix_dist: 1.0188, d3.loss_plan_l1_fix_time: 5.7150, d3.loss_plan_l1_fix_dist: 1.1644, d4.loss_plan_l1_fix_time: 5.6670, d4.loss_plan_l1_fix_dist: 1.3589, d5.loss_plan_l1_fix_time: 5.6952, d5.loss_plan_l1_fix_dist: 1.5816, d6.loss_plan_l1_fix_time: 5.8119, d6.loss_plan_l1_fix_dist: 1.7805, d0.loss_cls_all: 1.4208, d0.loss_bbox_all: 1.2290, d0.loss_cls: 1.4208, d0.loss_bbox: 1.2290, d1.loss_cls: 1.4331, d1.loss_bbox: 1.2524, d2.loss_cls: 1.4306, d2.loss_bbox: 1.2561, d3.loss_cls: 1.4372, d3.loss_bbox: 1.2673, d4.loss_cls: 1.4339, d4.loss_bbox: 1.2796, d5.loss_cls: 1.4313, d5.loss_bbox: 1.2952, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.3172, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.9939, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.3768, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.5587, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6993, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.7420, d0.loss_map_cls_all: 0.7419, d0.loss_map_pts_all: 4.4847, d0.loss_map_dir_all: 0.0751, d0.loss_map_cls: 0.7419, d0.loss_map_pts: 4.4847, d0.loss_map_dir: 0.0751, d1.loss_map_cls: 0.7496, d1.loss_map_pts: 4.2933, d1.loss_map_dir: 0.0747, d2.loss_map_cls: 0.7527, d2.loss_map_pts: 4.2554, d2.loss_map_dir: 0.0748, d3.loss_map_cls: 0.7531, d3.loss_map_pts: 4.2466, d3.loss_map_dir: 0.0746, d4.loss_map_cls: 0.7588, d4.loss_map_pts: 4.2449, d4.loss_map_dir: 0.0747, d5.loss_map_cls: 0.7574, d5.loss_map_pts: 4.2468, d5.loss_map_dir: 0.0747, loss: 151.3485, grad_norm: 2973.3361 2026-02-23 23:37:40,576 - DriveTransformer - INFO - Epoch [1][4300/117620] lr: 1.000e-04, eta: 27 days, 20:16:53, time: 0.329, data_time: 0.014, memory: 8394, loss_cls: 1.4686, loss_bbox: 1.4555, loss_traj: 4.8956, loss_traj_cls: 0.0007, loss_map_cls: 0.6872, loss_map_pts: 4.2673, loss_map_dir: 0.0730, d0.loss_plan_l1_fix_time: 7.3582, d0.loss_plan_l1_fix_dist: 1.0588, d1.loss_plan_l1_fix_time: 6.1103, d1.loss_plan_l1_fix_dist: 1.1290, d2.loss_plan_l1_fix_time: 5.7523, d2.loss_plan_l1_fix_dist: 1.2613, d3.loss_plan_l1_fix_time: 5.6447, d3.loss_plan_l1_fix_dist: 1.4041, d4.loss_plan_l1_fix_time: 5.6946, d4.loss_plan_l1_fix_dist: 1.5714, d5.loss_plan_l1_fix_time: 5.8516, d5.loss_plan_l1_fix_dist: 1.7775, d6.loss_plan_l1_fix_time: 6.0799, d6.loss_plan_l1_fix_dist: 1.9935, d0.loss_cls_all: 1.4482, d0.loss_bbox_all: 1.3868, d0.loss_cls: 1.4482, d0.loss_bbox: 1.3868, d1.loss_cls: 1.4569, d1.loss_bbox: 1.4119, d2.loss_cls: 1.4640, d2.loss_bbox: 1.4167, d3.loss_cls: 1.4612, d3.loss_bbox: 1.4296, d4.loss_cls: 1.4652, d4.loss_bbox: 1.4457, d5.loss_cls: 1.4668, d5.loss_bbox: 1.4546, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.4437, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.0869, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.4818, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.6616, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.8040, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.8383, d0.loss_map_cls_all: 0.6717, d0.loss_map_pts_all: 4.5342, d0.loss_map_dir_all: 0.0736, d0.loss_map_cls: 0.6717, d0.loss_map_pts: 4.5342, d0.loss_map_dir: 0.0736, d1.loss_map_cls: 0.6870, d1.loss_map_pts: 4.2997, d1.loss_map_dir: 0.0732, d2.loss_map_cls: 0.6853, d2.loss_map_pts: 4.2589, d2.loss_map_dir: 0.0732, d3.loss_map_cls: 0.6859, d3.loss_map_pts: 4.2444, d3.loss_map_dir: 0.0731, d4.loss_map_cls: 0.6878, d4.loss_map_pts: 4.2363, d4.loss_map_dir: 0.0732, d5.loss_map_cls: 0.6881, d5.loss_map_pts: 4.2424, d5.loss_map_dir: 0.0731, loss: 147.6380, grad_norm: 2973.3361 2026-02-23 23:37:56,844 - DriveTransformer - INFO - Epoch [1][4350/117620] lr: 1.000e-04, eta: 27 days, 19:55:20, time: 0.325, data_time: 0.017, memory: 8394, loss_cls: 1.4190, loss_bbox: 1.2493, loss_traj: 5.8077, loss_traj_cls: 0.0006, loss_map_cls: 0.7525, loss_map_pts: 4.2606, loss_map_dir: 0.0696, d0.loss_plan_l1_fix_time: 7.2330, d0.loss_plan_l1_fix_dist: 0.9437, d1.loss_plan_l1_fix_time: 5.8246, d1.loss_plan_l1_fix_dist: 1.0461, d2.loss_plan_l1_fix_time: 5.3255, d2.loss_plan_l1_fix_dist: 1.1971, d3.loss_plan_l1_fix_time: 5.1176, d3.loss_plan_l1_fix_dist: 1.3666, d4.loss_plan_l1_fix_time: 5.0531, d4.loss_plan_l1_fix_dist: 1.5326, d5.loss_plan_l1_fix_time: 5.0929, d5.loss_plan_l1_fix_dist: 1.7384, d6.loss_plan_l1_fix_time: 5.2065, d6.loss_plan_l1_fix_dist: 1.9806, d0.loss_cls_all: 1.4034, d0.loss_bbox_all: 1.1950, d0.loss_cls: 1.4034, d0.loss_bbox: 1.1950, d1.loss_cls: 1.4097, d1.loss_bbox: 1.2084, d2.loss_cls: 1.4206, d2.loss_bbox: 1.2153, d3.loss_cls: 1.4190, d3.loss_bbox: 1.2243, d4.loss_cls: 1.4182, d4.loss_bbox: 1.2331, d5.loss_cls: 1.4229, d5.loss_bbox: 1.2449, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.9368, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.7797, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.2785, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.4985, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6746, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.7319, d0.loss_map_cls_all: 0.7249, d0.loss_map_pts_all: 4.6172, d0.loss_map_dir_all: 0.0703, d0.loss_map_cls: 0.7249, d0.loss_map_pts: 4.6172, d0.loss_map_dir: 0.0703, d1.loss_map_cls: 0.7482, d1.loss_map_pts: 4.3311, d1.loss_map_dir: 0.0697, d2.loss_map_cls: 0.7516, d2.loss_map_pts: 4.2695, d2.loss_map_dir: 0.0696, d3.loss_map_cls: 0.7521, d3.loss_map_pts: 4.2558, d3.loss_map_dir: 0.0696, d4.loss_map_cls: 0.7590, d4.loss_map_pts: 4.2469, d4.loss_map_dir: 0.0696, d5.loss_map_cls: 0.7540, d5.loss_map_pts: 4.2478, d5.loss_map_dir: 0.0695, loss: 147.8228, grad_norm: 2912.1414 2026-02-23 23:38:12,827 - DriveTransformer - INFO - Epoch [1][4400/117620] lr: 1.000e-04, eta: 27 days, 19:26:36, time: 0.320, data_time: 0.013, memory: 8394, loss_cls: 1.3886, loss_bbox: 1.1516, loss_traj: 6.0905, loss_traj_cls: 0.0007, loss_map_cls: 0.7981, loss_map_pts: 4.4235, loss_map_dir: 0.0680, d0.loss_plan_l1_fix_time: 7.4516, d0.loss_plan_l1_fix_dist: 0.9595, d1.loss_plan_l1_fix_time: 5.8788, d1.loss_plan_l1_fix_dist: 1.0600, d2.loss_plan_l1_fix_time: 5.2229, d2.loss_plan_l1_fix_dist: 1.2212, d3.loss_plan_l1_fix_time: 4.9107, d3.loss_plan_l1_fix_dist: 1.4127, d4.loss_plan_l1_fix_time: 4.7728, d4.loss_plan_l1_fix_dist: 1.5920, d5.loss_plan_l1_fix_time: 4.7796, d5.loss_plan_l1_fix_dist: 1.8046, d6.loss_plan_l1_fix_time: 4.8850, d6.loss_plan_l1_fix_dist: 2.0673, d0.loss_cls_all: 1.3619, d0.loss_bbox_all: 1.1153, d0.loss_cls: 1.3619, d0.loss_bbox: 1.1153, d1.loss_cls: 1.3712, d1.loss_bbox: 1.1219, d2.loss_cls: 1.3950, d2.loss_bbox: 1.1277, d3.loss_cls: 1.3921, d3.loss_bbox: 1.1280, d4.loss_cls: 1.3894, d4.loss_bbox: 1.1279, d5.loss_cls: 1.3946, d5.loss_bbox: 1.1449, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.1461, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.0258, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.5356, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.7603, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.9461, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.0144, d0.loss_map_cls_all: 0.7640, d0.loss_map_pts_all: 4.6407, d0.loss_map_dir_all: 0.0684, d0.loss_map_cls: 0.7640, d0.loss_map_pts: 4.6407, d0.loss_map_dir: 0.0684, d1.loss_map_cls: 0.7719, d1.loss_map_pts: 4.4315, d1.loss_map_dir: 0.0677, d2.loss_map_cls: 0.7809, d2.loss_map_pts: 4.4075, d2.loss_map_dir: 0.0680, d3.loss_map_cls: 0.7889, d3.loss_map_pts: 4.4025, d3.loss_map_dir: 0.0679, d4.loss_map_cls: 0.7962, d4.loss_map_pts: 4.4014, d4.loss_map_dir: 0.0679, d5.loss_map_cls: 0.7937, d5.loss_map_pts: 4.4094, d5.loss_map_dir: 0.0679, loss: 149.1884, grad_norm: 2912.1414 2026-02-23 23:38:29,486 - DriveTransformer - INFO - Epoch [1][4450/117620] lr: 1.000e-04, eta: 27 days, 19:16:28, time: 0.333, data_time: 0.014, memory: 8394, loss_cls: 1.4132, loss_bbox: 1.3315, loss_traj: 5.4881, loss_traj_cls: 0.0007, loss_map_cls: 0.6984, loss_map_pts: 4.2706, loss_map_dir: 0.0687, d0.loss_plan_l1_fix_time: 6.8496, d0.loss_plan_l1_fix_dist: 1.1580, d1.loss_plan_l1_fix_time: 5.7559, d1.loss_plan_l1_fix_dist: 1.2508, d2.loss_plan_l1_fix_time: 5.6052, d2.loss_plan_l1_fix_dist: 1.4020, d3.loss_plan_l1_fix_time: 5.6585, d3.loss_plan_l1_fix_dist: 1.5993, d4.loss_plan_l1_fix_time: 5.7835, d4.loss_plan_l1_fix_dist: 1.8000, d5.loss_plan_l1_fix_time: 5.9570, d5.loss_plan_l1_fix_dist: 2.0417, d6.loss_plan_l1_fix_time: 6.1588, d6.loss_plan_l1_fix_dist: 2.2951, d0.loss_cls_all: 1.3938, d0.loss_bbox_all: 1.3144, d0.loss_cls: 1.3938, d0.loss_bbox: 1.3144, d1.loss_cls: 1.4039, d1.loss_bbox: 1.3150, d2.loss_cls: 1.4131, d2.loss_bbox: 1.3129, d3.loss_cls: 1.4143, d3.loss_bbox: 1.3151, d4.loss_cls: 1.4132, d4.loss_bbox: 1.3181, d5.loss_cls: 1.4100, d5.loss_bbox: 1.3250, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.8296, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.5591, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0029, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.2057, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3658, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.4295, d0.loss_map_cls_all: 0.6833, d0.loss_map_pts_all: 4.5596, d0.loss_map_dir_all: 0.0699, d0.loss_map_cls: 0.6833, d0.loss_map_pts: 4.5596, d0.loss_map_dir: 0.0699, d1.loss_map_cls: 0.6945, d1.loss_map_pts: 4.3049, d1.loss_map_dir: 0.0690, d2.loss_map_cls: 0.6970, d2.loss_map_pts: 4.2614, d2.loss_map_dir: 0.0690, d3.loss_map_cls: 0.6966, d3.loss_map_pts: 4.2558, d3.loss_map_dir: 0.0689, d4.loss_map_cls: 0.6997, d4.loss_map_pts: 4.2595, d4.loss_map_dir: 0.0688, d5.loss_map_cls: 0.6990, d5.loss_map_pts: 4.2656, d5.loss_map_dir: 0.0689, loss: 150.8440, grad_norm: 2854.5508 2026-02-23 23:38:46,173 - DriveTransformer - INFO - Epoch [1][4500/117620] lr: 1.000e-04, eta: 27 days, 19:07:21, time: 0.334, data_time: 0.014, memory: 8394, loss_cls: 1.4493, loss_bbox: 1.2904, loss_traj: 5.3309, loss_traj_cls: 0.0007, loss_map_cls: 0.7071, loss_map_pts: 4.0801, loss_map_dir: 0.0672, d0.loss_plan_l1_fix_time: 6.6965, d0.loss_plan_l1_fix_dist: 0.9812, d1.loss_plan_l1_fix_time: 5.4037, d1.loss_plan_l1_fix_dist: 1.0393, d2.loss_plan_l1_fix_time: 5.1029, d2.loss_plan_l1_fix_dist: 1.1711, d3.loss_plan_l1_fix_time: 5.0379, d3.loss_plan_l1_fix_dist: 1.3476, d4.loss_plan_l1_fix_time: 5.0946, d4.loss_plan_l1_fix_dist: 1.5358, d5.loss_plan_l1_fix_time: 5.2347, d5.loss_plan_l1_fix_dist: 1.7669, d6.loss_plan_l1_fix_time: 5.4156, d6.loss_plan_l1_fix_dist: 1.9964, d0.loss_cls_all: 1.4192, d0.loss_bbox_all: 1.2815, d0.loss_cls: 1.4192, d0.loss_bbox: 1.2815, d1.loss_cls: 1.4286, d1.loss_bbox: 1.2833, d2.loss_cls: 1.4421, d2.loss_bbox: 1.2844, d3.loss_cls: 1.4394, d3.loss_bbox: 1.2870, d4.loss_cls: 1.4430, d4.loss_bbox: 1.2905, d5.loss_cls: 1.4464, d5.loss_bbox: 1.2944, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.7551, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.4389, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.8562, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.0555, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.2098, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2733, d0.loss_map_cls_all: 0.6887, d0.loss_map_pts_all: 4.4346, d0.loss_map_dir_all: 0.0684, d0.loss_map_cls: 0.6887, d0.loss_map_pts: 4.4346, d0.loss_map_dir: 0.0684, d1.loss_map_cls: 0.7019, d1.loss_map_pts: 4.1437, d1.loss_map_dir: 0.0673, d2.loss_map_cls: 0.7053, d2.loss_map_pts: 4.0850, d2.loss_map_dir: 0.0673, d3.loss_map_cls: 0.7053, d3.loss_map_pts: 4.0776, d3.loss_map_dir: 0.0672, d4.loss_map_cls: 0.7081, d4.loss_map_pts: 4.0797, d4.loss_map_dir: 0.0672, d5.loss_map_cls: 0.7073, d5.loss_map_pts: 4.0809, d5.loss_map_dir: 0.0672, loss: 143.0969, grad_norm: 2854.5508 2026-02-23 23:39:02,757 - DriveTransformer - INFO - Epoch [1][4550/117620] lr: 1.000e-04, eta: 27 days, 18:55:29, time: 0.332, data_time: 0.016, memory: 8394, loss_cls: 1.4524, loss_bbox: 1.2359, loss_traj: 4.9156, loss_traj_cls: 0.0006, loss_map_cls: 0.7320, loss_map_pts: 4.4828, loss_map_dir: 0.0667, d0.loss_plan_l1_fix_time: 6.6453, d0.loss_plan_l1_fix_dist: 1.0718, d1.loss_plan_l1_fix_time: 5.5744, d1.loss_plan_l1_fix_dist: 1.1400, d2.loss_plan_l1_fix_time: 5.3433, d2.loss_plan_l1_fix_dist: 1.2663, d3.loss_plan_l1_fix_time: 5.3602, d3.loss_plan_l1_fix_dist: 1.3944, d4.loss_plan_l1_fix_time: 5.4907, d4.loss_plan_l1_fix_dist: 1.5384, d5.loss_plan_l1_fix_time: 5.6610, d5.loss_plan_l1_fix_dist: 1.7045, d6.loss_plan_l1_fix_time: 5.8391, d6.loss_plan_l1_fix_dist: 1.8892, d0.loss_cls_all: 1.4240, d0.loss_bbox_all: 1.2074, d0.loss_cls: 1.4240, d0.loss_bbox: 1.2074, d1.loss_cls: 1.4414, d1.loss_bbox: 1.2124, d2.loss_cls: 1.4446, d2.loss_bbox: 1.2120, d3.loss_cls: 1.4480, d3.loss_bbox: 1.2140, d4.loss_cls: 1.4519, d4.loss_bbox: 1.2204, d5.loss_cls: 1.4529, d5.loss_bbox: 1.2306, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2280, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9542, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.4067, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.6315, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7903, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.8467, d0.loss_map_cls_all: 0.7095, d0.loss_map_pts_all: 4.8405, d0.loss_map_dir_all: 0.0681, d0.loss_map_cls: 0.7095, d0.loss_map_pts: 4.8405, d0.loss_map_dir: 0.0681, d1.loss_map_cls: 0.7208, d1.loss_map_pts: 4.5734, d1.loss_map_dir: 0.0671, d2.loss_map_cls: 0.7235, d2.loss_map_pts: 4.5103, d2.loss_map_dir: 0.0671, d3.loss_map_cls: 0.7270, d3.loss_map_pts: 4.4932, d3.loss_map_dir: 0.0667, d4.loss_map_cls: 0.7346, d4.loss_map_pts: 4.4873, d4.loss_map_dir: 0.0666, d5.loss_map_cls: 0.7317, d5.loss_map_pts: 4.4827, d5.loss_map_dir: 0.0667, loss: 145.0107, grad_norm: 2798.3200 2026-02-23 23:39:19,759 - DriveTransformer - INFO - Epoch [1][4600/117620] lr: 1.000e-04, eta: 27 days, 18:54:37, time: 0.340, data_time: 0.018, memory: 8394, loss_cls: 1.4605, loss_bbox: 1.3497, loss_traj: 5.3386, loss_traj_cls: 0.0006, loss_map_cls: 0.7491, loss_map_pts: 4.1071, loss_map_dir: 0.0665, d0.loss_plan_l1_fix_time: 6.6076, d0.loss_plan_l1_fix_dist: 0.9496, d1.loss_plan_l1_fix_time: 5.2830, d1.loss_plan_l1_fix_dist: 1.0446, d2.loss_plan_l1_fix_time: 4.9106, d2.loss_plan_l1_fix_dist: 1.1868, d3.loss_plan_l1_fix_time: 4.8086, d3.loss_plan_l1_fix_dist: 1.3280, d4.loss_plan_l1_fix_time: 4.8359, d4.loss_plan_l1_fix_dist: 1.4808, d5.loss_plan_l1_fix_time: 4.9374, d5.loss_plan_l1_fix_dist: 1.6408, d6.loss_plan_l1_fix_time: 5.0767, d6.loss_plan_l1_fix_dist: 1.8278, d0.loss_cls_all: 1.4350, d0.loss_bbox_all: 1.3118, d0.loss_cls: 1.4350, d0.loss_bbox: 1.3118, d1.loss_cls: 1.4604, d1.loss_bbox: 1.3249, d2.loss_cls: 1.4590, d2.loss_bbox: 1.3190, d3.loss_cls: 1.4667, d3.loss_bbox: 1.3204, d4.loss_cls: 1.4660, d4.loss_bbox: 1.3288, d5.loss_cls: 1.4650, d5.loss_bbox: 1.3422, d0.loss_traj_cls: 0.0004, d0.loss_traj: 3.5482, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.3100, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.7865, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.0253, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1961, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2575, d0.loss_map_cls_all: 0.7270, d0.loss_map_pts_all: 4.4731, d0.loss_map_dir_all: 0.0680, d0.loss_map_cls: 0.7270, d0.loss_map_pts: 4.4731, d0.loss_map_dir: 0.0680, d1.loss_map_cls: 0.7417, d1.loss_map_pts: 4.2098, d1.loss_map_dir: 0.0669, d2.loss_map_cls: 0.7424, d2.loss_map_pts: 4.1398, d2.loss_map_dir: 0.0669, d3.loss_map_cls: 0.7472, d3.loss_map_pts: 4.1162, d3.loss_map_dir: 0.0667, d4.loss_map_cls: 0.7508, d4.loss_map_pts: 4.1083, d4.loss_map_dir: 0.0667, d5.loss_map_cls: 0.7490, d5.loss_map_pts: 4.1049, d5.loss_map_dir: 0.0666, loss: 141.8428, grad_norm: 2798.3200 2026-02-23 23:39:36,105 - DriveTransformer - INFO - Epoch [1][4650/117620] lr: 1.000e-04, eta: 27 days, 18:37:18, time: 0.327, data_time: 0.014, memory: 8394, loss_cls: 1.3894, loss_bbox: 1.2376, loss_traj: 5.3204, loss_traj_cls: 0.0006, loss_map_cls: 0.7049, loss_map_pts: 4.3299, loss_map_dir: 0.0676, d0.loss_plan_l1_fix_time: 7.1972, d0.loss_plan_l1_fix_dist: 0.9329, d1.loss_plan_l1_fix_time: 5.7450, d1.loss_plan_l1_fix_dist: 1.0489, d2.loss_plan_l1_fix_time: 5.2602, d2.loss_plan_l1_fix_dist: 1.2191, d3.loss_plan_l1_fix_time: 5.0552, d3.loss_plan_l1_fix_dist: 1.3950, d4.loss_plan_l1_fix_time: 5.0184, d4.loss_plan_l1_fix_dist: 1.5936, d5.loss_plan_l1_fix_time: 5.0760, d5.loss_plan_l1_fix_dist: 1.7943, d6.loss_plan_l1_fix_time: 5.1893, d6.loss_plan_l1_fix_dist: 1.9332, d0.loss_cls_all: 1.3705, d0.loss_bbox_all: 1.2113, d0.loss_cls: 1.3705, d0.loss_bbox: 1.2113, d1.loss_cls: 1.3839, d1.loss_bbox: 1.2226, d2.loss_cls: 1.3874, d2.loss_bbox: 1.2206, d3.loss_cls: 1.3874, d3.loss_bbox: 1.2203, d4.loss_cls: 1.3887, d4.loss_bbox: 1.2225, d5.loss_cls: 1.3877, d5.loss_bbox: 1.2318, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.4165, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.2056, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.7134, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.9721, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1712, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2311, d0.loss_map_cls_all: 0.6875, d0.loss_map_pts_all: 4.6641, d0.loss_map_dir_all: 0.0689, d0.loss_map_cls: 0.6875, d0.loss_map_pts: 4.6641, d0.loss_map_dir: 0.0689, d1.loss_map_cls: 0.6913, d1.loss_map_pts: 4.4018, d1.loss_map_dir: 0.0680, d2.loss_map_cls: 0.6953, d2.loss_map_pts: 4.3567, d2.loss_map_dir: 0.0678, d3.loss_map_cls: 0.6960, d3.loss_map_pts: 4.3404, d3.loss_map_dir: 0.0677, d4.loss_map_cls: 0.7035, d4.loss_map_pts: 4.3320, d4.loss_map_dir: 0.0676, d5.loss_map_cls: 0.7025, d5.loss_map_pts: 4.3284, d5.loss_map_dir: 0.0676, loss: 143.8660, grad_norm: 2745.6859 2026-02-23 23:39:51,217 - DriveTransformer - INFO - Epoch [1][4700/117620] lr: 1.000e-04, eta: 27 days, 17:49:27, time: 0.302, data_time: 0.014, memory: 8394, loss_cls: 1.3859, loss_bbox: 1.2251, loss_traj: 6.9339, loss_traj_cls: 0.0006, loss_map_cls: 0.7657, loss_map_pts: 4.2440, loss_map_dir: 0.0648, d0.loss_plan_l1_fix_time: 7.2692, d0.loss_plan_l1_fix_dist: 0.8462, d1.loss_plan_l1_fix_time: 5.7927, d1.loss_plan_l1_fix_dist: 0.9603, d2.loss_plan_l1_fix_time: 5.2556, d2.loss_plan_l1_fix_dist: 1.1183, d3.loss_plan_l1_fix_time: 5.0320, d3.loss_plan_l1_fix_dist: 1.2847, d4.loss_plan_l1_fix_time: 4.9799, d4.loss_plan_l1_fix_dist: 1.4889, d5.loss_plan_l1_fix_time: 5.0169, d5.loss_plan_l1_fix_dist: 1.6902, d6.loss_plan_l1_fix_time: 5.0915, d6.loss_plan_l1_fix_dist: 1.8072, d0.loss_cls_all: 1.3649, d0.loss_bbox_all: 1.2036, d0.loss_cls: 1.3649, d0.loss_bbox: 1.2036, d1.loss_cls: 1.3782, d1.loss_bbox: 1.2166, d2.loss_cls: 1.3837, d2.loss_bbox: 1.2167, d3.loss_cls: 1.3830, d3.loss_bbox: 1.2147, d4.loss_cls: 1.3884, d4.loss_bbox: 1.2164, d5.loss_cls: 1.3863, d5.loss_bbox: 1.2207, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.4893, d1.loss_traj_cls: 0.0005, d1.loss_traj: 5.5369, d2.loss_traj_cls: 0.0005, d2.loss_traj: 6.1802, d3.loss_traj_cls: 0.0005, d3.loss_traj: 6.5131, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.7574, d5.loss_traj_cls: 0.0005, d5.loss_traj: 6.8266, d0.loss_map_cls_all: 0.7437, d0.loss_map_pts_all: 4.4923, d0.loss_map_dir_all: 0.0662, d0.loss_map_cls: 0.7437, d0.loss_map_pts: 4.4923, d0.loss_map_dir: 0.0662, d1.loss_map_cls: 0.7621, d1.loss_map_pts: 4.2938, d1.loss_map_dir: 0.0654, d2.loss_map_cls: 0.7599, d2.loss_map_pts: 4.2585, d2.loss_map_dir: 0.0651, d3.loss_map_cls: 0.7625, d3.loss_map_pts: 4.2445, d3.loss_map_dir: 0.0650, d4.loss_map_cls: 0.7664, d4.loss_map_pts: 4.2376, d4.loss_map_dir: 0.0649, d5.loss_map_cls: 0.7653, d5.loss_map_pts: 4.2383, d5.loss_map_dir: 0.0648, loss: 152.7201, grad_norm: 2745.6859 2026-02-23 23:40:06,894 - DriveTransformer - INFO - Epoch [1][4750/117620] lr: 1.000e-04, eta: 27 days, 17:16:32, time: 0.313, data_time: 0.014, memory: 8395, loss_cls: 1.4190, loss_bbox: 1.2797, loss_traj: 5.6029, loss_traj_cls: 0.0006, loss_map_cls: 0.7359, loss_map_pts: 4.1026, loss_map_dir: 0.0661, d0.loss_plan_l1_fix_time: 6.7803, d0.loss_plan_l1_fix_dist: 0.9067, d1.loss_plan_l1_fix_time: 5.4164, d1.loss_plan_l1_fix_dist: 1.0278, d2.loss_plan_l1_fix_time: 4.9764, d2.loss_plan_l1_fix_dist: 1.1905, d3.loss_plan_l1_fix_time: 4.8267, d3.loss_plan_l1_fix_dist: 1.3906, d4.loss_plan_l1_fix_time: 4.8156, d4.loss_plan_l1_fix_dist: 1.6027, d5.loss_plan_l1_fix_time: 4.8823, d5.loss_plan_l1_fix_dist: 1.7840, d6.loss_plan_l1_fix_time: 4.9887, d6.loss_plan_l1_fix_dist: 1.9712, d0.loss_cls_all: 1.3911, d0.loss_bbox_all: 1.2617, d0.loss_cls: 1.3911, d0.loss_bbox: 1.2617, d1.loss_cls: 1.4072, d1.loss_bbox: 1.2741, d2.loss_cls: 1.4135, d2.loss_bbox: 1.2685, d3.loss_cls: 1.4125, d3.loss_bbox: 1.2694, d4.loss_cls: 1.4151, d4.loss_bbox: 1.2727, d5.loss_cls: 1.4172, d5.loss_bbox: 1.2749, d0.loss_traj_cls: 0.0004, d0.loss_traj: 3.7794, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.5392, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.0161, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.2648, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.4656, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.5276, d0.loss_map_cls_all: 0.7150, d0.loss_map_pts_all: 4.4039, d0.loss_map_dir_all: 0.0674, d0.loss_map_cls: 0.7150, d0.loss_map_pts: 4.4039, d0.loss_map_dir: 0.0674, d1.loss_map_cls: 0.7268, d1.loss_map_pts: 4.1785, d1.loss_map_dir: 0.0665, d2.loss_map_cls: 0.7285, d2.loss_map_pts: 4.1336, d2.loss_map_dir: 0.0664, d3.loss_map_cls: 0.7309, d3.loss_map_pts: 4.1156, d3.loss_map_dir: 0.0662, d4.loss_map_cls: 0.7316, d4.loss_map_pts: 4.1083, d4.loss_map_dir: 0.0662, d5.loss_map_cls: 0.7331, d5.loss_map_pts: 4.1054, d5.loss_map_dir: 0.0661, loss: 143.0893, grad_norm: 2694.9169 2026-02-23 23:40:22,801 - DriveTransformer - INFO - Epoch [1][4800/117620] lr: 1.000e-04, eta: 27 days, 16:50:28, time: 0.319, data_time: 0.013, memory: 8395, loss_cls: 1.4264, loss_bbox: 1.3132, loss_traj: 4.1139, loss_traj_cls: 0.0006, loss_map_cls: 0.7005, loss_map_pts: 4.2934, loss_map_dir: 0.0684, d0.loss_plan_l1_fix_time: 5.9625, d0.loss_plan_l1_fix_dist: 0.9992, d1.loss_plan_l1_fix_time: 5.1770, d1.loss_plan_l1_fix_dist: 1.0917, d2.loss_plan_l1_fix_time: 5.1793, d2.loss_plan_l1_fix_dist: 1.2478, d3.loss_plan_l1_fix_time: 5.3263, d3.loss_plan_l1_fix_dist: 1.4407, d4.loss_plan_l1_fix_time: 5.5081, d4.loss_plan_l1_fix_dist: 1.6354, d5.loss_plan_l1_fix_time: 5.6683, d5.loss_plan_l1_fix_dist: 1.8044, d6.loss_plan_l1_fix_time: 5.8198, d6.loss_plan_l1_fix_dist: 1.9847, d0.loss_cls_all: 1.3956, d0.loss_bbox_all: 1.3000, d0.loss_cls: 1.3956, d0.loss_bbox: 1.3000, d1.loss_cls: 1.4117, d1.loss_bbox: 1.3117, d2.loss_cls: 1.4212, d2.loss_bbox: 1.3050, d3.loss_cls: 1.4195, d3.loss_bbox: 1.3065, d4.loss_cls: 1.4214, d4.loss_bbox: 1.3088, d5.loss_cls: 1.4244, d5.loss_bbox: 1.3097, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8815, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.3873, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.7081, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8862, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.0243, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.0679, d0.loss_map_cls_all: 0.6759, d0.loss_map_pts_all: 4.6088, d0.loss_map_dir_all: 0.0697, d0.loss_map_cls: 0.6759, d0.loss_map_pts: 4.6088, d0.loss_map_dir: 0.0697, d1.loss_map_cls: 0.6884, d1.loss_map_pts: 4.3773, d1.loss_map_dir: 0.0688, d2.loss_map_cls: 0.6926, d2.loss_map_pts: 4.3241, d2.loss_map_dir: 0.0687, d3.loss_map_cls: 0.6940, d3.loss_map_pts: 4.3034, d3.loss_map_dir: 0.0685, d4.loss_map_cls: 0.6984, d4.loss_map_pts: 4.2964, d4.loss_map_dir: 0.0684, d5.loss_map_cls: 0.6985, d5.loss_map_pts: 4.2941, d5.loss_map_dir: 0.0684, loss: 137.8699, grad_norm: 2645.9376 2026-02-23 23:40:38,600 - DriveTransformer - INFO - Epoch [1][4850/117620] lr: 1.000e-04, eta: 27 days, 16:21:18, time: 0.316, data_time: 0.014, memory: 8395, loss_cls: 1.4361, loss_bbox: 1.2950, loss_traj: 4.3824, loss_traj_cls: 0.0006, loss_map_cls: 0.7256, loss_map_pts: 4.3103, loss_map_dir: 0.0661, d0.loss_plan_l1_fix_time: 6.1008, d0.loss_plan_l1_fix_dist: 0.9832, d1.loss_plan_l1_fix_time: 5.1440, d1.loss_plan_l1_fix_dist: 1.0524, d2.loss_plan_l1_fix_time: 4.9613, d2.loss_plan_l1_fix_dist: 1.1670, d3.loss_plan_l1_fix_time: 4.9558, d3.loss_plan_l1_fix_dist: 1.3214, d4.loss_plan_l1_fix_time: 5.0278, d4.loss_plan_l1_fix_dist: 1.5085, d5.loss_plan_l1_fix_time: 5.1274, d5.loss_plan_l1_fix_dist: 1.6830, d6.loss_plan_l1_fix_time: 5.2573, d6.loss_plan_l1_fix_dist: 1.8973, d0.loss_cls_all: 1.4019, d0.loss_bbox_all: 1.2677, d0.loss_cls: 1.4019, d0.loss_bbox: 1.2677, d1.loss_cls: 1.4201, d1.loss_bbox: 1.2669, d2.loss_cls: 1.4318, d2.loss_bbox: 1.2666, d3.loss_cls: 1.4271, d3.loss_bbox: 1.2748, d4.loss_cls: 1.4331, d4.loss_bbox: 1.2832, d5.loss_cls: 1.4334, d5.loss_bbox: 1.2897, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8922, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4941, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.8836, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.1133, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2608, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.3162, d0.loss_map_cls_all: 0.7028, d0.loss_map_pts_all: 4.6212, d0.loss_map_dir_all: 0.0676, d0.loss_map_cls: 0.7028, d0.loss_map_pts: 4.6212, d0.loss_map_dir: 0.0676, d1.loss_map_cls: 0.7106, d1.loss_map_pts: 4.3591, d1.loss_map_dir: 0.0666, d2.loss_map_cls: 0.7159, d2.loss_map_pts: 4.3031, d2.loss_map_dir: 0.0664, d3.loss_map_cls: 0.7191, d3.loss_map_pts: 4.2959, d3.loss_map_dir: 0.0662, d4.loss_map_cls: 0.7235, d4.loss_map_pts: 4.2949, d4.loss_map_dir: 0.0661, d5.loss_map_cls: 0.7234, d5.loss_map_pts: 4.2980, d5.loss_map_dir: 0.0662, loss: 136.4905, grad_norm: 2645.9376 2026-02-23 23:40:55,055 - DriveTransformer - INFO - Epoch [1][4900/117620] lr: 1.000e-04, eta: 27 days, 16:09:01, time: 0.329, data_time: 0.017, memory: 8395, loss_cls: 1.4476, loss_bbox: 1.4140, loss_traj: 5.5288, loss_traj_cls: 0.0007, loss_map_cls: 0.7254, loss_map_pts: 4.1525, loss_map_dir: 0.0658, d0.loss_plan_l1_fix_time: 6.6688, d0.loss_plan_l1_fix_dist: 1.1032, d1.loss_plan_l1_fix_time: 5.6109, d1.loss_plan_l1_fix_dist: 1.1707, d2.loss_plan_l1_fix_time: 5.3432, d2.loss_plan_l1_fix_dist: 1.2889, d3.loss_plan_l1_fix_time: 5.2942, d3.loss_plan_l1_fix_dist: 1.4405, d4.loss_plan_l1_fix_time: 5.3459, d4.loss_plan_l1_fix_dist: 1.6230, d5.loss_plan_l1_fix_time: 5.4334, d5.loss_plan_l1_fix_dist: 1.7972, d6.loss_plan_l1_fix_time: 5.5503, d6.loss_plan_l1_fix_dist: 2.0014, d0.loss_cls_all: 1.4194, d0.loss_bbox_all: 1.3852, d0.loss_cls: 1.4194, d0.loss_bbox: 1.3852, d1.loss_cls: 1.4299, d1.loss_bbox: 1.3902, d2.loss_cls: 1.4410, d2.loss_bbox: 1.3904, d3.loss_cls: 1.4426, d3.loss_bbox: 1.3972, d4.loss_cls: 1.4449, d4.loss_bbox: 1.4052, d5.loss_cls: 1.4454, d5.loss_bbox: 1.4105, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.3756, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.2585, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.8193, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.1450, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3611, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.4393, d0.loss_map_cls_all: 0.7028, d0.loss_map_pts_all: 4.4189, d0.loss_map_dir_all: 0.0671, d0.loss_map_cls: 0.7028, d0.loss_map_pts: 4.4189, d0.loss_map_dir: 0.0671, d1.loss_map_cls: 0.7180, d1.loss_map_pts: 4.1881, d1.loss_map_dir: 0.0663, d2.loss_map_cls: 0.7223, d2.loss_map_pts: 4.1426, d2.loss_map_dir: 0.0661, d3.loss_map_cls: 0.7225, d3.loss_map_pts: 4.1338, d3.loss_map_dir: 0.0659, d4.loss_map_cls: 0.7256, d4.loss_map_pts: 4.1325, d4.loss_map_dir: 0.0658, d5.loss_map_cls: 0.7246, d5.loss_map_pts: 4.1374, d5.loss_map_dir: 0.0658, loss: 146.2698, grad_norm: 1439.7706 2026-02-23 23:41:11,032 - DriveTransformer - INFO - Epoch [1][4950/117620] lr: 1.000e-04, eta: 27 days, 15:45:32, time: 0.319, data_time: 0.013, memory: 8395, loss_cls: 1.4142, loss_bbox: 1.3297, loss_traj: 5.5411, loss_traj_cls: 0.0007, loss_map_cls: 0.7233, loss_map_pts: 4.2244, loss_map_dir: 0.0656, d0.loss_plan_l1_fix_time: 7.3028, d0.loss_plan_l1_fix_dist: 0.9876, d1.loss_plan_l1_fix_time: 6.2159, d1.loss_plan_l1_fix_dist: 1.0633, d2.loss_plan_l1_fix_time: 5.8739, d2.loss_plan_l1_fix_dist: 1.1863, d3.loss_plan_l1_fix_time: 5.7185, d3.loss_plan_l1_fix_dist: 1.3326, d4.loss_plan_l1_fix_time: 5.6698, d4.loss_plan_l1_fix_dist: 1.5001, d5.loss_plan_l1_fix_time: 5.6776, d5.loss_plan_l1_fix_dist: 1.7225, d6.loss_plan_l1_fix_time: 5.7186, d6.loss_plan_l1_fix_dist: 1.9169, d0.loss_cls_all: 1.3843, d0.loss_bbox_all: 1.2969, d0.loss_cls: 1.3843, d0.loss_bbox: 1.2969, d1.loss_cls: 1.4031, d1.loss_bbox: 1.3033, d2.loss_cls: 1.4075, d2.loss_bbox: 1.3096, d3.loss_cls: 1.4109, d3.loss_bbox: 1.3134, d4.loss_cls: 1.4109, d4.loss_bbox: 1.3209, d5.loss_cls: 1.4125, d5.loss_bbox: 1.3218, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.3016, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.1709, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.7659, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.1128, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.3644, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.4427, d0.loss_map_cls_all: 0.7023, d0.loss_map_pts_all: 4.5010, d0.loss_map_dir_all: 0.0666, d0.loss_map_cls: 0.7023, d0.loss_map_pts: 4.5010, d0.loss_map_dir: 0.0666, d1.loss_map_cls: 0.7159, d1.loss_map_pts: 4.2967, d1.loss_map_dir: 0.0660, d2.loss_map_cls: 0.7194, d2.loss_map_pts: 4.2534, d2.loss_map_dir: 0.0658, d3.loss_map_cls: 0.7199, d3.loss_map_pts: 4.2376, d3.loss_map_dir: 0.0657, d4.loss_map_cls: 0.7234, d4.loss_map_pts: 4.2310, d4.loss_map_dir: 0.0657, d5.loss_map_cls: 0.7227, d5.loss_map_pts: 4.2269, d5.loss_map_dir: 0.0656, loss: 148.0388, grad_norm: 1439.7706 2026-02-23 23:41:27,133 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-23 23:41:27,133 - DriveTransformer - INFO - Epoch [1][5000/117620] lr: 1.000e-04, eta: 27 days, 15:25:32, time: 0.322, data_time: 0.014, memory: 8395, loss_cls: 1.4004, loss_bbox: 1.1784, loss_traj: 5.0863, loss_traj_cls: 0.0007, loss_map_cls: 0.7085, loss_map_pts: 4.2410, loss_map_dir: 0.0662, d0.loss_plan_l1_fix_time: 6.1653, d0.loss_plan_l1_fix_dist: 0.8600, d1.loss_plan_l1_fix_time: 5.2956, d1.loss_plan_l1_fix_dist: 0.9381, d2.loss_plan_l1_fix_time: 5.0346, d2.loss_plan_l1_fix_dist: 1.0583, d3.loss_plan_l1_fix_time: 4.9714, d3.loss_plan_l1_fix_dist: 1.2061, d4.loss_plan_l1_fix_time: 4.9815, d4.loss_plan_l1_fix_dist: 1.3785, d5.loss_plan_l1_fix_time: 5.0419, d5.loss_plan_l1_fix_dist: 1.6056, d6.loss_plan_l1_fix_time: 5.1494, d6.loss_plan_l1_fix_dist: 1.8169, d0.loss_cls_all: 1.3676, d0.loss_bbox_all: 1.1431, d0.loss_cls: 1.3676, d0.loss_bbox: 1.1431, d1.loss_cls: 1.3921, d1.loss_bbox: 1.1431, d2.loss_cls: 1.3927, d2.loss_bbox: 1.1482, d3.loss_cls: 1.3979, d3.loss_bbox: 1.1530, d4.loss_cls: 1.3969, d4.loss_bbox: 1.1646, d5.loss_cls: 1.3993, d5.loss_bbox: 1.1680, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.3372, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.0277, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.5025, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.7681, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.9546, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.0113, d0.loss_map_cls_all: 0.6898, d0.loss_map_pts_all: 4.5216, d0.loss_map_dir_all: 0.0672, d0.loss_map_cls: 0.6898, d0.loss_map_pts: 4.5216, d0.loss_map_dir: 0.0672, d1.loss_map_cls: 0.7045, d1.loss_map_pts: 4.3080, d1.loss_map_dir: 0.0665, d2.loss_map_cls: 0.7062, d2.loss_map_pts: 4.2621, d2.loss_map_dir: 0.0663, d3.loss_map_cls: 0.7062, d3.loss_map_pts: 4.2503, d3.loss_map_dir: 0.0663, d4.loss_map_cls: 0.7098, d4.loss_map_pts: 4.2453, d4.loss_map_dir: 0.0663, d5.loss_map_cls: 0.7075, d5.loss_map_pts: 4.2427, d5.loss_map_dir: 0.0662, loss: 138.2986, grad_norm: 799.1943 2026-02-23 23:41:43,748 - DriveTransformer - INFO - Epoch [1][5050/117620] lr: 1.000e-04, eta: 27 days, 15:17:48, time: 0.332, data_time: 0.015, memory: 8395, loss_cls: 1.4290, loss_bbox: 1.3207, loss_traj: 5.9432, loss_traj_cls: 0.0006, loss_map_cls: 0.7074, loss_map_pts: 4.1470, loss_map_dir: 0.0641, d0.loss_plan_l1_fix_time: 6.5045, d0.loss_plan_l1_fix_dist: 0.7533, d1.loss_plan_l1_fix_time: 5.2564, d1.loss_plan_l1_fix_dist: 0.8641, d2.loss_plan_l1_fix_time: 4.7948, d2.loss_plan_l1_fix_dist: 1.0735, d3.loss_plan_l1_fix_time: 4.5944, d3.loss_plan_l1_fix_dist: 1.2844, d4.loss_plan_l1_fix_time: 4.5243, d4.loss_plan_l1_fix_dist: 1.4845, d5.loss_plan_l1_fix_time: 4.5340, d5.loss_plan_l1_fix_dist: 1.7544, d6.loss_plan_l1_fix_time: 4.5993, d6.loss_plan_l1_fix_dist: 2.0605, d0.loss_cls_all: 1.3933, d0.loss_bbox_all: 1.2931, d0.loss_cls: 1.3933, d0.loss_bbox: 1.2931, d1.loss_cls: 1.4139, d1.loss_bbox: 1.2978, d2.loss_cls: 1.4278, d2.loss_bbox: 1.3019, d3.loss_cls: 1.4251, d3.loss_bbox: 1.3044, d4.loss_cls: 1.4291, d4.loss_bbox: 1.3082, d5.loss_cls: 1.4288, d5.loss_bbox: 1.3143, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.4076, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.4002, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0674, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.4466, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.7244, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.8326, d0.loss_map_cls_all: 0.6854, d0.loss_map_pts_all: 4.5382, d0.loss_map_dir_all: 0.0653, d0.loss_map_cls: 0.6854, d0.loss_map_pts: 4.5382, d0.loss_map_dir: 0.0653, d1.loss_map_cls: 0.6980, d1.loss_map_pts: 4.2804, d1.loss_map_dir: 0.0645, d2.loss_map_cls: 0.7001, d2.loss_map_pts: 4.2114, d2.loss_map_dir: 0.0643, d3.loss_map_cls: 0.7027, d3.loss_map_pts: 4.1817, d3.loss_map_dir: 0.0643, d4.loss_map_cls: 0.7034, d4.loss_map_pts: 4.1672, d4.loss_map_dir: 0.0641, d5.loss_map_cls: 0.7054, d5.loss_map_pts: 4.1577, d5.loss_map_dir: 0.0641, loss: 142.0079, grad_norm: 799.1943 2026-02-23 23:41:59,882 - DriveTransformer - INFO - Epoch [1][5100/117620] lr: 1.000e-04, eta: 27 days, 14:59:11, time: 0.323, data_time: 0.015, memory: 8395, loss_cls: 1.4186, loss_bbox: 1.3228, loss_traj: 4.7925, loss_traj_cls: 0.0006, loss_map_cls: 0.7182, loss_map_pts: 4.2145, loss_map_dir: 0.0657, d0.loss_plan_l1_fix_time: 6.1954, d0.loss_plan_l1_fix_dist: 0.8767, d1.loss_plan_l1_fix_time: 5.2663, d1.loss_plan_l1_fix_dist: 0.9713, d2.loss_plan_l1_fix_time: 4.9674, d2.loss_plan_l1_fix_dist: 1.1284, d3.loss_plan_l1_fix_time: 4.8495, d3.loss_plan_l1_fix_dist: 1.3004, d4.loss_plan_l1_fix_time: 4.8422, d4.loss_plan_l1_fix_dist: 1.4691, d5.loss_plan_l1_fix_time: 4.8930, d5.loss_plan_l1_fix_dist: 1.6892, d6.loss_plan_l1_fix_time: 4.9814, d6.loss_plan_l1_fix_dist: 1.9606, d0.loss_cls_all: 1.3852, d0.loss_bbox_all: 1.2976, d0.loss_cls: 1.3852, d0.loss_bbox: 1.2976, d1.loss_cls: 1.4091, d1.loss_bbox: 1.3005, d2.loss_cls: 1.4102, d2.loss_bbox: 1.3037, d3.loss_cls: 1.4120, d3.loss_bbox: 1.3082, d4.loss_cls: 1.4148, d4.loss_bbox: 1.3106, d5.loss_cls: 1.4158, d5.loss_bbox: 1.3126, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1888, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8112, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.2255, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.4752, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.6555, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.7272, d0.loss_map_cls_all: 0.6971, d0.loss_map_pts_all: 4.5078, d0.loss_map_dir_all: 0.0669, d0.loss_map_cls: 0.6971, d0.loss_map_pts: 4.5078, d0.loss_map_dir: 0.0669, d1.loss_map_cls: 0.7077, d1.loss_map_pts: 4.2829, d1.loss_map_dir: 0.0660, d2.loss_map_cls: 0.7101, d2.loss_map_pts: 4.2353, d2.loss_map_dir: 0.0658, d3.loss_map_cls: 0.7107, d3.loss_map_pts: 4.2209, d3.loss_map_dir: 0.0657, d4.loss_map_cls: 0.7164, d4.loss_map_pts: 4.2167, d4.loss_map_dir: 0.0657, d5.loss_map_cls: 0.7166, d5.loss_map_pts: 4.2150, d5.loss_map_dir: 0.0657, loss: 137.5784, grad_norm: 523.7619 2026-02-23 23:42:17,357 - DriveTransformer - INFO - Epoch [1][5150/117620] lr: 1.000e-04, eta: 27 days, 15:11:29, time: 0.349, data_time: 0.019, memory: 8395, loss_cls: 1.4369, loss_bbox: 1.2890, loss_traj: 4.8099, loss_traj_cls: 0.0005, loss_map_cls: 0.6816, loss_map_pts: 4.1309, loss_map_dir: 0.0643, d0.loss_plan_l1_fix_time: 5.4491, d0.loss_plan_l1_fix_dist: 1.0303, d1.loss_plan_l1_fix_time: 4.5960, d1.loss_plan_l1_fix_dist: 1.0694, d2.loss_plan_l1_fix_time: 4.4000, d2.loss_plan_l1_fix_dist: 1.1639, d3.loss_plan_l1_fix_time: 4.3821, d3.loss_plan_l1_fix_dist: 1.2938, d4.loss_plan_l1_fix_time: 4.4402, d4.loss_plan_l1_fix_dist: 1.4201, d5.loss_plan_l1_fix_time: 4.5070, d5.loss_plan_l1_fix_dist: 1.5494, d6.loss_plan_l1_fix_time: 4.6002, d6.loss_plan_l1_fix_dist: 1.7542, d0.loss_cls_all: 1.3926, d0.loss_bbox_all: 1.2436, d0.loss_cls: 1.3926, d0.loss_bbox: 1.2436, d1.loss_cls: 1.4234, d1.loss_bbox: 1.2614, d2.loss_cls: 1.4297, d2.loss_bbox: 1.2663, d3.loss_cls: 1.4281, d3.loss_bbox: 1.2780, d4.loss_cls: 1.4323, d4.loss_bbox: 1.2800, d5.loss_cls: 1.4329, d5.loss_bbox: 1.2846, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8641, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.6333, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1343, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.4448, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.6358, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.7325, d0.loss_map_cls_all: 0.6643, d0.loss_map_pts_all: 4.4562, d0.loss_map_dir_all: 0.0655, d0.loss_map_cls: 0.6643, d0.loss_map_pts: 4.4562, d0.loss_map_dir: 0.0655, d1.loss_map_cls: 0.6759, d1.loss_map_pts: 4.2131, d1.loss_map_dir: 0.0647, d2.loss_map_cls: 0.6766, d2.loss_map_pts: 4.1577, d2.loss_map_dir: 0.0645, d3.loss_map_cls: 0.6789, d3.loss_map_pts: 4.1407, d3.loss_map_dir: 0.0645, d4.loss_map_cls: 0.6822, d4.loss_map_pts: 4.1318, d4.loss_map_dir: 0.0642, d5.loss_map_cls: 0.6808, d5.loss_map_pts: 4.1275, d5.loss_map_dir: 0.0642, loss: 132.1652, grad_norm: 523.7619 2026-02-23 23:42:33,310 - DriveTransformer - INFO - Epoch [1][5200/117620] lr: 1.000e-04, eta: 27 days, 14:49:13, time: 0.319, data_time: 0.014, memory: 8395, loss_cls: 1.4032, loss_bbox: 1.3167, loss_traj: 5.3286, loss_traj_cls: 0.0005, loss_map_cls: 0.7146, loss_map_pts: 4.2637, loss_map_dir: 0.0643, d0.loss_plan_l1_fix_time: 6.3177, d0.loss_plan_l1_fix_dist: 1.0127, d1.loss_plan_l1_fix_time: 5.2215, d1.loss_plan_l1_fix_dist: 1.0907, d2.loss_plan_l1_fix_time: 4.9168, d2.loss_plan_l1_fix_dist: 1.2048, d3.loss_plan_l1_fix_time: 4.8345, d3.loss_plan_l1_fix_dist: 1.3533, d4.loss_plan_l1_fix_time: 4.8411, d4.loss_plan_l1_fix_dist: 1.5101, d5.loss_plan_l1_fix_time: 4.8924, d5.loss_plan_l1_fix_dist: 1.6644, d6.loss_plan_l1_fix_time: 4.9886, d6.loss_plan_l1_fix_dist: 1.8616, d0.loss_cls_all: 1.3654, d0.loss_bbox_all: 1.2789, d0.loss_cls: 1.3654, d0.loss_bbox: 1.2789, d1.loss_cls: 1.3879, d1.loss_bbox: 1.2914, d2.loss_cls: 1.4000, d2.loss_bbox: 1.2975, d3.loss_cls: 1.3989, d3.loss_bbox: 1.3047, d4.loss_cls: 1.4000, d4.loss_bbox: 1.3075, d5.loss_cls: 1.4031, d5.loss_bbox: 1.3116, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2222, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.0452, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5954, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.9279, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1398, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2417, d0.loss_map_cls_all: 0.6884, d0.loss_map_pts_all: 4.5752, d0.loss_map_dir_all: 0.0652, d0.loss_map_cls: 0.6884, d0.loss_map_pts: 4.5752, d0.loss_map_dir: 0.0652, d1.loss_map_cls: 0.7015, d1.loss_map_pts: 4.3518, d1.loss_map_dir: 0.0646, d2.loss_map_cls: 0.7071, d2.loss_map_pts: 4.2996, d2.loss_map_dir: 0.0645, d3.loss_map_cls: 0.7093, d3.loss_map_pts: 4.2756, d3.loss_map_dir: 0.0643, d4.loss_map_cls: 0.7165, d4.loss_map_pts: 4.2641, d4.loss_map_dir: 0.0643, d5.loss_map_cls: 0.7142, d5.loss_map_pts: 4.2605, d5.loss_map_dir: 0.0641, loss: 140.7483, grad_norm: 425.0718 2026-02-23 23:42:49,506 - DriveTransformer - INFO - Epoch [1][5250/117620] lr: 1.000e-04, eta: 27 days, 14:32:46, time: 0.324, data_time: 0.013, memory: 8395, loss_cls: 1.4080, loss_bbox: 1.2546, loss_traj: 5.4992, loss_traj_cls: 0.0005, loss_map_cls: 0.6904, loss_map_pts: 3.8701, loss_map_dir: 0.0614, d0.loss_plan_l1_fix_time: 5.6494, d0.loss_plan_l1_fix_dist: 0.8873, d1.loss_plan_l1_fix_time: 4.6449, d1.loss_plan_l1_fix_dist: 1.0124, d2.loss_plan_l1_fix_time: 4.3915, d2.loss_plan_l1_fix_dist: 1.1591, d3.loss_plan_l1_fix_time: 4.3332, d3.loss_plan_l1_fix_dist: 1.3488, d4.loss_plan_l1_fix_time: 4.3635, d4.loss_plan_l1_fix_dist: 1.5621, d5.loss_plan_l1_fix_time: 4.4285, d5.loss_plan_l1_fix_dist: 1.7622, d6.loss_plan_l1_fix_time: 4.5280, d6.loss_plan_l1_fix_dist: 1.9289, d0.loss_cls_all: 1.3677, d0.loss_bbox_all: 1.2337, d0.loss_cls: 1.3677, d0.loss_bbox: 1.2337, d1.loss_cls: 1.3928, d1.loss_bbox: 1.2375, d2.loss_cls: 1.3974, d2.loss_bbox: 1.2367, d3.loss_cls: 1.4021, d3.loss_bbox: 1.2418, d4.loss_cls: 1.4030, d4.loss_bbox: 1.2475, d5.loss_cls: 1.4066, d5.loss_bbox: 1.2483, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1277, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.0147, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.6430, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.0071, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.2857, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.3903, d0.loss_map_cls_all: 0.6685, d0.loss_map_pts_all: 4.2455, d0.loss_map_dir_all: 0.0621, d0.loss_map_cls: 0.6685, d0.loss_map_pts: 4.2455, d0.loss_map_dir: 0.0621, d1.loss_map_cls: 0.6836, d1.loss_map_pts: 3.9850, d1.loss_map_dir: 0.0618, d2.loss_map_cls: 0.6878, d2.loss_map_pts: 3.9218, d2.loss_map_dir: 0.0617, d3.loss_map_cls: 0.6862, d3.loss_map_pts: 3.8950, d3.loss_map_dir: 0.0616, d4.loss_map_cls: 0.6909, d4.loss_map_pts: 3.8787, d4.loss_map_dir: 0.0616, d5.loss_map_cls: 0.6904, d5.loss_map_pts: 3.8723, d5.loss_map_dir: 0.0614, loss: 133.9241, grad_norm: 425.0718 2026-02-23 23:43:06,352 - DriveTransformer - INFO - Epoch [1][5300/117620] lr: 1.000e-04, eta: 27 days, 14:30:56, time: 0.337, data_time: 0.014, memory: 8395, loss_cls: 1.4303, loss_bbox: 1.4379, loss_traj: 4.9401, loss_traj_cls: 0.0005, loss_map_cls: 0.7557, loss_map_pts: 4.0597, loss_map_dir: 0.0622, d0.loss_plan_l1_fix_time: 6.1630, d0.loss_plan_l1_fix_dist: 1.0892, d1.loss_plan_l1_fix_time: 5.1305, d1.loss_plan_l1_fix_dist: 1.2138, d2.loss_plan_l1_fix_time: 4.8727, d2.loss_plan_l1_fix_dist: 1.3670, d3.loss_plan_l1_fix_time: 4.8463, d3.loss_plan_l1_fix_dist: 1.5474, d4.loss_plan_l1_fix_time: 4.9175, d4.loss_plan_l1_fix_dist: 1.7602, d5.loss_plan_l1_fix_time: 5.0132, d5.loss_plan_l1_fix_dist: 1.9697, d6.loss_plan_l1_fix_time: 5.1405, d6.loss_plan_l1_fix_dist: 2.1452, d0.loss_cls_all: 1.3867, d0.loss_bbox_all: 1.4157, d0.loss_cls: 1.3867, d0.loss_bbox: 1.4157, d1.loss_cls: 1.4095, d1.loss_bbox: 1.4186, d2.loss_cls: 1.4188, d2.loss_bbox: 1.4232, d3.loss_cls: 1.4223, d3.loss_bbox: 1.4263, d4.loss_cls: 1.4293, d4.loss_bbox: 1.4331, d5.loss_cls: 1.4289, d5.loss_bbox: 1.4346, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9597, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.6782, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1921, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.5203, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7514, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.8459, d0.loss_map_cls_all: 0.7327, d0.loss_map_pts_all: 4.4447, d0.loss_map_dir_all: 0.0632, d0.loss_map_cls: 0.7327, d0.loss_map_pts: 4.4447, d0.loss_map_dir: 0.0632, d1.loss_map_cls: 0.7406, d1.loss_map_pts: 4.1599, d1.loss_map_dir: 0.0627, d2.loss_map_cls: 0.7468, d2.loss_map_pts: 4.1032, d2.loss_map_dir: 0.0626, d3.loss_map_cls: 0.7499, d3.loss_map_pts: 4.0802, d3.loss_map_dir: 0.0625, d4.loss_map_cls: 0.7531, d4.loss_map_pts: 4.0717, d4.loss_map_dir: 0.0624, d5.loss_map_cls: 0.7535, d5.loss_map_pts: 4.0649, d5.loss_map_dir: 0.0623, loss: 139.6803, grad_norm: 392.6794 2026-02-23 23:43:23,383 - DriveTransformer - INFO - Epoch [1][5350/117620] lr: 1.000e-04, eta: 27 days, 14:33:20, time: 0.341, data_time: 0.015, memory: 8395, loss_cls: 1.4328, loss_bbox: 1.2782, loss_traj: 5.2725, loss_traj_cls: 0.0005, loss_map_cls: 0.7166, loss_map_pts: 3.9794, loss_map_dir: 0.0602, d0.loss_plan_l1_fix_time: 5.3683, d0.loss_plan_l1_fix_dist: 0.9187, d1.loss_plan_l1_fix_time: 4.6887, d1.loss_plan_l1_fix_dist: 1.0366, d2.loss_plan_l1_fix_time: 4.5678, d2.loss_plan_l1_fix_dist: 1.2310, d3.loss_plan_l1_fix_time: 4.5610, d3.loss_plan_l1_fix_dist: 1.4391, d4.loss_plan_l1_fix_time: 4.5974, d4.loss_plan_l1_fix_dist: 1.6850, d5.loss_plan_l1_fix_time: 4.6623, d5.loss_plan_l1_fix_dist: 1.9365, d6.loss_plan_l1_fix_time: 4.7699, d6.loss_plan_l1_fix_dist: 2.1557, d0.loss_cls_all: 1.3779, d0.loss_bbox_all: 1.2536, d0.loss_cls: 1.3779, d0.loss_bbox: 1.2536, d1.loss_cls: 1.4083, d1.loss_bbox: 1.2588, d2.loss_cls: 1.4205, d2.loss_bbox: 1.2579, d3.loss_cls: 1.4277, d3.loss_bbox: 1.2634, d4.loss_cls: 1.4304, d4.loss_bbox: 1.2708, d5.loss_cls: 1.4333, d5.loss_bbox: 1.2729, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2039, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9543, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.4935, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.8329, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0514, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.1674, d0.loss_map_cls_all: 0.6966, d0.loss_map_pts_all: 4.3025, d0.loss_map_dir_all: 0.0609, d0.loss_map_cls: 0.6966, d0.loss_map_pts: 4.3025, d0.loss_map_dir: 0.0609, d1.loss_map_cls: 0.7088, d1.loss_map_pts: 4.0520, d1.loss_map_dir: 0.0608, d2.loss_map_cls: 0.7125, d2.loss_map_pts: 4.0071, d2.loss_map_dir: 0.0605, d3.loss_map_cls: 0.7137, d3.loss_map_pts: 3.9916, d3.loss_map_dir: 0.0604, d4.loss_map_cls: 0.7167, d4.loss_map_pts: 3.9845, d4.loss_map_dir: 0.0603, d5.loss_map_cls: 0.7159, d5.loss_map_pts: 3.9811, d5.loss_map_dir: 0.0602, loss: 135.7778, grad_norm: 392.6794 2026-02-23 23:43:40,088 - DriveTransformer - INFO - Epoch [1][5400/117620] lr: 1.000e-04, eta: 27 days, 14:28:36, time: 0.334, data_time: 0.015, memory: 8395, loss_cls: 1.4437, loss_bbox: 1.3456, loss_traj: 4.2293, loss_traj_cls: 0.0005, loss_map_cls: 0.6804, loss_map_pts: 4.0834, loss_map_dir: 0.0588, d0.loss_plan_l1_fix_time: 5.9401, d0.loss_plan_l1_fix_dist: 0.8891, d1.loss_plan_l1_fix_time: 5.1306, d1.loss_plan_l1_fix_dist: 0.9924, d2.loss_plan_l1_fix_time: 4.9313, d2.loss_plan_l1_fix_dist: 1.1555, d3.loss_plan_l1_fix_time: 4.9055, d3.loss_plan_l1_fix_dist: 1.3349, d4.loss_plan_l1_fix_time: 4.9534, d4.loss_plan_l1_fix_dist: 1.5545, d5.loss_plan_l1_fix_time: 5.0360, d5.loss_plan_l1_fix_dist: 1.7907, d6.loss_plan_l1_fix_time: 5.1565, d6.loss_plan_l1_fix_dist: 2.0232, d0.loss_cls_all: 1.4034, d0.loss_bbox_all: 1.3289, d0.loss_cls: 1.4034, d0.loss_bbox: 1.3289, d1.loss_cls: 1.4246, d1.loss_bbox: 1.3330, d2.loss_cls: 1.4402, d2.loss_bbox: 1.3327, d3.loss_cls: 1.4411, d3.loss_bbox: 1.3364, d4.loss_cls: 1.4426, d4.loss_bbox: 1.3390, d5.loss_cls: 1.4438, d5.loss_bbox: 1.3404, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4465, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.0857, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.5544, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8658, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.0582, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.1491, d0.loss_map_cls_all: 0.6598, d0.loss_map_pts_all: 4.4040, d0.loss_map_dir_all: 0.0594, d0.loss_map_cls: 0.6598, d0.loss_map_pts: 4.4040, d0.loss_map_dir: 0.0594, d1.loss_map_cls: 0.6689, d1.loss_map_pts: 4.1604, d1.loss_map_dir: 0.0589, d2.loss_map_cls: 0.6737, d2.loss_map_pts: 4.1131, d2.loss_map_dir: 0.0589, d3.loss_map_cls: 0.6742, d3.loss_map_pts: 4.0943, d3.loss_map_dir: 0.0587, d4.loss_map_cls: 0.6777, d4.loss_map_pts: 4.0874, d4.loss_map_dir: 0.0588, d5.loss_map_cls: 0.6792, d5.loss_map_pts: 4.0841, d5.loss_map_dir: 0.0586, loss: 132.5901, grad_norm: 377.8281 2026-02-23 23:43:56,064 - DriveTransformer - INFO - Epoch [1][5450/117620] lr: 1.000e-04, eta: 27 days, 14:08:07, time: 0.319, data_time: 0.013, memory: 8395, loss_cls: 1.3734, loss_bbox: 1.2787, loss_traj: 4.6464, loss_traj_cls: 0.0005, loss_map_cls: 0.7088, loss_map_pts: 4.1031, loss_map_dir: 0.0552, d0.loss_plan_l1_fix_time: 5.5317, d0.loss_plan_l1_fix_dist: 0.8274, d1.loss_plan_l1_fix_time: 4.5453, d1.loss_plan_l1_fix_dist: 0.8935, d2.loss_plan_l1_fix_time: 4.2756, d2.loss_plan_l1_fix_dist: 1.0122, d3.loss_plan_l1_fix_time: 4.1849, d3.loss_plan_l1_fix_dist: 1.1400, d4.loss_plan_l1_fix_time: 4.1817, d4.loss_plan_l1_fix_dist: 1.3095, d5.loss_plan_l1_fix_time: 4.2318, d5.loss_plan_l1_fix_dist: 1.5113, d6.loss_plan_l1_fix_time: 4.3238, d6.loss_plan_l1_fix_dist: 1.7415, d0.loss_cls_all: 1.3335, d0.loss_bbox_all: 1.2642, d0.loss_cls: 1.3335, d0.loss_bbox: 1.2642, d1.loss_cls: 1.3545, d1.loss_bbox: 1.2682, d2.loss_cls: 1.3616, d2.loss_bbox: 1.2693, d3.loss_cls: 1.3659, d3.loss_bbox: 1.2715, d4.loss_cls: 1.3709, d4.loss_bbox: 1.2720, d5.loss_cls: 1.3712, d5.loss_bbox: 1.2750, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6410, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.3703, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.9147, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.2550, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.4554, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5608, d0.loss_map_cls_all: 0.6815, d0.loss_map_pts_all: 4.4259, d0.loss_map_dir_all: 0.0557, d0.loss_map_cls: 0.6815, d0.loss_map_pts: 4.4259, d0.loss_map_dir: 0.0557, d1.loss_map_cls: 0.6934, d1.loss_map_pts: 4.1900, d1.loss_map_dir: 0.0554, d2.loss_map_cls: 0.6996, d2.loss_map_pts: 4.1388, d2.loss_map_dir: 0.0553, d3.loss_map_cls: 0.7022, d3.loss_map_pts: 4.1171, d3.loss_map_dir: 0.0553, d4.loss_map_cls: 0.7055, d4.loss_map_pts: 4.1057, d4.loss_map_dir: 0.0552, d5.loss_map_cls: 0.7072, d5.loss_map_pts: 4.1032, d5.loss_map_dir: 0.0553, loss: 128.2179, grad_norm: 377.8281 2026-02-23 23:44:12,372 - DriveTransformer - INFO - Epoch [1][5500/117620] lr: 1.000e-04, eta: 27 days, 13:55:06, time: 0.326, data_time: 0.013, memory: 8395, loss_cls: 1.3998, loss_bbox: 1.3336, loss_traj: 4.9774, loss_traj_cls: 0.0005, loss_map_cls: 0.7226, loss_map_pts: 4.0794, loss_map_dir: 0.0560, d0.loss_plan_l1_fix_time: 4.8279, d0.loss_plan_l1_fix_dist: 0.7567, d1.loss_plan_l1_fix_time: 3.9996, d1.loss_plan_l1_fix_dist: 0.8688, d2.loss_plan_l1_fix_time: 3.8071, d2.loss_plan_l1_fix_dist: 1.0318, d3.loss_plan_l1_fix_time: 3.7806, d3.loss_plan_l1_fix_dist: 1.2280, d4.loss_plan_l1_fix_time: 3.8196, d4.loss_plan_l1_fix_dist: 1.4451, d5.loss_plan_l1_fix_time: 3.8899, d5.loss_plan_l1_fix_dist: 1.6796, d6.loss_plan_l1_fix_time: 3.9978, d6.loss_plan_l1_fix_dist: 1.9270, d0.loss_cls_all: 1.3422, d0.loss_bbox_all: 1.3084, d0.loss_cls: 1.3422, d0.loss_bbox: 1.3084, d1.loss_cls: 1.3715, d1.loss_bbox: 1.3169, d2.loss_cls: 1.3828, d2.loss_bbox: 1.3199, d3.loss_cls: 1.3907, d3.loss_bbox: 1.3233, d4.loss_cls: 1.3962, d4.loss_bbox: 1.3240, d5.loss_cls: 1.3986, d5.loss_bbox: 1.3297, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4951, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.3927, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.0569, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.4376, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7171, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.8553, d0.loss_map_cls_all: 0.6993, d0.loss_map_pts_all: 4.4502, d0.loss_map_dir_all: 0.0567, d0.loss_map_cls: 0.6993, d0.loss_map_pts: 4.4502, d0.loss_map_dir: 0.0567, d1.loss_map_cls: 0.7148, d1.loss_map_pts: 4.1482, d1.loss_map_dir: 0.0562, d2.loss_map_cls: 0.7166, d2.loss_map_pts: 4.0962, d2.loss_map_dir: 0.0562, d3.loss_map_cls: 0.7199, d3.loss_map_pts: 4.0819, d3.loss_map_dir: 0.0561, d4.loss_map_cls: 0.7199, d4.loss_map_pts: 4.0791, d4.loss_map_dir: 0.0560, d5.loss_map_cls: 0.7219, d5.loss_map_pts: 4.0794, d5.loss_map_dir: 0.0560, loss: 127.2124, grad_norm: 365.5922 2026-02-23 23:44:29,215 - DriveTransformer - INFO - Epoch [1][5550/117620] lr: 1.000e-04, eta: 27 days, 13:53:42, time: 0.337, data_time: 0.014, memory: 8395, loss_cls: 1.4105, loss_bbox: 1.2906, loss_traj: 5.1600, loss_traj_cls: 0.0006, loss_map_cls: 0.7061, loss_map_pts: 4.1330, loss_map_dir: 0.0546, d0.loss_plan_l1_fix_time: 4.8974, d0.loss_plan_l1_fix_dist: 0.9948, d1.loss_plan_l1_fix_time: 3.8292, d1.loss_plan_l1_fix_dist: 1.1530, d2.loss_plan_l1_fix_time: 3.5494, d2.loss_plan_l1_fix_dist: 1.3242, d3.loss_plan_l1_fix_time: 3.4739, d3.loss_plan_l1_fix_dist: 1.5567, d4.loss_plan_l1_fix_time: 3.4838, d4.loss_plan_l1_fix_dist: 1.7811, d5.loss_plan_l1_fix_time: 3.5440, d5.loss_plan_l1_fix_dist: 2.0179, d6.loss_plan_l1_fix_time: 3.6515, d6.loss_plan_l1_fix_dist: 2.2588, d0.loss_cls_all: 1.3526, d0.loss_bbox_all: 1.2700, d0.loss_cls: 1.3526, d0.loss_bbox: 1.2700, d1.loss_cls: 1.3850, d1.loss_bbox: 1.2771, d2.loss_cls: 1.3969, d2.loss_bbox: 1.2816, d3.loss_cls: 1.4016, d3.loss_bbox: 1.2826, d4.loss_cls: 1.4052, d4.loss_bbox: 1.2832, d5.loss_cls: 1.4082, d5.loss_bbox: 1.2866, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5397, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.4739, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.1729, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.5515, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.8731, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.0197, d0.loss_map_cls_all: 0.6807, d0.loss_map_pts_all: 4.4753, d0.loss_map_dir_all: 0.0553, d0.loss_map_cls: 0.6807, d0.loss_map_pts: 4.4753, d0.loss_map_dir: 0.0553, d1.loss_map_cls: 0.6908, d1.loss_map_pts: 4.2103, d1.loss_map_dir: 0.0547, d2.loss_map_cls: 0.6965, d2.loss_map_pts: 4.1574, d2.loss_map_dir: 0.0548, d3.loss_map_cls: 0.7008, d3.loss_map_pts: 4.1295, d3.loss_map_dir: 0.0547, d4.loss_map_cls: 0.7027, d4.loss_map_pts: 4.1268, d4.loss_map_dir: 0.0548, d5.loss_map_cls: 0.7044, d5.loss_map_pts: 4.1291, d5.loss_map_dir: 0.0547, loss: 128.5030, grad_norm: 365.5922 2026-02-23 23:44:45,468 - DriveTransformer - INFO - Epoch [1][5600/117620] lr: 1.000e-04, eta: 27 days, 13:39:58, time: 0.325, data_time: 0.015, memory: 8395, loss_cls: 1.4021, loss_bbox: 1.2057, loss_traj: 6.0069, loss_traj_cls: 0.0005, loss_map_cls: 0.7095, loss_map_pts: 4.0416, loss_map_dir: 0.0529, d0.loss_plan_l1_fix_time: 5.2803, d0.loss_plan_l1_fix_dist: 0.7999, d1.loss_plan_l1_fix_time: 4.1083, d1.loss_plan_l1_fix_dist: 0.9428, d2.loss_plan_l1_fix_time: 3.7984, d2.loss_plan_l1_fix_dist: 1.1000, d3.loss_plan_l1_fix_time: 3.7160, d3.loss_plan_l1_fix_dist: 1.2887, d4.loss_plan_l1_fix_time: 3.7065, d4.loss_plan_l1_fix_dist: 1.4832, d5.loss_plan_l1_fix_time: 3.7356, d5.loss_plan_l1_fix_dist: 1.6794, d6.loss_plan_l1_fix_time: 3.8099, d6.loss_plan_l1_fix_dist: 1.8943, d0.loss_cls_all: 1.3483, d0.loss_bbox_all: 1.1858, d0.loss_cls: 1.3483, d0.loss_bbox: 1.1858, d1.loss_cls: 1.3738, d1.loss_bbox: 1.1875, d2.loss_cls: 1.3875, d2.loss_bbox: 1.1911, d3.loss_cls: 1.3954, d3.loss_bbox: 1.1953, d4.loss_cls: 1.3971, d4.loss_bbox: 1.1957, d5.loss_cls: 1.4016, d5.loss_bbox: 1.2016, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8258, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9532, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.8054, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.2743, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6431, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.8399, d0.loss_map_cls_all: 0.6759, d0.loss_map_pts_all: 4.3527, d0.loss_map_dir_all: 0.0534, d0.loss_map_cls: 0.6759, d0.loss_map_pts: 4.3527, d0.loss_map_dir: 0.0534, d1.loss_map_cls: 0.6892, d1.loss_map_pts: 4.1232, d1.loss_map_dir: 0.0531, d2.loss_map_cls: 0.6982, d2.loss_map_pts: 4.0757, d2.loss_map_dir: 0.0531, d3.loss_map_cls: 0.7039, d3.loss_map_pts: 4.0468, d3.loss_map_dir: 0.0530, d4.loss_map_cls: 0.7081, d4.loss_map_pts: 4.0416, d4.loss_map_dir: 0.0529, d5.loss_map_cls: 0.7087, d5.loss_map_pts: 4.0404, d5.loss_map_dir: 0.0529, loss: 131.3673, grad_norm: 352.6128 2026-02-23 23:45:01,325 - DriveTransformer - INFO - Epoch [1][5650/117620] lr: 1.000e-04, eta: 27 days, 13:18:10, time: 0.317, data_time: 0.014, memory: 8395, loss_cls: 1.3890, loss_bbox: 1.1802, loss_traj: 5.1035, loss_traj_cls: 0.0005, loss_map_cls: 0.6988, loss_map_pts: 4.0469, loss_map_dir: 0.0509, d0.loss_plan_l1_fix_time: 4.7264, d0.loss_plan_l1_fix_dist: 0.7770, d1.loss_plan_l1_fix_time: 3.6744, d1.loss_plan_l1_fix_dist: 0.9014, d2.loss_plan_l1_fix_time: 3.4299, d2.loss_plan_l1_fix_dist: 1.0312, d3.loss_plan_l1_fix_time: 3.3592, d3.loss_plan_l1_fix_dist: 1.1897, d4.loss_plan_l1_fix_time: 3.3451, d4.loss_plan_l1_fix_dist: 1.3633, d5.loss_plan_l1_fix_time: 3.3693, d5.loss_plan_l1_fix_dist: 1.5226, d6.loss_plan_l1_fix_time: 3.4354, d6.loss_plan_l1_fix_dist: 1.7132, d0.loss_cls_all: 1.3276, d0.loss_bbox_all: 1.1646, d0.loss_cls: 1.3276, d0.loss_bbox: 1.1646, d1.loss_cls: 1.3636, d1.loss_bbox: 1.1655, d2.loss_cls: 1.3772, d2.loss_bbox: 1.1680, d3.loss_cls: 1.3874, d3.loss_bbox: 1.1712, d4.loss_cls: 1.3867, d4.loss_bbox: 1.1739, d5.loss_cls: 1.3876, d5.loss_bbox: 1.1769, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7102, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.5243, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1657, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.5320, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8129, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9795, d0.loss_map_cls_all: 0.6689, d0.loss_map_pts_all: 4.3747, d0.loss_map_dir_all: 0.0514, d0.loss_map_cls: 0.6689, d0.loss_map_pts: 4.3747, d0.loss_map_dir: 0.0514, d1.loss_map_cls: 0.6803, d1.loss_map_pts: 4.1387, d1.loss_map_dir: 0.0511, d2.loss_map_cls: 0.6895, d2.loss_map_pts: 4.0873, d2.loss_map_dir: 0.0511, d3.loss_map_cls: 0.6924, d3.loss_map_pts: 4.0612, d3.loss_map_dir: 0.0511, d4.loss_map_cls: 0.6977, d4.loss_map_pts: 4.0459, d4.loss_map_dir: 0.0510, d5.loss_map_cls: 0.6979, d5.loss_map_pts: 4.0421, d5.loss_map_dir: 0.0509, loss: 123.0564, grad_norm: 352.6128 2026-02-23 23:45:17,589 - DriveTransformer - INFO - Epoch [1][5700/117620] lr: 1.000e-04, eta: 27 days, 13:05:12, time: 0.325, data_time: 0.015, memory: 8395, loss_cls: 1.3899, loss_bbox: 1.2201, loss_traj: 5.1349, loss_traj_cls: 0.0005, loss_map_cls: 0.7240, loss_map_pts: 3.9483, loss_map_dir: 0.0516, d0.loss_plan_l1_fix_time: 5.5461, d0.loss_plan_l1_fix_dist: 0.9722, d1.loss_plan_l1_fix_time: 4.4580, d1.loss_plan_l1_fix_dist: 1.0992, d2.loss_plan_l1_fix_time: 4.1801, d2.loss_plan_l1_fix_dist: 1.3141, d3.loss_plan_l1_fix_time: 4.1033, d3.loss_plan_l1_fix_dist: 1.5200, d4.loss_plan_l1_fix_time: 4.1016, d4.loss_plan_l1_fix_dist: 1.7533, d5.loss_plan_l1_fix_time: 4.1400, d5.loss_plan_l1_fix_dist: 1.9870, d6.loss_plan_l1_fix_time: 4.2271, d6.loss_plan_l1_fix_dist: 2.2175, d0.loss_cls_all: 1.3258, d0.loss_bbox_all: 1.2049, d0.loss_cls: 1.3258, d0.loss_bbox: 1.2049, d1.loss_cls: 1.3594, d1.loss_bbox: 1.2001, d2.loss_cls: 1.3711, d2.loss_bbox: 1.2050, d3.loss_cls: 1.3810, d3.loss_bbox: 1.2079, d4.loss_cls: 1.3831, d4.loss_bbox: 1.2079, d5.loss_cls: 1.3875, d5.loss_bbox: 1.2112, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5476, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4197, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1290, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5183, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8442, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9904, d0.loss_map_cls_all: 0.6977, d0.loss_map_pts_all: 4.2646, d0.loss_map_dir_all: 0.0523, d0.loss_map_cls: 0.6977, d0.loss_map_pts: 4.2646, d0.loss_map_dir: 0.0523, d1.loss_map_cls: 0.7060, d1.loss_map_pts: 4.0119, d1.loss_map_dir: 0.0520, d2.loss_map_cls: 0.7136, d2.loss_map_pts: 3.9621, d2.loss_map_dir: 0.0519, d3.loss_map_cls: 0.7185, d3.loss_map_pts: 3.9532, d3.loss_map_dir: 0.0517, d4.loss_map_cls: 0.7223, d4.loss_map_pts: 3.9454, d4.loss_map_dir: 0.0517, d5.loss_map_cls: 0.7233, d5.loss_map_pts: 3.9461, d5.loss_map_dir: 0.0517, loss: 130.2075, grad_norm: 344.8180 2026-02-23 23:45:33,612 - DriveTransformer - INFO - Epoch [1][5750/117620] lr: 1.000e-04, eta: 27 days, 12:47:27, time: 0.320, data_time: 0.014, memory: 8395, loss_cls: 1.4187, loss_bbox: 1.4464, loss_traj: 4.6629, loss_traj_cls: 0.0005, loss_map_cls: 0.7117, loss_map_pts: 4.0079, loss_map_dir: 0.0551, d0.loss_plan_l1_fix_time: 5.1092, d0.loss_plan_l1_fix_dist: 0.8697, d1.loss_plan_l1_fix_time: 4.2898, d1.loss_plan_l1_fix_dist: 1.0169, d2.loss_plan_l1_fix_time: 4.1071, d2.loss_plan_l1_fix_dist: 1.2586, d3.loss_plan_l1_fix_time: 4.0854, d3.loss_plan_l1_fix_dist: 1.4734, d4.loss_plan_l1_fix_time: 4.1147, d4.loss_plan_l1_fix_dist: 1.7234, d5.loss_plan_l1_fix_time: 4.1660, d5.loss_plan_l1_fix_dist: 1.9784, d6.loss_plan_l1_fix_time: 4.2553, d6.loss_plan_l1_fix_dist: 2.2169, d0.loss_cls_all: 1.3562, d0.loss_bbox_all: 1.4215, d0.loss_cls: 1.3562, d0.loss_bbox: 1.4215, d1.loss_cls: 1.3862, d1.loss_bbox: 1.4304, d2.loss_cls: 1.4016, d2.loss_bbox: 1.4336, d3.loss_cls: 1.4082, d3.loss_bbox: 1.4413, d4.loss_cls: 1.4120, d4.loss_bbox: 1.4425, d5.loss_cls: 1.4138, d5.loss_bbox: 1.4416, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7784, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.3889, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.9083, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.1988, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4581, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5540, d0.loss_map_cls_all: 0.6855, d0.loss_map_pts_all: 4.3308, d0.loss_map_dir_all: 0.0557, d0.loss_map_cls: 0.6855, d0.loss_map_pts: 4.3308, d0.loss_map_dir: 0.0557, d1.loss_map_cls: 0.6958, d1.loss_map_pts: 4.0619, d1.loss_map_dir: 0.0552, d2.loss_map_cls: 0.7033, d2.loss_map_pts: 4.0083, d2.loss_map_dir: 0.0552, d3.loss_map_cls: 0.7064, d3.loss_map_pts: 4.0004, d3.loss_map_dir: 0.0551, d4.loss_map_cls: 0.7100, d4.loss_map_pts: 3.9957, d4.loss_map_dir: 0.0551, d5.loss_map_cls: 0.7112, d5.loss_map_pts: 4.0030, d5.loss_map_dir: 0.0550, loss: 130.0401, grad_norm: 344.8180 2026-02-23 23:45:49,140 - DriveTransformer - INFO - Epoch [1][5800/117620] lr: 1.000e-04, eta: 27 days, 12:20:01, time: 0.311, data_time: 0.014, memory: 8395, loss_cls: 1.4190, loss_bbox: 1.2758, loss_traj: 5.2486, loss_traj_cls: 0.0005, loss_map_cls: 0.7417, loss_map_pts: 4.0075, loss_map_dir: 0.0499, d0.loss_plan_l1_fix_time: 5.6316, d0.loss_plan_l1_fix_dist: 0.9665, d1.loss_plan_l1_fix_time: 4.5227, d1.loss_plan_l1_fix_dist: 1.0938, d2.loss_plan_l1_fix_time: 4.2425, d2.loss_plan_l1_fix_dist: 1.3099, d3.loss_plan_l1_fix_time: 4.1757, d3.loss_plan_l1_fix_dist: 1.5288, d4.loss_plan_l1_fix_time: 4.1697, d4.loss_plan_l1_fix_dist: 1.7759, d5.loss_plan_l1_fix_time: 4.2031, d5.loss_plan_l1_fix_dist: 2.0218, d6.loss_plan_l1_fix_time: 4.2763, d6.loss_plan_l1_fix_dist: 2.2480, d0.loss_cls_all: 1.3431, d0.loss_bbox_all: 1.2650, d0.loss_cls: 1.3431, d0.loss_bbox: 1.2650, d1.loss_cls: 1.3782, d1.loss_bbox: 1.2673, d2.loss_cls: 1.3922, d2.loss_bbox: 1.2672, d3.loss_cls: 1.4005, d3.loss_bbox: 1.2713, d4.loss_cls: 1.4077, d4.loss_bbox: 1.2717, d5.loss_cls: 1.4119, d5.loss_bbox: 1.2710, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5641, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.3937, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1162, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5376, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9121, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.0676, d0.loss_map_cls_all: 0.7085, d0.loss_map_pts_all: 4.3440, d0.loss_map_dir_all: 0.0502, d0.loss_map_cls: 0.7085, d0.loss_map_pts: 4.3440, d0.loss_map_dir: 0.0502, d1.loss_map_cls: 0.7187, d1.loss_map_pts: 4.0901, d1.loss_map_dir: 0.0502, d2.loss_map_cls: 0.7269, d2.loss_map_pts: 4.0369, d2.loss_map_dir: 0.0501, d3.loss_map_cls: 0.7324, d3.loss_map_pts: 4.0233, d3.loss_map_dir: 0.0500, d4.loss_map_cls: 0.7349, d4.loss_map_pts: 4.0140, d4.loss_map_dir: 0.0499, d5.loss_map_cls: 0.7394, d5.loss_map_pts: 4.0103, d5.loss_map_dir: 0.0499, loss: 132.3412, grad_norm: 334.3645 2026-02-23 23:46:05,399 - DriveTransformer - INFO - Epoch [1][5850/117620] lr: 1.000e-04, eta: 27 days, 12:07:46, time: 0.325, data_time: 0.015, memory: 8395, loss_cls: 1.3978, loss_bbox: 1.2103, loss_traj: 4.3929, loss_traj_cls: 0.0005, loss_map_cls: 0.6731, loss_map_pts: 3.9625, loss_map_dir: 0.0501, d0.loss_plan_l1_fix_time: 5.1016, d0.loss_plan_l1_fix_dist: 0.7634, d1.loss_plan_l1_fix_time: 4.4313, d1.loss_plan_l1_fix_dist: 0.9300, d2.loss_plan_l1_fix_time: 4.3206, d2.loss_plan_l1_fix_dist: 1.1952, d3.loss_plan_l1_fix_time: 4.3103, d3.loss_plan_l1_fix_dist: 1.4435, d4.loss_plan_l1_fix_time: 4.3324, d4.loss_plan_l1_fix_dist: 1.7206, d5.loss_plan_l1_fix_time: 4.3799, d5.loss_plan_l1_fix_dist: 1.9894, d6.loss_plan_l1_fix_time: 4.4703, d6.loss_plan_l1_fix_dist: 2.2285, d0.loss_cls_all: 1.3364, d0.loss_bbox_all: 1.1937, d0.loss_cls: 1.3364, d0.loss_bbox: 1.1937, d1.loss_cls: 1.3667, d1.loss_bbox: 1.1969, d2.loss_cls: 1.3819, d2.loss_bbox: 1.2021, d3.loss_cls: 1.3889, d3.loss_bbox: 1.2048, d4.loss_cls: 1.3920, d4.loss_bbox: 1.2071, d5.loss_cls: 1.3972, d5.loss_bbox: 1.2072, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2793, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.9086, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4818, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8110, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.1115, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2391, d0.loss_map_cls_all: 0.6480, d0.loss_map_pts_all: 4.2770, d0.loss_map_dir_all: 0.0504, d0.loss_map_cls: 0.6480, d0.loss_map_pts: 4.2770, d0.loss_map_dir: 0.0504, d1.loss_map_cls: 0.6632, d1.loss_map_pts: 4.0473, d1.loss_map_dir: 0.0501, d2.loss_map_cls: 0.6682, d2.loss_map_pts: 3.9986, d2.loss_map_dir: 0.0502, d3.loss_map_cls: 0.6709, d3.loss_map_pts: 3.9781, d3.loss_map_dir: 0.0502, d4.loss_map_cls: 0.6733, d4.loss_map_pts: 3.9660, d4.loss_map_dir: 0.0501, d5.loss_map_cls: 0.6720, d5.loss_map_pts: 3.9637, d5.loss_map_dir: 0.0501, loss: 125.6461, grad_norm: 334.3645 2026-02-23 23:46:21,425 - DriveTransformer - INFO - Epoch [1][5900/117620] lr: 1.000e-04, eta: 27 days, 11:51:03, time: 0.321, data_time: 0.014, memory: 8395, loss_cls: 1.4020, loss_bbox: 1.1696, loss_traj: 5.5366, loss_traj_cls: 0.0005, loss_map_cls: 0.7308, loss_map_pts: 4.0061, loss_map_dir: 0.0482, d0.loss_plan_l1_fix_time: 4.9675, d0.loss_plan_l1_fix_dist: 0.8052, d1.loss_plan_l1_fix_time: 4.1611, d1.loss_plan_l1_fix_dist: 0.9253, d2.loss_plan_l1_fix_time: 4.0316, d2.loss_plan_l1_fix_dist: 1.0838, d3.loss_plan_l1_fix_time: 4.0260, d3.loss_plan_l1_fix_dist: 1.2582, d4.loss_plan_l1_fix_time: 4.0606, d4.loss_plan_l1_fix_dist: 1.4571, d5.loss_plan_l1_fix_time: 4.1100, d5.loss_plan_l1_fix_dist: 1.6661, d6.loss_plan_l1_fix_time: 4.2035, d6.loss_plan_l1_fix_dist: 1.9022, d0.loss_cls_all: 1.3239, d0.loss_bbox_all: 1.1420, d0.loss_cls: 1.3239, d0.loss_bbox: 1.1420, d1.loss_cls: 1.3591, d1.loss_bbox: 1.1433, d2.loss_cls: 1.3740, d2.loss_bbox: 1.1458, d3.loss_cls: 1.3849, d3.loss_bbox: 1.1547, d4.loss_cls: 1.3938, d4.loss_bbox: 1.1605, d5.loss_cls: 1.3980, d5.loss_bbox: 1.1660, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2371, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9230, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5535, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.9347, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.2337, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.3857, d0.loss_map_cls_all: 0.6985, d0.loss_map_pts_all: 4.2683, d0.loss_map_dir_all: 0.0487, d0.loss_map_cls: 0.6985, d0.loss_map_pts: 4.2683, d0.loss_map_dir: 0.0487, d1.loss_map_cls: 0.7070, d1.loss_map_pts: 4.0474, d1.loss_map_dir: 0.0483, d2.loss_map_cls: 0.7150, d2.loss_map_pts: 4.0005, d2.loss_map_dir: 0.0483, d3.loss_map_cls: 0.7212, d3.loss_map_pts: 3.9730, d3.loss_map_dir: 0.0480, d4.loss_map_cls: 0.7247, d4.loss_map_pts: 3.9787, d4.loss_map_dir: 0.0481, d5.loss_map_cls: 0.7291, d5.loss_map_pts: 3.9901, d5.loss_map_dir: 0.0481, loss: 130.2931, grad_norm: 326.7500 2026-02-23 23:46:37,172 - DriveTransformer - INFO - Epoch [1][5950/117620] lr: 1.000e-04, eta: 27 days, 11:29:06, time: 0.315, data_time: 0.015, memory: 8395, loss_cls: 1.3908, loss_bbox: 1.2384, loss_traj: 4.7311, loss_traj_cls: 0.0005, loss_map_cls: 0.7147, loss_map_pts: 3.9390, loss_map_dir: 0.0484, d0.loss_plan_l1_fix_time: 4.6767, d0.loss_plan_l1_fix_dist: 0.9917, d1.loss_plan_l1_fix_time: 4.0427, d1.loss_plan_l1_fix_dist: 1.0895, d2.loss_plan_l1_fix_time: 3.9707, d2.loss_plan_l1_fix_dist: 1.2142, d3.loss_plan_l1_fix_time: 3.9900, d3.loss_plan_l1_fix_dist: 1.3682, d4.loss_plan_l1_fix_time: 4.0423, d4.loss_plan_l1_fix_dist: 1.5401, d5.loss_plan_l1_fix_time: 4.1110, d5.loss_plan_l1_fix_dist: 1.7333, d6.loss_plan_l1_fix_time: 4.2208, d6.loss_plan_l1_fix_dist: 1.9671, d0.loss_cls_all: 1.3049, d0.loss_bbox_all: 1.2178, d0.loss_cls: 1.3049, d0.loss_bbox: 1.2178, d1.loss_cls: 1.3487, d1.loss_bbox: 1.2170, d2.loss_cls: 1.3643, d2.loss_bbox: 1.2144, d3.loss_cls: 1.3783, d3.loss_bbox: 1.2219, d4.loss_cls: 1.3808, d4.loss_bbox: 1.2294, d5.loss_cls: 1.3837, d5.loss_bbox: 1.2364, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6075, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.2160, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.7889, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.1238, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4476, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5876, d0.loss_map_cls_all: 0.6854, d0.loss_map_pts_all: 4.3066, d0.loss_map_dir_all: 0.0486, d0.loss_map_cls: 0.6854, d0.loss_map_pts: 4.3066, d0.loss_map_dir: 0.0486, d1.loss_map_cls: 0.6942, d1.loss_map_pts: 4.0187, d1.loss_map_dir: 0.0483, d2.loss_map_cls: 0.7020, d2.loss_map_pts: 3.9524, d2.loss_map_dir: 0.0484, d3.loss_map_cls: 0.7069, d3.loss_map_pts: 3.9225, d3.loss_map_dir: 0.0483, d4.loss_map_cls: 0.7093, d4.loss_map_pts: 3.9239, d4.loss_map_dir: 0.0484, d5.loss_map_cls: 0.7129, d5.loss_map_pts: 3.9263, d5.loss_map_dir: 0.0483, loss: 125.4078, grad_norm: 326.7500 2026-02-23 23:46:54,492 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-23 23:46:54,492 - DriveTransformer - INFO - Epoch [1][6000/117620] lr: 1.000e-04, eta: 27 days, 11:38:21, time: 0.346, data_time: 0.014, memory: 8395, loss_cls: 1.3815, loss_bbox: 1.2149, loss_traj: 3.6453, loss_traj_cls: 0.0005, loss_map_cls: 0.7172, loss_map_pts: 3.9623, loss_map_dir: 0.0463, d0.loss_plan_l1_fix_time: 5.3147, d0.loss_plan_l1_fix_dist: 0.8268, d1.loss_plan_l1_fix_time: 4.2287, d1.loss_plan_l1_fix_dist: 0.9495, d2.loss_plan_l1_fix_time: 3.9437, d2.loss_plan_l1_fix_dist: 1.1189, d3.loss_plan_l1_fix_time: 3.8750, d3.loss_plan_l1_fix_dist: 1.3183, d4.loss_plan_l1_fix_time: 3.8851, d4.loss_plan_l1_fix_dist: 1.5427, d5.loss_plan_l1_fix_time: 3.9231, d5.loss_plan_l1_fix_dist: 1.8180, d6.loss_plan_l1_fix_time: 4.0121, d6.loss_plan_l1_fix_dist: 2.1261, d0.loss_cls_all: 1.3060, d0.loss_bbox_all: 1.1650, d0.loss_cls: 1.3060, d0.loss_bbox: 1.1650, d1.loss_cls: 1.3461, d1.loss_bbox: 1.1742, d2.loss_cls: 1.3617, d2.loss_bbox: 1.1798, d3.loss_cls: 1.3745, d3.loss_bbox: 1.1888, d4.loss_cls: 1.3768, d4.loss_bbox: 1.1943, d5.loss_cls: 1.3783, d5.loss_bbox: 1.2038, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9771, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4353, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.9001, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1630, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.4260, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5207, d0.loss_map_cls_all: 0.6886, d0.loss_map_pts_all: 4.3259, d0.loss_map_dir_all: 0.0467, d0.loss_map_cls: 0.6886, d0.loss_map_pts: 4.3259, d0.loss_map_dir: 0.0467, d1.loss_map_cls: 0.6990, d1.loss_map_pts: 4.0777, d1.loss_map_dir: 0.0464, d2.loss_map_cls: 0.7067, d2.loss_map_pts: 4.0135, d2.loss_map_dir: 0.0467, d3.loss_map_cls: 0.7107, d3.loss_map_pts: 3.9848, d3.loss_map_dir: 0.0464, d4.loss_map_cls: 0.7151, d4.loss_map_pts: 3.9703, d4.loss_map_dir: 0.0464, d5.loss_map_cls: 0.7158, d5.loss_map_pts: 3.9625, d5.loss_map_dir: 0.0464, loss: 118.9072, grad_norm: 320.4279 2026-02-23 23:47:10,234 - DriveTransformer - INFO - Epoch [1][6050/117620] lr: 1.000e-04, eta: 27 days, 11:16:41, time: 0.315, data_time: 0.014, memory: 8395, loss_cls: 1.4165, loss_bbox: 1.3420, loss_traj: 5.4103, loss_traj_cls: 0.0005, loss_map_cls: 0.7415, loss_map_pts: 3.8042, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 5.4465, d0.loss_plan_l1_fix_dist: 0.9023, d1.loss_plan_l1_fix_time: 4.5955, d1.loss_plan_l1_fix_dist: 1.0052, d2.loss_plan_l1_fix_time: 4.4356, d2.loss_plan_l1_fix_dist: 1.1537, d3.loss_plan_l1_fix_time: 4.4354, d3.loss_plan_l1_fix_dist: 1.3326, d4.loss_plan_l1_fix_time: 4.4845, d4.loss_plan_l1_fix_dist: 1.5486, d5.loss_plan_l1_fix_time: 4.5426, d5.loss_plan_l1_fix_dist: 1.8195, d6.loss_plan_l1_fix_time: 4.6400, d6.loss_plan_l1_fix_dist: 2.1218, d0.loss_cls_all: 1.3391, d0.loss_bbox_all: 1.2866, d0.loss_cls: 1.3391, d0.loss_bbox: 1.2866, d1.loss_cls: 1.3746, d1.loss_bbox: 1.2939, d2.loss_cls: 1.3965, d2.loss_bbox: 1.3017, d3.loss_cls: 1.4044, d3.loss_bbox: 1.3106, d4.loss_cls: 1.4104, d4.loss_bbox: 1.3187, d5.loss_cls: 1.4109, d5.loss_bbox: 1.3315, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9514, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.6524, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3212, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.7283, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0819, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2343, d0.loss_map_cls_all: 0.7038, d0.loss_map_pts_all: 4.1746, d0.loss_map_dir_all: 0.0471, d0.loss_map_cls: 0.7038, d0.loss_map_pts: 4.1746, d0.loss_map_dir: 0.0471, d1.loss_map_cls: 0.7173, d1.loss_map_pts: 3.9007, d1.loss_map_dir: 0.0469, d2.loss_map_cls: 0.7272, d2.loss_map_pts: 3.8453, d2.loss_map_dir: 0.0467, d3.loss_map_cls: 0.7330, d3.loss_map_pts: 3.8231, d3.loss_map_dir: 0.0466, d4.loss_map_cls: 0.7400, d4.loss_map_pts: 3.8118, d4.loss_map_dir: 0.0466, d5.loss_map_cls: 0.7402, d5.loss_map_pts: 3.8075, d5.loss_map_dir: 0.0466, loss: 132.9331, grad_norm: 314.4476 2026-02-23 23:47:26,384 - DriveTransformer - INFO - Epoch [1][6100/117620] lr: 1.000e-04, eta: 27 days, 11:03:18, time: 0.323, data_time: 0.015, memory: 8395, loss_cls: 1.3878, loss_bbox: 1.2015, loss_traj: 5.5146, loss_traj_cls: 0.0005, loss_map_cls: 0.7307, loss_map_pts: 3.6537, loss_map_dir: 0.0408, d0.loss_plan_l1_fix_time: 5.1927, d0.loss_plan_l1_fix_dist: 0.7988, d1.loss_plan_l1_fix_time: 4.1017, d1.loss_plan_l1_fix_dist: 0.9107, d2.loss_plan_l1_fix_time: 3.8722, d2.loss_plan_l1_fix_dist: 1.0852, d3.loss_plan_l1_fix_time: 3.8388, d3.loss_plan_l1_fix_dist: 1.2823, d4.loss_plan_l1_fix_time: 3.8620, d4.loss_plan_l1_fix_dist: 1.5075, d5.loss_plan_l1_fix_time: 3.8958, d5.loss_plan_l1_fix_dist: 1.7683, d6.loss_plan_l1_fix_time: 3.9754, d6.loss_plan_l1_fix_dist: 2.0371, d0.loss_cls_all: 1.2949, d0.loss_bbox_all: 1.1699, d0.loss_cls: 1.2949, d0.loss_bbox: 1.1699, d1.loss_cls: 1.3407, d1.loss_bbox: 1.1757, d2.loss_cls: 1.3575, d2.loss_bbox: 1.1747, d3.loss_cls: 1.3734, d3.loss_bbox: 1.1784, d4.loss_cls: 1.3767, d4.loss_bbox: 1.1891, d5.loss_cls: 1.3812, d5.loss_bbox: 1.1887, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9748, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.6063, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3131, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.7628, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1366, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.3158, d0.loss_map_cls_all: 0.6926, d0.loss_map_pts_all: 4.0980, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6926, d0.loss_map_pts: 4.0980, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.7091, d1.loss_map_pts: 3.8281, d1.loss_map_dir: 0.0410, d2.loss_map_cls: 0.7191, d2.loss_map_pts: 3.7421, d2.loss_map_dir: 0.0409, d3.loss_map_cls: 0.7231, d3.loss_map_pts: 3.7056, d3.loss_map_dir: 0.0409, d4.loss_map_cls: 0.7279, d4.loss_map_pts: 3.6832, d4.loss_map_dir: 0.0409, d5.loss_map_cls: 0.7295, d5.loss_map_pts: 3.6678, d5.loss_map_dir: 0.0409, loss: 126.5410, grad_norm: 314.4476 2026-02-23 23:47:42,246 - DriveTransformer - INFO - Epoch [1][6150/117620] lr: 1.000e-04, eta: 27 days, 10:44:41, time: 0.317, data_time: 0.015, memory: 8395, loss_cls: 1.4008, loss_bbox: 1.3038, loss_traj: 4.8484, loss_traj_cls: 0.0005, loss_map_cls: 0.6972, loss_map_pts: 3.9351, loss_map_dir: 0.0445, d0.loss_plan_l1_fix_time: 5.3084, d0.loss_plan_l1_fix_dist: 0.7802, d1.loss_plan_l1_fix_time: 4.2169, d1.loss_plan_l1_fix_dist: 0.8877, d2.loss_plan_l1_fix_time: 4.0120, d2.loss_plan_l1_fix_dist: 1.0426, d3.loss_plan_l1_fix_time: 4.0080, d3.loss_plan_l1_fix_dist: 1.2277, d4.loss_plan_l1_fix_time: 4.0438, d4.loss_plan_l1_fix_dist: 1.4444, d5.loss_plan_l1_fix_time: 4.0748, d5.loss_plan_l1_fix_dist: 1.6959, d6.loss_plan_l1_fix_time: 4.1401, d6.loss_plan_l1_fix_dist: 1.9607, d0.loss_cls_all: 1.3189, d0.loss_bbox_all: 1.2780, d0.loss_cls: 1.3189, d0.loss_bbox: 1.2780, d1.loss_cls: 1.3593, d1.loss_bbox: 1.2834, d2.loss_cls: 1.3744, d2.loss_bbox: 1.2842, d3.loss_cls: 1.3878, d3.loss_bbox: 1.2884, d4.loss_cls: 1.3900, d4.loss_bbox: 1.2941, d5.loss_cls: 1.3953, d5.loss_bbox: 1.2944, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5046, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.1160, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.7523, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.1569, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.5038, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.6664, d0.loss_map_cls_all: 0.6604, d0.loss_map_pts_all: 4.2345, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6604, d0.loss_map_pts: 4.2345, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6756, d1.loss_map_pts: 3.9907, d1.loss_map_dir: 0.0447, d2.loss_map_cls: 0.6858, d2.loss_map_pts: 3.9425, d2.loss_map_dir: 0.0445, d3.loss_map_cls: 0.6912, d3.loss_map_pts: 3.9419, d3.loss_map_dir: 0.0445, d4.loss_map_cls: 0.6935, d4.loss_map_pts: 3.9396, d4.loss_map_dir: 0.0445, d5.loss_map_cls: 0.6957, d5.loss_map_pts: 3.9397, d5.loss_map_dir: 0.0446, loss: 125.6207, grad_norm: 309.7256 2026-02-23 23:47:58,560 - DriveTransformer - INFO - Epoch [1][6200/117620] lr: 1.000e-04, eta: 27 days, 10:34:49, time: 0.326, data_time: 0.014, memory: 8395, loss_cls: 1.3868, loss_bbox: 1.2308, loss_traj: 5.1160, loss_traj_cls: 0.0006, loss_map_cls: 0.7147, loss_map_pts: 3.8986, loss_map_dir: 0.0434, d0.loss_plan_l1_fix_time: 4.7570, d0.loss_plan_l1_fix_dist: 0.7417, d1.loss_plan_l1_fix_time: 3.9459, d1.loss_plan_l1_fix_dist: 0.7919, d2.loss_plan_l1_fix_time: 3.8107, d2.loss_plan_l1_fix_dist: 0.8726, d3.loss_plan_l1_fix_time: 3.8201, d3.loss_plan_l1_fix_dist: 0.9983, d4.loss_plan_l1_fix_time: 3.8601, d4.loss_plan_l1_fix_dist: 1.1440, d5.loss_plan_l1_fix_time: 3.9270, d5.loss_plan_l1_fix_dist: 1.3018, d6.loss_plan_l1_fix_time: 4.0314, d6.loss_plan_l1_fix_dist: 1.4754, d0.loss_cls_all: 1.2986, d0.loss_bbox_all: 1.1847, d0.loss_cls: 1.2986, d0.loss_bbox: 1.1847, d1.loss_cls: 1.3362, d1.loss_bbox: 1.1863, d2.loss_cls: 1.3531, d2.loss_bbox: 1.1903, d3.loss_cls: 1.3704, d3.loss_bbox: 1.2001, d4.loss_cls: 1.3775, d4.loss_bbox: 1.2138, d5.loss_cls: 1.3811, d5.loss_bbox: 1.2190, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7151, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.3030, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.9476, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.3805, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7453, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9367, d0.loss_map_cls_all: 0.6753, d0.loss_map_pts_all: 4.3255, d0.loss_map_dir_all: 0.0439, d0.loss_map_cls: 0.6753, d0.loss_map_pts: 4.3255, d0.loss_map_dir: 0.0439, d1.loss_map_cls: 0.6874, d1.loss_map_pts: 4.0228, d1.loss_map_dir: 0.0435, d2.loss_map_cls: 0.6994, d2.loss_map_pts: 3.9458, d2.loss_map_dir: 0.0435, d3.loss_map_cls: 0.7058, d3.loss_map_pts: 3.9238, d3.loss_map_dir: 0.0435, d4.loss_map_cls: 0.7092, d4.loss_map_pts: 3.9089, d4.loss_map_dir: 0.0435, d5.loss_map_cls: 0.7133, d5.loss_map_pts: 3.9019, d5.loss_map_dir: 0.0436, loss: 123.2198, grad_norm: 309.7256 2026-02-23 23:48:15,160 - DriveTransformer - INFO - Epoch [1][6250/117620] lr: 1.000e-04, eta: 27 days, 10:30:33, time: 0.332, data_time: 0.014, memory: 8395, loss_cls: 1.4033, loss_bbox: 1.3248, loss_traj: 4.0228, loss_traj_cls: 0.0005, loss_map_cls: 0.7173, loss_map_pts: 4.0239, loss_map_dir: 0.0460, d0.loss_plan_l1_fix_time: 4.2449, d0.loss_plan_l1_fix_dist: 0.8584, d1.loss_plan_l1_fix_time: 3.7016, d1.loss_plan_l1_fix_dist: 0.9341, d2.loss_plan_l1_fix_time: 3.7081, d2.loss_plan_l1_fix_dist: 1.0497, d3.loss_plan_l1_fix_time: 3.7793, d3.loss_plan_l1_fix_dist: 1.2082, d4.loss_plan_l1_fix_time: 3.8409, d4.loss_plan_l1_fix_dist: 1.3837, d5.loss_plan_l1_fix_time: 3.8955, d5.loss_plan_l1_fix_dist: 1.5634, d6.loss_plan_l1_fix_time: 3.9871, d6.loss_plan_l1_fix_dist: 1.7545, d0.loss_cls_all: 1.3251, d0.loss_bbox_all: 1.2846, d0.loss_cls: 1.3251, d0.loss_bbox: 1.2846, d1.loss_cls: 1.3597, d1.loss_bbox: 1.2889, d2.loss_cls: 1.3759, d2.loss_bbox: 1.2964, d3.loss_cls: 1.3893, d3.loss_bbox: 1.3023, d4.loss_cls: 1.3939, d4.loss_bbox: 1.3119, d5.loss_cls: 1.3993, d5.loss_bbox: 1.3196, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1985, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6282, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.1100, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.4404, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.7357, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.8822, d0.loss_map_cls_all: 0.6741, d0.loss_map_pts_all: 4.4581, d0.loss_map_dir_all: 0.0465, d0.loss_map_cls: 0.6741, d0.loss_map_pts: 4.4581, d0.loss_map_dir: 0.0465, d1.loss_map_cls: 0.6881, d1.loss_map_pts: 4.1446, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.6991, d2.loss_map_pts: 4.0686, d2.loss_map_dir: 0.0459, d3.loss_map_cls: 0.7058, d3.loss_map_pts: 4.0454, d3.loss_map_dir: 0.0460, d4.loss_map_cls: 0.7098, d4.loss_map_pts: 4.0327, d4.loss_map_dir: 0.0459, d5.loss_map_cls: 0.7152, d5.loss_map_pts: 4.0257, d5.loss_map_dir: 0.0459, loss: 119.5249, grad_norm: 303.4832 2026-02-23 23:48:31,124 - DriveTransformer - INFO - Epoch [1][6300/117620] lr: 1.000e-04, eta: 27 days, 10:14:27, time: 0.319, data_time: 0.015, memory: 8395, loss_cls: 1.3570, loss_bbox: 1.2985, loss_traj: 5.8032, loss_traj_cls: 0.0006, loss_map_cls: 0.7095, loss_map_pts: 3.8762, loss_map_dir: 0.0450, d0.loss_plan_l1_fix_time: 4.9705, d0.loss_plan_l1_fix_dist: 0.8633, d1.loss_plan_l1_fix_time: 4.2559, d1.loss_plan_l1_fix_dist: 1.0087, d2.loss_plan_l1_fix_time: 4.1477, d2.loss_plan_l1_fix_dist: 1.2014, d3.loss_plan_l1_fix_time: 4.1636, d3.loss_plan_l1_fix_dist: 1.4267, d4.loss_plan_l1_fix_time: 4.1905, d4.loss_plan_l1_fix_dist: 1.6656, d5.loss_plan_l1_fix_time: 4.2311, d5.loss_plan_l1_fix_dist: 1.9063, d6.loss_plan_l1_fix_time: 4.3086, d6.loss_plan_l1_fix_dist: 2.1467, d0.loss_cls_all: 1.2452, d0.loss_bbox_all: 1.2260, d0.loss_cls: 1.2452, d0.loss_bbox: 1.2260, d1.loss_cls: 1.2850, d1.loss_bbox: 1.2407, d2.loss_cls: 1.3112, d2.loss_bbox: 1.2476, d3.loss_cls: 1.3312, d3.loss_bbox: 1.2605, d4.loss_cls: 1.3432, d4.loss_bbox: 1.2762, d5.loss_cls: 1.3492, d5.loss_bbox: 1.2890, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9350, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.5855, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3338, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.8844, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3293, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.5590, d0.loss_map_cls_all: 0.6711, d0.loss_map_pts_all: 4.2263, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6711, d0.loss_map_pts: 4.2263, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6863, d1.loss_map_pts: 3.9337, d1.loss_map_dir: 0.0449, d2.loss_map_cls: 0.6937, d2.loss_map_pts: 3.8766, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.7015, d3.loss_map_pts: 3.8581, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.7049, d4.loss_map_pts: 3.8635, d4.loss_map_dir: 0.0448, d5.loss_map_cls: 0.7073, d5.loss_map_pts: 3.8675, d5.loss_map_dir: 0.0449, loss: 131.0857, grad_norm: 303.4832 2026-02-23 23:48:46,745 - DriveTransformer - INFO - Epoch [1][6350/117620] lr: 1.000e-04, eta: 27 days, 9:52:18, time: 0.312, data_time: 0.013, memory: 8395, loss_cls: 1.3287, loss_bbox: 1.3141, loss_traj: 5.9662, loss_traj_cls: 0.0006, loss_map_cls: 0.6944, loss_map_pts: 3.7891, loss_map_dir: 0.0444, d0.loss_plan_l1_fix_time: 4.8541, d0.loss_plan_l1_fix_dist: 1.0602, d1.loss_plan_l1_fix_time: 4.1244, d1.loss_plan_l1_fix_dist: 1.1979, d2.loss_plan_l1_fix_time: 4.0018, d2.loss_plan_l1_fix_dist: 1.3904, d3.loss_plan_l1_fix_time: 4.0002, d3.loss_plan_l1_fix_dist: 1.6018, d4.loss_plan_l1_fix_time: 4.0170, d4.loss_plan_l1_fix_dist: 1.8342, d5.loss_plan_l1_fix_time: 4.0538, d5.loss_plan_l1_fix_dist: 2.0724, d6.loss_plan_l1_fix_time: 4.1360, d6.loss_plan_l1_fix_dist: 2.3107, d0.loss_cls_all: 1.2404, d0.loss_bbox_all: 1.2604, d0.loss_cls: 1.2404, d0.loss_bbox: 1.2604, d1.loss_cls: 1.2743, d1.loss_bbox: 1.2661, d2.loss_cls: 1.2946, d2.loss_bbox: 1.2719, d3.loss_cls: 1.3110, d3.loss_bbox: 1.2830, d4.loss_cls: 1.3192, d4.loss_bbox: 1.2960, d5.loss_cls: 1.3237, d5.loss_bbox: 1.3055, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7917, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4866, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3577, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.9542, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.4443, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.7001, d0.loss_map_cls_all: 0.6618, d0.loss_map_pts_all: 4.0951, d0.loss_map_dir_all: 0.0449, d0.loss_map_cls: 0.6618, d0.loss_map_pts: 4.0951, d0.loss_map_dir: 0.0449, d1.loss_map_cls: 0.6743, d1.loss_map_pts: 3.8512, d1.loss_map_dir: 0.0446, d2.loss_map_cls: 0.6811, d2.loss_map_pts: 3.8000, d2.loss_map_dir: 0.0445, d3.loss_map_cls: 0.6881, d3.loss_map_pts: 3.7776, d3.loss_map_dir: 0.0446, d4.loss_map_cls: 0.6906, d4.loss_map_pts: 3.7795, d4.loss_map_dir: 0.0444, d5.loss_map_cls: 0.6929, d5.loss_map_pts: 3.7807, d5.loss_map_dir: 0.0445, loss: 130.7190, grad_norm: 298.5458 2026-02-23 23:49:02,633 - DriveTransformer - INFO - Epoch [1][6400/117620] lr: 1.000e-04, eta: 27 days, 9:35:19, time: 0.318, data_time: 0.014, memory: 8395, loss_cls: 1.3773, loss_bbox: 1.2226, loss_traj: 4.6774, loss_traj_cls: 0.0005, loss_map_cls: 0.7082, loss_map_pts: 3.9112, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 4.4875, d0.loss_plan_l1_fix_dist: 0.8708, d1.loss_plan_l1_fix_time: 3.9148, d1.loss_plan_l1_fix_dist: 1.0258, d2.loss_plan_l1_fix_time: 3.8157, d2.loss_plan_l1_fix_dist: 1.2337, d3.loss_plan_l1_fix_time: 3.8340, d3.loss_plan_l1_fix_dist: 1.4377, d4.loss_plan_l1_fix_time: 3.8909, d4.loss_plan_l1_fix_dist: 1.6800, d5.loss_plan_l1_fix_time: 3.9764, d5.loss_plan_l1_fix_dist: 1.9137, d6.loss_plan_l1_fix_time: 4.1100, d6.loss_plan_l1_fix_dist: 2.1379, d0.loss_cls_all: 1.2561, d0.loss_bbox_all: 1.2056, d0.loss_cls: 1.2561, d0.loss_bbox: 1.2056, d1.loss_cls: 1.2920, d1.loss_bbox: 1.2142, d2.loss_cls: 1.3215, d2.loss_bbox: 1.2105, d3.loss_cls: 1.3474, d3.loss_bbox: 1.2099, d4.loss_cls: 1.3579, d4.loss_bbox: 1.2131, d5.loss_cls: 1.3668, d5.loss_bbox: 1.2182, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5693, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.9612, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.5524, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.9413, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2958, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.4808, d0.loss_map_cls_all: 0.6720, d0.loss_map_pts_all: 4.3902, d0.loss_map_dir_all: 0.0459, d0.loss_map_cls: 0.6720, d0.loss_map_pts: 4.3902, d0.loss_map_dir: 0.0459, d1.loss_map_cls: 0.6870, d1.loss_map_pts: 4.0216, d1.loss_map_dir: 0.0449, d2.loss_map_cls: 0.6950, d2.loss_map_pts: 3.9347, d2.loss_map_dir: 0.0446, d3.loss_map_cls: 0.6998, d3.loss_map_pts: 3.9047, d3.loss_map_dir: 0.0447, d4.loss_map_cls: 0.7058, d4.loss_map_pts: 3.9002, d4.loss_map_dir: 0.0447, d5.loss_map_cls: 0.7063, d5.loss_map_pts: 3.9005, d5.loss_map_dir: 0.0447, loss: 123.3446, grad_norm: 298.5458 2026-02-23 23:49:18,716 - DriveTransformer - INFO - Epoch [1][6450/117620] lr: 1.000e-04, eta: 27 days, 9:22:11, time: 0.322, data_time: 0.014, memory: 8395, loss_cls: 1.4003, loss_bbox: 1.3613, loss_traj: 4.3063, loss_traj_cls: 0.0006, loss_map_cls: 0.6747, loss_map_pts: 3.9333, loss_map_dir: 0.0492, d0.loss_plan_l1_fix_time: 4.3563, d0.loss_plan_l1_fix_dist: 0.8895, d1.loss_plan_l1_fix_time: 3.8845, d1.loss_plan_l1_fix_dist: 1.0176, d2.loss_plan_l1_fix_time: 3.8164, d2.loss_plan_l1_fix_dist: 1.1857, d3.loss_plan_l1_fix_time: 3.8395, d3.loss_plan_l1_fix_dist: 1.3662, d4.loss_plan_l1_fix_time: 3.8936, d4.loss_plan_l1_fix_dist: 1.5750, d5.loss_plan_l1_fix_time: 3.9756, d5.loss_plan_l1_fix_dist: 1.7968, d6.loss_plan_l1_fix_time: 4.1052, d6.loss_plan_l1_fix_dist: 2.0027, d0.loss_cls_all: 1.3069, d0.loss_bbox_all: 1.3214, d0.loss_cls: 1.3069, d0.loss_bbox: 1.3214, d1.loss_cls: 1.3305, d1.loss_bbox: 1.3236, d2.loss_cls: 1.3509, d2.loss_bbox: 1.3266, d3.loss_cls: 1.3686, d3.loss_bbox: 1.3319, d4.loss_cls: 1.3824, d4.loss_bbox: 1.3405, d5.loss_cls: 1.3882, d5.loss_bbox: 1.3464, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3771, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7619, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.2769, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6301, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.9547, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.1333, d0.loss_map_cls_all: 0.6466, d0.loss_map_pts_all: 4.2652, d0.loss_map_dir_all: 0.0497, d0.loss_map_cls: 0.6466, d0.loss_map_pts: 4.2652, d0.loss_map_dir: 0.0497, d1.loss_map_cls: 0.6573, d1.loss_map_pts: 3.9764, d1.loss_map_dir: 0.0491, d2.loss_map_cls: 0.6637, d2.loss_map_pts: 3.9212, d2.loss_map_dir: 0.0492, d3.loss_map_cls: 0.6691, d3.loss_map_pts: 3.9116, d3.loss_map_dir: 0.0492, d4.loss_map_cls: 0.6714, d4.loss_map_pts: 3.9142, d4.loss_map_dir: 0.0492, d5.loss_map_cls: 0.6741, d5.loss_map_pts: 3.9197, d5.loss_map_dir: 0.0493, loss: 121.4614, grad_norm: 294.8415 2026-02-23 23:49:34,850 - DriveTransformer - INFO - Epoch [1][6500/117620] lr: 1.000e-04, eta: 27 days, 9:10:14, time: 0.323, data_time: 0.015, memory: 8395, loss_cls: 1.3763, loss_bbox: 1.4389, loss_traj: 4.6973, loss_traj_cls: 0.0005, loss_map_cls: 0.6769, loss_map_pts: 3.8018, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 5.2494, d0.loss_plan_l1_fix_dist: 1.0016, d1.loss_plan_l1_fix_time: 4.4579, d1.loss_plan_l1_fix_dist: 1.0716, d2.loss_plan_l1_fix_time: 4.3105, d2.loss_plan_l1_fix_dist: 1.1741, d3.loss_plan_l1_fix_time: 4.3043, d3.loss_plan_l1_fix_dist: 1.3012, d4.loss_plan_l1_fix_time: 4.3437, d4.loss_plan_l1_fix_dist: 1.4546, d5.loss_plan_l1_fix_time: 4.4108, d5.loss_plan_l1_fix_dist: 1.6274, d6.loss_plan_l1_fix_time: 4.5190, d6.loss_plan_l1_fix_dist: 1.7882, d0.loss_cls_all: 1.2869, d0.loss_bbox_all: 1.3428, d0.loss_cls: 1.2869, d0.loss_bbox: 1.3428, d1.loss_cls: 1.3174, d1.loss_bbox: 1.3400, d2.loss_cls: 1.3333, d2.loss_bbox: 1.3505, d3.loss_cls: 1.3514, d3.loss_bbox: 1.3664, d4.loss_cls: 1.3604, d4.loss_bbox: 1.3852, d5.loss_cls: 1.3673, d5.loss_bbox: 1.4008, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3857, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.8110, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4518, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8960, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2759, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5083, d0.loss_map_cls_all: 0.6459, d0.loss_map_pts_all: 4.1764, d0.loss_map_dir_all: 0.0455, d0.loss_map_cls: 0.6459, d0.loss_map_pts: 4.1764, d0.loss_map_dir: 0.0455, d1.loss_map_cls: 0.6559, d1.loss_map_pts: 3.8801, d1.loss_map_dir: 0.0448, d2.loss_map_cls: 0.6639, d2.loss_map_pts: 3.8239, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6684, d3.loss_map_pts: 3.8026, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.6731, d4.loss_map_pts: 3.7925, d4.loss_map_dir: 0.0447, d5.loss_map_cls: 0.6755, d5.loss_map_pts: 3.7946, d5.loss_map_dir: 0.0448, loss: 125.6045, grad_norm: 294.8415 2026-02-23 23:49:51,327 - DriveTransformer - INFO - Epoch [1][6550/117620] lr: 1.000e-04, eta: 27 days, 9:04:29, time: 0.329, data_time: 0.014, memory: 8395, loss_cls: 1.3468, loss_bbox: 1.2851, loss_traj: 4.6568, loss_traj_cls: 0.0006, loss_map_cls: 0.7667, loss_map_pts: 3.8105, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 4.9120, d0.loss_plan_l1_fix_dist: 0.7964, d1.loss_plan_l1_fix_time: 4.2420, d1.loss_plan_l1_fix_dist: 0.8760, d2.loss_plan_l1_fix_time: 4.1479, d2.loss_plan_l1_fix_dist: 0.9853, d3.loss_plan_l1_fix_time: 4.1756, d3.loss_plan_l1_fix_dist: 1.1348, d4.loss_plan_l1_fix_time: 4.2251, d4.loss_plan_l1_fix_dist: 1.3121, d5.loss_plan_l1_fix_time: 4.2746, d5.loss_plan_l1_fix_dist: 1.5003, d6.loss_plan_l1_fix_time: 4.3536, d6.loss_plan_l1_fix_dist: 1.6830, d0.loss_cls_all: 1.2501, d0.loss_bbox_all: 1.2153, d0.loss_cls: 1.2501, d0.loss_bbox: 1.2153, d1.loss_cls: 1.2927, d1.loss_bbox: 1.2031, d2.loss_cls: 1.3067, d2.loss_bbox: 1.2081, d3.loss_cls: 1.3246, d3.loss_bbox: 1.2208, d4.loss_cls: 1.3314, d4.loss_bbox: 1.2414, d5.loss_cls: 1.3380, d5.loss_bbox: 1.2596, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3096, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7296, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.3833, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8278, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2314, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.4481, d0.loss_map_cls_all: 0.7226, d0.loss_map_pts_all: 4.1619, d0.loss_map_dir_all: 0.0435, d0.loss_map_cls: 0.7226, d0.loss_map_pts: 4.1619, d0.loss_map_dir: 0.0435, d1.loss_map_cls: 0.7373, d1.loss_map_pts: 3.8820, d1.loss_map_dir: 0.0426, d2.loss_map_cls: 0.7489, d2.loss_map_pts: 3.8268, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.7531, d3.loss_map_pts: 3.8106, d3.loss_map_dir: 0.0425, d4.loss_map_cls: 0.7581, d4.loss_map_pts: 3.7995, d4.loss_map_dir: 0.0426, d5.loss_map_cls: 0.7630, d5.loss_map_pts: 3.8010, d5.loss_map_dir: 0.0425, loss: 122.0669, grad_norm: 287.4860 2026-02-23 23:50:08,192 - DriveTransformer - INFO - Epoch [1][6600/117620] lr: 1.000e-04, eta: 27 days, 9:06:03, time: 0.338, data_time: 0.015, memory: 8395, loss_cls: 1.3394, loss_bbox: 1.2326, loss_traj: 5.3157, loss_traj_cls: 0.0005, loss_map_cls: 0.7250, loss_map_pts: 3.6705, loss_map_dir: 0.0423, d0.loss_plan_l1_fix_time: 4.3307, d0.loss_plan_l1_fix_dist: 0.7771, d1.loss_plan_l1_fix_time: 3.6811, d1.loss_plan_l1_fix_dist: 0.8769, d2.loss_plan_l1_fix_time: 3.5570, d2.loss_plan_l1_fix_dist: 1.0147, d3.loss_plan_l1_fix_time: 3.5495, d3.loss_plan_l1_fix_dist: 1.1925, d4.loss_plan_l1_fix_time: 3.5854, d4.loss_plan_l1_fix_dist: 1.3974, d5.loss_plan_l1_fix_time: 3.6345, d5.loss_plan_l1_fix_dist: 1.5938, d6.loss_plan_l1_fix_time: 3.7217, d6.loss_plan_l1_fix_dist: 1.8102, d0.loss_cls_all: 1.2106, d0.loss_bbox_all: 1.2230, d0.loss_cls: 1.2106, d0.loss_bbox: 1.2230, d1.loss_cls: 1.2678, d1.loss_bbox: 1.2011, d2.loss_cls: 1.2910, d2.loss_bbox: 1.2017, d3.loss_cls: 1.3111, d3.loss_bbox: 1.2087, d4.loss_cls: 1.3219, d4.loss_bbox: 1.2193, d5.loss_cls: 1.3284, d5.loss_bbox: 1.2324, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6445, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.1234, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.8677, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.3656, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8320, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.0700, d0.loss_map_cls_all: 0.6784, d0.loss_map_pts_all: 4.1199, d0.loss_map_dir_all: 0.0435, d0.loss_map_cls: 0.6784, d0.loss_map_pts: 4.1199, d0.loss_map_dir: 0.0435, d1.loss_map_cls: 0.6919, d1.loss_map_pts: 3.7797, d1.loss_map_dir: 0.0426, d2.loss_map_cls: 0.7050, d2.loss_map_pts: 3.7107, d2.loss_map_dir: 0.0424, d3.loss_map_cls: 0.7116, d3.loss_map_pts: 3.6815, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.7166, d4.loss_map_pts: 3.6685, d4.loss_map_dir: 0.0423, d5.loss_map_cls: 0.7213, d5.loss_map_pts: 3.6660, d5.loss_map_dir: 0.0423, loss: 120.3534, grad_norm: 287.4860 2026-02-23 23:50:24,146 - DriveTransformer - INFO - Epoch [1][6650/117620] lr: 1.000e-04, eta: 27 days, 8:51:06, time: 0.319, data_time: 0.016, memory: 8395, loss_cls: 1.3593, loss_bbox: 1.3640, loss_traj: 5.7325, loss_traj_cls: 0.0006, loss_map_cls: 0.7018, loss_map_pts: 3.8200, loss_map_dir: 0.0440, d0.loss_plan_l1_fix_time: 4.7698, d0.loss_plan_l1_fix_dist: 0.9324, d1.loss_plan_l1_fix_time: 3.9768, d1.loss_plan_l1_fix_dist: 1.0465, d2.loss_plan_l1_fix_time: 3.8491, d2.loss_plan_l1_fix_dist: 1.2010, d3.loss_plan_l1_fix_time: 3.8514, d3.loss_plan_l1_fix_dist: 1.3704, d4.loss_plan_l1_fix_time: 3.8900, d4.loss_plan_l1_fix_dist: 1.5489, d5.loss_plan_l1_fix_time: 3.9456, d5.loss_plan_l1_fix_dist: 1.7409, d6.loss_plan_l1_fix_time: 4.0338, d6.loss_plan_l1_fix_dist: 1.9663, d0.loss_cls_all: 1.2644, d0.loss_bbox_all: 1.2937, d0.loss_cls: 1.2644, d0.loss_bbox: 1.2937, d1.loss_cls: 1.3014, d1.loss_bbox: 1.2773, d2.loss_cls: 1.3153, d2.loss_bbox: 1.2857, d3.loss_cls: 1.3314, d3.loss_bbox: 1.2982, d4.loss_cls: 1.3404, d4.loss_bbox: 1.3157, d5.loss_cls: 1.3483, d5.loss_bbox: 1.3411, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.5601, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.0750, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.9583, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5511, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1363, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.4103, d0.loss_map_cls_all: 0.6595, d0.loss_map_pts_all: 4.2324, d0.loss_map_dir_all: 0.0451, d0.loss_map_cls: 0.6595, d0.loss_map_pts: 4.2324, d0.loss_map_dir: 0.0451, d1.loss_map_cls: 0.6735, d1.loss_map_pts: 3.9047, d1.loss_map_dir: 0.0441, d2.loss_map_cls: 0.6848, d2.loss_map_pts: 3.8464, d2.loss_map_dir: 0.0440, d3.loss_map_cls: 0.6899, d3.loss_map_pts: 3.8258, d3.loss_map_dir: 0.0440, d4.loss_map_cls: 0.6952, d4.loss_map_pts: 3.8195, d4.loss_map_dir: 0.0441, d5.loss_map_cls: 0.6990, d5.loss_map_pts: 3.8167, d5.loss_map_dir: 0.0439, loss: 126.8600, grad_norm: 284.2888 2026-02-23 23:50:39,437 - DriveTransformer - INFO - Epoch [1][6700/117620] lr: 1.000e-04, eta: 27 days, 8:24:50, time: 0.306, data_time: 0.014, memory: 8395, loss_cls: 1.3488, loss_bbox: 1.3916, loss_traj: 5.5158, loss_traj_cls: 0.0005, loss_map_cls: 0.7191, loss_map_pts: 3.5305, loss_map_dir: 0.0401, d0.loss_plan_l1_fix_time: 4.3252, d0.loss_plan_l1_fix_dist: 0.6353, d1.loss_plan_l1_fix_time: 3.6598, d1.loss_plan_l1_fix_dist: 0.7866, d2.loss_plan_l1_fix_time: 3.5233, d2.loss_plan_l1_fix_dist: 1.0070, d3.loss_plan_l1_fix_time: 3.5165, d3.loss_plan_l1_fix_dist: 1.2111, d4.loss_plan_l1_fix_time: 3.5417, d4.loss_plan_l1_fix_dist: 1.4048, d5.loss_plan_l1_fix_time: 3.5850, d5.loss_plan_l1_fix_dist: 1.6191, d6.loss_plan_l1_fix_time: 3.6632, d6.loss_plan_l1_fix_dist: 1.8895, d0.loss_cls_all: 1.2020, d0.loss_bbox_all: 1.2871, d0.loss_cls: 1.2020, d0.loss_bbox: 1.2871, d1.loss_cls: 1.2609, d1.loss_bbox: 1.2747, d2.loss_cls: 1.2931, d2.loss_bbox: 1.2867, d3.loss_cls: 1.3170, d3.loss_bbox: 1.2998, d4.loss_cls: 1.3264, d4.loss_bbox: 1.3215, d5.loss_cls: 1.3334, d5.loss_bbox: 1.3537, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.8500, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.2712, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.0014, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.4897, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0070, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2305, d0.loss_map_cls_all: 0.6706, d0.loss_map_pts_all: 3.9597, d0.loss_map_dir_all: 0.0418, d0.loss_map_cls: 0.6706, d0.loss_map_pts: 3.9597, d0.loss_map_dir: 0.0418, d1.loss_map_cls: 0.6859, d1.loss_map_pts: 3.6341, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.6979, d2.loss_map_pts: 3.5702, d2.loss_map_dir: 0.0404, d3.loss_map_cls: 0.7073, d3.loss_map_pts: 3.5479, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.7117, d4.loss_map_pts: 3.5384, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.7165, d5.loss_map_pts: 3.5337, d5.loss_map_dir: 0.0401, loss: 120.7014, grad_norm: 284.2888 2026-02-23 23:50:56,227 - DriveTransformer - INFO - Epoch [1][6750/117620] lr: 1.000e-04, eta: 27 days, 8:25:05, time: 0.336, data_time: 0.014, memory: 8395, loss_cls: 1.3729, loss_bbox: 1.3861, loss_traj: 4.7622, loss_traj_cls: 0.0005, loss_map_cls: 0.6927, loss_map_pts: 3.7356, loss_map_dir: 0.0413, d0.loss_plan_l1_fix_time: 4.2430, d0.loss_plan_l1_fix_dist: 0.7652, d1.loss_plan_l1_fix_time: 3.7715, d1.loss_plan_l1_fix_dist: 0.8631, d2.loss_plan_l1_fix_time: 3.7083, d2.loss_plan_l1_fix_dist: 1.0108, d3.loss_plan_l1_fix_time: 3.7167, d3.loss_plan_l1_fix_dist: 1.1492, d4.loss_plan_l1_fix_time: 3.7458, d4.loss_plan_l1_fix_dist: 1.2799, d5.loss_plan_l1_fix_time: 3.7788, d5.loss_plan_l1_fix_dist: 1.4176, d6.loss_plan_l1_fix_time: 3.8320, d6.loss_plan_l1_fix_dist: 1.5863, d0.loss_cls_all: 1.2535, d0.loss_bbox_all: 1.3114, d0.loss_cls: 1.2535, d0.loss_bbox: 1.3114, d1.loss_cls: 1.3000, d1.loss_bbox: 1.3063, d2.loss_cls: 1.3262, d2.loss_bbox: 1.3083, d3.loss_cls: 1.3456, d3.loss_bbox: 1.3160, d4.loss_cls: 1.3540, d4.loss_bbox: 1.3304, d5.loss_cls: 1.3628, d5.loss_bbox: 1.3499, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3879, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6751, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.3100, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.7834, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2780, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.4893, d0.loss_map_cls_all: 0.6589, d0.loss_map_pts_all: 4.0952, d0.loss_map_dir_all: 0.0429, d0.loss_map_cls: 0.6589, d0.loss_map_pts: 4.0952, d0.loss_map_dir: 0.0429, d1.loss_map_cls: 0.6724, d1.loss_map_pts: 3.7787, d1.loss_map_dir: 0.0417, d2.loss_map_cls: 0.6782, d2.loss_map_pts: 3.7429, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.6843, d3.loss_map_pts: 3.7270, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6894, d4.loss_map_pts: 3.7316, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.6914, d5.loss_map_pts: 3.7351, d5.loss_map_dir: 0.0413, loss: 118.1470, grad_norm: 281.1983 2026-02-23 23:51:13,334 - DriveTransformer - INFO - Epoch [1][6800/117620] lr: 1.000e-04, eta: 27 days, 8:30:51, time: 0.342, data_time: 0.014, memory: 8395, loss_cls: 1.3665, loss_bbox: 1.4119, loss_traj: 3.9806, loss_traj_cls: 0.0005, loss_map_cls: 0.6789, loss_map_pts: 3.8859, loss_map_dir: 0.0455, d0.loss_plan_l1_fix_time: 3.5529, d0.loss_plan_l1_fix_dist: 0.7446, d1.loss_plan_l1_fix_time: 3.3571, d1.loss_plan_l1_fix_dist: 0.8185, d2.loss_plan_l1_fix_time: 3.4094, d2.loss_plan_l1_fix_dist: 0.9355, d3.loss_plan_l1_fix_time: 3.4543, d3.loss_plan_l1_fix_dist: 1.0541, d4.loss_plan_l1_fix_time: 3.4951, d4.loss_plan_l1_fix_dist: 1.1540, d5.loss_plan_l1_fix_time: 3.5235, d5.loss_plan_l1_fix_dist: 1.2564, d6.loss_plan_l1_fix_time: 3.5780, d6.loss_plan_l1_fix_dist: 1.3742, d0.loss_cls_all: 1.2212, d0.loss_bbox_all: 1.3693, d0.loss_cls: 1.2212, d0.loss_bbox: 1.3693, d1.loss_cls: 1.2853, d1.loss_bbox: 1.3486, d2.loss_cls: 1.3137, d2.loss_bbox: 1.3524, d3.loss_cls: 1.3322, d3.loss_bbox: 1.3605, d4.loss_cls: 1.3418, d4.loss_bbox: 1.3725, d5.loss_cls: 1.3514, d5.loss_bbox: 1.3839, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1093, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3514, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.8509, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.2373, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.5980, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.7557, d0.loss_map_cls_all: 0.6502, d0.loss_map_pts_all: 4.3144, d0.loss_map_dir_all: 0.0473, d0.loss_map_cls: 0.6502, d0.loss_map_pts: 4.3144, d0.loss_map_dir: 0.0473, d1.loss_map_cls: 0.6649, d1.loss_map_pts: 3.9556, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.6675, d2.loss_map_pts: 3.9036, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6708, d3.loss_map_pts: 3.8827, d3.loss_map_dir: 0.0456, d4.loss_map_cls: 0.6770, d4.loss_map_pts: 3.8844, d4.loss_map_dir: 0.0455, d5.loss_map_cls: 0.6769, d5.loss_map_pts: 3.8868, d5.loss_map_dir: 0.0454, loss: 112.7291, grad_norm: 281.1983 2026-02-23 23:51:30,564 - DriveTransformer - INFO - Epoch [1][6850/117620] lr: 1.000e-04, eta: 27 days, 8:38:39, time: 0.345, data_time: 0.016, memory: 8395, loss_cls: 1.3709, loss_bbox: 1.4431, loss_traj: 5.5437, loss_traj_cls: 0.0006, loss_map_cls: 0.7356, loss_map_pts: 3.6598, loss_map_dir: 0.0404, d0.loss_plan_l1_fix_time: 4.8472, d0.loss_plan_l1_fix_dist: 0.7365, d1.loss_plan_l1_fix_time: 4.4008, d1.loss_plan_l1_fix_dist: 0.8326, d2.loss_plan_l1_fix_time: 4.3828, d2.loss_plan_l1_fix_dist: 0.9806, d3.loss_plan_l1_fix_time: 4.4040, d3.loss_plan_l1_fix_dist: 1.1378, d4.loss_plan_l1_fix_time: 4.4301, d4.loss_plan_l1_fix_dist: 1.2971, d5.loss_plan_l1_fix_time: 4.4519, d5.loss_plan_l1_fix_dist: 1.4498, d6.loss_plan_l1_fix_time: 4.4970, d6.loss_plan_l1_fix_dist: 1.5807, d0.loss_cls_all: 1.2462, d0.loss_bbox_all: 1.3744, d0.loss_cls: 1.2462, d0.loss_bbox: 1.3744, d1.loss_cls: 1.2960, d1.loss_bbox: 1.3650, d2.loss_cls: 1.3211, d2.loss_bbox: 1.3658, d3.loss_cls: 1.3433, d3.loss_bbox: 1.3781, d4.loss_cls: 1.3506, d4.loss_bbox: 1.3913, d5.loss_cls: 1.3568, d5.loss_bbox: 1.4157, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8408, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.2545, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.9269, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.4574, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9847, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2366, d0.loss_map_cls_all: 0.6993, d0.loss_map_pts_all: 4.0762, d0.loss_map_dir_all: 0.0421, d0.loss_map_cls: 0.6993, d0.loss_map_pts: 4.0762, d0.loss_map_dir: 0.0421, d1.loss_map_cls: 0.7093, d1.loss_map_pts: 3.7470, d1.loss_map_dir: 0.0408, d2.loss_map_cls: 0.7151, d2.loss_map_pts: 3.6823, d2.loss_map_dir: 0.0405, d3.loss_map_cls: 0.7239, d3.loss_map_pts: 3.6649, d3.loss_map_dir: 0.0405, d4.loss_map_cls: 0.7298, d4.loss_map_pts: 3.6593, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.7331, d5.loss_map_pts: 3.6584, d5.loss_map_dir: 0.0405, loss: 127.6126, grad_norm: 279.5343 2026-02-23 23:51:46,994 - DriveTransformer - INFO - Epoch [1][6900/117620] lr: 1.000e-04, eta: 27 days, 8:32:41, time: 0.329, data_time: 0.014, memory: 8395, loss_cls: 1.3505, loss_bbox: 1.4506, loss_traj: 4.2541, loss_traj_cls: 0.0006, loss_map_cls: 0.7314, loss_map_pts: 3.8066, loss_map_dir: 0.0435, d0.loss_plan_l1_fix_time: 4.8374, d0.loss_plan_l1_fix_dist: 0.7857, d1.loss_plan_l1_fix_time: 4.7135, d1.loss_plan_l1_fix_dist: 0.8769, d2.loss_plan_l1_fix_time: 4.7664, d2.loss_plan_l1_fix_dist: 1.0244, d3.loss_plan_l1_fix_time: 4.8156, d3.loss_plan_l1_fix_dist: 1.1837, d4.loss_plan_l1_fix_time: 4.8565, d4.loss_plan_l1_fix_dist: 1.3622, d5.loss_plan_l1_fix_time: 4.8854, d5.loss_plan_l1_fix_dist: 1.5291, d6.loss_plan_l1_fix_time: 4.9311, d6.loss_plan_l1_fix_dist: 1.6516, d0.loss_cls_all: 1.2424, d0.loss_bbox_all: 1.3587, d0.loss_cls: 1.2424, d0.loss_bbox: 1.3587, d1.loss_cls: 1.2721, d1.loss_bbox: 1.3656, d2.loss_cls: 1.2925, d2.loss_bbox: 1.3735, d3.loss_cls: 1.3185, d3.loss_bbox: 1.3910, d4.loss_cls: 1.3287, d4.loss_bbox: 1.4031, d5.loss_cls: 1.3372, d5.loss_bbox: 1.4292, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3326, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5714, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0028, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.4100, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.8099, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.0072, d0.loss_map_cls_all: 0.7059, d0.loss_map_pts_all: 4.1370, d0.loss_map_dir_all: 0.0446, d0.loss_map_cls: 0.7059, d0.loss_map_pts: 4.1370, d0.loss_map_dir: 0.0446, d1.loss_map_cls: 0.7159, d1.loss_map_pts: 3.8606, d1.loss_map_dir: 0.0437, d2.loss_map_cls: 0.7194, d2.loss_map_pts: 3.8135, d2.loss_map_dir: 0.0433, d3.loss_map_cls: 0.7237, d3.loss_map_pts: 3.8012, d3.loss_map_dir: 0.0433, d4.loss_map_cls: 0.7288, d4.loss_map_pts: 3.7989, d4.loss_map_dir: 0.0433, d5.loss_map_cls: 0.7290, d5.loss_map_pts: 3.8004, d5.loss_map_dir: 0.0434, loss: 124.3910, grad_norm: 279.5343 2026-02-23 23:52:03,541 - DriveTransformer - INFO - Epoch [1][6950/117620] lr: 1.000e-04, eta: 27 days, 8:28:45, time: 0.331, data_time: 0.016, memory: 8395, loss_cls: 1.2708, loss_bbox: 1.5084, loss_traj: 4.8292, loss_traj_cls: 0.0005, loss_map_cls: 0.6970, loss_map_pts: 3.6546, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 4.3661, d0.loss_plan_l1_fix_dist: 0.9789, d1.loss_plan_l1_fix_time: 4.2980, d1.loss_plan_l1_fix_dist: 1.0584, d2.loss_plan_l1_fix_time: 4.3274, d2.loss_plan_l1_fix_dist: 1.2018, d3.loss_plan_l1_fix_time: 4.3528, d3.loss_plan_l1_fix_dist: 1.3736, d4.loss_plan_l1_fix_time: 4.3761, d4.loss_plan_l1_fix_dist: 1.5845, d5.loss_plan_l1_fix_time: 4.3796, d5.loss_plan_l1_fix_dist: 1.8188, d6.loss_plan_l1_fix_time: 4.3964, d6.loss_plan_l1_fix_dist: 2.0326, d0.loss_cls_all: 1.1381, d0.loss_bbox_all: 1.3312, d0.loss_cls: 1.1381, d0.loss_bbox: 1.3312, d1.loss_cls: 1.1788, d1.loss_bbox: 1.3394, d2.loss_cls: 1.2114, d2.loss_bbox: 1.3550, d3.loss_cls: 1.2414, d3.loss_bbox: 1.3872, d4.loss_cls: 1.2513, d4.loss_bbox: 1.4219, d5.loss_cls: 1.2564, d5.loss_bbox: 1.4729, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4775, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.8512, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4026, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8887, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.3121, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5821, d0.loss_map_cls_all: 0.6529, d0.loss_map_pts_all: 4.1747, d0.loss_map_dir_all: 0.0402, d0.loss_map_cls: 0.6529, d0.loss_map_pts: 4.1747, d0.loss_map_dir: 0.0402, d1.loss_map_cls: 0.6700, d1.loss_map_pts: 3.7543, d1.loss_map_dir: 0.0391, d2.loss_map_cls: 0.6790, d2.loss_map_pts: 3.6551, d2.loss_map_dir: 0.0390, d3.loss_map_cls: 0.6848, d3.loss_map_pts: 3.6284, d3.loss_map_dir: 0.0390, d4.loss_map_cls: 0.6893, d4.loss_map_pts: 3.6212, d4.loss_map_dir: 0.0390, d5.loss_map_cls: 0.6938, d5.loss_map_pts: 3.6301, d5.loss_map_dir: 0.0390, loss: 123.7529, grad_norm: 279.0959 2026-02-23 23:52:19,691 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-23 23:52:19,691 - DriveTransformer - INFO - Epoch [1][7000/117620] lr: 1.000e-04, eta: 27 days, 8:18:07, time: 0.323, data_time: 0.014, memory: 8395, loss_cls: 1.3222, loss_bbox: 1.5745, loss_traj: 4.5531, loss_traj_cls: 0.0006, loss_map_cls: 0.6723, loss_map_pts: 3.9044, loss_map_dir: 0.0402, d0.loss_plan_l1_fix_time: 4.3936, d0.loss_plan_l1_fix_dist: 0.8209, d1.loss_plan_l1_fix_time: 3.8874, d1.loss_plan_l1_fix_dist: 0.9223, d2.loss_plan_l1_fix_time: 3.8232, d2.loss_plan_l1_fix_dist: 1.0822, d3.loss_plan_l1_fix_time: 3.8187, d3.loss_plan_l1_fix_dist: 1.2771, d4.loss_plan_l1_fix_time: 3.8291, d4.loss_plan_l1_fix_dist: 1.5211, d5.loss_plan_l1_fix_time: 3.8411, d5.loss_plan_l1_fix_dist: 1.7926, d6.loss_plan_l1_fix_time: 3.8759, d6.loss_plan_l1_fix_dist: 2.0451, d0.loss_cls_all: 1.1991, d0.loss_bbox_all: 1.3961, d0.loss_cls: 1.1991, d0.loss_bbox: 1.3961, d1.loss_cls: 1.2400, d1.loss_bbox: 1.3975, d2.loss_cls: 1.2732, d2.loss_bbox: 1.4042, d3.loss_cls: 1.2996, d3.loss_bbox: 1.4363, d4.loss_cls: 1.3059, d4.loss_bbox: 1.4773, d5.loss_cls: 1.3114, d5.loss_bbox: 1.5347, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4157, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7457, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.2442, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6864, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.0777, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.3432, d0.loss_map_cls_all: 0.6374, d0.loss_map_pts_all: 4.2286, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.6374, d0.loss_map_pts: 4.2286, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.6531, d1.loss_map_pts: 3.8907, d1.loss_map_dir: 0.0402, d2.loss_map_cls: 0.6580, d2.loss_map_pts: 3.8348, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6625, d3.loss_map_pts: 3.8295, d3.loss_map_dir: 0.0400, d4.loss_map_cls: 0.6658, d4.loss_map_pts: 3.8358, d4.loss_map_dir: 0.0400, d5.loss_map_cls: 0.6696, d5.loss_map_pts: 3.8627, d5.loss_map_dir: 0.0401, loss: 120.9610, grad_norm: 279.0959 2026-02-23 23:52:35,676 - DriveTransformer - INFO - Epoch [1][7050/117620] lr: 1.000e-04, eta: 27 days, 8:05:00, time: 0.320, data_time: 0.016, memory: 8395, loss_cls: 1.3115, loss_bbox: 1.2877, loss_traj: 4.1988, loss_traj_cls: 0.0005, loss_map_cls: 0.6947, loss_map_pts: 3.5967, loss_map_dir: 0.0389, d0.loss_plan_l1_fix_time: 4.4283, d0.loss_plan_l1_fix_dist: 0.8384, d1.loss_plan_l1_fix_time: 4.0268, d1.loss_plan_l1_fix_dist: 0.8972, d2.loss_plan_l1_fix_time: 3.9921, d2.loss_plan_l1_fix_dist: 1.0048, d3.loss_plan_l1_fix_time: 4.0178, d3.loss_plan_l1_fix_dist: 1.1500, d4.loss_plan_l1_fix_time: 4.0504, d4.loss_plan_l1_fix_dist: 1.3307, d5.loss_plan_l1_fix_time: 4.0769, d5.loss_plan_l1_fix_dist: 1.5334, d6.loss_plan_l1_fix_time: 4.1176, d6.loss_plan_l1_fix_dist: 1.7237, d0.loss_cls_all: 1.1601, d0.loss_bbox_all: 1.2596, d0.loss_cls: 1.1601, d0.loss_bbox: 1.2596, d1.loss_cls: 1.2133, d1.loss_bbox: 1.2325, d2.loss_cls: 1.2412, d2.loss_bbox: 1.2307, d3.loss_cls: 1.2743, d3.loss_bbox: 1.2367, d4.loss_cls: 1.2873, d4.loss_bbox: 1.2458, d5.loss_cls: 1.3001, d5.loss_bbox: 1.2680, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1911, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5314, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.9408, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.3883, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.7583, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.9606, d0.loss_map_cls_all: 0.6501, d0.loss_map_pts_all: 4.1083, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.6501, d0.loss_map_pts: 4.1083, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.6585, d1.loss_map_pts: 3.7520, d1.loss_map_dir: 0.0389, d2.loss_map_cls: 0.6721, d2.loss_map_pts: 3.6673, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.6832, d3.loss_map_pts: 3.6337, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.6881, d4.loss_map_pts: 3.6158, d4.loss_map_dir: 0.0389, d5.loss_map_cls: 0.6923, d5.loss_map_pts: 3.6048, d5.loss_map_dir: 0.0389, loss: 115.9187, grad_norm: 278.6191 2026-02-23 23:52:52,414 - DriveTransformer - INFO - Epoch [1][7100/117620] lr: 1.000e-04, eta: 27 days, 8:04:30, time: 0.335, data_time: 0.014, memory: 8395, loss_cls: 1.3215, loss_bbox: 1.3413, loss_traj: 4.3875, loss_traj_cls: 0.0005, loss_map_cls: 0.7046, loss_map_pts: 3.6318, loss_map_dir: 0.0416, d0.loss_plan_l1_fix_time: 3.8717, d0.loss_plan_l1_fix_dist: 0.6409, d1.loss_plan_l1_fix_time: 3.2404, d1.loss_plan_l1_fix_dist: 0.7097, d2.loss_plan_l1_fix_time: 3.1556, d2.loss_plan_l1_fix_dist: 0.8256, d3.loss_plan_l1_fix_time: 3.1750, d3.loss_plan_l1_fix_dist: 0.9839, d4.loss_plan_l1_fix_time: 3.2056, d4.loss_plan_l1_fix_dist: 1.1748, d5.loss_plan_l1_fix_time: 3.2405, d5.loss_plan_l1_fix_dist: 1.3872, d6.loss_plan_l1_fix_time: 3.2964, d6.loss_plan_l1_fix_dist: 1.5868, d0.loss_cls_all: 1.1966, d0.loss_bbox_all: 1.3298, d0.loss_cls: 1.1966, d0.loss_bbox: 1.3298, d1.loss_cls: 1.2327, d1.loss_bbox: 1.3252, d2.loss_cls: 1.2575, d2.loss_bbox: 1.3173, d3.loss_cls: 1.2887, d3.loss_bbox: 1.3145, d4.loss_cls: 1.2969, d4.loss_bbox: 1.3197, d5.loss_cls: 1.3064, d5.loss_bbox: 1.3379, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3057, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6007, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0235, d3.loss_traj_cls: 0.0004, d3.loss_traj: 3.4974, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.9066, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.1281, d0.loss_map_cls_all: 0.6765, d0.loss_map_pts_all: 4.1198, d0.loss_map_dir_all: 0.0425, d0.loss_map_cls: 0.6765, d0.loss_map_pts: 4.1198, d0.loss_map_dir: 0.0425, d1.loss_map_cls: 0.6802, d1.loss_map_pts: 3.7737, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.6889, d2.loss_map_pts: 3.6880, d2.loss_map_dir: 0.0417, d3.loss_map_cls: 0.6955, d3.loss_map_pts: 3.6583, d3.loss_map_dir: 0.0417, d4.loss_map_cls: 0.6998, d4.loss_map_pts: 3.6436, d4.loss_map_dir: 0.0417, d5.loss_map_cls: 0.7024, d5.loss_map_pts: 3.6359, d5.loss_map_dir: 0.0415, loss: 111.1898, grad_norm: 278.6191 2026-02-23 23:53:09,291 - DriveTransformer - INFO - Epoch [1][7150/117620] lr: 1.000e-04, eta: 27 days, 8:06:20, time: 0.338, data_time: 0.017, memory: 8395, loss_cls: 1.3121, loss_bbox: 1.5258, loss_traj: 4.1630, loss_traj_cls: 0.0006, loss_map_cls: 0.7131, loss_map_pts: 3.7207, loss_map_dir: 0.0467, d0.loss_plan_l1_fix_time: 3.5178, d0.loss_plan_l1_fix_dist: 0.7006, d1.loss_plan_l1_fix_time: 3.1148, d1.loss_plan_l1_fix_dist: 0.7899, d2.loss_plan_l1_fix_time: 3.0683, d2.loss_plan_l1_fix_dist: 0.9106, d3.loss_plan_l1_fix_time: 3.0958, d3.loss_plan_l1_fix_dist: 1.0579, d4.loss_plan_l1_fix_time: 3.1332, d4.loss_plan_l1_fix_dist: 1.2034, d5.loss_plan_l1_fix_time: 3.1766, d5.loss_plan_l1_fix_dist: 1.3624, d6.loss_plan_l1_fix_time: 3.2577, d6.loss_plan_l1_fix_dist: 1.5668, d0.loss_cls_all: 1.1560, d0.loss_bbox_all: 1.3724, d0.loss_cls: 1.1560, d0.loss_bbox: 1.3724, d1.loss_cls: 1.2211, d1.loss_bbox: 1.3618, d2.loss_cls: 1.2430, d2.loss_bbox: 1.3742, d3.loss_cls: 1.2657, d3.loss_bbox: 1.4074, d4.loss_cls: 1.2804, d4.loss_bbox: 1.4357, d5.loss_cls: 1.2922, d5.loss_bbox: 1.4773, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1663, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4802, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.8458, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.2871, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.7209, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.9421, d0.loss_map_cls_all: 0.6788, d0.loss_map_pts_all: 4.2227, d0.loss_map_dir_all: 0.0466, d0.loss_map_cls: 0.6788, d0.loss_map_pts: 4.2227, d0.loss_map_dir: 0.0466, d1.loss_map_cls: 0.6911, d1.loss_map_pts: 3.8423, d1.loss_map_dir: 0.0466, d2.loss_map_cls: 0.6979, d2.loss_map_pts: 3.7619, d2.loss_map_dir: 0.0467, d3.loss_map_cls: 0.7055, d3.loss_map_pts: 3.7380, d3.loss_map_dir: 0.0467, d4.loss_map_cls: 0.7082, d4.loss_map_pts: 3.7305, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.7110, d5.loss_map_pts: 3.7250, d5.loss_map_dir: 0.0466, loss: 110.7398, grad_norm: 273.4133 2026-02-23 23:53:25,671 - DriveTransformer - INFO - Epoch [1][7200/117620] lr: 1.000e-04, eta: 27 days, 8:00:18, time: 0.328, data_time: 0.016, memory: 8395, loss_cls: 1.2919, loss_bbox: 1.4700, loss_traj: 4.8154, loss_traj_cls: 0.0006, loss_map_cls: 0.6791, loss_map_pts: 3.6645, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 4.4150, d0.loss_plan_l1_fix_dist: 0.8100, d1.loss_plan_l1_fix_time: 3.9429, d1.loss_plan_l1_fix_dist: 0.8954, d2.loss_plan_l1_fix_time: 3.8753, d2.loss_plan_l1_fix_dist: 1.0157, d3.loss_plan_l1_fix_time: 3.8950, d3.loss_plan_l1_fix_dist: 1.1519, d4.loss_plan_l1_fix_time: 3.9307, d4.loss_plan_l1_fix_dist: 1.2933, d5.loss_plan_l1_fix_time: 3.9794, d5.loss_plan_l1_fix_dist: 1.4443, d6.loss_plan_l1_fix_time: 4.0683, d6.loss_plan_l1_fix_dist: 1.6599, d0.loss_cls_all: 1.1725, d0.loss_bbox_all: 1.2786, d0.loss_cls: 1.1725, d0.loss_bbox: 1.2786, d1.loss_cls: 1.1990, d1.loss_bbox: 1.2857, d2.loss_cls: 1.2188, d2.loss_bbox: 1.3059, d3.loss_cls: 1.2389, d3.loss_bbox: 1.3448, d4.loss_cls: 1.2529, d4.loss_bbox: 1.3746, d5.loss_cls: 1.2692, d5.loss_bbox: 1.4164, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6991, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.0586, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.4242, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.9126, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.3465, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5936, d0.loss_map_cls_all: 0.6469, d0.loss_map_pts_all: 4.1895, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6469, d0.loss_map_pts: 4.1895, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6534, d1.loss_map_pts: 3.8035, d1.loss_map_dir: 0.0449, d2.loss_map_cls: 0.6631, d2.loss_map_pts: 3.7145, d2.loss_map_dir: 0.0451, d3.loss_map_cls: 0.6693, d3.loss_map_pts: 3.6878, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.6733, d4.loss_map_pts: 3.6742, d4.loss_map_dir: 0.0452, d5.loss_map_cls: 0.6763, d5.loss_map_pts: 3.6668, d5.loss_map_dir: 0.0453, loss: 120.0603, grad_norm: 272.7073 2026-02-23 23:53:42,610 - DriveTransformer - INFO - Epoch [1][7250/117620] lr: 1.000e-04, eta: 27 days, 8:02:44, time: 0.338, data_time: 0.014, memory: 8395, loss_cls: 1.3877, loss_bbox: 1.5635, loss_traj: 4.2847, loss_traj_cls: 0.0005, loss_map_cls: 0.6723, loss_map_pts: 3.7129, loss_map_dir: 0.0509, d0.loss_plan_l1_fix_time: 3.7483, d0.loss_plan_l1_fix_dist: 0.7795, d1.loss_plan_l1_fix_time: 3.4250, d1.loss_plan_l1_fix_dist: 0.8853, d2.loss_plan_l1_fix_time: 3.4078, d2.loss_plan_l1_fix_dist: 1.0613, d3.loss_plan_l1_fix_time: 3.4286, d3.loss_plan_l1_fix_dist: 1.2287, d4.loss_plan_l1_fix_time: 3.4630, d4.loss_plan_l1_fix_dist: 1.3974, d5.loss_plan_l1_fix_time: 3.5079, d5.loss_plan_l1_fix_dist: 1.5547, d6.loss_plan_l1_fix_time: 3.5968, d6.loss_plan_l1_fix_dist: 1.7356, d0.loss_cls_all: 1.1773, d0.loss_bbox_all: 1.3562, d0.loss_cls: 1.1773, d0.loss_bbox: 1.3562, d1.loss_cls: 1.2220, d1.loss_bbox: 1.3823, d2.loss_cls: 1.2666, d2.loss_bbox: 1.3991, d3.loss_cls: 1.2985, d3.loss_bbox: 1.4390, d4.loss_cls: 1.3249, d4.loss_bbox: 1.4807, d5.loss_cls: 1.3492, d5.loss_bbox: 1.5180, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2757, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5572, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.9311, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.3809, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.7877, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.0471, d0.loss_map_cls_all: 0.6461, d0.loss_map_pts_all: 4.1316, d0.loss_map_dir_all: 0.0512, d0.loss_map_cls: 0.6461, d0.loss_map_pts: 4.1316, d0.loss_map_dir: 0.0512, d1.loss_map_cls: 0.6559, d1.loss_map_pts: 3.7535, d1.loss_map_dir: 0.0510, d2.loss_map_cls: 0.6610, d2.loss_map_pts: 3.6954, d2.loss_map_dir: 0.0510, d3.loss_map_cls: 0.6661, d3.loss_map_pts: 3.6901, d3.loss_map_dir: 0.0510, d4.loss_map_cls: 0.6683, d4.loss_map_pts: 3.6951, d4.loss_map_dir: 0.0511, d5.loss_map_cls: 0.6715, d5.loss_map_pts: 3.7016, d5.loss_map_dir: 0.0510, loss: 114.3935, grad_norm: 272.7073 2026-02-23 23:53:59,109 - DriveTransformer - INFO - Epoch [1][7300/117620] lr: 1.000e-04, eta: 27 days, 7:58:25, time: 0.330, data_time: 0.015, memory: 8395, loss_cls: 1.3881, loss_bbox: 1.5406, loss_traj: 3.7592, loss_traj_cls: 0.0006, loss_map_cls: 0.6686, loss_map_pts: 3.6667, loss_map_dir: 0.0494, d0.loss_plan_l1_fix_time: 4.9258, d0.loss_plan_l1_fix_dist: 0.8567, d1.loss_plan_l1_fix_time: 4.6920, d1.loss_plan_l1_fix_dist: 0.9271, d2.loss_plan_l1_fix_time: 4.6806, d2.loss_plan_l1_fix_dist: 1.0573, d3.loss_plan_l1_fix_time: 4.6950, d3.loss_plan_l1_fix_dist: 1.1970, d4.loss_plan_l1_fix_time: 4.7182, d4.loss_plan_l1_fix_dist: 1.3374, d5.loss_plan_l1_fix_time: 4.7400, d5.loss_plan_l1_fix_dist: 1.4730, d6.loss_plan_l1_fix_time: 4.7902, d6.loss_plan_l1_fix_dist: 1.6356, d0.loss_cls_all: 1.2009, d0.loss_bbox_all: 1.3607, d0.loss_cls: 1.2009, d0.loss_bbox: 1.3607, d1.loss_cls: 1.2299, d1.loss_bbox: 1.3935, d2.loss_cls: 1.2576, d2.loss_bbox: 1.4188, d3.loss_cls: 1.2986, d3.loss_bbox: 1.4475, d4.loss_cls: 1.3388, d4.loss_bbox: 1.4669, d5.loss_cls: 1.3611, d5.loss_bbox: 1.4997, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9709, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2575, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5329, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9457, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3208, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5446, d0.loss_map_cls_all: 0.6434, d0.loss_map_pts_all: 4.1704, d0.loss_map_dir_all: 0.0493, d0.loss_map_cls: 0.6434, d0.loss_map_pts: 4.1704, d0.loss_map_dir: 0.0493, d1.loss_map_cls: 0.6514, d1.loss_map_pts: 3.8055, d1.loss_map_dir: 0.0495, d2.loss_map_cls: 0.6558, d2.loss_map_pts: 3.7248, d2.loss_map_dir: 0.0494, d3.loss_map_cls: 0.6620, d3.loss_map_pts: 3.6915, d3.loss_map_dir: 0.0494, d4.loss_map_cls: 0.6648, d4.loss_map_pts: 3.6759, d4.loss_map_dir: 0.0494, d5.loss_map_cls: 0.6676, d5.loss_map_pts: 3.6684, d5.loss_map_dir: 0.0493, loss: 120.0507, grad_norm: 270.6497 2026-02-23 23:54:15,758 - DriveTransformer - INFO - Epoch [1][7350/117620] lr: 1.000e-04, eta: 27 days, 7:56:32, time: 0.333, data_time: 0.016, memory: 8395, loss_cls: 1.1541, loss_bbox: 1.2418, loss_traj: 4.1934, loss_traj_cls: 0.0005, loss_map_cls: 0.7185, loss_map_pts: 3.5234, loss_map_dir: 0.0477, d0.loss_plan_l1_fix_time: 3.6047, d0.loss_plan_l1_fix_dist: 0.8731, d1.loss_plan_l1_fix_time: 3.2725, d1.loss_plan_l1_fix_dist: 0.9447, d2.loss_plan_l1_fix_time: 3.2357, d2.loss_plan_l1_fix_dist: 1.0684, d3.loss_plan_l1_fix_time: 3.2571, d3.loss_plan_l1_fix_dist: 1.2139, d4.loss_plan_l1_fix_time: 3.2907, d4.loss_plan_l1_fix_dist: 1.3781, d5.loss_plan_l1_fix_time: 3.3268, d5.loss_plan_l1_fix_dist: 1.5479, d6.loss_plan_l1_fix_time: 3.3854, d6.loss_plan_l1_fix_dist: 1.7371, d0.loss_cls_all: 1.0439, d0.loss_bbox_all: 1.1937, d0.loss_cls: 1.0439, d0.loss_bbox: 1.1937, d1.loss_cls: 1.0709, d1.loss_bbox: 1.1850, d2.loss_cls: 1.0825, d2.loss_bbox: 1.1853, d3.loss_cls: 1.1049, d3.loss_bbox: 1.1945, d4.loss_cls: 1.1149, d4.loss_bbox: 1.2093, d5.loss_cls: 1.1265, d5.loss_bbox: 1.2146, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1771, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5041, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.8125, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.2694, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.6988, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.9243, d0.loss_map_cls_all: 0.6840, d0.loss_map_pts_all: 4.0589, d0.loss_map_dir_all: 0.0473, d0.loss_map_cls: 0.6840, d0.loss_map_pts: 4.0589, d0.loss_map_dir: 0.0473, d1.loss_map_cls: 0.6944, d1.loss_map_pts: 3.6605, d1.loss_map_dir: 0.0476, d2.loss_map_cls: 0.6991, d2.loss_map_pts: 3.5731, d2.loss_map_dir: 0.0477, d3.loss_map_cls: 0.7068, d3.loss_map_pts: 3.5490, d3.loss_map_dir: 0.0478, d4.loss_map_cls: 0.7108, d4.loss_map_pts: 3.5377, d4.loss_map_dir: 0.0478, d5.loss_map_cls: 0.7159, d5.loss_map_pts: 3.5296, d5.loss_map_dir: 0.0477, loss: 108.5645, grad_norm: 270.6497 2026-02-23 23:54:32,144 - DriveTransformer - INFO - Epoch [1][7400/117620] lr: 1.000e-04, eta: 27 days, 7:50:30, time: 0.328, data_time: 0.014, memory: 8395, loss_cls: 1.2288, loss_bbox: 1.3034, loss_traj: 4.1375, loss_traj_cls: 0.0006, loss_map_cls: 0.7096, loss_map_pts: 3.4402, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 3.3011, d0.loss_plan_l1_fix_dist: 0.7846, d1.loss_plan_l1_fix_time: 3.1084, d1.loss_plan_l1_fix_dist: 0.8642, d2.loss_plan_l1_fix_time: 3.1140, d2.loss_plan_l1_fix_dist: 0.9977, d3.loss_plan_l1_fix_time: 3.1455, d3.loss_plan_l1_fix_dist: 1.1440, d4.loss_plan_l1_fix_time: 3.1875, d4.loss_plan_l1_fix_dist: 1.3098, d5.loss_plan_l1_fix_time: 3.2288, d5.loss_plan_l1_fix_dist: 1.4840, d6.loss_plan_l1_fix_time: 3.2992, d6.loss_plan_l1_fix_dist: 1.6601, d0.loss_cls_all: 1.1409, d0.loss_bbox_all: 1.2339, d0.loss_cls: 1.1409, d0.loss_bbox: 1.2339, d1.loss_cls: 1.1619, d1.loss_bbox: 1.2340, d2.loss_cls: 1.1722, d2.loss_bbox: 1.2384, d3.loss_cls: 1.1952, d3.loss_bbox: 1.2433, d4.loss_cls: 1.2016, d4.loss_bbox: 1.2648, d5.loss_cls: 1.2101, d5.loss_bbox: 1.2721, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2496, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6172, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.9118, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.3253, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.7146, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.9116, d0.loss_map_cls_all: 0.6685, d0.loss_map_pts_all: 4.0090, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6685, d0.loss_map_pts: 4.0090, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6831, d1.loss_map_pts: 3.5713, d1.loss_map_dir: 0.0451, d2.loss_map_cls: 0.6908, d2.loss_map_pts: 3.4745, d2.loss_map_dir: 0.0452, d3.loss_map_cls: 0.6979, d3.loss_map_pts: 3.4504, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.7027, d4.loss_map_pts: 3.4408, d4.loss_map_dir: 0.0454, d5.loss_map_cls: 0.7072, d5.loss_map_pts: 3.4386, d5.loss_map_dir: 0.0455, loss: 107.6991, grad_norm: 268.3169 2026-02-23 23:54:49,170 - DriveTransformer - INFO - Epoch [1][7450/117620] lr: 1.000e-04, eta: 27 days, 7:54:46, time: 0.341, data_time: 0.014, memory: 8395, loss_cls: 1.2361, loss_bbox: 1.4868, loss_traj: 4.2168, loss_traj_cls: 0.0006, loss_map_cls: 0.6745, loss_map_pts: 3.7476, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 4.5790, d0.loss_plan_l1_fix_dist: 0.9286, d1.loss_plan_l1_fix_time: 4.0772, d1.loss_plan_l1_fix_dist: 1.0364, d2.loss_plan_l1_fix_time: 3.9647, d2.loss_plan_l1_fix_dist: 1.1779, d3.loss_plan_l1_fix_time: 3.9573, d3.loss_plan_l1_fix_dist: 1.3037, d4.loss_plan_l1_fix_time: 3.9753, d4.loss_plan_l1_fix_dist: 1.4329, d5.loss_plan_l1_fix_time: 4.0181, d5.loss_plan_l1_fix_dist: 1.5864, d6.loss_plan_l1_fix_time: 4.0990, d6.loss_plan_l1_fix_dist: 1.6876, d0.loss_cls_all: 1.1612, d0.loss_bbox_all: 1.3515, d0.loss_cls: 1.1612, d0.loss_bbox: 1.3515, d1.loss_cls: 1.1865, d1.loss_bbox: 1.3643, d2.loss_cls: 1.1989, d2.loss_bbox: 1.3729, d3.loss_cls: 1.2117, d3.loss_bbox: 1.3940, d4.loss_cls: 1.2145, d4.loss_bbox: 1.4277, d5.loss_cls: 1.2207, d5.loss_bbox: 1.4589, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.6540, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.8654, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0859, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.3745, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.8182, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.9840, d0.loss_map_cls_all: 0.6538, d0.loss_map_pts_all: 4.2521, d0.loss_map_dir_all: 0.0457, d0.loss_map_cls: 0.6538, d0.loss_map_pts: 4.2521, d0.loss_map_dir: 0.0457, d1.loss_map_cls: 0.6562, d1.loss_map_pts: 3.8698, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.6630, d2.loss_map_pts: 3.7891, d2.loss_map_dir: 0.0464, d3.loss_map_cls: 0.6683, d3.loss_map_pts: 3.7529, d3.loss_map_dir: 0.0464, d4.loss_map_cls: 0.6714, d4.loss_map_pts: 3.7382, d4.loss_map_dir: 0.0464, d5.loss_map_cls: 0.6731, d5.loss_map_pts: 3.7368, d5.loss_map_dir: 0.0465, loss: 119.4467, grad_norm: 268.3169 2026-02-23 23:55:05,116 - DriveTransformer - INFO - Epoch [1][7500/117620] lr: 1.000e-04, eta: 27 days, 7:41:53, time: 0.319, data_time: 0.014, memory: 8395, loss_cls: 1.1453, loss_bbox: 1.4471, loss_traj: 4.1554, loss_traj_cls: 0.0006, loss_map_cls: 0.6806, loss_map_pts: 3.4696, loss_map_dir: 0.0454, d0.loss_plan_l1_fix_time: 4.4013, d0.loss_plan_l1_fix_dist: 0.8347, d1.loss_plan_l1_fix_time: 3.8640, d1.loss_plan_l1_fix_dist: 0.9293, d2.loss_plan_l1_fix_time: 3.7499, d2.loss_plan_l1_fix_dist: 1.0627, d3.loss_plan_l1_fix_time: 3.7384, d3.loss_plan_l1_fix_dist: 1.1864, d4.loss_plan_l1_fix_time: 3.7592, d4.loss_plan_l1_fix_dist: 1.3173, d5.loss_plan_l1_fix_time: 3.7960, d5.loss_plan_l1_fix_dist: 1.4638, d6.loss_plan_l1_fix_time: 3.8564, d6.loss_plan_l1_fix_dist: 1.5754, d0.loss_cls_all: 1.0939, d0.loss_bbox_all: 1.3113, d0.loss_cls: 1.0939, d0.loss_bbox: 1.3113, d1.loss_cls: 1.1074, d1.loss_bbox: 1.3073, d2.loss_cls: 1.1034, d2.loss_bbox: 1.3272, d3.loss_cls: 1.1138, d3.loss_bbox: 1.3532, d4.loss_cls: 1.1313, d4.loss_bbox: 1.3757, d5.loss_cls: 1.1315, d5.loss_bbox: 1.4118, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.0888, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4164, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7565, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1696, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.6608, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.8887, d0.loss_map_cls_all: 0.6541, d0.loss_map_pts_all: 4.0455, d0.loss_map_dir_all: 0.0452, d0.loss_map_cls: 0.6541, d0.loss_map_pts: 4.0455, d0.loss_map_dir: 0.0452, d1.loss_map_cls: 0.6627, d1.loss_map_pts: 3.6131, d1.loss_map_dir: 0.0455, d2.loss_map_cls: 0.6680, d2.loss_map_pts: 3.5198, d2.loss_map_dir: 0.0455, d3.loss_map_cls: 0.6730, d3.loss_map_pts: 3.4822, d3.loss_map_dir: 0.0454, d4.loss_map_cls: 0.6767, d4.loss_map_pts: 3.4642, d4.loss_map_dir: 0.0455, d5.loss_map_cls: 0.6784, d5.loss_map_pts: 3.4618, d5.loss_map_dir: 0.0455, loss: 112.2523, grad_norm: 267.5349 2026-02-23 23:55:21,612 - DriveTransformer - INFO - Epoch [1][7550/117620] lr: 1.000e-04, eta: 27 days, 7:37:41, time: 0.330, data_time: 0.014, memory: 8395, loss_cls: 1.1929, loss_bbox: 1.3876, loss_traj: 4.8152, loss_traj_cls: 0.0006, loss_map_cls: 0.7040, loss_map_pts: 3.5385, loss_map_dir: 0.0429, d0.loss_plan_l1_fix_time: 5.0241, d0.loss_plan_l1_fix_dist: 0.6848, d1.loss_plan_l1_fix_time: 4.3923, d1.loss_plan_l1_fix_dist: 0.7676, d2.loss_plan_l1_fix_time: 4.2729, d2.loss_plan_l1_fix_dist: 0.9034, d3.loss_plan_l1_fix_time: 4.2578, d3.loss_plan_l1_fix_dist: 1.0507, d4.loss_plan_l1_fix_time: 4.2748, d4.loss_plan_l1_fix_dist: 1.2336, d5.loss_plan_l1_fix_time: 4.3041, d5.loss_plan_l1_fix_dist: 1.4237, d6.loss_plan_l1_fix_time: 4.3513, d6.loss_plan_l1_fix_dist: 1.5787, d0.loss_cls_all: 1.1469, d0.loss_bbox_all: 1.2917, d0.loss_cls: 1.1469, d0.loss_bbox: 1.2917, d1.loss_cls: 1.2020, d1.loss_bbox: 1.2904, d2.loss_cls: 1.1785, d2.loss_bbox: 1.2941, d3.loss_cls: 1.1703, d3.loss_bbox: 1.3130, d4.loss_cls: 1.1673, d4.loss_bbox: 1.3375, d5.loss_cls: 1.1775, d5.loss_bbox: 1.3537, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7768, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.0077, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.3333, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.7616, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2903, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5364, d0.loss_map_cls_all: 0.6757, d0.loss_map_pts_all: 3.9596, d0.loss_map_dir_all: 0.0420, d0.loss_map_cls: 0.6757, d0.loss_map_pts: 3.9596, d0.loss_map_dir: 0.0420, d1.loss_map_cls: 0.6769, d1.loss_map_pts: 3.6146, d1.loss_map_dir: 0.0424, d2.loss_map_cls: 0.6847, d2.loss_map_pts: 3.5544, d2.loss_map_dir: 0.0426, d3.loss_map_cls: 0.6931, d3.loss_map_pts: 3.5340, d3.loss_map_dir: 0.0427, d4.loss_map_cls: 0.6972, d4.loss_map_pts: 3.5286, d4.loss_map_dir: 0.0429, d5.loss_map_cls: 0.7027, d5.loss_map_pts: 3.5310, d5.loss_map_dir: 0.0430, loss: 120.0575, grad_norm: 267.5349 2026-02-23 23:55:37,320 - DriveTransformer - INFO - Epoch [1][7600/117620] lr: 1.000e-04, eta: 27 days, 7:21:30, time: 0.314, data_time: 0.014, memory: 8395, loss_cls: 1.1922, loss_bbox: 1.4394, loss_traj: 4.0276, loss_traj_cls: 0.0006, loss_map_cls: 0.7064, loss_map_pts: 3.4964, loss_map_dir: 0.0449, d0.loss_plan_l1_fix_time: 4.4996, d0.loss_plan_l1_fix_dist: 0.7559, d1.loss_plan_l1_fix_time: 4.0936, d1.loss_plan_l1_fix_dist: 0.8370, d2.loss_plan_l1_fix_time: 4.0443, d2.loss_plan_l1_fix_dist: 0.9647, d3.loss_plan_l1_fix_time: 4.0575, d3.loss_plan_l1_fix_dist: 1.1033, d4.loss_plan_l1_fix_time: 4.0894, d4.loss_plan_l1_fix_dist: 1.2627, d5.loss_plan_l1_fix_time: 4.1255, d5.loss_plan_l1_fix_dist: 1.4409, d6.loss_plan_l1_fix_time: 4.1812, d6.loss_plan_l1_fix_dist: 1.6160, d0.loss_cls_all: 1.1522, d0.loss_bbox_all: 1.3370, d0.loss_cls: 1.1522, d0.loss_bbox: 1.3370, d1.loss_cls: 1.1789, d1.loss_bbox: 1.3519, d2.loss_cls: 1.1607, d2.loss_bbox: 1.3623, d3.loss_cls: 1.1671, d3.loss_bbox: 1.3751, d4.loss_cls: 1.1701, d4.loss_bbox: 1.3938, d5.loss_cls: 1.1745, d5.loss_bbox: 1.4142, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2533, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4709, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7696, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1508, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.5481, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.7756, d0.loss_map_cls_all: 0.6776, d0.loss_map_pts_all: 3.9547, d0.loss_map_dir_all: 0.0445, d0.loss_map_cls: 0.6776, d0.loss_map_pts: 3.9547, d0.loss_map_dir: 0.0445, d1.loss_map_cls: 0.6860, d1.loss_map_pts: 3.5980, d1.loss_map_dir: 0.0446, d2.loss_map_cls: 0.6907, d2.loss_map_pts: 3.5287, d2.loss_map_dir: 0.0450, d3.loss_map_cls: 0.6968, d3.loss_map_pts: 3.5039, d3.loss_map_dir: 0.0450, d4.loss_map_cls: 0.7019, d4.loss_map_pts: 3.4904, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.7054, d5.loss_map_pts: 3.4903, d5.loss_map_dir: 0.0449, loss: 114.3474, grad_norm: 266.6048 2026-02-23 23:55:52,339 - DriveTransformer - INFO - Epoch [1][7650/117620] lr: 1.000e-04, eta: 27 days, 6:54:53, time: 0.300, data_time: 0.015, memory: 8395, loss_cls: 1.2105, loss_bbox: 1.4311, loss_traj: 3.8999, loss_traj_cls: 0.0006, loss_map_cls: 0.6705, loss_map_pts: 3.3267, loss_map_dir: 0.0423, d0.loss_plan_l1_fix_time: 4.0552, d0.loss_plan_l1_fix_dist: 0.6481, d1.loss_plan_l1_fix_time: 3.8573, d1.loss_plan_l1_fix_dist: 0.7279, d2.loss_plan_l1_fix_time: 3.8675, d2.loss_plan_l1_fix_dist: 0.8579, d3.loss_plan_l1_fix_time: 3.8888, d3.loss_plan_l1_fix_dist: 1.0091, d4.loss_plan_l1_fix_time: 3.9239, d4.loss_plan_l1_fix_dist: 1.1791, d5.loss_plan_l1_fix_time: 3.9442, d5.loss_plan_l1_fix_dist: 1.3611, d6.loss_plan_l1_fix_time: 3.9810, d6.loss_plan_l1_fix_dist: 1.5996, d0.loss_cls_all: 1.1395, d0.loss_bbox_all: 1.3228, d0.loss_cls: 1.1395, d0.loss_bbox: 1.3228, d1.loss_cls: 1.1568, d1.loss_bbox: 1.3495, d2.loss_cls: 1.1618, d2.loss_bbox: 1.3674, d3.loss_cls: 1.1756, d3.loss_bbox: 1.3806, d4.loss_cls: 1.1902, d4.loss_bbox: 1.3902, d5.loss_cls: 1.1919, d5.loss_bbox: 1.4056, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.0580, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2959, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5848, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9984, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3882, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.6196, d0.loss_map_cls_all: 0.6373, d0.loss_map_pts_all: 3.8483, d0.loss_map_dir_all: 0.0419, d0.loss_map_cls: 0.6373, d0.loss_map_pts: 3.8483, d0.loss_map_dir: 0.0419, d1.loss_map_cls: 0.6480, d1.loss_map_pts: 3.4471, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.6553, d2.loss_map_pts: 3.3604, d2.loss_map_dir: 0.0421, d3.loss_map_cls: 0.6612, d3.loss_map_pts: 3.3339, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.6650, d4.loss_map_pts: 3.3246, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.6689, d5.loss_map_pts: 3.3247, d5.loss_map_dir: 0.0422, loss: 109.4789, grad_norm: 266.6048 2026-02-23 23:56:08,649 - DriveTransformer - INFO - Epoch [1][7700/117620] lr: 1.000e-04, eta: 27 days, 6:48:16, time: 0.326, data_time: 0.014, memory: 8395, loss_cls: 1.1846, loss_bbox: 1.4638, loss_traj: 3.4801, loss_traj_cls: 0.0006, loss_map_cls: 0.6923, loss_map_pts: 3.7067, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 3.8136, d0.loss_plan_l1_fix_dist: 0.8362, d1.loss_plan_l1_fix_time: 3.5107, d1.loss_plan_l1_fix_dist: 0.9026, d2.loss_plan_l1_fix_time: 3.5045, d2.loss_plan_l1_fix_dist: 0.9925, d3.loss_plan_l1_fix_time: 3.5195, d3.loss_plan_l1_fix_dist: 1.1142, d4.loss_plan_l1_fix_time: 3.5498, d4.loss_plan_l1_fix_dist: 1.2562, d5.loss_plan_l1_fix_time: 3.5642, d5.loss_plan_l1_fix_dist: 1.4032, d6.loss_plan_l1_fix_time: 3.5994, d6.loss_plan_l1_fix_dist: 1.6063, d0.loss_cls_all: 1.1544, d0.loss_bbox_all: 1.3656, d0.loss_cls: 1.1544, d0.loss_bbox: 1.3656, d1.loss_cls: 1.1784, d1.loss_bbox: 1.3765, d2.loss_cls: 1.1743, d2.loss_bbox: 1.3892, d3.loss_cls: 1.1745, d3.loss_bbox: 1.4030, d4.loss_cls: 1.1743, d4.loss_bbox: 1.4224, d5.loss_cls: 1.1737, d5.loss_bbox: 1.4400, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0210, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2177, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4553, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7297, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0536, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2434, d0.loss_map_cls_all: 0.6801, d0.loss_map_pts_all: 4.1782, d0.loss_map_dir_all: 0.0451, d0.loss_map_cls: 0.6801, d0.loss_map_pts: 4.1782, d0.loss_map_dir: 0.0451, d1.loss_map_cls: 0.6846, d1.loss_map_pts: 3.8083, d1.loss_map_dir: 0.0449, d2.loss_map_cls: 0.6853, d2.loss_map_pts: 3.7329, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6864, d3.loss_map_pts: 3.7142, d3.loss_map_dir: 0.0449, d4.loss_map_cls: 0.6881, d4.loss_map_pts: 3.7074, d4.loss_map_dir: 0.0450, d5.loss_map_cls: 0.6903, d5.loss_map_pts: 3.7047, d5.loss_map_dir: 0.0452, loss: 109.5499, grad_norm: 264.7225 2026-02-23 23:56:25,381 - DriveTransformer - INFO - Epoch [1][7750/117620] lr: 1.000e-04, eta: 27 days, 6:48:19, time: 0.335, data_time: 0.014, memory: 8395, loss_cls: 1.1845, loss_bbox: 1.3993, loss_traj: 3.6696, loss_traj_cls: 0.0007, loss_map_cls: 0.6852, loss_map_pts: 3.7272, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 3.9446, d0.loss_plan_l1_fix_dist: 0.8126, d1.loss_plan_l1_fix_time: 3.6330, d1.loss_plan_l1_fix_dist: 0.8500, d2.loss_plan_l1_fix_time: 3.6058, d2.loss_plan_l1_fix_dist: 0.8973, d3.loss_plan_l1_fix_time: 3.6060, d3.loss_plan_l1_fix_dist: 0.9876, d4.loss_plan_l1_fix_time: 3.6208, d4.loss_plan_l1_fix_dist: 1.0996, d5.loss_plan_l1_fix_time: 3.6290, d5.loss_plan_l1_fix_dist: 1.2160, d6.loss_plan_l1_fix_time: 3.6545, d6.loss_plan_l1_fix_dist: 1.3835, d0.loss_cls_all: 1.1586, d0.loss_bbox_all: 1.2804, d0.loss_cls: 1.1586, d0.loss_bbox: 1.2804, d1.loss_cls: 1.1850, d1.loss_bbox: 1.2954, d2.loss_cls: 1.1832, d2.loss_bbox: 1.3097, d3.loss_cls: 1.1760, d3.loss_bbox: 1.3187, d4.loss_cls: 1.1743, d4.loss_bbox: 1.3400, d5.loss_cls: 1.1737, d5.loss_bbox: 1.3765, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4603, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.6851, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.9007, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.0503, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3499, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.4869, d0.loss_map_cls_all: 0.6568, d0.loss_map_pts_all: 4.2163, d0.loss_map_dir_all: 0.0427, d0.loss_map_cls: 0.6568, d0.loss_map_pts: 4.2163, d0.loss_map_dir: 0.0427, d1.loss_map_cls: 0.6695, d1.loss_map_pts: 3.7989, d1.loss_map_dir: 0.0424, d2.loss_map_cls: 0.6742, d2.loss_map_pts: 3.7187, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.6783, d3.loss_map_pts: 3.7035, d3.loss_map_dir: 0.0424, d4.loss_map_cls: 0.6815, d4.loss_map_pts: 3.7083, d4.loss_map_dir: 0.0425, d5.loss_map_cls: 0.6841, d5.loss_map_pts: 3.7151, d5.loss_map_dir: 0.0424, loss: 111.0724, grad_norm: 264.7225 2026-02-23 23:56:41,945 - DriveTransformer - INFO - Epoch [1][7800/117620] lr: 1.000e-04, eta: 27 days, 6:45:32, time: 0.331, data_time: 0.015, memory: 8395, loss_cls: 1.1289, loss_bbox: 1.4113, loss_traj: 3.8952, loss_traj_cls: 0.0006, loss_map_cls: 0.7009, loss_map_pts: 3.4160, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.8295, d0.loss_plan_l1_fix_dist: 0.8207, d1.loss_plan_l1_fix_time: 3.4401, d1.loss_plan_l1_fix_dist: 0.8965, d2.loss_plan_l1_fix_time: 3.4011, d2.loss_plan_l1_fix_dist: 0.9899, d3.loss_plan_l1_fix_time: 3.4046, d3.loss_plan_l1_fix_dist: 1.1090, d4.loss_plan_l1_fix_time: 3.4235, d4.loss_plan_l1_fix_dist: 1.2473, d5.loss_plan_l1_fix_time: 3.4436, d5.loss_plan_l1_fix_dist: 1.3884, d6.loss_plan_l1_fix_time: 3.4812, d6.loss_plan_l1_fix_dist: 1.5587, d0.loss_cls_all: 1.1187, d0.loss_bbox_all: 1.2792, d0.loss_cls: 1.1187, d0.loss_bbox: 1.2792, d1.loss_cls: 1.1405, d1.loss_bbox: 1.3066, d2.loss_cls: 1.1291, d2.loss_bbox: 1.3257, d3.loss_cls: 1.1255, d3.loss_bbox: 1.3340, d4.loss_cls: 1.1187, d4.loss_bbox: 1.3598, d5.loss_cls: 1.1147, d5.loss_bbox: 1.3977, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2678, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.5060, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7995, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.0534, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.4642, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.7028, d0.loss_map_cls_all: 0.6595, d0.loss_map_pts_all: 3.9673, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.6595, d0.loss_map_pts: 3.9673, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.6659, d1.loss_map_pts: 3.5763, d1.loss_map_dir: 0.0392, d2.loss_map_cls: 0.6787, d2.loss_map_pts: 3.4770, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.6894, d3.loss_map_pts: 3.4418, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6944, d4.loss_map_pts: 3.4263, d4.loss_map_dir: 0.0392, d5.loss_map_cls: 0.6990, d5.loss_map_pts: 3.4166, d5.loss_map_dir: 0.0393, loss: 108.2660, grad_norm: 265.1752 2026-02-23 23:56:58,024 - DriveTransformer - INFO - Epoch [1][7850/117620] lr: 1.000e-04, eta: 27 days, 6:35:44, time: 0.322, data_time: 0.014, memory: 8395, loss_cls: 1.1173, loss_bbox: 1.3732, loss_traj: 3.7045, loss_traj_cls: 0.0006, loss_map_cls: 0.6858, loss_map_pts: 3.5881, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 3.1799, d0.loss_plan_l1_fix_dist: 0.8186, d1.loss_plan_l1_fix_time: 2.7990, d1.loss_plan_l1_fix_dist: 0.9191, d2.loss_plan_l1_fix_time: 2.7753, d2.loss_plan_l1_fix_dist: 1.0248, d3.loss_plan_l1_fix_time: 2.7916, d3.loss_plan_l1_fix_dist: 1.1542, d4.loss_plan_l1_fix_time: 2.8145, d4.loss_plan_l1_fix_dist: 1.3038, d5.loss_plan_l1_fix_time: 2.8388, d5.loss_plan_l1_fix_dist: 1.4523, d6.loss_plan_l1_fix_time: 2.8823, d6.loss_plan_l1_fix_dist: 1.5792, d0.loss_cls_all: 1.0909, d0.loss_bbox_all: 1.2456, d0.loss_cls: 1.0909, d0.loss_bbox: 1.2456, d1.loss_cls: 1.1192, d1.loss_bbox: 1.2686, d2.loss_cls: 1.1050, d2.loss_bbox: 1.2879, d3.loss_cls: 1.0964, d3.loss_bbox: 1.3091, d4.loss_cls: 1.0990, d4.loss_bbox: 1.3334, d5.loss_cls: 1.1013, d5.loss_bbox: 1.3627, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3651, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.5025, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7220, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.0037, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3188, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5477, d0.loss_map_cls_all: 0.6599, d0.loss_map_pts_all: 4.1647, d0.loss_map_dir_all: 0.0392, d0.loss_map_cls: 0.6599, d0.loss_map_pts: 4.1647, d0.loss_map_dir: 0.0392, d1.loss_map_cls: 0.6662, d1.loss_map_pts: 3.7166, d1.loss_map_dir: 0.0381, d2.loss_map_cls: 0.6759, d2.loss_map_pts: 3.6173, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.6797, d3.loss_map_pts: 3.5925, d3.loss_map_dir: 0.0384, d4.loss_map_cls: 0.6818, d4.loss_map_pts: 3.5843, d4.loss_map_dir: 0.0384, d5.loss_map_cls: 0.6854, d5.loss_map_pts: 3.5820, d5.loss_map_dir: 0.0385, loss: 104.4607, grad_norm: 265.1752 2026-02-23 23:57:14,025 - DriveTransformer - INFO - Epoch [1][7900/117620] lr: 1.000e-04, eta: 27 days, 6:24:48, time: 0.320, data_time: 0.015, memory: 8395, loss_cls: 1.1306, loss_bbox: 1.4322, loss_traj: 3.4993, loss_traj_cls: 0.0007, loss_map_cls: 0.6957, loss_map_pts: 3.6649, loss_map_dir: 0.0437, d0.loss_plan_l1_fix_time: 3.5040, d0.loss_plan_l1_fix_dist: 0.8091, d1.loss_plan_l1_fix_time: 3.4081, d1.loss_plan_l1_fix_dist: 0.9159, d2.loss_plan_l1_fix_time: 3.4733, d2.loss_plan_l1_fix_dist: 1.0483, d3.loss_plan_l1_fix_time: 3.5288, d3.loss_plan_l1_fix_dist: 1.2067, d4.loss_plan_l1_fix_time: 3.5736, d4.loss_plan_l1_fix_dist: 1.3790, d5.loss_plan_l1_fix_time: 3.6178, d5.loss_plan_l1_fix_dist: 1.5584, d6.loss_plan_l1_fix_time: 3.6724, d6.loss_plan_l1_fix_dist: 1.7158, d0.loss_cls_all: 1.1291, d0.loss_bbox_all: 1.3383, d0.loss_cls: 1.1291, d0.loss_bbox: 1.3383, d1.loss_cls: 1.1440, d1.loss_bbox: 1.3566, d2.loss_cls: 1.1275, d2.loss_bbox: 1.3681, d3.loss_cls: 1.1181, d3.loss_bbox: 1.3834, d4.loss_cls: 1.1248, d4.loss_bbox: 1.4043, d5.loss_cls: 1.1232, d5.loss_bbox: 1.4311, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1198, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2559, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4699, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7729, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.0892, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.3222, d0.loss_map_cls_all: 0.6611, d0.loss_map_pts_all: 4.0762, d0.loss_map_dir_all: 0.0438, d0.loss_map_cls: 0.6611, d0.loss_map_pts: 4.0762, d0.loss_map_dir: 0.0438, d1.loss_map_cls: 0.6738, d1.loss_map_pts: 3.7130, d1.loss_map_dir: 0.0431, d2.loss_map_cls: 0.6797, d2.loss_map_pts: 3.6593, d2.loss_map_dir: 0.0433, d3.loss_map_cls: 0.6857, d3.loss_map_pts: 3.6504, d3.loss_map_dir: 0.0434, d4.loss_map_cls: 0.6902, d4.loss_map_pts: 3.6445, d4.loss_map_dir: 0.0434, d5.loss_map_cls: 0.6942, d5.loss_map_pts: 3.6539, d5.loss_map_dir: 0.0436, loss: 108.9511, grad_norm: 268.2488 2026-02-23 23:57:30,522 - DriveTransformer - INFO - Epoch [1][7950/117620] lr: 1.000e-04, eta: 27 days, 6:21:19, time: 0.330, data_time: 0.014, memory: 8395, loss_cls: 1.1865, loss_bbox: 1.4379, loss_traj: 4.8252, loss_traj_cls: 0.0006, loss_map_cls: 0.6692, loss_map_pts: 3.7914, loss_map_dir: 0.0463, d0.loss_plan_l1_fix_time: 4.2350, d0.loss_plan_l1_fix_dist: 0.8804, d1.loss_plan_l1_fix_time: 3.9129, d1.loss_plan_l1_fix_dist: 1.0107, d2.loss_plan_l1_fix_time: 3.9360, d2.loss_plan_l1_fix_dist: 1.1719, d3.loss_plan_l1_fix_time: 3.9816, d3.loss_plan_l1_fix_dist: 1.3709, d4.loss_plan_l1_fix_time: 4.0174, d4.loss_plan_l1_fix_dist: 1.5804, d5.loss_plan_l1_fix_time: 4.0637, d5.loss_plan_l1_fix_dist: 1.7816, d6.loss_plan_l1_fix_time: 4.1155, d6.loss_plan_l1_fix_dist: 1.9605, d0.loss_cls_all: 1.1485, d0.loss_bbox_all: 1.3438, d0.loss_cls: 1.1485, d0.loss_bbox: 1.3438, d1.loss_cls: 1.1605, d1.loss_bbox: 1.3764, d2.loss_cls: 1.1487, d2.loss_bbox: 1.3890, d3.loss_cls: 1.1555, d3.loss_bbox: 1.4039, d4.loss_cls: 1.1791, d4.loss_bbox: 1.4225, d5.loss_cls: 1.1748, d5.loss_bbox: 1.4450, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.3938, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.5933, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.7859, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.0778, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.3431, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.6211, d0.loss_map_cls_all: 0.6384, d0.loss_map_pts_all: 4.2073, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6384, d0.loss_map_pts: 4.2073, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6502, d1.loss_map_pts: 3.8532, d1.loss_map_dir: 0.0459, d2.loss_map_cls: 0.6511, d2.loss_map_pts: 3.7916, d2.loss_map_dir: 0.0459, d3.loss_map_cls: 0.6543, d3.loss_map_pts: 3.7716, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6579, d4.loss_map_pts: 3.7677, d4.loss_map_dir: 0.0463, d5.loss_map_cls: 0.6676, d5.loss_map_pts: 3.7798, d5.loss_map_dir: 0.0462, loss: 123.8926, grad_norm: 268.2488 2026-02-23 23:57:46,396 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-23 23:57:46,396 - DriveTransformer - INFO - Epoch [1][8000/117620] lr: 1.000e-04, eta: 27 days, 6:08:48, time: 0.318, data_time: 0.015, memory: 8395, loss_cls: 1.1446, loss_bbox: 1.3909, loss_traj: 4.5027, loss_traj_cls: 0.0007, loss_map_cls: 0.6985, loss_map_pts: 3.3039, loss_map_dir: 0.0432, d0.loss_plan_l1_fix_time: 3.4150, d0.loss_plan_l1_fix_dist: 0.9323, d1.loss_plan_l1_fix_time: 3.0030, d1.loss_plan_l1_fix_dist: 1.0170, d2.loss_plan_l1_fix_time: 2.9934, d2.loss_plan_l1_fix_dist: 1.1347, d3.loss_plan_l1_fix_time: 3.0268, d3.loss_plan_l1_fix_dist: 1.2736, d4.loss_plan_l1_fix_time: 3.0605, d4.loss_plan_l1_fix_dist: 1.4190, d5.loss_plan_l1_fix_time: 3.0998, d5.loss_plan_l1_fix_dist: 1.5941, d6.loss_plan_l1_fix_time: 3.1547, d6.loss_plan_l1_fix_dist: 1.7700, d0.loss_cls_all: 1.1077, d0.loss_bbox_all: 1.2690, d0.loss_cls: 1.1077, d0.loss_bbox: 1.2690, d1.loss_cls: 1.1273, d1.loss_bbox: 1.2930, d2.loss_cls: 1.1228, d2.loss_bbox: 1.3037, d3.loss_cls: 1.1220, d3.loss_bbox: 1.3325, d4.loss_cls: 1.1282, d4.loss_bbox: 1.3537, d5.loss_cls: 1.1316, d5.loss_bbox: 1.3835, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6721, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.8865, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.2094, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.5075, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.9101, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2077, d0.loss_map_cls_all: 0.6668, d0.loss_map_pts_all: 3.8814, d0.loss_map_dir_all: 0.0433, d0.loss_map_cls: 0.6668, d0.loss_map_pts: 3.8814, d0.loss_map_dir: 0.0433, d1.loss_map_cls: 0.6706, d1.loss_map_pts: 3.4770, d1.loss_map_dir: 0.0427, d2.loss_map_cls: 0.6811, d2.loss_map_pts: 3.3786, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.6876, d3.loss_map_pts: 3.3364, d3.loss_map_dir: 0.0430, d4.loss_map_cls: 0.6921, d4.loss_map_pts: 3.3164, d4.loss_map_dir: 0.0431, d5.loss_map_cls: 0.6953, d5.loss_map_pts: 3.3090, d5.loss_map_dir: 0.0431, loss: 109.0687, grad_norm: 267.4264 2026-02-23 23:58:02,091 - DriveTransformer - INFO - Epoch [1][8050/117620] lr: 1.000e-04, eta: 27 days, 5:53:52, time: 0.314, data_time: 0.014, memory: 8395, loss_cls: 1.1826, loss_bbox: 1.4030, loss_traj: 3.7201, loss_traj_cls: 0.0006, loss_map_cls: 0.7006, loss_map_pts: 3.2615, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 3.9259, d0.loss_plan_l1_fix_dist: 0.6174, d1.loss_plan_l1_fix_time: 3.6063, d1.loss_plan_l1_fix_dist: 0.6742, d2.loss_plan_l1_fix_time: 3.6077, d2.loss_plan_l1_fix_dist: 0.7883, d3.loss_plan_l1_fix_time: 3.6418, d3.loss_plan_l1_fix_dist: 0.9125, d4.loss_plan_l1_fix_time: 3.6767, d4.loss_plan_l1_fix_dist: 1.0398, d5.loss_plan_l1_fix_time: 3.7193, d5.loss_plan_l1_fix_dist: 1.2118, d6.loss_plan_l1_fix_time: 3.7784, d6.loss_plan_l1_fix_dist: 1.3966, d0.loss_cls_all: 1.1364, d0.loss_bbox_all: 1.2693, d0.loss_cls: 1.1364, d0.loss_bbox: 1.2693, d1.loss_cls: 1.1501, d1.loss_bbox: 1.3032, d2.loss_cls: 1.1552, d2.loss_bbox: 1.3077, d3.loss_cls: 1.1567, d3.loss_bbox: 1.3311, d4.loss_cls: 1.1667, d4.loss_bbox: 1.3440, d5.loss_cls: 1.1639, d5.loss_bbox: 1.3836, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8502, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0230, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3590, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6481, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0631, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.3781, d0.loss_map_cls_all: 0.6651, d0.loss_map_pts_all: 3.8940, d0.loss_map_dir_all: 0.0455, d0.loss_map_cls: 0.6651, d0.loss_map_pts: 3.8940, d0.loss_map_dir: 0.0455, d1.loss_map_cls: 0.6740, d1.loss_map_pts: 3.4320, d1.loss_map_dir: 0.0446, d2.loss_map_cls: 0.6859, d2.loss_map_pts: 3.3287, d2.loss_map_dir: 0.0445, d3.loss_map_cls: 0.6927, d3.loss_map_pts: 3.2908, d3.loss_map_dir: 0.0447, d4.loss_map_cls: 0.6952, d4.loss_map_pts: 3.2774, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.6978, d5.loss_map_pts: 3.2676, d5.loss_map_dir: 0.0449, loss: 104.9833, grad_norm: 267.4264 2026-02-23 23:58:18,274 - DriveTransformer - INFO - Epoch [1][8100/117620] lr: 1.000e-04, eta: 27 days, 5:46:02, time: 0.324, data_time: 0.014, memory: 8395, loss_cls: 1.1094, loss_bbox: 1.3478, loss_traj: 3.4942, loss_traj_cls: 0.0007, loss_map_cls: 0.6856, loss_map_pts: 3.4469, loss_map_dir: 0.0485, d0.loss_plan_l1_fix_time: 3.5058, d0.loss_plan_l1_fix_dist: 0.8592, d1.loss_plan_l1_fix_time: 3.1267, d1.loss_plan_l1_fix_dist: 0.9125, d2.loss_plan_l1_fix_time: 3.0937, d2.loss_plan_l1_fix_dist: 1.0189, d3.loss_plan_l1_fix_time: 3.1166, d3.loss_plan_l1_fix_dist: 1.1123, d4.loss_plan_l1_fix_time: 3.1453, d4.loss_plan_l1_fix_dist: 1.2170, d5.loss_plan_l1_fix_time: 3.1881, d5.loss_plan_l1_fix_dist: 1.3500, d6.loss_plan_l1_fix_time: 3.2492, d6.loss_plan_l1_fix_dist: 1.5049, d0.loss_cls_all: 1.0576, d0.loss_bbox_all: 1.2633, d0.loss_cls: 1.0576, d0.loss_bbox: 1.2633, d1.loss_cls: 1.0798, d1.loss_bbox: 1.2819, d2.loss_cls: 1.0766, d2.loss_bbox: 1.2840, d3.loss_cls: 1.0794, d3.loss_bbox: 1.2996, d4.loss_cls: 1.0910, d4.loss_bbox: 1.3094, d5.loss_cls: 1.0982, d5.loss_bbox: 1.3452, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9221, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0724, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3340, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6036, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0226, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2771, d0.loss_map_cls_all: 0.6539, d0.loss_map_pts_all: 4.0837, d0.loss_map_dir_all: 0.0491, d0.loss_map_cls: 0.6539, d0.loss_map_pts: 4.0837, d0.loss_map_dir: 0.0491, d1.loss_map_cls: 0.6658, d1.loss_map_pts: 3.6599, d1.loss_map_dir: 0.0481, d2.loss_map_cls: 0.6756, d2.loss_map_pts: 3.5454, d2.loss_map_dir: 0.0481, d3.loss_map_cls: 0.6804, d3.loss_map_pts: 3.4997, d3.loss_map_dir: 0.0482, d4.loss_map_cls: 0.6809, d4.loss_map_pts: 3.4763, d4.loss_map_dir: 0.0484, d5.loss_map_cls: 0.6847, d5.loss_map_pts: 3.4581, d5.loss_map_dir: 0.0484, loss: 103.1967, grad_norm: 267.9280 2026-02-23 23:58:34,434 - DriveTransformer - INFO - Epoch [1][8150/117620] lr: 1.000e-04, eta: 27 days, 5:38:05, time: 0.323, data_time: 0.015, memory: 8395, loss_cls: 1.2019, loss_bbox: 1.5055, loss_traj: 3.4851, loss_traj_cls: 0.0007, loss_map_cls: 0.6768, loss_map_pts: 3.5906, loss_map_dir: 0.0497, d0.loss_plan_l1_fix_time: 4.4650, d0.loss_plan_l1_fix_dist: 0.9956, d1.loss_plan_l1_fix_time: 4.2738, d1.loss_plan_l1_fix_dist: 1.0481, d2.loss_plan_l1_fix_time: 4.3048, d2.loss_plan_l1_fix_dist: 1.1641, d3.loss_plan_l1_fix_time: 4.3525, d3.loss_plan_l1_fix_dist: 1.2628, d4.loss_plan_l1_fix_time: 4.3947, d4.loss_plan_l1_fix_dist: 1.3767, d5.loss_plan_l1_fix_time: 4.4435, d5.loss_plan_l1_fix_dist: 1.5233, d6.loss_plan_l1_fix_time: 4.4966, d6.loss_plan_l1_fix_dist: 1.6932, d0.loss_cls_all: 1.1667, d0.loss_bbox_all: 1.4157, d0.loss_cls: 1.1667, d0.loss_bbox: 1.4157, d1.loss_cls: 1.1735, d1.loss_bbox: 1.4457, d2.loss_cls: 1.1815, d2.loss_bbox: 1.4474, d3.loss_cls: 1.1841, d3.loss_bbox: 1.4632, d4.loss_cls: 1.1927, d4.loss_bbox: 1.4688, d5.loss_cls: 1.1940, d5.loss_bbox: 1.5047, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.0961, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1958, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4154, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6802, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.0828, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.3122, d0.loss_map_cls_all: 0.6479, d0.loss_map_pts_all: 4.1164, d0.loss_map_dir_all: 0.0504, d0.loss_map_cls: 0.6479, d0.loss_map_pts: 4.1164, d0.loss_map_dir: 0.0504, d1.loss_map_cls: 0.6533, d1.loss_map_pts: 3.7547, d1.loss_map_dir: 0.0492, d2.loss_map_cls: 0.6633, d2.loss_map_pts: 3.6641, d2.loss_map_dir: 0.0492, d3.loss_map_cls: 0.6691, d3.loss_map_pts: 3.6266, d3.loss_map_dir: 0.0494, d4.loss_map_cls: 0.6720, d4.loss_map_pts: 3.6071, d4.loss_map_dir: 0.0497, d5.loss_map_cls: 0.6761, d5.loss_map_pts: 3.5978, d5.loss_map_dir: 0.0497, loss: 115.9721, grad_norm: 267.9280 2026-02-23 23:58:51,292 - DriveTransformer - INFO - Epoch [1][8200/117620] lr: 1.000e-04, eta: 27 days, 5:40:14, time: 0.337, data_time: 0.015, memory: 8395, loss_cls: 1.1264, loss_bbox: 1.3495, loss_traj: 3.7842, loss_traj_cls: 0.0006, loss_map_cls: 0.6886, loss_map_pts: 3.4370, loss_map_dir: 0.0509, d0.loss_plan_l1_fix_time: 4.3310, d0.loss_plan_l1_fix_dist: 0.7401, d1.loss_plan_l1_fix_time: 4.0545, d1.loss_plan_l1_fix_dist: 0.8347, d2.loss_plan_l1_fix_time: 4.0508, d2.loss_plan_l1_fix_dist: 0.9758, d3.loss_plan_l1_fix_time: 4.0741, d3.loss_plan_l1_fix_dist: 1.1234, d4.loss_plan_l1_fix_time: 4.1052, d4.loss_plan_l1_fix_dist: 1.2787, d5.loss_plan_l1_fix_time: 4.1332, d5.loss_plan_l1_fix_dist: 1.4272, d6.loss_plan_l1_fix_time: 4.1676, d6.loss_plan_l1_fix_dist: 1.5800, d0.loss_cls_all: 1.1131, d0.loss_bbox_all: 1.2528, d0.loss_cls: 1.1131, d0.loss_bbox: 1.2528, d1.loss_cls: 1.1301, d1.loss_bbox: 1.2703, d2.loss_cls: 1.1320, d2.loss_bbox: 1.2799, d3.loss_cls: 1.1257, d3.loss_bbox: 1.3031, d4.loss_cls: 1.1248, d4.loss_bbox: 1.3140, d5.loss_cls: 1.1201, d5.loss_bbox: 1.3530, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4285, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5330, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.7627, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9823, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3701, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5411, d0.loss_map_cls_all: 0.6501, d0.loss_map_pts_all: 4.0247, d0.loss_map_dir_all: 0.0519, d0.loss_map_cls: 0.6501, d0.loss_map_pts: 4.0247, d0.loss_map_dir: 0.0519, d1.loss_map_cls: 0.6614, d1.loss_map_pts: 3.6195, d1.loss_map_dir: 0.0507, d2.loss_map_cls: 0.6720, d2.loss_map_pts: 3.5193, d2.loss_map_dir: 0.0507, d3.loss_map_cls: 0.6781, d3.loss_map_pts: 3.4772, d3.loss_map_dir: 0.0508, d4.loss_map_cls: 0.6817, d4.loss_map_pts: 3.4563, d4.loss_map_dir: 0.0508, d5.loss_map_cls: 0.6856, d5.loss_map_pts: 3.4431, d5.loss_map_dir: 0.0509, loss: 112.4206, grad_norm: 266.2950 2026-02-23 23:59:07,169 - DriveTransformer - INFO - Epoch [1][8250/117620] lr: 1.000e-04, eta: 27 days, 5:28:20, time: 0.318, data_time: 0.014, memory: 8395, loss_cls: 1.1227, loss_bbox: 1.3929, loss_traj: 3.7898, loss_traj_cls: 0.0007, loss_map_cls: 0.7289, loss_map_pts: 3.1885, loss_map_dir: 0.0501, d0.loss_plan_l1_fix_time: 4.5808, d0.loss_plan_l1_fix_dist: 0.8109, d1.loss_plan_l1_fix_time: 4.3413, d1.loss_plan_l1_fix_dist: 0.8981, d2.loss_plan_l1_fix_time: 4.3564, d2.loss_plan_l1_fix_dist: 1.0207, d3.loss_plan_l1_fix_time: 4.3914, d3.loss_plan_l1_fix_dist: 1.1680, d4.loss_plan_l1_fix_time: 4.4259, d4.loss_plan_l1_fix_dist: 1.3280, d5.loss_plan_l1_fix_time: 4.4709, d5.loss_plan_l1_fix_dist: 1.4727, d6.loss_plan_l1_fix_time: 4.5253, d6.loss_plan_l1_fix_dist: 1.6083, d0.loss_cls_all: 1.1071, d0.loss_bbox_all: 1.2974, d0.loss_cls: 1.1071, d0.loss_bbox: 1.2974, d1.loss_cls: 1.1311, d1.loss_bbox: 1.3212, d2.loss_cls: 1.1290, d2.loss_bbox: 1.3348, d3.loss_cls: 1.1251, d3.loss_bbox: 1.3494, d4.loss_cls: 1.1127, d4.loss_bbox: 1.3745, d5.loss_cls: 1.1152, d5.loss_bbox: 1.4058, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2735, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4214, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6676, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8924, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3186, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.4750, d0.loss_map_cls_all: 0.6844, d0.loss_map_pts_all: 3.7652, d0.loss_map_dir_all: 0.0509, d0.loss_map_cls: 0.6844, d0.loss_map_pts: 3.7652, d0.loss_map_dir: 0.0509, d1.loss_map_cls: 0.7031, d1.loss_map_pts: 3.3815, d1.loss_map_dir: 0.0501, d2.loss_map_cls: 0.7073, d2.loss_map_pts: 3.2769, d2.loss_map_dir: 0.0501, d3.loss_map_cls: 0.7166, d3.loss_map_pts: 3.2270, d3.loss_map_dir: 0.0502, d4.loss_map_cls: 0.7187, d4.loss_map_pts: 3.2041, d4.loss_map_dir: 0.0502, d5.loss_map_cls: 0.7234, d5.loss_map_pts: 3.1936, d5.loss_map_dir: 0.0502, loss: 113.0355, grad_norm: 266.2950 2026-02-23 23:59:23,344 - DriveTransformer - INFO - Epoch [1][8300/117620] lr: 1.000e-04, eta: 27 days, 5:20:47, time: 0.323, data_time: 0.016, memory: 8395, loss_cls: 1.1196, loss_bbox: 1.3451, loss_traj: 3.7166, loss_traj_cls: 0.0006, loss_map_cls: 0.6931, loss_map_pts: 3.2384, loss_map_dir: 0.0508, d0.loss_plan_l1_fix_time: 4.0738, d0.loss_plan_l1_fix_dist: 0.8601, d1.loss_plan_l1_fix_time: 3.6660, d1.loss_plan_l1_fix_dist: 0.9441, d2.loss_plan_l1_fix_time: 3.6041, d2.loss_plan_l1_fix_dist: 1.0649, d3.loss_plan_l1_fix_time: 3.6039, d3.loss_plan_l1_fix_dist: 1.2258, d4.loss_plan_l1_fix_time: 3.6120, d4.loss_plan_l1_fix_dist: 1.4153, d5.loss_plan_l1_fix_time: 3.6295, d5.loss_plan_l1_fix_dist: 1.6040, d6.loss_plan_l1_fix_time: 3.6592, d6.loss_plan_l1_fix_dist: 1.7912, d0.loss_cls_all: 1.0936, d0.loss_bbox_all: 1.2200, d0.loss_cls: 1.0936, d0.loss_bbox: 1.2200, d1.loss_cls: 1.1133, d1.loss_bbox: 1.2417, d2.loss_cls: 1.1126, d2.loss_bbox: 1.2564, d3.loss_cls: 1.1115, d3.loss_bbox: 1.2790, d4.loss_cls: 1.1163, d4.loss_bbox: 1.2991, d5.loss_cls: 1.1174, d5.loss_bbox: 1.3331, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4472, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5834, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.8079, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.0271, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3581, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5113, d0.loss_map_cls_all: 0.6483, d0.loss_map_pts_all: 3.8932, d0.loss_map_dir_all: 0.0514, d0.loss_map_cls: 0.6483, d0.loss_map_pts: 3.8932, d0.loss_map_dir: 0.0514, d1.loss_map_cls: 0.6631, d1.loss_map_pts: 3.4617, d1.loss_map_dir: 0.0506, d2.loss_map_cls: 0.6724, d2.loss_map_pts: 3.3465, d2.loss_map_dir: 0.0507, d3.loss_map_cls: 0.6798, d3.loss_map_pts: 3.2957, d3.loss_map_dir: 0.0507, d4.loss_map_cls: 0.6838, d4.loss_map_pts: 3.2625, d4.loss_map_dir: 0.0507, d5.loss_map_cls: 0.6898, d5.loss_map_pts: 3.2448, d5.loss_map_dir: 0.0508, loss: 108.7027, grad_norm: 265.9622 2026-02-23 23:59:40,064 - DriveTransformer - INFO - Epoch [1][8350/117620] lr: 1.000e-04, eta: 27 days, 5:21:01, time: 0.334, data_time: 0.013, memory: 8395, loss_cls: 1.0853, loss_bbox: 1.3621, loss_traj: 3.5397, loss_traj_cls: 0.0007, loss_map_cls: 0.6685, loss_map_pts: 3.3372, loss_map_dir: 0.0516, d0.loss_plan_l1_fix_time: 4.1312, d0.loss_plan_l1_fix_dist: 0.7390, d1.loss_plan_l1_fix_time: 3.8470, d1.loss_plan_l1_fix_dist: 0.8308, d2.loss_plan_l1_fix_time: 3.8411, d2.loss_plan_l1_fix_dist: 0.9522, d3.loss_plan_l1_fix_time: 3.8666, d3.loss_plan_l1_fix_dist: 1.1239, d4.loss_plan_l1_fix_time: 3.8934, d4.loss_plan_l1_fix_dist: 1.3226, d5.loss_plan_l1_fix_time: 3.9233, d5.loss_plan_l1_fix_dist: 1.5246, d6.loss_plan_l1_fix_time: 3.9595, d6.loss_plan_l1_fix_dist: 1.7202, d0.loss_cls_all: 1.0505, d0.loss_bbox_all: 1.2549, d0.loss_cls: 1.0505, d0.loss_bbox: 1.2549, d1.loss_cls: 1.0707, d1.loss_bbox: 1.2703, d2.loss_cls: 1.0727, d2.loss_bbox: 1.2851, d3.loss_cls: 1.0780, d3.loss_bbox: 1.3016, d4.loss_cls: 1.0860, d4.loss_bbox: 1.3192, d5.loss_cls: 1.0755, d5.loss_bbox: 1.3592, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3286, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4684, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.7022, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9251, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.2141, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.3482, d0.loss_map_cls_all: 0.6352, d0.loss_map_pts_all: 3.9757, d0.loss_map_dir_all: 0.0523, d0.loss_map_cls: 0.6352, d0.loss_map_pts: 3.9757, d0.loss_map_dir: 0.0523, d1.loss_map_cls: 0.6425, d1.loss_map_pts: 3.5354, d1.loss_map_dir: 0.0515, d2.loss_map_cls: 0.6535, d2.loss_map_pts: 3.4285, d2.loss_map_dir: 0.0515, d3.loss_map_cls: 0.6585, d3.loss_map_pts: 3.3821, d3.loss_map_dir: 0.0516, d4.loss_map_cls: 0.6633, d4.loss_map_pts: 3.3545, d4.loss_map_dir: 0.0516, d5.loss_map_cls: 0.6664, d5.loss_map_pts: 3.3410, d5.loss_map_dir: 0.0516, loss: 109.1494, grad_norm: 265.9622 2026-02-23 23:59:55,814 - DriveTransformer - INFO - Epoch [1][8400/117620] lr: 1.000e-04, eta: 27 days, 5:07:40, time: 0.315, data_time: 0.013, memory: 8395, loss_cls: 1.1220, loss_bbox: 1.3869, loss_traj: 3.0647, loss_traj_cls: 0.0006, loss_map_cls: 0.6712, loss_map_pts: 3.3869, loss_map_dir: 0.0535, d0.loss_plan_l1_fix_time: 3.7524, d0.loss_plan_l1_fix_dist: 0.8334, d1.loss_plan_l1_fix_time: 3.5427, d1.loss_plan_l1_fix_dist: 0.9048, d2.loss_plan_l1_fix_time: 3.5419, d2.loss_plan_l1_fix_dist: 1.0135, d3.loss_plan_l1_fix_time: 3.5648, d3.loss_plan_l1_fix_dist: 1.1196, d4.loss_plan_l1_fix_time: 3.5888, d4.loss_plan_l1_fix_dist: 1.2400, d5.loss_plan_l1_fix_time: 3.6145, d5.loss_plan_l1_fix_dist: 1.3889, d6.loss_plan_l1_fix_time: 3.6424, d6.loss_plan_l1_fix_dist: 1.5488, d0.loss_cls_all: 1.1007, d0.loss_bbox_all: 1.2313, d0.loss_cls: 1.1007, d0.loss_bbox: 1.2313, d1.loss_cls: 1.1116, d1.loss_bbox: 1.2703, d2.loss_cls: 1.1183, d2.loss_bbox: 1.2848, d3.loss_cls: 1.1156, d3.loss_bbox: 1.3035, d4.loss_cls: 1.1142, d4.loss_bbox: 1.3247, d5.loss_cls: 1.1052, d5.loss_bbox: 1.3669, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1317, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2256, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3728, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5854, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.7995, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9367, d0.loss_map_cls_all: 0.6494, d0.loss_map_pts_all: 3.9441, d0.loss_map_dir_all: 0.0544, d0.loss_map_cls: 0.6494, d0.loss_map_pts: 3.9441, d0.loss_map_dir: 0.0544, d1.loss_map_cls: 0.6546, d1.loss_map_pts: 3.5608, d1.loss_map_dir: 0.0535, d2.loss_map_cls: 0.6634, d2.loss_map_pts: 3.4553, d2.loss_map_dir: 0.0535, d3.loss_map_cls: 0.6677, d3.loss_map_pts: 3.4119, d3.loss_map_dir: 0.0536, d4.loss_map_cls: 0.6686, d4.loss_map_pts: 3.3915, d4.loss_map_dir: 0.0534, d5.loss_map_cls: 0.6677, d5.loss_map_pts: 3.3847, d5.loss_map_dir: 0.0535, loss: 104.9054, grad_norm: 265.8217 2026-02-24 00:00:11,966 - DriveTransformer - INFO - Epoch [1][8450/117620] lr: 1.000e-04, eta: 27 days, 5:00:06, time: 0.323, data_time: 0.013, memory: 8395, loss_cls: 1.1225, loss_bbox: 1.3993, loss_traj: 2.8637, loss_traj_cls: 0.0007, loss_map_cls: 0.6558, loss_map_pts: 3.4459, loss_map_dir: 0.0532, d0.loss_plan_l1_fix_time: 4.0783, d0.loss_plan_l1_fix_dist: 0.9095, d1.loss_plan_l1_fix_time: 3.6849, d1.loss_plan_l1_fix_dist: 0.9713, d2.loss_plan_l1_fix_time: 3.6359, d2.loss_plan_l1_fix_dist: 1.0793, d3.loss_plan_l1_fix_time: 3.6494, d3.loss_plan_l1_fix_dist: 1.1849, d4.loss_plan_l1_fix_time: 3.6703, d4.loss_plan_l1_fix_dist: 1.3053, d5.loss_plan_l1_fix_time: 3.7055, d5.loss_plan_l1_fix_dist: 1.4635, d6.loss_plan_l1_fix_time: 3.7411, d6.loss_plan_l1_fix_dist: 1.6324, d0.loss_cls_all: 1.1116, d0.loss_bbox_all: 1.2449, d0.loss_cls: 1.1116, d0.loss_bbox: 1.2449, d1.loss_cls: 1.1201, d1.loss_bbox: 1.2876, d2.loss_cls: 1.1331, d2.loss_bbox: 1.3034, d3.loss_cls: 1.1300, d3.loss_bbox: 1.3230, d4.loss_cls: 1.1272, d4.loss_bbox: 1.3426, d5.loss_cls: 1.1218, d5.loss_bbox: 1.3758, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.8342, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9438, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1343, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3395, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5664, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7159, d0.loss_map_cls_all: 0.6271, d0.loss_map_pts_all: 4.1398, d0.loss_map_dir_all: 0.0544, d0.loss_map_cls: 0.6271, d0.loss_map_pts: 4.1398, d0.loss_map_dir: 0.0544, d1.loss_map_cls: 0.6316, d1.loss_map_pts: 3.6839, d1.loss_map_dir: 0.0533, d2.loss_map_cls: 0.6454, d2.loss_map_pts: 3.5535, d2.loss_map_dir: 0.0533, d3.loss_map_cls: 0.6514, d3.loss_map_pts: 3.4921, d3.loss_map_dir: 0.0533, d4.loss_map_cls: 0.6517, d4.loss_map_pts: 3.4628, d4.loss_map_dir: 0.0533, d5.loss_map_cls: 0.6525, d5.loss_map_pts: 3.4479, d5.loss_map_dir: 0.0533, loss: 105.5492, grad_norm: 264.4505 2026-02-24 00:00:28,378 - DriveTransformer - INFO - Epoch [1][8500/117620] lr: 1.000e-04, eta: 27 days, 4:56:12, time: 0.328, data_time: 0.018, memory: 8395, loss_cls: 1.1101, loss_bbox: 1.3450, loss_traj: 3.4390, loss_traj_cls: 0.0007, loss_map_cls: 0.7076, loss_map_pts: 3.1936, loss_map_dir: 0.0552, d0.loss_plan_l1_fix_time: 3.8059, d0.loss_plan_l1_fix_dist: 0.6724, d1.loss_plan_l1_fix_time: 3.6664, d1.loss_plan_l1_fix_dist: 0.7187, d2.loss_plan_l1_fix_time: 3.6579, d2.loss_plan_l1_fix_dist: 0.8370, d3.loss_plan_l1_fix_time: 3.6721, d3.loss_plan_l1_fix_dist: 0.9608, d4.loss_plan_l1_fix_time: 3.6973, d4.loss_plan_l1_fix_dist: 1.1032, d5.loss_plan_l1_fix_time: 3.7131, d5.loss_plan_l1_fix_dist: 1.2967, d6.loss_plan_l1_fix_time: 3.7293, d6.loss_plan_l1_fix_dist: 1.4989, d0.loss_cls_all: 1.0843, d0.loss_bbox_all: 1.2269, d0.loss_cls: 1.0843, d0.loss_bbox: 1.2269, d1.loss_cls: 1.0921, d1.loss_bbox: 1.2792, d2.loss_cls: 1.1031, d2.loss_bbox: 1.2871, d3.loss_cls: 1.1010, d3.loss_bbox: 1.3028, d4.loss_cls: 1.0990, d4.loss_bbox: 1.3132, d5.loss_cls: 1.1024, d5.loss_bbox: 1.3302, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2435, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4147, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5856, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7452, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0873, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.1764, d0.loss_map_cls_all: 0.6746, d0.loss_map_pts_all: 3.8478, d0.loss_map_dir_all: 0.0557, d0.loss_map_cls: 0.6746, d0.loss_map_pts: 3.8478, d0.loss_map_dir: 0.0557, d1.loss_map_cls: 0.6906, d1.loss_map_pts: 3.4059, d1.loss_map_dir: 0.0547, d2.loss_map_cls: 0.6985, d2.loss_map_pts: 3.2881, d2.loss_map_dir: 0.0547, d3.loss_map_cls: 0.7016, d3.loss_map_pts: 3.2384, d3.loss_map_dir: 0.0549, d4.loss_map_cls: 0.7053, d4.loss_map_pts: 3.2101, d4.loss_map_dir: 0.0549, d5.loss_map_cls: 0.7049, d5.loss_map_pts: 3.1958, d5.loss_map_dir: 0.0551, loss: 105.0385, grad_norm: 264.4505 2026-02-24 00:00:45,374 - DriveTransformer - INFO - Epoch [1][8550/117620] lr: 1.000e-04, eta: 27 days, 5:00:20, time: 0.340, data_time: 0.016, memory: 8395, loss_cls: 1.1385, loss_bbox: 1.3397, loss_traj: 3.7671, loss_traj_cls: 0.0007, loss_map_cls: 0.6871, loss_map_pts: 3.4564, loss_map_dir: 0.0535, d0.loss_plan_l1_fix_time: 4.2157, d0.loss_plan_l1_fix_dist: 1.0006, d1.loss_plan_l1_fix_time: 3.7968, d1.loss_plan_l1_fix_dist: 1.0493, d2.loss_plan_l1_fix_time: 3.7538, d2.loss_plan_l1_fix_dist: 1.1563, d3.loss_plan_l1_fix_time: 3.7677, d3.loss_plan_l1_fix_dist: 1.2614, d4.loss_plan_l1_fix_time: 3.7918, d4.loss_plan_l1_fix_dist: 1.3832, d5.loss_plan_l1_fix_time: 3.8099, d5.loss_plan_l1_fix_dist: 1.5474, d6.loss_plan_l1_fix_time: 3.8290, d6.loss_plan_l1_fix_dist: 1.7219, d0.loss_cls_all: 1.0987, d0.loss_bbox_all: 1.2545, d0.loss_cls: 1.0987, d0.loss_bbox: 1.2545, d1.loss_cls: 1.1277, d1.loss_bbox: 1.2775, d2.loss_cls: 1.1349, d2.loss_bbox: 1.2827, d3.loss_cls: 1.1288, d3.loss_bbox: 1.2993, d4.loss_cls: 1.1256, d4.loss_bbox: 1.3084, d5.loss_cls: 1.1251, d5.loss_bbox: 1.3280, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6380, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.8195, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.0017, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1571, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.4699, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.5340, d0.loss_map_cls_all: 0.6565, d0.loss_map_pts_all: 4.0280, d0.loss_map_dir_all: 0.0546, d0.loss_map_cls: 0.6565, d0.loss_map_pts: 4.0280, d0.loss_map_dir: 0.0546, d1.loss_map_cls: 0.6657, d1.loss_map_pts: 3.6497, d1.loss_map_dir: 0.0534, d2.loss_map_cls: 0.6743, d2.loss_map_pts: 3.5506, d2.loss_map_dir: 0.0533, d3.loss_map_cls: 0.6795, d3.loss_map_pts: 3.4981, d3.loss_map_dir: 0.0534, d4.loss_map_cls: 0.6826, d4.loss_map_pts: 3.4751, d4.loss_map_dir: 0.0535, d5.loss_map_cls: 0.6842, d5.loss_map_pts: 3.4607, d5.loss_map_dir: 0.0536, loss: 112.7614, grad_norm: 264.6387 2026-02-24 00:01:01,370 - DriveTransformer - INFO - Epoch [1][8600/117620] lr: 1.000e-04, eta: 27 days, 4:50:44, time: 0.320, data_time: 0.015, memory: 8395, loss_cls: 1.0589, loss_bbox: 1.2098, loss_traj: 3.4543, loss_traj_cls: 0.0006, loss_map_cls: 0.6959, loss_map_pts: 2.9224, loss_map_dir: 0.0496, d0.loss_plan_l1_fix_time: 3.8573, d0.loss_plan_l1_fix_dist: 0.7337, d1.loss_plan_l1_fix_time: 3.4478, d1.loss_plan_l1_fix_dist: 0.8345, d2.loss_plan_l1_fix_time: 3.4041, d2.loss_plan_l1_fix_dist: 0.9833, d3.loss_plan_l1_fix_time: 3.4188, d3.loss_plan_l1_fix_dist: 1.1258, d4.loss_plan_l1_fix_time: 3.4415, d4.loss_plan_l1_fix_dist: 1.2987, d5.loss_plan_l1_fix_time: 3.4612, d5.loss_plan_l1_fix_dist: 1.4663, d6.loss_plan_l1_fix_time: 3.4827, d6.loss_plan_l1_fix_dist: 1.6382, d0.loss_cls_all: 1.0239, d0.loss_bbox_all: 1.1644, d0.loss_cls: 1.0239, d0.loss_bbox: 1.1644, d1.loss_cls: 1.0490, d1.loss_bbox: 1.1660, d2.loss_cls: 1.0473, d2.loss_bbox: 1.1723, d3.loss_cls: 1.0530, d3.loss_bbox: 1.1787, d4.loss_cls: 1.0627, d4.loss_bbox: 1.1889, d5.loss_cls: 1.0563, d5.loss_bbox: 1.1997, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3613, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4422, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5951, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7947, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0537, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2176, d0.loss_map_cls_all: 0.6670, d0.loss_map_pts_all: 3.6162, d0.loss_map_dir_all: 0.0502, d0.loss_map_cls: 0.6670, d0.loss_map_pts: 3.6162, d0.loss_map_dir: 0.0502, d1.loss_map_cls: 0.6760, d1.loss_map_pts: 3.1816, d1.loss_map_dir: 0.0491, d2.loss_map_cls: 0.6862, d2.loss_map_pts: 3.0595, d2.loss_map_dir: 0.0493, d3.loss_map_cls: 0.6903, d3.loss_map_pts: 2.9913, d3.loss_map_dir: 0.0495, d4.loss_map_cls: 0.6931, d4.loss_map_pts: 2.9556, d4.loss_map_dir: 0.0496, d5.loss_map_cls: 0.6962, d5.loss_map_pts: 2.9333, d5.loss_map_dir: 0.0496, loss: 101.4804, grad_norm: 264.6387 2026-02-24 00:01:17,299 - DriveTransformer - INFO - Epoch [1][8650/117620] lr: 1.000e-04, eta: 27 days, 4:40:21, time: 0.319, data_time: 0.014, memory: 8395, loss_cls: 1.1278, loss_bbox: 1.3366, loss_traj: 2.8565, loss_traj_cls: 0.0007, loss_map_cls: 0.6972, loss_map_pts: 3.0399, loss_map_dir: 0.0529, d0.loss_plan_l1_fix_time: 3.4197, d0.loss_plan_l1_fix_dist: 0.8747, d1.loss_plan_l1_fix_time: 3.2152, d1.loss_plan_l1_fix_dist: 0.9488, d2.loss_plan_l1_fix_time: 3.2188, d2.loss_plan_l1_fix_dist: 1.0708, d3.loss_plan_l1_fix_time: 3.2440, d3.loss_plan_l1_fix_dist: 1.2002, d4.loss_plan_l1_fix_time: 3.2713, d4.loss_plan_l1_fix_dist: 1.3592, d5.loss_plan_l1_fix_time: 3.2891, d5.loss_plan_l1_fix_dist: 1.5109, d6.loss_plan_l1_fix_time: 3.3121, d6.loss_plan_l1_fix_dist: 1.6655, d0.loss_cls_all: 1.0959, d0.loss_bbox_all: 1.2260, d0.loss_cls: 1.0959, d0.loss_bbox: 1.2260, d1.loss_cls: 1.1184, d1.loss_bbox: 1.2755, d2.loss_cls: 1.1262, d2.loss_bbox: 1.2844, d3.loss_cls: 1.1349, d3.loss_bbox: 1.2927, d4.loss_cls: 1.1299, d4.loss_bbox: 1.3131, d5.loss_cls: 1.1211, d5.loss_bbox: 1.3274, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9431, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0470, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2221, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3888, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5704, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6765, d0.loss_map_cls_all: 0.6676, d0.loss_map_pts_all: 3.7452, d0.loss_map_dir_all: 0.0537, d0.loss_map_cls: 0.6676, d0.loss_map_pts: 3.7452, d0.loss_map_dir: 0.0537, d1.loss_map_cls: 0.6794, d1.loss_map_pts: 3.3101, d1.loss_map_dir: 0.0526, d2.loss_map_cls: 0.6890, d2.loss_map_pts: 3.1727, d2.loss_map_dir: 0.0526, d3.loss_map_cls: 0.6921, d3.loss_map_pts: 3.1069, d3.loss_map_dir: 0.0527, d4.loss_map_cls: 0.6946, d4.loss_map_pts: 3.0737, d4.loss_map_dir: 0.0529, d5.loss_map_cls: 0.6965, d5.loss_map_pts: 3.0517, d5.loss_map_dir: 0.0530, loss: 99.6936, grad_norm: 264.7185 2026-02-24 00:01:33,066 - DriveTransformer - INFO - Epoch [1][8700/117620] lr: 1.000e-04, eta: 27 days, 4:27:57, time: 0.315, data_time: 0.014, memory: 8395, loss_cls: 1.1493, loss_bbox: 1.4185, loss_traj: 3.6122, loss_traj_cls: 0.0007, loss_map_cls: 0.7303, loss_map_pts: 3.3606, loss_map_dir: 0.0543, d0.loss_plan_l1_fix_time: 4.0713, d0.loss_plan_l1_fix_dist: 0.8995, d1.loss_plan_l1_fix_time: 4.0440, d1.loss_plan_l1_fix_dist: 0.9852, d2.loss_plan_l1_fix_time: 4.1006, d2.loss_plan_l1_fix_dist: 1.1057, d3.loss_plan_l1_fix_time: 4.1343, d3.loss_plan_l1_fix_dist: 1.2476, d4.loss_plan_l1_fix_time: 4.1702, d4.loss_plan_l1_fix_dist: 1.3938, d5.loss_plan_l1_fix_time: 4.1859, d5.loss_plan_l1_fix_dist: 1.5289, d6.loss_plan_l1_fix_time: 4.2061, d6.loss_plan_l1_fix_dist: 1.6844, d0.loss_cls_all: 1.0946, d0.loss_bbox_all: 1.2481, d0.loss_cls: 1.0946, d0.loss_bbox: 1.2481, d1.loss_cls: 1.1224, d1.loss_bbox: 1.2815, d2.loss_cls: 1.1252, d2.loss_bbox: 1.2923, d3.loss_cls: 1.1316, d3.loss_bbox: 1.3018, d4.loss_cls: 1.1312, d4.loss_bbox: 1.3243, d5.loss_cls: 1.1413, d5.loss_bbox: 1.3355, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2963, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3941, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5889, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8605, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.0654, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2304, d0.loss_map_cls_all: 0.7023, d0.loss_map_pts_all: 3.8407, d0.loss_map_dir_all: 0.0553, d0.loss_map_cls: 0.7023, d0.loss_map_pts: 3.8407, d0.loss_map_dir: 0.0553, d1.loss_map_cls: 0.7097, d1.loss_map_pts: 3.4845, d1.loss_map_dir: 0.0541, d2.loss_map_cls: 0.7202, d2.loss_map_pts: 3.4011, d2.loss_map_dir: 0.0541, d3.loss_map_cls: 0.7260, d3.loss_map_pts: 3.3659, d3.loss_map_dir: 0.0543, d4.loss_map_cls: 0.7283, d4.loss_map_pts: 3.3547, d4.loss_map_dir: 0.0543, d5.loss_map_cls: 0.7292, d5.loss_map_pts: 3.3545, d5.loss_map_dir: 0.0544, loss: 111.4365, grad_norm: 264.7185 2026-02-24 00:01:49,322 - DriveTransformer - INFO - Epoch [1][8750/117620] lr: 1.000e-04, eta: 27 days, 4:22:11, time: 0.325, data_time: 0.013, memory: 8395, loss_cls: 1.1399, loss_bbox: 1.3950, loss_traj: 3.1811, loss_traj_cls: 0.0007, loss_map_cls: 0.6624, loss_map_pts: 3.2959, loss_map_dir: 0.0525, d0.loss_plan_l1_fix_time: 4.4558, d0.loss_plan_l1_fix_dist: 0.8435, d1.loss_plan_l1_fix_time: 4.3401, d1.loss_plan_l1_fix_dist: 0.9105, d2.loss_plan_l1_fix_time: 4.3411, d2.loss_plan_l1_fix_dist: 1.0148, d3.loss_plan_l1_fix_time: 4.3613, d3.loss_plan_l1_fix_dist: 1.1458, d4.loss_plan_l1_fix_time: 4.3929, d4.loss_plan_l1_fix_dist: 1.2865, d5.loss_plan_l1_fix_time: 4.4149, d5.loss_plan_l1_fix_dist: 1.4338, d6.loss_plan_l1_fix_time: 4.4429, d6.loss_plan_l1_fix_dist: 1.6013, d0.loss_cls_all: 1.0878, d0.loss_bbox_all: 1.2772, d0.loss_cls: 1.0878, d0.loss_bbox: 1.2772, d1.loss_cls: 1.1242, d1.loss_bbox: 1.2829, d2.loss_cls: 1.1242, d2.loss_bbox: 1.2951, d3.loss_cls: 1.1209, d3.loss_bbox: 1.3090, d4.loss_cls: 1.1181, d4.loss_bbox: 1.3266, d5.loss_cls: 1.1287, d5.loss_bbox: 1.3330, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9578, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0624, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2337, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4731, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6684, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8616, d0.loss_map_cls_all: 0.6334, d0.loss_map_pts_all: 4.0079, d0.loss_map_dir_all: 0.0532, d0.loss_map_cls: 0.6334, d0.loss_map_pts: 4.0079, d0.loss_map_dir: 0.0532, d1.loss_map_cls: 0.6484, d1.loss_map_pts: 3.5523, d1.loss_map_dir: 0.0522, d2.loss_map_cls: 0.6548, d2.loss_map_pts: 3.4117, d2.loss_map_dir: 0.0523, d3.loss_map_cls: 0.6587, d3.loss_map_pts: 3.3479, d3.loss_map_dir: 0.0525, d4.loss_map_cls: 0.6612, d4.loss_map_pts: 3.3157, d4.loss_map_dir: 0.0526, d5.loss_map_cls: 0.6622, d5.loss_map_pts: 3.3026, d5.loss_map_dir: 0.0526, loss: 109.7324, grad_norm: 265.6943 2026-02-24 00:02:05,816 - DriveTransformer - INFO - Epoch [1][8800/117620] lr: 1.000e-04, eta: 27 days, 4:19:43, time: 0.330, data_time: 0.014, memory: 8395, loss_cls: 1.0283, loss_bbox: 1.2745, loss_traj: 3.0725, loss_traj_cls: 0.0006, loss_map_cls: 0.6874, loss_map_pts: 2.8678, loss_map_dir: 0.0486, d0.loss_plan_l1_fix_time: 4.1363, d0.loss_plan_l1_fix_dist: 0.7184, d1.loss_plan_l1_fix_time: 3.8564, d1.loss_plan_l1_fix_dist: 0.8053, d2.loss_plan_l1_fix_time: 3.8152, d2.loss_plan_l1_fix_dist: 0.9301, d3.loss_plan_l1_fix_time: 3.8122, d3.loss_plan_l1_fix_dist: 1.1010, d4.loss_plan_l1_fix_time: 3.8344, d4.loss_plan_l1_fix_dist: 1.2814, d5.loss_plan_l1_fix_time: 3.8653, d5.loss_plan_l1_fix_dist: 1.5147, d6.loss_plan_l1_fix_time: 3.9121, d6.loss_plan_l1_fix_dist: 1.7671, d0.loss_cls_all: 0.9927, d0.loss_bbox_all: 1.1225, d0.loss_cls: 0.9927, d0.loss_bbox: 1.1225, d1.loss_cls: 1.0038, d1.loss_bbox: 1.1614, d2.loss_cls: 1.0033, d2.loss_bbox: 1.1801, d3.loss_cls: 1.0006, d3.loss_bbox: 1.1888, d4.loss_cls: 1.0044, d4.loss_bbox: 1.2014, d5.loss_cls: 1.0108, d5.loss_bbox: 1.2065, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1445, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2465, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3872, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5432, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6774, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9005, d0.loss_map_cls_all: 0.6540, d0.loss_map_pts_all: 3.6363, d0.loss_map_dir_all: 0.0497, d0.loss_map_cls: 0.6540, d0.loss_map_pts: 3.6363, d0.loss_map_dir: 0.0497, d1.loss_map_cls: 0.6662, d1.loss_map_pts: 3.1166, d1.loss_map_dir: 0.0481, d2.loss_map_cls: 0.6736, d2.loss_map_pts: 2.9702, d2.loss_map_dir: 0.0483, d3.loss_map_cls: 0.6782, d3.loss_map_pts: 2.9057, d3.loss_map_dir: 0.0483, d4.loss_map_cls: 0.6830, d4.loss_map_pts: 2.8786, d4.loss_map_dir: 0.0484, d5.loss_map_cls: 0.6860, d5.loss_map_pts: 2.8691, d5.loss_map_dir: 0.0485, loss: 101.4721, grad_norm: 265.6943 2026-02-24 00:02:21,310 - DriveTransformer - INFO - Epoch [1][8850/117620] lr: 1.000e-04, eta: 27 days, 4:03:55, time: 0.310, data_time: 0.013, memory: 8395, loss_cls: 1.1565, loss_bbox: 1.3018, loss_traj: 2.6953, loss_traj_cls: 0.0006, loss_map_cls: 0.7174, loss_map_pts: 3.1929, loss_map_dir: 0.0547, d0.loss_plan_l1_fix_time: 3.4934, d0.loss_plan_l1_fix_dist: 0.7634, d1.loss_plan_l1_fix_time: 3.4009, d1.loss_plan_l1_fix_dist: 0.8393, d2.loss_plan_l1_fix_time: 3.4364, d2.loss_plan_l1_fix_dist: 0.9520, d3.loss_plan_l1_fix_time: 3.4713, d3.loss_plan_l1_fix_dist: 1.1052, d4.loss_plan_l1_fix_time: 3.5139, d4.loss_plan_l1_fix_dist: 1.2615, d5.loss_plan_l1_fix_time: 3.5552, d5.loss_plan_l1_fix_dist: 1.4687, d6.loss_plan_l1_fix_time: 3.6066, d6.loss_plan_l1_fix_dist: 1.6984, d0.loss_cls_all: 1.1530, d0.loss_bbox_all: 1.1653, d0.loss_cls: 1.1530, d0.loss_bbox: 1.1653, d1.loss_cls: 1.1661, d1.loss_bbox: 1.2177, d2.loss_cls: 1.1682, d2.loss_bbox: 1.2309, d3.loss_cls: 1.1620, d3.loss_bbox: 1.2502, d4.loss_cls: 1.1548, d4.loss_bbox: 1.2602, d5.loss_cls: 1.1579, d5.loss_bbox: 1.2602, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1336, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2264, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3241, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4066, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4180, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6119, d0.loss_map_cls_all: 0.6788, d0.loss_map_pts_all: 3.7776, d0.loss_map_dir_all: 0.0548, d0.loss_map_cls: 0.6788, d0.loss_map_pts: 3.7776, d0.loss_map_dir: 0.0548, d1.loss_map_cls: 0.6943, d1.loss_map_pts: 3.3428, d1.loss_map_dir: 0.0540, d2.loss_map_cls: 0.7037, d2.loss_map_pts: 3.2305, d2.loss_map_dir: 0.0543, d3.loss_map_cls: 0.7095, d3.loss_map_pts: 3.1934, d3.loss_map_dir: 0.0544, d4.loss_map_cls: 0.7134, d4.loss_map_pts: 3.1835, d4.loss_map_dir: 0.0545, d5.loss_map_cls: 0.7154, d5.loss_map_pts: 3.1853, d5.loss_map_dir: 0.0546, loss: 101.4401, grad_norm: 265.2092 2026-02-24 00:02:38,065 - DriveTransformer - INFO - Epoch [1][8900/117620] lr: 1.000e-04, eta: 27 days, 4:05:02, time: 0.335, data_time: 0.014, memory: 8395, loss_cls: 1.1359, loss_bbox: 1.3459, loss_traj: 2.9892, loss_traj_cls: 0.0005, loss_map_cls: 0.6752, loss_map_pts: 3.0700, loss_map_dir: 0.0507, d0.loss_plan_l1_fix_time: 4.1341, d0.loss_plan_l1_fix_dist: 0.7074, d1.loss_plan_l1_fix_time: 3.9664, d1.loss_plan_l1_fix_dist: 0.7671, d2.loss_plan_l1_fix_time: 3.9725, d2.loss_plan_l1_fix_dist: 0.8557, d3.loss_plan_l1_fix_time: 3.9950, d3.loss_plan_l1_fix_dist: 0.9888, d4.loss_plan_l1_fix_time: 4.0286, d4.loss_plan_l1_fix_dist: 1.1342, d5.loss_plan_l1_fix_time: 4.0702, d5.loss_plan_l1_fix_dist: 1.3294, d6.loss_plan_l1_fix_time: 4.1210, d6.loss_plan_l1_fix_dist: 1.5498, d0.loss_cls_all: 1.1093, d0.loss_bbox_all: 1.2421, d0.loss_cls: 1.1093, d0.loss_bbox: 1.2421, d1.loss_cls: 1.1387, d1.loss_bbox: 1.2578, d2.loss_cls: 1.1371, d2.loss_bbox: 1.2716, d3.loss_cls: 1.1337, d3.loss_bbox: 1.2905, d4.loss_cls: 1.1258, d4.loss_bbox: 1.3105, d5.loss_cls: 1.1300, d5.loss_bbox: 1.3188, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1801, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2191, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3402, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5032, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6257, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.8791, d0.loss_map_cls_all: 0.6495, d0.loss_map_pts_all: 3.7747, d0.loss_map_dir_all: 0.0516, d0.loss_map_cls: 0.6495, d0.loss_map_pts: 3.7747, d0.loss_map_dir: 0.0516, d1.loss_map_cls: 0.6598, d1.loss_map_pts: 3.2588, d1.loss_map_dir: 0.0503, d2.loss_map_cls: 0.6643, d2.loss_map_pts: 3.1215, d2.loss_map_dir: 0.0505, d3.loss_map_cls: 0.6679, d3.loss_map_pts: 3.0681, d3.loss_map_dir: 0.0506, d4.loss_map_cls: 0.6718, d4.loss_map_pts: 3.0553, d4.loss_map_dir: 0.0506, d5.loss_map_cls: 0.6746, d5.loss_map_pts: 3.0589, d5.loss_map_dir: 0.0507, loss: 104.5604, grad_norm: 265.2092 2026-02-24 00:02:54,298 - DriveTransformer - INFO - Epoch [1][8950/117620] lr: 1.000e-04, eta: 27 days, 3:59:13, time: 0.325, data_time: 0.016, memory: 8395, loss_cls: 1.0523, loss_bbox: 1.2532, loss_traj: 3.1442, loss_traj_cls: 0.0006, loss_map_cls: 0.6884, loss_map_pts: 2.8835, loss_map_dir: 0.0481, d0.loss_plan_l1_fix_time: 4.0023, d0.loss_plan_l1_fix_dist: 0.7371, d1.loss_plan_l1_fix_time: 3.8421, d1.loss_plan_l1_fix_dist: 0.8213, d2.loss_plan_l1_fix_time: 3.8551, d2.loss_plan_l1_fix_dist: 0.9481, d3.loss_plan_l1_fix_time: 3.8791, d3.loss_plan_l1_fix_dist: 1.1100, d4.loss_plan_l1_fix_time: 3.9094, d4.loss_plan_l1_fix_dist: 1.2839, d5.loss_plan_l1_fix_time: 3.9444, d5.loss_plan_l1_fix_dist: 1.4780, d6.loss_plan_l1_fix_time: 3.9836, d6.loss_plan_l1_fix_dist: 1.6918, d0.loss_cls_all: 1.0368, d0.loss_bbox_all: 1.1604, d0.loss_cls: 1.0368, d0.loss_bbox: 1.1604, d1.loss_cls: 1.0638, d1.loss_bbox: 1.1773, d2.loss_cls: 1.0651, d2.loss_bbox: 1.1826, d3.loss_cls: 1.0614, d3.loss_bbox: 1.2022, d4.loss_cls: 1.0604, d4.loss_bbox: 1.2096, d5.loss_cls: 1.0548, d5.loss_bbox: 1.2222, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5147, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5624, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6559, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7715, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.8817, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.0547, d0.loss_map_cls_all: 0.6654, d0.loss_map_pts_all: 3.5905, d0.loss_map_dir_all: 0.0487, d0.loss_map_cls: 0.6654, d0.loss_map_pts: 3.5905, d0.loss_map_dir: 0.0487, d1.loss_map_cls: 0.6751, d1.loss_map_pts: 3.0657, d1.loss_map_dir: 0.0478, d2.loss_map_cls: 0.6821, d2.loss_map_pts: 2.9324, d2.loss_map_dir: 0.0479, d3.loss_map_cls: 0.6848, d3.loss_map_pts: 2.8745, d3.loss_map_dir: 0.0479, d4.loss_map_cls: 0.6883, d4.loss_map_pts: 2.8619, d4.loss_map_dir: 0.0479, d5.loss_map_cls: 0.6884, d5.loss_map_pts: 2.8687, d5.loss_map_dir: 0.0479, loss: 103.5648, grad_norm: 265.8446 2026-02-24 00:03:11,314 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 00:03:11,314 - DriveTransformer - INFO - Epoch [1][9000/117620] lr: 1.000e-04, eta: 27 days, 4:03:40, time: 0.340, data_time: 0.016, memory: 8395, loss_cls: 1.1899, loss_bbox: 1.3134, loss_traj: 2.9650, loss_traj_cls: 0.0006, loss_map_cls: 0.6834, loss_map_pts: 3.3281, loss_map_dir: 0.0550, d0.loss_plan_l1_fix_time: 4.1085, d0.loss_plan_l1_fix_dist: 0.7416, d1.loss_plan_l1_fix_time: 3.9256, d1.loss_plan_l1_fix_dist: 0.8629, d2.loss_plan_l1_fix_time: 3.9396, d2.loss_plan_l1_fix_dist: 1.0282, d3.loss_plan_l1_fix_time: 3.9801, d3.loss_plan_l1_fix_dist: 1.2084, d4.loss_plan_l1_fix_time: 4.0234, d4.loss_plan_l1_fix_dist: 1.3988, d5.loss_plan_l1_fix_time: 4.0780, d5.loss_plan_l1_fix_dist: 1.5749, d6.loss_plan_l1_fix_time: 4.1321, d6.loss_plan_l1_fix_dist: 1.7684, d0.loss_cls_all: 1.1532, d0.loss_bbox_all: 1.1881, d0.loss_cls: 1.1532, d0.loss_bbox: 1.1881, d1.loss_cls: 1.1668, d1.loss_bbox: 1.2544, d2.loss_cls: 1.1757, d2.loss_bbox: 1.2602, d3.loss_cls: 1.1723, d3.loss_bbox: 1.2816, d4.loss_cls: 1.1838, d4.loss_bbox: 1.2943, d5.loss_cls: 1.1909, d5.loss_bbox: 1.3023, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3712, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5074, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6113, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7271, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.9008, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9221, d0.loss_map_cls_all: 0.6544, d0.loss_map_pts_all: 3.9350, d0.loss_map_dir_all: 0.0558, d0.loss_map_cls: 0.6544, d0.loss_map_pts: 3.9350, d0.loss_map_dir: 0.0558, d1.loss_map_cls: 0.6659, d1.loss_map_pts: 3.4238, d1.loss_map_dir: 0.0548, d2.loss_map_cls: 0.6765, d2.loss_map_pts: 3.3278, d2.loss_map_dir: 0.0549, d3.loss_map_cls: 0.6801, d3.loss_map_pts: 3.3026, d3.loss_map_dir: 0.0550, d4.loss_map_cls: 0.6828, d4.loss_map_pts: 3.3030, d4.loss_map_dir: 0.0550, d5.loss_map_cls: 0.6842, d5.loss_map_pts: 3.3128, d5.loss_map_dir: 0.0552, loss: 108.9385, grad_norm: 265.8446 2026-02-24 00:03:28,812 - DriveTransformer - INFO - Epoch [1][9050/117620] lr: 1.000e-04, eta: 27 days, 4:14:23, time: 0.350, data_time: 0.014, memory: 8395, loss_cls: 1.0430, loss_bbox: 1.2793, loss_traj: 3.1005, loss_traj_cls: 0.0007, loss_map_cls: 0.6777, loss_map_pts: 3.1417, loss_map_dir: 0.0505, d0.loss_plan_l1_fix_time: 3.9620, d0.loss_plan_l1_fix_dist: 0.7836, d1.loss_plan_l1_fix_time: 3.7811, d1.loss_plan_l1_fix_dist: 0.8713, d2.loss_plan_l1_fix_time: 3.8018, d2.loss_plan_l1_fix_dist: 1.0036, d3.loss_plan_l1_fix_time: 3.8449, d3.loss_plan_l1_fix_dist: 1.1545, d4.loss_plan_l1_fix_time: 3.8844, d4.loss_plan_l1_fix_dist: 1.3171, d5.loss_plan_l1_fix_time: 3.9318, d5.loss_plan_l1_fix_dist: 1.4638, d6.loss_plan_l1_fix_time: 3.9776, d6.loss_plan_l1_fix_dist: 1.6342, d0.loss_cls_all: 1.0346, d0.loss_bbox_all: 1.1858, d0.loss_cls: 1.0346, d0.loss_bbox: 1.1858, d1.loss_cls: 1.0614, d1.loss_bbox: 1.2219, d2.loss_cls: 1.0690, d2.loss_bbox: 1.2254, d3.loss_cls: 1.0658, d3.loss_bbox: 1.2403, d4.loss_cls: 1.0650, d4.loss_bbox: 1.2478, d5.loss_cls: 1.0525, d5.loss_bbox: 1.2539, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2168, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3089, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4669, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5846, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7729, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.9404, d0.loss_map_cls_all: 0.6516, d0.loss_map_pts_all: 3.8146, d0.loss_map_dir_all: 0.0513, d0.loss_map_cls: 0.6516, d0.loss_map_pts: 3.8146, d0.loss_map_dir: 0.0513, d1.loss_map_cls: 0.6635, d1.loss_map_pts: 3.2970, d1.loss_map_dir: 0.0502, d2.loss_map_cls: 0.6708, d2.loss_map_pts: 3.1698, d2.loss_map_dir: 0.0503, d3.loss_map_cls: 0.6724, d3.loss_map_pts: 3.1359, d3.loss_map_dir: 0.0504, d4.loss_map_cls: 0.6738, d4.loss_map_pts: 3.1320, d4.loss_map_dir: 0.0505, d5.loss_map_cls: 0.6770, d5.loss_map_pts: 3.1361, d5.loss_map_dir: 0.0505, loss: 104.4576, grad_norm: 266.7679 2026-02-24 00:03:45,621 - DriveTransformer - INFO - Epoch [1][9100/117620] lr: 1.000e-04, eta: 27 days, 4:16:04, time: 0.336, data_time: 0.017, memory: 8395, loss_cls: 1.0868, loss_bbox: 1.2685, loss_traj: 3.3972, loss_traj_cls: 0.0006, loss_map_cls: 0.6788, loss_map_pts: 2.9654, loss_map_dir: 0.0497, d0.loss_plan_l1_fix_time: 3.9156, d0.loss_plan_l1_fix_dist: 0.6933, d1.loss_plan_l1_fix_time: 3.6965, d1.loss_plan_l1_fix_dist: 0.7832, d2.loss_plan_l1_fix_time: 3.7120, d2.loss_plan_l1_fix_dist: 0.9214, d3.loss_plan_l1_fix_time: 3.7590, d3.loss_plan_l1_fix_dist: 1.0752, d4.loss_plan_l1_fix_time: 3.8021, d4.loss_plan_l1_fix_dist: 1.2286, d5.loss_plan_l1_fix_time: 3.8579, d5.loss_plan_l1_fix_dist: 1.3557, d6.loss_plan_l1_fix_time: 3.9127, d6.loss_plan_l1_fix_dist: 1.5035, d0.loss_cls_all: 1.0777, d0.loss_bbox_all: 1.2002, d0.loss_cls: 1.0777, d0.loss_bbox: 1.2002, d1.loss_cls: 1.1011, d1.loss_bbox: 1.2273, d2.loss_cls: 1.1174, d2.loss_bbox: 1.2250, d3.loss_cls: 1.1087, d3.loss_bbox: 1.2346, d4.loss_cls: 1.1073, d4.loss_bbox: 1.2417, d5.loss_cls: 1.0886, d5.loss_bbox: 1.2489, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.7289, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.7743, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.8768, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.9254, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.0496, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.1968, d0.loss_map_cls_all: 0.6490, d0.loss_map_pts_all: 3.6972, d0.loss_map_dir_all: 0.0507, d0.loss_map_cls: 0.6490, d0.loss_map_pts: 3.6972, d0.loss_map_dir: 0.0507, d1.loss_map_cls: 0.6643, d1.loss_map_pts: 3.1186, d1.loss_map_dir: 0.0494, d2.loss_map_cls: 0.6689, d2.loss_map_pts: 3.0032, d2.loss_map_dir: 0.0498, d3.loss_map_cls: 0.6735, d3.loss_map_pts: 2.9781, d3.loss_map_dir: 0.0499, d4.loss_map_cls: 0.6758, d4.loss_map_pts: 2.9679, d4.loss_map_dir: 0.0497, d5.loss_map_cls: 0.6791, d5.loss_map_pts: 2.9667, d5.loss_map_dir: 0.0497, loss: 104.9135, grad_norm: 266.7679 2026-02-24 00:04:02,899 - DriveTransformer - INFO - Epoch [1][9150/117620] lr: 1.000e-04, eta: 27 days, 4:23:47, time: 0.346, data_time: 0.021, memory: 8395, loss_cls: 1.1449, loss_bbox: 1.3247, loss_traj: 2.7079, loss_traj_cls: 0.0006, loss_map_cls: 0.6725, loss_map_pts: 3.2120, loss_map_dir: 0.0490, d0.loss_plan_l1_fix_time: 3.5416, d0.loss_plan_l1_fix_dist: 0.8562, d1.loss_plan_l1_fix_time: 3.2850, d1.loss_plan_l1_fix_dist: 0.9085, d2.loss_plan_l1_fix_time: 3.2591, d2.loss_plan_l1_fix_dist: 0.9927, d3.loss_plan_l1_fix_time: 3.2829, d3.loss_plan_l1_fix_dist: 1.0886, d4.loss_plan_l1_fix_time: 3.3106, d4.loss_plan_l1_fix_dist: 1.2038, d5.loss_plan_l1_fix_time: 3.3441, d5.loss_plan_l1_fix_dist: 1.3247, d6.loss_plan_l1_fix_time: 3.3821, d6.loss_plan_l1_fix_dist: 1.4396, d0.loss_cls_all: 1.1077, d0.loss_bbox_all: 1.2428, d0.loss_cls: 1.1077, d0.loss_bbox: 1.2428, d1.loss_cls: 1.1312, d1.loss_bbox: 1.2418, d2.loss_cls: 1.1453, d2.loss_bbox: 1.2456, d3.loss_cls: 1.1411, d3.loss_bbox: 1.2628, d4.loss_cls: 1.1382, d4.loss_bbox: 1.2847, d5.loss_cls: 1.1392, d5.loss_bbox: 1.3001, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0344, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0948, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2030, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2967, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4501, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5736, d0.loss_map_cls_all: 0.6595, d0.loss_map_pts_all: 3.9305, d0.loss_map_dir_all: 0.0499, d0.loss_map_cls: 0.6595, d0.loss_map_pts: 3.9305, d0.loss_map_dir: 0.0499, d1.loss_map_cls: 0.6642, d1.loss_map_pts: 3.3809, d1.loss_map_dir: 0.0489, d2.loss_map_cls: 0.6649, d2.loss_map_pts: 3.2491, d2.loss_map_dir: 0.0489, d3.loss_map_cls: 0.6675, d3.loss_map_pts: 3.2031, d3.loss_map_dir: 0.0489, d4.loss_map_cls: 0.6687, d4.loss_map_pts: 3.1933, d4.loss_map_dir: 0.0489, d5.loss_map_cls: 0.6724, d5.loss_map_pts: 3.1981, d5.loss_map_dir: 0.0490, loss: 99.8043, grad_norm: 267.5184 2026-02-24 00:04:18,661 - DriveTransformer - INFO - Epoch [1][9200/117620] lr: 1.000e-04, eta: 27 days, 4:11:59, time: 0.315, data_time: 0.014, memory: 8395, loss_cls: 1.0549, loss_bbox: 1.2133, loss_traj: 2.7338, loss_traj_cls: 0.0005, loss_map_cls: 0.7122, loss_map_pts: 2.8277, loss_map_dir: 0.0484, d0.loss_plan_l1_fix_time: 3.3143, d0.loss_plan_l1_fix_dist: 0.7559, d1.loss_plan_l1_fix_time: 3.0754, d1.loss_plan_l1_fix_dist: 0.8093, d2.loss_plan_l1_fix_time: 3.0807, d2.loss_plan_l1_fix_dist: 0.8898, d3.loss_plan_l1_fix_time: 3.1180, d3.loss_plan_l1_fix_dist: 0.9801, d4.loss_plan_l1_fix_time: 3.1542, d4.loss_plan_l1_fix_dist: 1.0801, d5.loss_plan_l1_fix_time: 3.1916, d5.loss_plan_l1_fix_dist: 1.1976, d6.loss_plan_l1_fix_time: 3.2305, d6.loss_plan_l1_fix_dist: 1.2902, d0.loss_cls_all: 1.0317, d0.loss_bbox_all: 1.1378, d0.loss_cls: 1.0317, d0.loss_bbox: 1.1378, d1.loss_cls: 1.0452, d1.loss_bbox: 1.1350, d2.loss_cls: 1.0444, d2.loss_bbox: 1.1501, d3.loss_cls: 1.0369, d3.loss_bbox: 1.1656, d4.loss_cls: 1.0354, d4.loss_bbox: 1.1787, d5.loss_cls: 1.0432, d5.loss_bbox: 1.1912, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1455, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2162, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3165, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4019, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5255, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6293, d0.loss_map_cls_all: 0.6942, d0.loss_map_pts_all: 3.4221, d0.loss_map_dir_all: 0.0486, d0.loss_map_cls: 0.6942, d0.loss_map_pts: 3.4221, d0.loss_map_dir: 0.0486, d1.loss_map_cls: 0.7045, d1.loss_map_pts: 2.9338, d1.loss_map_dir: 0.0478, d2.loss_map_cls: 0.7052, d2.loss_map_pts: 2.8151, d2.loss_map_dir: 0.0480, d3.loss_map_cls: 0.7081, d3.loss_map_pts: 2.7791, d3.loss_map_dir: 0.0481, d4.loss_map_cls: 0.7063, d4.loss_map_pts: 2.7826, d4.loss_map_dir: 0.0482, d5.loss_map_cls: 0.7094, d5.loss_map_pts: 2.8005, d5.loss_map_dir: 0.0483, loss: 93.5761, grad_norm: 267.5184 2026-02-24 00:04:35,334 - DriveTransformer - INFO - Epoch [1][9250/117620] lr: 1.000e-04, eta: 27 days, 4:11:56, time: 0.333, data_time: 0.014, memory: 8395, loss_cls: 1.1061, loss_bbox: 1.3364, loss_traj: 2.7555, loss_traj_cls: 0.0006, loss_map_cls: 0.6594, loss_map_pts: 3.0793, loss_map_dir: 0.0495, d0.loss_plan_l1_fix_time: 2.8493, d0.loss_plan_l1_fix_dist: 0.7848, d1.loss_plan_l1_fix_time: 2.6938, d1.loss_plan_l1_fix_dist: 0.8568, d2.loss_plan_l1_fix_time: 2.7161, d2.loss_plan_l1_fix_dist: 0.9636, d3.loss_plan_l1_fix_time: 2.7530, d3.loss_plan_l1_fix_dist: 1.0829, d4.loss_plan_l1_fix_time: 2.7947, d4.loss_plan_l1_fix_dist: 1.2147, d5.loss_plan_l1_fix_time: 2.8325, d5.loss_plan_l1_fix_dist: 1.3917, d6.loss_plan_l1_fix_time: 2.8777, d6.loss_plan_l1_fix_dist: 1.5581, d0.loss_cls_all: 1.0888, d0.loss_bbox_all: 1.2395, d0.loss_cls: 1.0888, d0.loss_bbox: 1.2395, d1.loss_cls: 1.1025, d1.loss_bbox: 1.2351, d2.loss_cls: 1.1111, d2.loss_bbox: 1.2542, d3.loss_cls: 1.1216, d3.loss_bbox: 1.2768, d4.loss_cls: 1.1047, d4.loss_bbox: 1.3002, d5.loss_cls: 1.1035, d5.loss_bbox: 1.3134, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0854, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1546, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2365, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3208, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4915, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5838, d0.loss_map_cls_all: 0.6398, d0.loss_map_pts_all: 3.7462, d0.loss_map_dir_all: 0.0499, d0.loss_map_cls: 0.6398, d0.loss_map_pts: 3.7462, d0.loss_map_dir: 0.0499, d1.loss_map_cls: 0.6469, d1.loss_map_pts: 3.1960, d1.loss_map_dir: 0.0490, d2.loss_map_cls: 0.6518, d2.loss_map_pts: 3.0721, d2.loss_map_dir: 0.0492, d3.loss_map_cls: 0.6574, d3.loss_map_pts: 3.0339, d3.loss_map_dir: 0.0495, d4.loss_map_cls: 0.6589, d4.loss_map_pts: 3.0384, d4.loss_map_dir: 0.0494, d5.loss_map_cls: 0.6583, d5.loss_map_pts: 3.0551, d5.loss_map_dir: 0.0495, loss: 94.5992, grad_norm: 266.3512 2026-02-24 00:04:53,473 - DriveTransformer - INFO - Epoch [1][9300/117620] lr: 1.000e-04, eta: 27 days, 4:30:23, time: 0.363, data_time: 0.015, memory: 8395, loss_cls: 1.0764, loss_bbox: 1.3214, loss_traj: 3.4910, loss_traj_cls: 0.0006, loss_map_cls: 0.6805, loss_map_pts: 3.1560, loss_map_dir: 0.0513, d0.loss_plan_l1_fix_time: 4.1063, d0.loss_plan_l1_fix_dist: 0.6337, d1.loss_plan_l1_fix_time: 3.8138, d1.loss_plan_l1_fix_dist: 0.7249, d2.loss_plan_l1_fix_time: 3.7829, d2.loss_plan_l1_fix_dist: 0.8499, d3.loss_plan_l1_fix_time: 3.7925, d3.loss_plan_l1_fix_dist: 0.9977, d4.loss_plan_l1_fix_time: 3.8183, d4.loss_plan_l1_fix_dist: 1.1621, d5.loss_plan_l1_fix_time: 3.8449, d5.loss_plan_l1_fix_dist: 1.3761, d6.loss_plan_l1_fix_time: 3.8832, d6.loss_plan_l1_fix_dist: 1.5798, d0.loss_cls_all: 1.0714, d0.loss_bbox_all: 1.1849, d0.loss_cls: 1.0714, d0.loss_bbox: 1.1849, d1.loss_cls: 1.0764, d1.loss_bbox: 1.1815, d2.loss_cls: 1.0825, d2.loss_bbox: 1.2067, d3.loss_cls: 1.0995, d3.loss_bbox: 1.2359, d4.loss_cls: 1.0935, d4.loss_bbox: 1.2550, d5.loss_cls: 1.0819, d5.loss_bbox: 1.2821, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5917, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.6725, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.7616, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8853, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.1104, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2538, d0.loss_map_cls_all: 0.6581, d0.loss_map_pts_all: 3.6286, d0.loss_map_dir_all: 0.0513, d0.loss_map_cls: 0.6581, d0.loss_map_pts: 3.6286, d0.loss_map_dir: 0.0513, d1.loss_map_cls: 0.6705, d1.loss_map_pts: 3.1757, d1.loss_map_dir: 0.0508, d2.loss_map_cls: 0.6732, d2.loss_map_pts: 3.0930, d2.loss_map_dir: 0.0509, d3.loss_map_cls: 0.6754, d3.loss_map_pts: 3.0880, d3.loss_map_dir: 0.0509, d4.loss_map_cls: 0.6787, d4.loss_map_pts: 3.1009, d4.loss_map_dir: 0.0511, d5.loss_map_cls: 0.6781, d5.loss_map_pts: 3.1241, d5.loss_map_dir: 0.0512, loss: 105.4177, grad_norm: 266.3512 2026-02-24 00:05:10,875 - DriveTransformer - INFO - Epoch [1][9350/117620] lr: 1.000e-04, eta: 27 days, 4:39:20, time: 0.348, data_time: 0.015, memory: 8395, loss_cls: 1.1367, loss_bbox: 1.3188, loss_traj: 2.6708, loss_traj_cls: 0.0006, loss_map_cls: 0.6896, loss_map_pts: 2.9407, loss_map_dir: 0.0506, d0.loss_plan_l1_fix_time: 3.4023, d0.loss_plan_l1_fix_dist: 0.7262, d1.loss_plan_l1_fix_time: 3.2294, d1.loss_plan_l1_fix_dist: 0.7845, d2.loss_plan_l1_fix_time: 3.2208, d2.loss_plan_l1_fix_dist: 0.8668, d3.loss_plan_l1_fix_time: 3.2320, d3.loss_plan_l1_fix_dist: 0.9573, d4.loss_plan_l1_fix_time: 3.2616, d4.loss_plan_l1_fix_dist: 1.0603, d5.loss_plan_l1_fix_time: 3.2833, d5.loss_plan_l1_fix_dist: 1.1986, d6.loss_plan_l1_fix_time: 3.3167, d6.loss_plan_l1_fix_dist: 1.3498, d0.loss_cls_all: 1.1013, d0.loss_bbox_all: 1.2409, d0.loss_cls: 1.1013, d0.loss_bbox: 1.2409, d1.loss_cls: 1.1128, d1.loss_bbox: 1.2286, d2.loss_cls: 1.1173, d2.loss_bbox: 1.2425, d3.loss_cls: 1.1285, d3.loss_bbox: 1.2542, d4.loss_cls: 1.1254, d4.loss_bbox: 1.2689, d5.loss_cls: 1.1215, d5.loss_bbox: 1.2987, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1074, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1598, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2537, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2900, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4615, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5173, d0.loss_map_cls_all: 0.6574, d0.loss_map_pts_all: 3.5132, d0.loss_map_dir_all: 0.0509, d0.loss_map_cls: 0.6574, d0.loss_map_pts: 3.5132, d0.loss_map_dir: 0.0509, d1.loss_map_cls: 0.6723, d1.loss_map_pts: 3.0216, d1.loss_map_dir: 0.0503, d2.loss_map_cls: 0.6783, d2.loss_map_pts: 2.9224, d2.loss_map_dir: 0.0505, d3.loss_map_cls: 0.6811, d3.loss_map_pts: 2.9007, d3.loss_map_dir: 0.0506, d4.loss_map_cls: 0.6851, d4.loss_map_pts: 2.9050, d4.loss_map_dir: 0.0506, d5.loss_map_cls: 0.6869, d5.loss_map_pts: 2.9187, d5.loss_map_dir: 0.0506, loss: 95.8408, grad_norm: 267.4519 2026-02-24 00:05:27,204 - DriveTransformer - INFO - Epoch [1][9400/117620] lr: 1.000e-04, eta: 27 days, 4:34:48, time: 0.327, data_time: 0.016, memory: 8395, loss_cls: 1.0603, loss_bbox: 1.2504, loss_traj: 2.8609, loss_traj_cls: 0.0005, loss_map_cls: 0.7341, loss_map_pts: 2.8499, loss_map_dir: 0.0471, d0.loss_plan_l1_fix_time: 4.6575, d0.loss_plan_l1_fix_dist: 0.7403, d1.loss_plan_l1_fix_time: 4.6612, d1.loss_plan_l1_fix_dist: 0.7744, d2.loss_plan_l1_fix_time: 4.6929, d2.loss_plan_l1_fix_dist: 0.8230, d3.loss_plan_l1_fix_time: 4.7184, d3.loss_plan_l1_fix_dist: 0.8818, d4.loss_plan_l1_fix_time: 4.7540, d4.loss_plan_l1_fix_dist: 0.9550, d5.loss_plan_l1_fix_time: 4.7832, d5.loss_plan_l1_fix_dist: 1.0575, d6.loss_plan_l1_fix_time: 4.8217, d6.loss_plan_l1_fix_dist: 1.1849, d0.loss_cls_all: 1.0131, d0.loss_bbox_all: 1.1875, d0.loss_cls: 1.0131, d0.loss_bbox: 1.1875, d1.loss_cls: 1.0305, d1.loss_bbox: 1.1780, d2.loss_cls: 1.0317, d2.loss_bbox: 1.1895, d3.loss_cls: 1.0305, d3.loss_bbox: 1.2054, d4.loss_cls: 1.0192, d4.loss_bbox: 1.2210, d5.loss_cls: 1.0250, d5.loss_bbox: 1.2454, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2705, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3026, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4127, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4655, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6707, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7215, d0.loss_map_cls_all: 0.7005, d0.loss_map_pts_all: 3.4288, d0.loss_map_dir_all: 0.0471, d0.loss_map_cls: 0.7005, d0.loss_map_pts: 3.4288, d0.loss_map_dir: 0.0471, d1.loss_map_cls: 0.7132, d1.loss_map_pts: 2.9241, d1.loss_map_dir: 0.0466, d2.loss_map_cls: 0.7251, d2.loss_map_pts: 2.8063, d2.loss_map_dir: 0.0470, d3.loss_map_cls: 0.7273, d3.loss_map_pts: 2.7903, d3.loss_map_dir: 0.0470, d4.loss_map_cls: 0.7288, d4.loss_map_pts: 2.8080, d4.loss_map_dir: 0.0471, d5.loss_map_cls: 0.7321, d5.loss_map_pts: 2.8265, d5.loss_map_dir: 0.0470, loss: 105.1025, grad_norm: 267.4519 2026-02-24 00:05:44,334 - DriveTransformer - INFO - Epoch [1][9450/117620] lr: 1.000e-04, eta: 27 days, 4:40:16, time: 0.343, data_time: 0.018, memory: 8395, loss_cls: 1.1705, loss_bbox: 1.3310, loss_traj: 3.1298, loss_traj_cls: 0.0006, loss_map_cls: 0.6723, loss_map_pts: 3.2488, loss_map_dir: 0.0504, d0.loss_plan_l1_fix_time: 3.5737, d0.loss_plan_l1_fix_dist: 0.7755, d1.loss_plan_l1_fix_time: 3.3260, d1.loss_plan_l1_fix_dist: 0.8560, d2.loss_plan_l1_fix_time: 3.3150, d2.loss_plan_l1_fix_dist: 0.9766, d3.loss_plan_l1_fix_time: 3.3322, d3.loss_plan_l1_fix_dist: 1.1307, d4.loss_plan_l1_fix_time: 3.3626, d4.loss_plan_l1_fix_dist: 1.2868, d5.loss_plan_l1_fix_time: 3.3902, d5.loss_plan_l1_fix_dist: 1.4353, d6.loss_plan_l1_fix_time: 3.4206, d6.loss_plan_l1_fix_dist: 1.6160, d0.loss_cls_all: 1.1539, d0.loss_bbox_all: 1.2689, d0.loss_cls: 1.1539, d0.loss_bbox: 1.2689, d1.loss_cls: 1.1865, d1.loss_bbox: 1.2461, d2.loss_cls: 1.1845, d2.loss_bbox: 1.2603, d3.loss_cls: 1.1745, d3.loss_bbox: 1.2703, d4.loss_cls: 1.1686, d4.loss_bbox: 1.2909, d5.loss_cls: 1.1663, d5.loss_bbox: 1.3115, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.7187, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.8133, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.8615, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.9546, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.9570, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.0488, d0.loss_map_cls_all: 0.6466, d0.loss_map_pts_all: 3.8484, d0.loss_map_dir_all: 0.0502, d0.loss_map_cls: 0.6466, d0.loss_map_pts: 3.8484, d0.loss_map_dir: 0.0502, d1.loss_map_cls: 0.6577, d1.loss_map_pts: 3.3614, d1.loss_map_dir: 0.0497, d2.loss_map_cls: 0.6607, d2.loss_map_pts: 3.2659, d2.loss_map_dir: 0.0498, d3.loss_map_cls: 0.6651, d3.loss_map_pts: 3.2410, d3.loss_map_dir: 0.0500, d4.loss_map_cls: 0.6669, d4.loss_map_pts: 3.2365, d4.loss_map_dir: 0.0501, d5.loss_map_cls: 0.6702, d5.loss_map_pts: 3.2412, d5.loss_map_dir: 0.0503, loss: 104.8696, grad_norm: 266.1515 2026-02-24 00:06:01,662 - DriveTransformer - INFO - Epoch [1][9500/117620] lr: 1.000e-04, eta: 27 days, 4:48:08, time: 0.347, data_time: 0.020, memory: 8395, loss_cls: 1.0866, loss_bbox: 1.2991, loss_traj: 2.6821, loss_traj_cls: 0.0005, loss_map_cls: 0.6502, loss_map_pts: 3.1606, loss_map_dir: 0.0501, d0.loss_plan_l1_fix_time: 3.7294, d0.loss_plan_l1_fix_dist: 0.7961, d1.loss_plan_l1_fix_time: 3.6843, d1.loss_plan_l1_fix_dist: 0.8769, d2.loss_plan_l1_fix_time: 3.7155, d2.loss_plan_l1_fix_dist: 1.0117, d3.loss_plan_l1_fix_time: 3.7494, d3.loss_plan_l1_fix_dist: 1.1790, d4.loss_plan_l1_fix_time: 3.7901, d4.loss_plan_l1_fix_dist: 1.3449, d5.loss_plan_l1_fix_time: 3.8168, d5.loss_plan_l1_fix_dist: 1.4968, d6.loss_plan_l1_fix_time: 3.8448, d6.loss_plan_l1_fix_dist: 1.6842, d0.loss_cls_all: 1.0678, d0.loss_bbox_all: 1.2117, d0.loss_cls: 1.0678, d0.loss_bbox: 1.2117, d1.loss_cls: 1.1006, d1.loss_bbox: 1.1912, d2.loss_cls: 1.0996, d2.loss_bbox: 1.2117, d3.loss_cls: 1.0884, d3.loss_bbox: 1.2245, d4.loss_cls: 1.0773, d4.loss_bbox: 1.2503, d5.loss_cls: 1.0764, d5.loss_bbox: 1.2706, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2566, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3257, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3811, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4930, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4946, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5774, d0.loss_map_cls_all: 0.6270, d0.loss_map_pts_all: 3.7416, d0.loss_map_dir_all: 0.0491, d0.loss_map_cls: 0.6270, d0.loss_map_pts: 3.7416, d0.loss_map_dir: 0.0491, d1.loss_map_cls: 0.6388, d1.loss_map_pts: 3.2710, d1.loss_map_dir: 0.0487, d2.loss_map_cls: 0.6440, d2.loss_map_pts: 3.1751, d2.loss_map_dir: 0.0493, d3.loss_map_cls: 0.6461, d3.loss_map_pts: 3.1498, d3.loss_map_dir: 0.0497, d4.loss_map_cls: 0.6452, d4.loss_map_pts: 3.1450, d4.loss_map_dir: 0.0498, d5.loss_map_cls: 0.6477, d5.loss_map_pts: 3.1496, d5.loss_map_dir: 0.0500, loss: 102.5251, grad_norm: 266.1515 2026-02-24 00:06:18,513 - DriveTransformer - INFO - Epoch [1][9550/117620] lr: 1.000e-04, eta: 27 days, 4:50:02, time: 0.337, data_time: 0.015, memory: 8395, loss_cls: 1.0686, loss_bbox: 1.3257, loss_traj: 2.7050, loss_traj_cls: 0.0006, loss_map_cls: 0.6514, loss_map_pts: 3.2054, loss_map_dir: 0.0502, d0.loss_plan_l1_fix_time: 3.1503, d0.loss_plan_l1_fix_dist: 0.7776, d1.loss_plan_l1_fix_time: 3.1026, d1.loss_plan_l1_fix_dist: 0.8729, d2.loss_plan_l1_fix_time: 3.1023, d2.loss_plan_l1_fix_dist: 1.0179, d3.loss_plan_l1_fix_time: 3.1167, d3.loss_plan_l1_fix_dist: 1.1965, d4.loss_plan_l1_fix_time: 3.1481, d4.loss_plan_l1_fix_dist: 1.3950, d5.loss_plan_l1_fix_time: 3.1705, d5.loss_plan_l1_fix_dist: 1.5674, d6.loss_plan_l1_fix_time: 3.1965, d6.loss_plan_l1_fix_dist: 1.7615, d0.loss_cls_all: 1.0372, d0.loss_bbox_all: 1.2394, d0.loss_cls: 1.0372, d0.loss_bbox: 1.2394, d1.loss_cls: 1.0488, d1.loss_bbox: 1.2141, d2.loss_cls: 1.0498, d2.loss_bbox: 1.2276, d3.loss_cls: 1.0622, d3.loss_bbox: 1.2352, d4.loss_cls: 1.0613, d4.loss_bbox: 1.2560, d5.loss_cls: 1.0606, d5.loss_bbox: 1.2888, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9761, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0229, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1220, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2795, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4223, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.5650, d0.loss_map_cls_all: 0.6403, d0.loss_map_pts_all: 3.8104, d0.loss_map_dir_all: 0.0501, d0.loss_map_cls: 0.6403, d0.loss_map_pts: 3.8104, d0.loss_map_dir: 0.0501, d1.loss_map_cls: 0.6460, d1.loss_map_pts: 3.2892, d1.loss_map_dir: 0.0493, d2.loss_map_cls: 0.6476, d2.loss_map_pts: 3.2034, d2.loss_map_dir: 0.0498, d3.loss_map_cls: 0.6488, d3.loss_map_pts: 3.1844, d3.loss_map_dir: 0.0499, d4.loss_map_cls: 0.6495, d4.loss_map_pts: 3.1821, d4.loss_map_dir: 0.0500, d5.loss_map_cls: 0.6506, d5.loss_map_pts: 3.1917, d5.loss_map_dir: 0.0502, loss: 97.5746, grad_norm: 266.8181 2026-02-24 00:06:36,879 - DriveTransformer - INFO - Epoch [1][9600/117620] lr: 1.000e-04, eta: 27 days, 5:10:42, time: 0.368, data_time: 0.016, memory: 8395, loss_cls: 1.0989, loss_bbox: 1.2990, loss_traj: 2.8963, loss_traj_cls: 0.0005, loss_map_cls: 0.6672, loss_map_pts: 3.1936, loss_map_dir: 0.0482, d0.loss_plan_l1_fix_time: 3.6651, d0.loss_plan_l1_fix_dist: 0.8253, d1.loss_plan_l1_fix_time: 3.6838, d1.loss_plan_l1_fix_dist: 0.9058, d2.loss_plan_l1_fix_time: 3.7113, d2.loss_plan_l1_fix_dist: 1.0422, d3.loss_plan_l1_fix_time: 3.7312, d3.loss_plan_l1_fix_dist: 1.2092, d4.loss_plan_l1_fix_time: 3.7604, d4.loss_plan_l1_fix_dist: 1.3910, d5.loss_plan_l1_fix_time: 3.7788, d5.loss_plan_l1_fix_dist: 1.5516, d6.loss_plan_l1_fix_time: 3.7985, d6.loss_plan_l1_fix_dist: 1.7366, d0.loss_cls_all: 1.0556, d0.loss_bbox_all: 1.2191, d0.loss_cls: 1.0556, d0.loss_bbox: 1.2191, d1.loss_cls: 1.0768, d1.loss_bbox: 1.1835, d2.loss_cls: 1.0775, d2.loss_bbox: 1.1957, d3.loss_cls: 1.0871, d3.loss_bbox: 1.2057, d4.loss_cls: 1.0822, d4.loss_bbox: 1.2301, d5.loss_cls: 1.0834, d5.loss_bbox: 1.2562, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1312, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1991, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2894, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4578, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6179, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7692, d0.loss_map_cls_all: 0.6555, d0.loss_map_pts_all: 3.8230, d0.loss_map_dir_all: 0.0481, d0.loss_map_cls: 0.6555, d0.loss_map_pts: 3.8230, d0.loss_map_dir: 0.0481, d1.loss_map_cls: 0.6605, d1.loss_map_pts: 3.3157, d1.loss_map_dir: 0.0476, d2.loss_map_cls: 0.6644, d2.loss_map_pts: 3.2073, d2.loss_map_dir: 0.0478, d3.loss_map_cls: 0.6670, d3.loss_map_pts: 3.1783, d3.loss_map_dir: 0.0479, d4.loss_map_cls: 0.6661, d4.loss_map_pts: 3.1725, d4.loss_map_dir: 0.0481, d5.loss_map_cls: 0.6674, d5.loss_map_pts: 3.1786, d5.loss_map_dir: 0.0481, loss: 103.1600, grad_norm: 267.4949 2026-02-24 00:06:54,906 - DriveTransformer - INFO - Epoch [1][9650/117620] lr: 1.000e-04, eta: 27 days, 5:26:32, time: 0.360, data_time: 0.015, memory: 8395, loss_cls: 1.1034, loss_bbox: 1.3270, loss_traj: 2.6649, loss_traj_cls: 0.0005, loss_map_cls: 0.6883, loss_map_pts: 2.9325, loss_map_dir: 0.0473, d0.loss_plan_l1_fix_time: 3.7876, d0.loss_plan_l1_fix_dist: 0.6332, d1.loss_plan_l1_fix_time: 3.4657, d1.loss_plan_l1_fix_dist: 0.6832, d2.loss_plan_l1_fix_time: 3.4438, d2.loss_plan_l1_fix_dist: 0.7339, d3.loss_plan_l1_fix_time: 3.4659, d3.loss_plan_l1_fix_dist: 0.7929, d4.loss_plan_l1_fix_time: 3.4946, d4.loss_plan_l1_fix_dist: 0.8717, d5.loss_plan_l1_fix_time: 3.5291, d5.loss_plan_l1_fix_dist: 0.9587, d6.loss_plan_l1_fix_time: 3.5640, d6.loss_plan_l1_fix_dist: 1.0442, d0.loss_cls_all: 1.0686, d0.loss_bbox_all: 1.2615, d0.loss_cls: 1.0686, d0.loss_bbox: 1.2615, d1.loss_cls: 1.0815, d1.loss_bbox: 1.2389, d2.loss_cls: 1.0837, d2.loss_bbox: 1.2498, d3.loss_cls: 1.0865, d3.loss_bbox: 1.2600, d4.loss_cls: 1.0780, d4.loss_bbox: 1.2729, d5.loss_cls: 1.0786, d5.loss_bbox: 1.2886, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.3349, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4144, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4583, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5108, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5311, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5889, d0.loss_map_cls_all: 0.6703, d0.loss_map_pts_all: 3.5542, d0.loss_map_dir_all: 0.0472, d0.loss_map_cls: 0.6703, d0.loss_map_pts: 3.5542, d0.loss_map_dir: 0.0472, d1.loss_map_cls: 0.6804, d1.loss_map_pts: 3.0882, d1.loss_map_dir: 0.0466, d2.loss_map_cls: 0.6807, d2.loss_map_pts: 2.9793, d2.loss_map_dir: 0.0468, d3.loss_map_cls: 0.6869, d3.loss_map_pts: 2.9448, d3.loss_map_dir: 0.0469, d4.loss_map_cls: 0.6884, d4.loss_map_pts: 2.9338, d4.loss_map_dir: 0.0471, d5.loss_map_cls: 0.6887, d5.loss_map_pts: 2.9335, d5.loss_map_dir: 0.0472, loss: 97.5351, grad_norm: 267.4949 2026-02-24 00:07:12,302 - DriveTransformer - INFO - Epoch [1][9700/117620] lr: 1.000e-04, eta: 27 days, 5:34:48, time: 0.348, data_time: 0.015, memory: 8395, loss_cls: 1.0894, loss_bbox: 1.3547, loss_traj: 2.4039, loss_traj_cls: 0.0006, loss_map_cls: 0.6795, loss_map_pts: 3.0393, loss_map_dir: 0.0474, d0.loss_plan_l1_fix_time: 4.7734, d0.loss_plan_l1_fix_dist: 0.7324, d1.loss_plan_l1_fix_time: 4.5504, d1.loss_plan_l1_fix_dist: 0.7777, d2.loss_plan_l1_fix_time: 4.5391, d2.loss_plan_l1_fix_dist: 0.8412, d3.loss_plan_l1_fix_time: 4.5661, d3.loss_plan_l1_fix_dist: 0.9074, d4.loss_plan_l1_fix_time: 4.5952, d4.loss_plan_l1_fix_dist: 0.9867, d5.loss_plan_l1_fix_time: 4.6367, d5.loss_plan_l1_fix_dist: 1.0816, d6.loss_plan_l1_fix_time: 4.6734, d6.loss_plan_l1_fix_dist: 1.1735, d0.loss_cls_all: 1.0663, d0.loss_bbox_all: 1.2990, d0.loss_cls: 1.0663, d0.loss_bbox: 1.2990, d1.loss_cls: 1.0768, d1.loss_bbox: 1.2806, d2.loss_cls: 1.0799, d2.loss_bbox: 1.2883, d3.loss_cls: 1.0852, d3.loss_bbox: 1.2959, d4.loss_cls: 1.0798, d4.loss_bbox: 1.3006, d5.loss_cls: 1.0760, d5.loss_bbox: 1.3128, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0400, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0887, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1375, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2062, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2515, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3269, d0.loss_map_cls_all: 0.6554, d0.loss_map_pts_all: 3.6368, d0.loss_map_dir_all: 0.0472, d0.loss_map_cls: 0.6554, d0.loss_map_pts: 3.6368, d0.loss_map_dir: 0.0472, d1.loss_map_cls: 0.6646, d1.loss_map_pts: 3.1701, d1.loss_map_dir: 0.0465, d2.loss_map_cls: 0.6722, d2.loss_map_pts: 3.0714, d2.loss_map_dir: 0.0468, d3.loss_map_cls: 0.6782, d3.loss_map_pts: 3.0424, d3.loss_map_dir: 0.0469, d4.loss_map_cls: 0.6784, d4.loss_map_pts: 3.0356, d4.loss_map_dir: 0.0472, d5.loss_map_cls: 0.6795, d5.loss_map_pts: 3.0374, d5.loss_map_dir: 0.0473, loss: 104.7535, grad_norm: 266.9365 2026-02-24 00:07:29,991 - DriveTransformer - INFO - Epoch [1][9750/117620] lr: 1.000e-04, eta: 27 days, 5:46:34, time: 0.354, data_time: 0.014, memory: 8395, loss_cls: 1.1270, loss_bbox: 1.2398, loss_traj: 2.1288, loss_traj_cls: 0.0006, loss_map_cls: 0.6917, loss_map_pts: 3.0511, loss_map_dir: 0.0446, d0.loss_plan_l1_fix_time: 3.1878, d0.loss_plan_l1_fix_dist: 0.7060, d1.loss_plan_l1_fix_time: 3.0700, d1.loss_plan_l1_fix_dist: 0.7748, d2.loss_plan_l1_fix_time: 3.0694, d2.loss_plan_l1_fix_dist: 0.8909, d3.loss_plan_l1_fix_time: 3.0917, d3.loss_plan_l1_fix_dist: 1.0310, d4.loss_plan_l1_fix_time: 3.1249, d4.loss_plan_l1_fix_dist: 1.1922, d5.loss_plan_l1_fix_time: 3.1645, d5.loss_plan_l1_fix_dist: 1.3920, d6.loss_plan_l1_fix_time: 3.2067, d6.loss_plan_l1_fix_dist: 1.6271, d0.loss_cls_all: 1.0955, d0.loss_bbox_all: 1.1741, d0.loss_cls: 1.0955, d0.loss_bbox: 1.1741, d1.loss_cls: 1.1035, d1.loss_bbox: 1.1652, d2.loss_cls: 1.1031, d2.loss_bbox: 1.1731, d3.loss_cls: 1.1018, d3.loss_bbox: 1.1754, d4.loss_cls: 1.1019, d4.loss_bbox: 1.1896, d5.loss_cls: 1.1063, d5.loss_bbox: 1.2005, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7287, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7945, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8571, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9038, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9997, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0732, d0.loss_map_cls_all: 0.6756, d0.loss_map_pts_all: 3.6333, d0.loss_map_dir_all: 0.0444, d0.loss_map_cls: 0.6756, d0.loss_map_pts: 3.6333, d0.loss_map_dir: 0.0444, d1.loss_map_cls: 0.6823, d1.loss_map_pts: 3.1516, d1.loss_map_dir: 0.0434, d2.loss_map_cls: 0.6849, d2.loss_map_pts: 3.0520, d2.loss_map_dir: 0.0441, d3.loss_map_cls: 0.6897, d3.loss_map_pts: 3.0299, d3.loss_map_dir: 0.0443, d4.loss_map_cls: 0.6897, d4.loss_map_pts: 3.0305, d4.loss_map_dir: 0.0445, d5.loss_map_cls: 0.6894, d5.loss_map_pts: 3.0374, d5.loss_map_dir: 0.0446, loss: 92.7970, grad_norm: 266.9365 2026-02-24 00:07:46,088 - DriveTransformer - INFO - Epoch [1][9800/117620] lr: 1.000e-04, eta: 27 days, 5:39:04, time: 0.322, data_time: 0.015, memory: 8395, loss_cls: 1.0189, loss_bbox: 1.2057, loss_traj: 2.2171, loss_traj_cls: 0.0006, loss_map_cls: 0.6572, loss_map_pts: 2.6871, loss_map_dir: 0.0394, d0.loss_plan_l1_fix_time: 3.2565, d0.loss_plan_l1_fix_dist: 0.6380, d1.loss_plan_l1_fix_time: 3.0841, d1.loss_plan_l1_fix_dist: 0.7276, d2.loss_plan_l1_fix_time: 3.0812, d2.loss_plan_l1_fix_dist: 0.8624, d3.loss_plan_l1_fix_time: 3.1000, d3.loss_plan_l1_fix_dist: 1.0135, d4.loss_plan_l1_fix_time: 3.1275, d4.loss_plan_l1_fix_dist: 1.1761, d5.loss_plan_l1_fix_time: 3.1639, d5.loss_plan_l1_fix_dist: 1.3768, d6.loss_plan_l1_fix_time: 3.1984, d6.loss_plan_l1_fix_dist: 1.6087, d0.loss_cls_all: 0.9949, d0.loss_bbox_all: 1.1303, d0.loss_cls: 0.9949, d0.loss_bbox: 1.1303, d1.loss_cls: 1.0092, d1.loss_bbox: 1.1200, d2.loss_cls: 1.0109, d2.loss_bbox: 1.1253, d3.loss_cls: 1.0106, d3.loss_bbox: 1.1320, d4.loss_cls: 1.0045, d4.loss_bbox: 1.1529, d5.loss_cls: 1.0026, d5.loss_bbox: 1.1719, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.7614, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8240, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8777, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9644, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0768, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1567, d0.loss_map_cls_all: 0.6239, d0.loss_map_pts_all: 3.4482, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.6239, d0.loss_map_pts: 3.4482, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.6385, d1.loss_map_pts: 2.8750, d1.loss_map_dir: 0.0385, d2.loss_map_cls: 0.6443, d2.loss_map_pts: 2.7403, d2.loss_map_dir: 0.0388, d3.loss_map_cls: 0.6526, d3.loss_map_pts: 2.6950, d3.loss_map_dir: 0.0391, d4.loss_map_cls: 0.6550, d4.loss_map_pts: 2.6792, d4.loss_map_dir: 0.0394, d5.loss_map_cls: 0.6573, d5.loss_map_pts: 2.6780, d5.loss_map_dir: 0.0394, loss: 89.2288, grad_norm: 267.8856 2026-02-24 00:08:03,613 - DriveTransformer - INFO - Epoch [1][9850/117620] lr: 1.000e-04, eta: 27 days, 5:48:40, time: 0.350, data_time: 0.014, memory: 8395, loss_cls: 1.1116, loss_bbox: 1.3075, loss_traj: 2.8536, loss_traj_cls: 0.0005, loss_map_cls: 0.7004, loss_map_pts: 2.9685, loss_map_dir: 0.0468, d0.loss_plan_l1_fix_time: 3.8056, d0.loss_plan_l1_fix_dist: 0.7090, d1.loss_plan_l1_fix_time: 3.5642, d1.loss_plan_l1_fix_dist: 0.7952, d2.loss_plan_l1_fix_time: 3.5420, d2.loss_plan_l1_fix_dist: 0.9350, d3.loss_plan_l1_fix_time: 3.5578, d3.loss_plan_l1_fix_dist: 1.0926, d4.loss_plan_l1_fix_time: 3.5837, d4.loss_plan_l1_fix_dist: 1.2418, d5.loss_plan_l1_fix_time: 3.6166, d5.loss_plan_l1_fix_dist: 1.4111, d6.loss_plan_l1_fix_time: 3.6481, d6.loss_plan_l1_fix_dist: 1.6052, d0.loss_cls_all: 1.1154, d0.loss_bbox_all: 1.2191, d0.loss_cls: 1.1154, d0.loss_bbox: 1.2191, d1.loss_cls: 1.1188, d1.loss_bbox: 1.2148, d2.loss_cls: 1.1196, d2.loss_bbox: 1.2161, d3.loss_cls: 1.1203, d3.loss_bbox: 1.2255, d4.loss_cls: 1.1228, d4.loss_bbox: 1.2412, d5.loss_cls: 1.1131, d5.loss_bbox: 1.2726, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4055, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5344, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5611, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6374, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.7127, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8176, d0.loss_map_cls_all: 0.6840, d0.loss_map_pts_all: 3.6749, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6840, d0.loss_map_pts: 3.6749, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6947, d1.loss_map_pts: 3.1609, d1.loss_map_dir: 0.0459, d2.loss_map_cls: 0.6945, d2.loss_map_pts: 3.0423, d2.loss_map_dir: 0.0463, d3.loss_map_cls: 0.6957, d3.loss_map_pts: 2.9978, d3.loss_map_dir: 0.0465, d4.loss_map_cls: 0.6975, d4.loss_map_pts: 2.9788, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.7006, d5.loss_map_pts: 2.9691, d5.loss_map_dir: 0.0469, loss: 101.8763, grad_norm: 267.8856 2026-02-24 00:08:20,533 - DriveTransformer - INFO - Epoch [1][9900/117620] lr: 1.000e-04, eta: 27 days, 5:50:59, time: 0.338, data_time: 0.014, memory: 8395, loss_cls: 1.0766, loss_bbox: 1.3954, loss_traj: 2.6653, loss_traj_cls: 0.0006, loss_map_cls: 0.6681, loss_map_pts: 3.0915, loss_map_dir: 0.0461, d0.loss_plan_l1_fix_time: 4.0871, d0.loss_plan_l1_fix_dist: 0.7468, d1.loss_plan_l1_fix_time: 4.0170, d1.loss_plan_l1_fix_dist: 0.8032, d2.loss_plan_l1_fix_time: 4.0365, d2.loss_plan_l1_fix_dist: 0.9086, d3.loss_plan_l1_fix_time: 4.0646, d3.loss_plan_l1_fix_dist: 1.0398, d4.loss_plan_l1_fix_time: 4.1022, d4.loss_plan_l1_fix_dist: 1.1778, d5.loss_plan_l1_fix_time: 4.1384, d5.loss_plan_l1_fix_dist: 1.3417, d6.loss_plan_l1_fix_time: 4.1754, d6.loss_plan_l1_fix_dist: 1.5110, d0.loss_cls_all: 1.0628, d0.loss_bbox_all: 1.3182, d0.loss_cls: 1.0628, d0.loss_bbox: 1.3182, d1.loss_cls: 1.0798, d1.loss_bbox: 1.3076, d2.loss_cls: 1.0866, d2.loss_bbox: 1.3080, d3.loss_cls: 1.0739, d3.loss_bbox: 1.3247, d4.loss_cls: 1.0747, d4.loss_bbox: 1.3366, d5.loss_cls: 1.0731, d5.loss_bbox: 1.3618, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2891, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4243, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4357, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4837, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5479, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6240, d0.loss_map_cls_all: 0.6513, d0.loss_map_pts_all: 3.7069, d0.loss_map_dir_all: 0.0459, d0.loss_map_cls: 0.6513, d0.loss_map_pts: 3.7069, d0.loss_map_dir: 0.0459, d1.loss_map_cls: 0.6633, d1.loss_map_pts: 3.2223, d1.loss_map_dir: 0.0457, d2.loss_map_cls: 0.6644, d2.loss_map_pts: 3.1001, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6650, d3.loss_map_pts: 3.0702, d3.loss_map_dir: 0.0459, d4.loss_map_cls: 0.6669, d4.loss_map_pts: 3.0680, d4.loss_map_dir: 0.0460, d5.loss_map_cls: 0.6678, d5.loss_map_pts: 3.0768, d5.loss_map_dir: 0.0460, loss: 104.5931, grad_norm: 267.9037 2026-02-24 00:08:38,247 - DriveTransformer - INFO - Epoch [1][9950/117620] lr: 1.000e-04, eta: 27 days, 6:02:41, time: 0.354, data_time: 0.015, memory: 8395, loss_cls: 1.0501, loss_bbox: 1.2494, loss_traj: 3.0350, loss_traj_cls: 0.0006, loss_map_cls: 0.6614, loss_map_pts: 3.2068, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 3.7196, d0.loss_plan_l1_fix_dist: 0.7457, d1.loss_plan_l1_fix_time: 3.6795, d1.loss_plan_l1_fix_dist: 0.8016, d2.loss_plan_l1_fix_time: 3.6968, d2.loss_plan_l1_fix_dist: 0.9038, d3.loss_plan_l1_fix_time: 3.7167, d3.loss_plan_l1_fix_dist: 1.0147, d4.loss_plan_l1_fix_time: 3.7465, d4.loss_plan_l1_fix_dist: 1.1268, d5.loss_plan_l1_fix_time: 3.7783, d5.loss_plan_l1_fix_dist: 1.2533, d6.loss_plan_l1_fix_time: 3.8189, d6.loss_plan_l1_fix_dist: 1.3536, d0.loss_cls_all: 1.0257, d0.loss_bbox_all: 1.1850, d0.loss_cls: 1.0257, d0.loss_bbox: 1.1850, d1.loss_cls: 1.0259, d1.loss_bbox: 1.1794, d2.loss_cls: 1.0299, d2.loss_bbox: 1.1807, d3.loss_cls: 1.0275, d3.loss_bbox: 1.1882, d4.loss_cls: 1.0246, d4.loss_bbox: 1.1935, d5.loss_cls: 1.0270, d5.loss_bbox: 1.2057, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5501, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.6204, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6646, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.7400, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.8740, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.9317, d0.loss_map_cls_all: 0.6397, d0.loss_map_pts_all: 3.7336, d0.loss_map_dir_all: 0.0467, d0.loss_map_cls: 0.6397, d0.loss_map_pts: 3.7336, d0.loss_map_dir: 0.0467, d1.loss_map_cls: 0.6552, d1.loss_map_pts: 3.2406, d1.loss_map_dir: 0.0459, d2.loss_map_cls: 0.6555, d2.loss_map_pts: 3.1264, d2.loss_map_dir: 0.0461, d3.loss_map_cls: 0.6575, d3.loss_map_pts: 3.1122, d3.loss_map_dir: 0.0462, d4.loss_map_cls: 0.6607, d4.loss_map_pts: 3.1289, d4.loss_map_dir: 0.0463, d5.loss_map_cls: 0.6604, d5.loss_map_pts: 3.1627, d5.loss_map_dir: 0.0464, loss: 102.6249, grad_norm: 267.9037 2026-02-24 00:08:55,597 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 00:08:55,597 - DriveTransformer - INFO - Epoch [1][10000/117620] lr: 1.000e-04, eta: 27 days, 6:10:00, time: 0.347, data_time: 0.016, memory: 8395, loss_cls: 1.0543, loss_bbox: 1.3002, loss_traj: 2.6739, loss_traj_cls: 0.0006, loss_map_cls: 0.6842, loss_map_pts: 2.8345, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 3.3018, d0.loss_plan_l1_fix_dist: 0.6832, d1.loss_plan_l1_fix_time: 3.1176, d1.loss_plan_l1_fix_dist: 0.7499, d2.loss_plan_l1_fix_time: 3.1074, d2.loss_plan_l1_fix_dist: 0.8539, d3.loss_plan_l1_fix_time: 3.1208, d3.loss_plan_l1_fix_dist: 0.9649, d4.loss_plan_l1_fix_time: 3.1453, d4.loss_plan_l1_fix_dist: 1.0791, d5.loss_plan_l1_fix_time: 3.1766, d5.loss_plan_l1_fix_dist: 1.2076, d6.loss_plan_l1_fix_time: 3.2164, d6.loss_plan_l1_fix_dist: 1.3175, d0.loss_cls_all: 1.0319, d0.loss_bbox_all: 1.2391, d0.loss_cls: 1.0319, d0.loss_bbox: 1.2391, d1.loss_cls: 1.0415, d1.loss_bbox: 1.2351, d2.loss_cls: 1.0449, d2.loss_bbox: 1.2311, d3.loss_cls: 1.0407, d3.loss_bbox: 1.2434, d4.loss_cls: 1.0351, d4.loss_bbox: 1.2495, d5.loss_cls: 1.0332, d5.loss_bbox: 1.2632, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3000, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3699, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4049, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4459, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5445, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5971, d0.loss_map_cls_all: 0.6629, d0.loss_map_pts_all: 3.4031, d0.loss_map_dir_all: 0.0426, d0.loss_map_cls: 0.6629, d0.loss_map_pts: 3.4031, d0.loss_map_dir: 0.0426, d1.loss_map_cls: 0.6773, d1.loss_map_pts: 2.8804, d1.loss_map_dir: 0.0421, d2.loss_map_cls: 0.6758, d2.loss_map_pts: 2.7558, d2.loss_map_dir: 0.0422, d3.loss_map_cls: 0.6776, d3.loss_map_pts: 2.7464, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.6799, d4.loss_map_pts: 2.7687, d4.loss_map_dir: 0.0426, d5.loss_map_cls: 0.6822, d5.loss_map_pts: 2.7938, d5.loss_map_dir: 0.0427, loss: 94.0246, grad_norm: 268.8049 2026-02-24 00:09:12,386 - DriveTransformer - INFO - Epoch [1][10050/117620] lr: 1.000e-04, eta: 27 days, 6:10:38, time: 0.336, data_time: 0.015, memory: 8395, loss_cls: 0.9939, loss_bbox: 1.2001, loss_traj: 3.0243, loss_traj_cls: 0.0005, loss_map_cls: 0.7212, loss_map_pts: 2.5467, loss_map_dir: 0.0375, d0.loss_plan_l1_fix_time: 3.5111, d0.loss_plan_l1_fix_dist: 0.6159, d1.loss_plan_l1_fix_time: 3.2638, d1.loss_plan_l1_fix_dist: 0.6850, d2.loss_plan_l1_fix_time: 3.2481, d2.loss_plan_l1_fix_dist: 0.7993, d3.loss_plan_l1_fix_time: 3.2632, d3.loss_plan_l1_fix_dist: 0.9222, d4.loss_plan_l1_fix_time: 3.2863, d4.loss_plan_l1_fix_dist: 1.0607, d5.loss_plan_l1_fix_time: 3.3149, d5.loss_plan_l1_fix_dist: 1.2036, d6.loss_plan_l1_fix_time: 3.3590, d6.loss_plan_l1_fix_dist: 1.3396, d0.loss_cls_all: 0.9873, d0.loss_bbox_all: 1.1082, d0.loss_cls: 0.9873, d0.loss_bbox: 1.1082, d1.loss_cls: 1.0013, d1.loss_bbox: 1.1171, d2.loss_cls: 0.9991, d2.loss_bbox: 1.1105, d3.loss_cls: 1.0110, d3.loss_bbox: 1.1227, d4.loss_cls: 0.9965, d4.loss_bbox: 1.1343, d5.loss_cls: 0.9941, d5.loss_bbox: 1.1491, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.5111, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5800, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6661, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7223, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.8227, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9326, d0.loss_map_cls_all: 0.7012, d0.loss_map_pts_all: 3.2372, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.7012, d0.loss_map_pts: 3.2372, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.7055, d1.loss_map_pts: 2.6383, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.7090, d2.loss_map_pts: 2.4730, d2.loss_map_dir: 0.0372, d3.loss_map_cls: 0.7111, d3.loss_map_pts: 2.4546, d3.loss_map_dir: 0.0375, d4.loss_map_cls: 0.7075, d4.loss_map_pts: 2.4737, d4.loss_map_dir: 0.0376, d5.loss_map_cls: 0.7139, d5.loss_map_pts: 2.5018, d5.loss_map_dir: 0.0375, loss: 93.6899, grad_norm: 268.8049 2026-02-24 00:09:30,686 - DriveTransformer - INFO - Epoch [1][10100/117620] lr: 1.000e-04, eta: 27 days, 6:28:50, time: 0.366, data_time: 0.015, memory: 8395, loss_cls: 1.0793, loss_bbox: 1.3144, loss_traj: 2.4665, loss_traj_cls: 0.0005, loss_map_cls: 0.6838, loss_map_pts: 3.0353, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 3.8754, d0.loss_plan_l1_fix_dist: 0.6862, d1.loss_plan_l1_fix_time: 3.7802, d1.loss_plan_l1_fix_dist: 0.7381, d2.loss_plan_l1_fix_time: 3.8074, d2.loss_plan_l1_fix_dist: 0.8292, d3.loss_plan_l1_fix_time: 3.8421, d3.loss_plan_l1_fix_dist: 0.9381, d4.loss_plan_l1_fix_time: 3.8749, d4.loss_plan_l1_fix_dist: 1.0617, d5.loss_plan_l1_fix_time: 3.9100, d5.loss_plan_l1_fix_dist: 1.1880, d6.loss_plan_l1_fix_time: 3.9596, d6.loss_plan_l1_fix_dist: 1.3265, d0.loss_cls_all: 1.0808, d0.loss_bbox_all: 1.2668, d0.loss_cls: 1.0808, d0.loss_bbox: 1.2668, d1.loss_cls: 1.0809, d1.loss_bbox: 1.2696, d2.loss_cls: 1.0834, d2.loss_bbox: 1.2676, d3.loss_cls: 1.0870, d3.loss_bbox: 1.2770, d4.loss_cls: 1.0769, d4.loss_bbox: 1.2850, d5.loss_cls: 1.0783, d5.loss_bbox: 1.2863, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0744, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1491, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2167, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2332, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2934, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3763, d0.loss_map_cls_all: 0.6635, d0.loss_map_pts_all: 3.6424, d0.loss_map_dir_all: 0.0462, d0.loss_map_cls: 0.6635, d0.loss_map_pts: 3.6424, d0.loss_map_dir: 0.0462, d1.loss_map_cls: 0.6775, d1.loss_map_pts: 3.1029, d1.loss_map_dir: 0.0456, d2.loss_map_cls: 0.6767, d2.loss_map_pts: 2.9826, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6790, d3.loss_map_pts: 2.9733, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6814, d4.loss_map_pts: 2.9878, d4.loss_map_dir: 0.0463, d5.loss_map_cls: 0.6825, d5.loss_map_pts: 3.0086, d5.loss_map_dir: 0.0465, loss: 99.6639, grad_norm: 268.1186 2026-02-24 00:09:47,805 - DriveTransformer - INFO - Epoch [1][10150/117620] lr: 1.000e-04, eta: 27 days, 6:33:11, time: 0.342, data_time: 0.014, memory: 8395, loss_cls: 1.0669, loss_bbox: 1.2643, loss_traj: 2.4969, loss_traj_cls: 0.0006, loss_map_cls: 0.6896, loss_map_pts: 2.9806, loss_map_dir: 0.0450, d0.loss_plan_l1_fix_time: 3.9803, d0.loss_plan_l1_fix_dist: 0.8743, d1.loss_plan_l1_fix_time: 3.8209, d1.loss_plan_l1_fix_dist: 0.9187, d2.loss_plan_l1_fix_time: 3.8277, d2.loss_plan_l1_fix_dist: 0.9939, d3.loss_plan_l1_fix_time: 3.8528, d3.loss_plan_l1_fix_dist: 1.0956, d4.loss_plan_l1_fix_time: 3.8817, d4.loss_plan_l1_fix_dist: 1.2062, d5.loss_plan_l1_fix_time: 3.9137, d5.loss_plan_l1_fix_dist: 1.3245, d6.loss_plan_l1_fix_time: 3.9653, d6.loss_plan_l1_fix_dist: 1.4821, d0.loss_cls_all: 1.0597, d0.loss_bbox_all: 1.2057, d0.loss_cls: 1.0597, d0.loss_bbox: 1.2057, d1.loss_cls: 1.0586, d1.loss_bbox: 1.2152, d2.loss_cls: 1.0628, d2.loss_bbox: 1.2214, d3.loss_cls: 1.0597, d3.loss_bbox: 1.2289, d4.loss_cls: 1.0589, d4.loss_bbox: 1.2355, d5.loss_cls: 1.0647, d5.loss_bbox: 1.2410, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1421, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2450, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2786, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3199, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3743, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4151, d0.loss_map_cls_all: 0.6754, d0.loss_map_pts_all: 3.6462, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6754, d0.loss_map_pts: 3.6462, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6875, d1.loss_map_pts: 3.1003, d1.loss_map_dir: 0.0445, d2.loss_map_cls: 0.6881, d2.loss_map_pts: 2.9670, d2.loss_map_dir: 0.0448, d3.loss_map_cls: 0.6881, d3.loss_map_pts: 2.9441, d3.loss_map_dir: 0.0450, d4.loss_map_cls: 0.6875, d4.loss_map_pts: 2.9554, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.6871, d5.loss_map_pts: 2.9678, d5.loss_map_dir: 0.0450, loss: 100.7682, grad_norm: 268.1186 2026-02-24 00:10:04,451 - DriveTransformer - INFO - Epoch [1][10200/117620] lr: 1.000e-04, eta: 27 days, 6:32:07, time: 0.333, data_time: 0.016, memory: 8395, loss_cls: 1.1186, loss_bbox: 1.3319, loss_traj: 2.0261, loss_traj_cls: 0.0005, loss_map_cls: 0.6877, loss_map_pts: 2.8859, loss_map_dir: 0.0443, d0.loss_plan_l1_fix_time: 3.6729, d0.loss_plan_l1_fix_dist: 0.7146, d1.loss_plan_l1_fix_time: 3.5538, d1.loss_plan_l1_fix_dist: 0.7698, d2.loss_plan_l1_fix_time: 3.5610, d2.loss_plan_l1_fix_dist: 0.8508, d3.loss_plan_l1_fix_time: 3.5889, d3.loss_plan_l1_fix_dist: 0.9519, d4.loss_plan_l1_fix_time: 3.6170, d4.loss_plan_l1_fix_dist: 1.0558, d5.loss_plan_l1_fix_time: 3.6477, d5.loss_plan_l1_fix_dist: 1.1679, d6.loss_plan_l1_fix_time: 3.6852, d6.loss_plan_l1_fix_dist: 1.3118, d0.loss_cls_all: 1.0803, d0.loss_bbox_all: 1.2365, d0.loss_cls: 1.0803, d0.loss_bbox: 1.2365, d1.loss_cls: 1.0937, d1.loss_bbox: 1.2392, d2.loss_cls: 1.0981, d2.loss_bbox: 1.2423, d3.loss_cls: 1.0909, d3.loss_bbox: 1.2580, d4.loss_cls: 1.0930, d4.loss_bbox: 1.2745, d5.loss_cls: 1.0986, d5.loss_bbox: 1.2959, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7299, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7990, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8418, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8668, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9178, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9666, d0.loss_map_cls_all: 0.6757, d0.loss_map_pts_all: 3.5980, d0.loss_map_dir_all: 0.0441, d0.loss_map_cls: 0.6757, d0.loss_map_pts: 3.5980, d0.loss_map_dir: 0.0441, d1.loss_map_cls: 0.6850, d1.loss_map_pts: 3.0358, d1.loss_map_dir: 0.0436, d2.loss_map_cls: 0.6880, d2.loss_map_pts: 2.9003, d2.loss_map_dir: 0.0440, d3.loss_map_cls: 0.6863, d3.loss_map_pts: 2.8704, d3.loss_map_dir: 0.0441, d4.loss_map_cls: 0.6859, d4.loss_map_pts: 2.8665, d4.loss_map_dir: 0.0442, d5.loss_map_cls: 0.6857, d5.loss_map_pts: 2.8742, d5.loss_map_dir: 0.0441, loss: 94.6203, grad_norm: 266.8358 2026-02-24 00:10:21,465 - DriveTransformer - INFO - Epoch [1][10250/117620] lr: 1.000e-04, eta: 27 days, 6:35:12, time: 0.340, data_time: 0.019, memory: 8395, loss_cls: 1.0583, loss_bbox: 1.3799, loss_traj: 2.1828, loss_traj_cls: 0.0006, loss_map_cls: 0.6944, loss_map_pts: 3.0202, loss_map_dir: 0.0458, d0.loss_plan_l1_fix_time: 3.7174, d0.loss_plan_l1_fix_dist: 0.8084, d1.loss_plan_l1_fix_time: 3.6613, d1.loss_plan_l1_fix_dist: 0.8455, d2.loss_plan_l1_fix_time: 3.6833, d2.loss_plan_l1_fix_dist: 0.9172, d3.loss_plan_l1_fix_time: 3.7096, d3.loss_plan_l1_fix_dist: 1.0034, d4.loss_plan_l1_fix_time: 3.7378, d4.loss_plan_l1_fix_dist: 1.0917, d5.loss_plan_l1_fix_time: 3.7613, d5.loss_plan_l1_fix_dist: 1.1947, d6.loss_plan_l1_fix_time: 3.7917, d6.loss_plan_l1_fix_dist: 1.3063, d0.loss_cls_all: 1.0290, d0.loss_bbox_all: 1.2762, d0.loss_cls: 1.0290, d0.loss_bbox: 1.2762, d1.loss_cls: 1.0386, d1.loss_bbox: 1.2681, d2.loss_cls: 1.0437, d2.loss_bbox: 1.2593, d3.loss_cls: 1.0448, d3.loss_bbox: 1.2680, d4.loss_cls: 1.0440, d4.loss_bbox: 1.2833, d5.loss_cls: 1.0400, d5.loss_bbox: 1.3282, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8865, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9099, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9603, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9950, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0461, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1139, d0.loss_map_cls_all: 0.6790, d0.loss_map_pts_all: 3.7033, d0.loss_map_dir_all: 0.0465, d0.loss_map_cls: 0.6790, d0.loss_map_pts: 3.7033, d0.loss_map_dir: 0.0465, d1.loss_map_cls: 0.6943, d1.loss_map_pts: 3.1728, d1.loss_map_dir: 0.0453, d2.loss_map_cls: 0.6934, d2.loss_map_pts: 3.0351, d2.loss_map_dir: 0.0456, d3.loss_map_cls: 0.6911, d3.loss_map_pts: 3.0010, d3.loss_map_dir: 0.0456, d4.loss_map_cls: 0.6920, d4.loss_map_pts: 2.9954, d4.loss_map_dir: 0.0458, d5.loss_map_cls: 0.6936, d5.loss_map_pts: 3.0018, d5.loss_map_dir: 0.0459, loss: 97.5111, grad_norm: 266.8358 2026-02-24 00:10:38,880 - DriveTransformer - INFO - Epoch [1][10300/117620] lr: 1.000e-04, eta: 27 days, 6:42:51, time: 0.348, data_time: 0.014, memory: 8395, loss_cls: 1.1222, loss_bbox: 1.3925, loss_traj: 2.1140, loss_traj_cls: 0.0006, loss_map_cls: 0.6571, loss_map_pts: 3.2422, loss_map_dir: 0.0526, d0.loss_plan_l1_fix_time: 3.5684, d0.loss_plan_l1_fix_dist: 0.7935, d1.loss_plan_l1_fix_time: 3.4514, d1.loss_plan_l1_fix_dist: 0.8501, d2.loss_plan_l1_fix_time: 3.4601, d2.loss_plan_l1_fix_dist: 0.9318, d3.loss_plan_l1_fix_time: 3.4865, d3.loss_plan_l1_fix_dist: 1.0206, d4.loss_plan_l1_fix_time: 3.5163, d4.loss_plan_l1_fix_dist: 1.1188, d5.loss_plan_l1_fix_time: 3.5443, d5.loss_plan_l1_fix_dist: 1.2381, d6.loss_plan_l1_fix_time: 3.5668, d6.loss_plan_l1_fix_dist: 1.3490, d0.loss_cls_all: 1.0893, d0.loss_bbox_all: 1.2731, d0.loss_cls: 1.0893, d0.loss_bbox: 1.2731, d1.loss_cls: 1.0943, d1.loss_bbox: 1.2739, d2.loss_cls: 1.1013, d2.loss_bbox: 1.2787, d3.loss_cls: 1.1006, d3.loss_bbox: 1.2936, d4.loss_cls: 1.0998, d4.loss_bbox: 1.3041, d5.loss_cls: 1.1026, d5.loss_bbox: 1.3342, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8160, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8640, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8880, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9243, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9639, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0771, d0.loss_map_cls_all: 0.6535, d0.loss_map_pts_all: 3.7609, d0.loss_map_dir_all: 0.0520, d0.loss_map_cls: 0.6535, d0.loss_map_pts: 3.7609, d0.loss_map_dir: 0.0520, d1.loss_map_cls: 0.6608, d1.loss_map_pts: 3.2890, d1.loss_map_dir: 0.0515, d2.loss_map_cls: 0.6639, d2.loss_map_pts: 3.2042, d2.loss_map_dir: 0.0519, d3.loss_map_cls: 0.6593, d3.loss_map_pts: 3.1997, d3.loss_map_dir: 0.0523, d4.loss_map_cls: 0.6547, d4.loss_map_pts: 3.2071, d4.loss_map_dir: 0.0526, d5.loss_map_cls: 0.6563, d5.loss_map_pts: 3.2218, d5.loss_map_dir: 0.0527, loss: 97.3323, grad_norm: 268.0422 2026-02-24 00:10:55,584 - DriveTransformer - INFO - Epoch [1][10350/117620] lr: 1.000e-04, eta: 27 days, 6:42:20, time: 0.334, data_time: 0.015, memory: 8395, loss_cls: 1.1074, loss_bbox: 1.3722, loss_traj: 2.2440, loss_traj_cls: 0.0006, loss_map_cls: 0.6641, loss_map_pts: 2.8513, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 3.6902, d0.loss_plan_l1_fix_dist: 0.8536, d1.loss_plan_l1_fix_time: 3.7011, d1.loss_plan_l1_fix_dist: 0.9246, d2.loss_plan_l1_fix_time: 3.7339, d2.loss_plan_l1_fix_dist: 1.0333, d3.loss_plan_l1_fix_time: 3.7692, d3.loss_plan_l1_fix_dist: 1.1454, d4.loss_plan_l1_fix_time: 3.8104, d4.loss_plan_l1_fix_dist: 1.2711, d5.loss_plan_l1_fix_time: 3.8453, d5.loss_plan_l1_fix_dist: 1.4182, d6.loss_plan_l1_fix_time: 3.8717, d6.loss_plan_l1_fix_dist: 1.5447, d0.loss_cls_all: 1.0724, d0.loss_bbox_all: 1.2400, d0.loss_cls: 1.0724, d0.loss_bbox: 1.2400, d1.loss_cls: 1.0777, d1.loss_bbox: 1.2479, d2.loss_cls: 1.0890, d2.loss_bbox: 1.2445, d3.loss_cls: 1.0891, d3.loss_bbox: 1.2603, d4.loss_cls: 1.0872, d4.loss_bbox: 1.2662, d5.loss_cls: 1.0892, d5.loss_bbox: 1.3014, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9458, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9860, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9952, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0438, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0435, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2173, d0.loss_map_cls_all: 0.6475, d0.loss_map_pts_all: 3.4908, d0.loss_map_dir_all: 0.0429, d0.loss_map_cls: 0.6475, d0.loss_map_pts: 3.4908, d0.loss_map_dir: 0.0429, d1.loss_map_cls: 0.6597, d1.loss_map_pts: 2.9774, d1.loss_map_dir: 0.0421, d2.loss_map_cls: 0.6604, d2.loss_map_pts: 2.8397, d2.loss_map_dir: 0.0424, d3.loss_map_cls: 0.6619, d3.loss_map_pts: 2.8107, d3.loss_map_dir: 0.0426, d4.loss_map_cls: 0.6625, d4.loss_map_pts: 2.8149, d4.loss_map_dir: 0.0428, d5.loss_map_cls: 0.6629, d5.loss_map_pts: 2.8301, d5.loss_map_dir: 0.0429, loss: 97.6626, grad_norm: 268.0422 2026-02-24 00:11:12,133 - DriveTransformer - INFO - Epoch [1][10400/117620] lr: 1.000e-04, eta: 27 days, 6:40:05, time: 0.331, data_time: 0.016, memory: 8395, loss_cls: 1.1178, loss_bbox: 1.3046, loss_traj: 2.5269, loss_traj_cls: 0.0006, loss_map_cls: 0.6786, loss_map_pts: 2.8702, loss_map_dir: 0.0436, d0.loss_plan_l1_fix_time: 4.1428, d0.loss_plan_l1_fix_dist: 0.8012, d1.loss_plan_l1_fix_time: 4.0256, d1.loss_plan_l1_fix_dist: 0.8344, d2.loss_plan_l1_fix_time: 4.0479, d2.loss_plan_l1_fix_dist: 0.9034, d3.loss_plan_l1_fix_time: 4.0693, d3.loss_plan_l1_fix_dist: 0.9874, d4.loss_plan_l1_fix_time: 4.0970, d4.loss_plan_l1_fix_dist: 1.0886, d5.loss_plan_l1_fix_time: 4.1206, d5.loss_plan_l1_fix_dist: 1.2168, d6.loss_plan_l1_fix_time: 4.1392, d6.loss_plan_l1_fix_dist: 1.3531, d0.loss_cls_all: 1.0798, d0.loss_bbox_all: 1.2458, d0.loss_cls: 1.0798, d0.loss_bbox: 1.2458, d1.loss_cls: 1.0823, d1.loss_bbox: 1.2430, d2.loss_cls: 1.0937, d2.loss_bbox: 1.2404, d3.loss_cls: 1.0984, d3.loss_bbox: 1.2512, d4.loss_cls: 1.0997, d4.loss_bbox: 1.2636, d5.loss_cls: 1.1008, d5.loss_bbox: 1.2900, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2707, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3144, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3222, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3639, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3823, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4649, d0.loss_map_cls_all: 0.6494, d0.loss_map_pts_all: 3.6081, d0.loss_map_dir_all: 0.0436, d0.loss_map_cls: 0.6494, d0.loss_map_pts: 3.6081, d0.loss_map_dir: 0.0436, d1.loss_map_cls: 0.6621, d1.loss_map_pts: 3.0207, d1.loss_map_dir: 0.0428, d2.loss_map_cls: 0.6665, d2.loss_map_pts: 2.8731, d2.loss_map_dir: 0.0430, d3.loss_map_cls: 0.6692, d3.loss_map_pts: 2.8488, d3.loss_map_dir: 0.0431, d4.loss_map_cls: 0.6731, d4.loss_map_pts: 2.8510, d4.loss_map_dir: 0.0433, d5.loss_map_cls: 0.6756, d5.loss_map_pts: 2.8612, d5.loss_map_dir: 0.0434, loss: 101.5239, grad_norm: 266.4279 2026-02-24 00:11:30,103 - DriveTransformer - INFO - Epoch [1][10450/117620] lr: 1.000e-04, eta: 27 days, 6:53:48, time: 0.359, data_time: 0.015, memory: 8395, loss_cls: 1.0163, loss_bbox: 1.2152, loss_traj: 2.3199, loss_traj_cls: 0.0006, loss_map_cls: 0.6703, loss_map_pts: 2.7831, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 3.8263, d0.loss_plan_l1_fix_dist: 0.6301, d1.loss_plan_l1_fix_time: 3.7055, d1.loss_plan_l1_fix_dist: 0.6658, d2.loss_plan_l1_fix_time: 3.7128, d2.loss_plan_l1_fix_dist: 0.7202, d3.loss_plan_l1_fix_time: 3.7315, d3.loss_plan_l1_fix_dist: 0.7883, d4.loss_plan_l1_fix_time: 3.7565, d4.loss_plan_l1_fix_dist: 0.8786, d5.loss_plan_l1_fix_time: 3.7799, d5.loss_plan_l1_fix_dist: 0.9903, d6.loss_plan_l1_fix_time: 3.7945, d6.loss_plan_l1_fix_dist: 1.1204, d0.loss_cls_all: 1.0010, d0.loss_bbox_all: 1.1694, d0.loss_cls: 1.0010, d0.loss_bbox: 1.1694, d1.loss_cls: 1.0085, d1.loss_bbox: 1.1652, d2.loss_cls: 1.0114, d2.loss_bbox: 1.1740, d3.loss_cls: 1.0194, d3.loss_bbox: 1.1861, d4.loss_cls: 1.0168, d4.loss_bbox: 1.2020, d5.loss_cls: 1.0181, d5.loss_bbox: 1.2178, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1657, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2011, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1840, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2041, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2304, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2611, d0.loss_map_cls_all: 0.6454, d0.loss_map_pts_all: 3.4131, d0.loss_map_dir_all: 0.0446, d0.loss_map_cls: 0.6454, d0.loss_map_pts: 3.4131, d0.loss_map_dir: 0.0446, d1.loss_map_cls: 0.6600, d1.loss_map_pts: 2.8837, d1.loss_map_dir: 0.0440, d2.loss_map_cls: 0.6611, d2.loss_map_pts: 2.7618, d2.loss_map_dir: 0.0442, d3.loss_map_cls: 0.6642, d3.loss_map_pts: 2.7536, d3.loss_map_dir: 0.0444, d4.loss_map_cls: 0.6669, d4.loss_map_pts: 2.7651, d4.loss_map_dir: 0.0446, d5.loss_map_cls: 0.6693, d5.loss_map_pts: 2.7763, d5.loss_map_dir: 0.0448, loss: 94.4505, grad_norm: 266.4279 2026-02-24 00:11:47,420 - DriveTransformer - INFO - Epoch [1][10500/117620] lr: 1.000e-04, eta: 27 days, 7:00:09, time: 0.346, data_time: 0.013, memory: 8395, loss_cls: 1.0698, loss_bbox: 1.3028, loss_traj: 2.6089, loss_traj_cls: 0.0006, loss_map_cls: 0.6660, loss_map_pts: 3.2269, loss_map_dir: 0.0466, d0.loss_plan_l1_fix_time: 3.7511, d0.loss_plan_l1_fix_dist: 0.6796, d1.loss_plan_l1_fix_time: 3.6011, d1.loss_plan_l1_fix_dist: 0.7149, d2.loss_plan_l1_fix_time: 3.6011, d2.loss_plan_l1_fix_dist: 0.7872, d3.loss_plan_l1_fix_time: 3.6301, d3.loss_plan_l1_fix_dist: 0.8881, d4.loss_plan_l1_fix_time: 3.6624, d4.loss_plan_l1_fix_dist: 0.9967, d5.loss_plan_l1_fix_time: 3.6929, d5.loss_plan_l1_fix_dist: 1.1240, d6.loss_plan_l1_fix_time: 3.7184, d6.loss_plan_l1_fix_dist: 1.2759, d0.loss_cls_all: 1.0427, d0.loss_bbox_all: 1.2273, d0.loss_cls: 1.0427, d0.loss_bbox: 1.2273, d1.loss_cls: 1.0497, d1.loss_bbox: 1.2312, d2.loss_cls: 1.0565, d2.loss_bbox: 1.2367, d3.loss_cls: 1.0680, d3.loss_bbox: 1.2505, d4.loss_cls: 1.0677, d4.loss_bbox: 1.2788, d5.loss_cls: 1.0694, d5.loss_bbox: 1.3049, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3143, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3578, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4036, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4242, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4783, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.5359, d0.loss_map_cls_all: 0.6429, d0.loss_map_pts_all: 3.7740, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6429, d0.loss_map_pts: 3.7740, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6540, d1.loss_map_pts: 3.2578, d1.loss_map_dir: 0.0457, d2.loss_map_cls: 0.6554, d2.loss_map_pts: 3.1801, d2.loss_map_dir: 0.0461, d3.loss_map_cls: 0.6600, d3.loss_map_pts: 3.1869, d3.loss_map_dir: 0.0463, d4.loss_map_cls: 0.6627, d4.loss_map_pts: 3.2039, d4.loss_map_dir: 0.0465, d5.loss_map_cls: 0.6637, d5.loss_map_pts: 3.2186, d5.loss_map_dir: 0.0465, loss: 100.2158, grad_norm: 264.8071 2026-02-24 00:12:03,895 - DriveTransformer - INFO - Epoch [1][10550/117620] lr: 1.000e-04, eta: 27 days, 6:56:59, time: 0.329, data_time: 0.014, memory: 8395, loss_cls: 1.1213, loss_bbox: 1.2907, loss_traj: 2.2548, loss_traj_cls: 0.0006, loss_map_cls: 0.6700, loss_map_pts: 2.8825, loss_map_dir: 0.0460, d0.loss_plan_l1_fix_time: 3.5124, d0.loss_plan_l1_fix_dist: 0.8653, d1.loss_plan_l1_fix_time: 3.3524, d1.loss_plan_l1_fix_dist: 0.9025, d2.loss_plan_l1_fix_time: 3.3678, d2.loss_plan_l1_fix_dist: 0.9714, d3.loss_plan_l1_fix_time: 3.3939, d3.loss_plan_l1_fix_dist: 1.0740, d4.loss_plan_l1_fix_time: 3.4220, d4.loss_plan_l1_fix_dist: 1.1817, d5.loss_plan_l1_fix_time: 3.4488, d5.loss_plan_l1_fix_dist: 1.3067, d6.loss_plan_l1_fix_time: 3.4754, d6.loss_plan_l1_fix_dist: 1.4537, d0.loss_cls_all: 1.1119, d0.loss_bbox_all: 1.2062, d0.loss_cls: 1.1119, d0.loss_bbox: 1.2062, d1.loss_cls: 1.1214, d1.loss_bbox: 1.2145, d2.loss_cls: 1.1187, d2.loss_bbox: 1.2258, d3.loss_cls: 1.1157, d3.loss_bbox: 1.2453, d4.loss_cls: 1.1239, d4.loss_bbox: 1.2679, d5.loss_cls: 1.1314, d5.loss_bbox: 1.2876, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9164, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9750, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0235, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0572, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1008, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1692, d0.loss_map_cls_all: 0.6458, d0.loss_map_pts_all: 3.5011, d0.loss_map_dir_all: 0.0451, d0.loss_map_cls: 0.6458, d0.loss_map_pts: 3.5011, d0.loss_map_dir: 0.0451, d1.loss_map_cls: 0.6554, d1.loss_map_pts: 2.9367, d1.loss_map_dir: 0.0455, d2.loss_map_cls: 0.6611, d2.loss_map_pts: 2.8334, d2.loss_map_dir: 0.0459, d3.loss_map_cls: 0.6665, d3.loss_map_pts: 2.8316, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6671, d4.loss_map_pts: 2.8516, d4.loss_map_dir: 0.0460, d5.loss_map_cls: 0.6683, d5.loss_map_pts: 2.8715, d5.loss_map_dir: 0.0460, loss: 94.9842, grad_norm: 264.8071 2026-02-24 00:12:21,237 - DriveTransformer - INFO - Epoch [1][10600/117620] lr: 1.000e-04, eta: 27 days, 7:03:29, time: 0.347, data_time: 0.015, memory: 8395, loss_cls: 1.0508, loss_bbox: 1.2612, loss_traj: 2.8804, loss_traj_cls: 0.0006, loss_map_cls: 0.6916, loss_map_pts: 2.5335, loss_map_dir: 0.0408, d0.loss_plan_l1_fix_time: 4.2354, d0.loss_plan_l1_fix_dist: 0.7702, d1.loss_plan_l1_fix_time: 4.1737, d1.loss_plan_l1_fix_dist: 0.8083, d2.loss_plan_l1_fix_time: 4.2064, d2.loss_plan_l1_fix_dist: 0.8869, d3.loss_plan_l1_fix_time: 4.2519, d3.loss_plan_l1_fix_dist: 0.9976, d4.loss_plan_l1_fix_time: 4.2905, d4.loss_plan_l1_fix_dist: 1.1243, d5.loss_plan_l1_fix_time: 4.3293, d5.loss_plan_l1_fix_dist: 1.2697, d6.loss_plan_l1_fix_time: 4.3675, d6.loss_plan_l1_fix_dist: 1.4342, d0.loss_cls_all: 1.0296, d0.loss_bbox_all: 1.2024, d0.loss_cls: 1.0296, d0.loss_bbox: 1.2024, d1.loss_cls: 1.0358, d1.loss_bbox: 1.2086, d2.loss_cls: 1.0396, d2.loss_bbox: 1.2128, d3.loss_cls: 1.0456, d3.loss_bbox: 1.2140, d4.loss_cls: 1.0419, d4.loss_bbox: 1.2251, d5.loss_cls: 1.0387, d5.loss_bbox: 1.2539, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5697, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6245, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6399, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6650, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7268, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7597, d0.loss_map_cls_all: 0.6680, d0.loss_map_pts_all: 3.1935, d0.loss_map_dir_all: 0.0406, d0.loss_map_cls: 0.6680, d0.loss_map_pts: 3.1935, d0.loss_map_dir: 0.0406, d1.loss_map_cls: 0.6841, d1.loss_map_pts: 2.6317, d1.loss_map_dir: 0.0404, d2.loss_map_cls: 0.6888, d2.loss_map_pts: 2.5086, d2.loss_map_dir: 0.0405, d3.loss_map_cls: 0.6911, d3.loss_map_pts: 2.4946, d3.loss_map_dir: 0.0407, d4.loss_map_cls: 0.6908, d4.loss_map_pts: 2.5014, d4.loss_map_dir: 0.0408, d5.loss_map_cls: 0.6917, d5.loss_map_pts: 2.5156, d5.loss_map_dir: 0.0407, loss: 101.4792, grad_norm: 263.5539 2026-02-24 00:12:38,368 - DriveTransformer - INFO - Epoch [1][10650/117620] lr: 1.000e-04, eta: 27 days, 7:07:37, time: 0.343, data_time: 0.016, memory: 8395, loss_cls: 1.1372, loss_bbox: 1.2925, loss_traj: 2.4520, loss_traj_cls: 0.0006, loss_map_cls: 0.6656, loss_map_pts: 3.0220, loss_map_dir: 0.0478, d0.loss_plan_l1_fix_time: 3.2291, d0.loss_plan_l1_fix_dist: 0.7154, d1.loss_plan_l1_fix_time: 3.0698, d1.loss_plan_l1_fix_dist: 0.7522, d2.loss_plan_l1_fix_time: 3.0771, d2.loss_plan_l1_fix_dist: 0.8378, d3.loss_plan_l1_fix_time: 3.1173, d3.loss_plan_l1_fix_dist: 0.9512, d4.loss_plan_l1_fix_time: 3.1590, d4.loss_plan_l1_fix_dist: 1.0854, d5.loss_plan_l1_fix_time: 3.2025, d5.loss_plan_l1_fix_dist: 1.2418, d6.loss_plan_l1_fix_time: 3.2464, d6.loss_plan_l1_fix_dist: 1.4181, d0.loss_cls_all: 1.1349, d0.loss_bbox_all: 1.2431, d0.loss_cls: 1.1349, d0.loss_bbox: 1.2431, d1.loss_cls: 1.1399, d1.loss_bbox: 1.2481, d2.loss_cls: 1.1391, d2.loss_bbox: 1.2491, d3.loss_cls: 1.1419, d3.loss_bbox: 1.2510, d4.loss_cls: 1.1273, d4.loss_bbox: 1.2677, d5.loss_cls: 1.1256, d5.loss_bbox: 1.2907, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0591, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1092, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1350, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1888, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2786, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3199, d0.loss_map_cls_all: 0.6454, d0.loss_map_pts_all: 3.6642, d0.loss_map_dir_all: 0.0470, d0.loss_map_cls: 0.6454, d0.loss_map_pts: 3.6642, d0.loss_map_dir: 0.0470, d1.loss_map_cls: 0.6541, d1.loss_map_pts: 3.1226, d1.loss_map_dir: 0.0470, d2.loss_map_cls: 0.6569, d2.loss_map_pts: 3.0220, d2.loss_map_dir: 0.0475, d3.loss_map_cls: 0.6615, d3.loss_map_pts: 3.0048, d3.loss_map_dir: 0.0477, d4.loss_map_cls: 0.6623, d4.loss_map_pts: 3.0067, d4.loss_map_dir: 0.0478, d5.loss_map_cls: 0.6638, d5.loss_map_pts: 3.0113, d5.loss_map_dir: 0.0478, loss: 94.9683, grad_norm: 263.5539 2026-02-24 00:12:55,794 - DriveTransformer - INFO - Epoch [1][10700/117620] lr: 1.000e-04, eta: 27 days, 7:14:54, time: 0.348, data_time: 0.014, memory: 8395, loss_cls: 1.0942, loss_bbox: 1.2973, loss_traj: 2.9068, loss_traj_cls: 0.0005, loss_map_cls: 0.6699, loss_map_pts: 3.0863, loss_map_dir: 0.0454, d0.loss_plan_l1_fix_time: 3.5744, d0.loss_plan_l1_fix_dist: 0.6625, d1.loss_plan_l1_fix_time: 3.5374, d1.loss_plan_l1_fix_dist: 0.6982, d2.loss_plan_l1_fix_time: 3.5425, d2.loss_plan_l1_fix_dist: 0.7589, d3.loss_plan_l1_fix_time: 3.5608, d3.loss_plan_l1_fix_dist: 0.8232, d4.loss_plan_l1_fix_time: 3.5864, d4.loss_plan_l1_fix_dist: 0.9024, d5.loss_plan_l1_fix_time: 3.6102, d5.loss_plan_l1_fix_dist: 0.9946, d6.loss_plan_l1_fix_time: 3.6445, d6.loss_plan_l1_fix_dist: 1.0943, d0.loss_cls_all: 1.0597, d0.loss_bbox_all: 1.2221, d0.loss_cls: 1.0597, d0.loss_bbox: 1.2221, d1.loss_cls: 1.0709, d1.loss_bbox: 1.2212, d2.loss_cls: 1.0816, d2.loss_bbox: 1.2221, d3.loss_cls: 1.0777, d3.loss_bbox: 1.2306, d4.loss_cls: 1.0819, d4.loss_bbox: 1.2510, d5.loss_cls: 1.0804, d5.loss_bbox: 1.2742, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4869, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5892, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6585, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7007, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.7428, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8404, d0.loss_map_cls_all: 0.6264, d0.loss_map_pts_all: 3.6569, d0.loss_map_dir_all: 0.0439, d0.loss_map_cls: 0.6264, d0.loss_map_pts: 3.6569, d0.loss_map_dir: 0.0439, d1.loss_map_cls: 0.6375, d1.loss_map_pts: 3.0559, d1.loss_map_dir: 0.0443, d2.loss_map_cls: 0.6445, d2.loss_map_pts: 2.9475, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6510, d3.loss_map_pts: 2.9617, d3.loss_map_dir: 0.0451, d4.loss_map_cls: 0.6579, d4.loss_map_pts: 2.9954, d4.loss_map_dir: 0.0452, d5.loss_map_cls: 0.6625, d5.loss_map_pts: 3.0361, d5.loss_map_dir: 0.0451, loss: 99.3962, grad_norm: 262.6693 2026-02-24 00:13:12,602 - DriveTransformer - INFO - Epoch [1][10750/117620] lr: 1.000e-04, eta: 27 days, 7:15:22, time: 0.336, data_time: 0.014, memory: 8395, loss_cls: 1.0771, loss_bbox: 1.2529, loss_traj: 2.9880, loss_traj_cls: 0.0006, loss_map_cls: 0.6766, loss_map_pts: 2.6744, loss_map_dir: 0.0415, d0.loss_plan_l1_fix_time: 3.6603, d0.loss_plan_l1_fix_dist: 0.8098, d1.loss_plan_l1_fix_time: 3.6298, d1.loss_plan_l1_fix_dist: 0.8475, d2.loss_plan_l1_fix_time: 3.6582, d2.loss_plan_l1_fix_dist: 0.9089, d3.loss_plan_l1_fix_time: 3.6916, d3.loss_plan_l1_fix_dist: 0.9717, d4.loss_plan_l1_fix_time: 3.7242, d4.loss_plan_l1_fix_dist: 1.0507, d5.loss_plan_l1_fix_time: 3.7540, d5.loss_plan_l1_fix_dist: 1.1398, d6.loss_plan_l1_fix_time: 3.7889, d6.loss_plan_l1_fix_dist: 1.2318, d0.loss_cls_all: 1.0576, d0.loss_bbox_all: 1.1566, d0.loss_cls: 1.0576, d0.loss_bbox: 1.1566, d1.loss_cls: 1.0651, d1.loss_bbox: 1.1610, d2.loss_cls: 1.0733, d2.loss_bbox: 1.1637, d3.loss_cls: 1.0677, d3.loss_bbox: 1.1725, d4.loss_cls: 1.0689, d4.loss_bbox: 1.1897, d5.loss_cls: 1.0701, d5.loss_bbox: 1.2144, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5513, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6507, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.7334, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7801, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.8355, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9404, d0.loss_map_cls_all: 0.6435, d0.loss_map_pts_all: 3.2303, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6435, d0.loss_map_pts: 3.2303, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.6548, d1.loss_map_pts: 2.6008, d1.loss_map_dir: 0.0412, d2.loss_map_cls: 0.6575, d2.loss_map_pts: 2.4806, d2.loss_map_dir: 0.0411, d3.loss_map_cls: 0.6592, d3.loss_map_pts: 2.5117, d3.loss_map_dir: 0.0411, d4.loss_map_cls: 0.6648, d4.loss_map_pts: 2.5620, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6701, d5.loss_map_pts: 2.6147, d5.loss_map_dir: 0.0413, loss: 97.8601, grad_norm: 262.6693 2026-02-24 00:13:29,336 - DriveTransformer - INFO - Epoch [1][10800/117620] lr: 1.000e-04, eta: 27 days, 7:15:03, time: 0.335, data_time: 0.019, memory: 8395, loss_cls: 1.0521, loss_bbox: 1.2011, loss_traj: 2.1738, loss_traj_cls: 0.0005, loss_map_cls: 0.6946, loss_map_pts: 2.6790, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 3.7514, d0.loss_plan_l1_fix_dist: 0.6042, d1.loss_plan_l1_fix_time: 3.6223, d1.loss_plan_l1_fix_dist: 0.6820, d2.loss_plan_l1_fix_time: 3.6266, d2.loss_plan_l1_fix_dist: 0.7820, d3.loss_plan_l1_fix_time: 3.6490, d3.loss_plan_l1_fix_dist: 0.8814, d4.loss_plan_l1_fix_time: 3.6690, d4.loss_plan_l1_fix_dist: 0.9877, d5.loss_plan_l1_fix_time: 3.6919, d5.loss_plan_l1_fix_dist: 1.0958, d6.loss_plan_l1_fix_time: 3.7126, d6.loss_plan_l1_fix_dist: 1.2080, d0.loss_cls_all: 1.0489, d0.loss_bbox_all: 1.1279, d0.loss_cls: 1.0489, d0.loss_bbox: 1.1279, d1.loss_cls: 1.0495, d1.loss_bbox: 1.1438, d2.loss_cls: 1.0514, d2.loss_bbox: 1.1584, d3.loss_cls: 1.0454, d3.loss_bbox: 1.1700, d4.loss_cls: 1.0483, d4.loss_bbox: 1.1820, d5.loss_cls: 1.0509, d5.loss_bbox: 1.1954, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0534, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0750, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1102, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1227, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1411, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1400, d0.loss_map_cls_all: 0.6830, d0.loss_map_pts_all: 3.2765, d0.loss_map_dir_all: 0.0425, d0.loss_map_cls: 0.6830, d0.loss_map_pts: 3.2765, d0.loss_map_dir: 0.0425, d1.loss_map_cls: 0.6891, d1.loss_map_pts: 2.6942, d1.loss_map_dir: 0.0423, d2.loss_map_cls: 0.6877, d2.loss_map_pts: 2.6107, d2.loss_map_dir: 0.0424, d3.loss_map_cls: 0.6905, d3.loss_map_pts: 2.6079, d3.loss_map_dir: 0.0426, d4.loss_map_cls: 0.6923, d4.loss_map_pts: 2.6219, d4.loss_map_dir: 0.0427, d5.loss_map_cls: 0.6951, d5.loss_map_pts: 2.6470, d5.loss_map_dir: 0.0427, loss: 92.7547, grad_norm: 261.7997 2026-02-24 00:13:53,864 - DriveTransformer - INFO - Epoch [1][10850/117620] lr: 1.000e-04, eta: 27 days, 8:39:09, time: 0.491, data_time: 0.019, memory: 8395, loss_cls: 1.1432, loss_bbox: 1.2671, loss_traj: 2.4563, loss_traj_cls: 0.0005, loss_map_cls: 0.6772, loss_map_pts: 2.9039, loss_map_dir: 0.0485, d0.loss_plan_l1_fix_time: 3.7544, d0.loss_plan_l1_fix_dist: 0.6405, d1.loss_plan_l1_fix_time: 3.6238, d1.loss_plan_l1_fix_dist: 0.7033, d2.loss_plan_l1_fix_time: 3.6262, d2.loss_plan_l1_fix_dist: 0.7965, d3.loss_plan_l1_fix_time: 3.6457, d3.loss_plan_l1_fix_dist: 0.8864, d4.loss_plan_l1_fix_time: 3.6656, d4.loss_plan_l1_fix_dist: 0.9886, d5.loss_plan_l1_fix_time: 3.6872, d5.loss_plan_l1_fix_dist: 1.0908, d6.loss_plan_l1_fix_time: 3.7066, d6.loss_plan_l1_fix_dist: 1.1954, d0.loss_cls_all: 1.1176, d0.loss_bbox_all: 1.2103, d0.loss_cls: 1.1176, d0.loss_bbox: 1.2103, d1.loss_cls: 1.1225, d1.loss_bbox: 1.2174, d2.loss_cls: 1.1297, d2.loss_bbox: 1.2203, d3.loss_cls: 1.1301, d3.loss_bbox: 1.2311, d4.loss_cls: 1.1376, d4.loss_bbox: 1.2431, d5.loss_cls: 1.1430, d5.loss_bbox: 1.2548, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2650, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3341, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3675, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4039, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4202, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4308, d0.loss_map_cls_all: 0.6405, d0.loss_map_pts_all: 3.5495, d0.loss_map_dir_all: 0.0480, d0.loss_map_cls: 0.6405, d0.loss_map_pts: 3.5495, d0.loss_map_dir: 0.0480, d1.loss_map_cls: 0.6525, d1.loss_map_pts: 2.9753, d1.loss_map_dir: 0.0483, d2.loss_map_cls: 0.6566, d2.loss_map_pts: 2.8874, d2.loss_map_dir: 0.0485, d3.loss_map_cls: 0.6624, d3.loss_map_pts: 2.8737, d3.loss_map_dir: 0.0485, d4.loss_map_cls: 0.6707, d4.loss_map_pts: 2.8726, d4.loss_map_dir: 0.0486, d5.loss_map_cls: 0.6739, d5.loss_map_pts: 2.8837, d5.loss_map_dir: 0.0485, loss: 97.7450, grad_norm: 261.1417 2026-02-24 00:14:18,783 - DriveTransformer - INFO - Epoch [1][10900/117620] lr: 1.000e-04, eta: 27 days, 10:06:38, time: 0.498, data_time: 0.018, memory: 8395, loss_cls: 1.0473, loss_bbox: 1.2192, loss_traj: 2.9438, loss_traj_cls: 0.0005, loss_map_cls: 0.6822, loss_map_pts: 2.8741, loss_map_dir: 0.0496, d0.loss_plan_l1_fix_time: 3.7645, d0.loss_plan_l1_fix_dist: 0.8562, d1.loss_plan_l1_fix_time: 3.7917, d1.loss_plan_l1_fix_dist: 0.8883, d2.loss_plan_l1_fix_time: 3.8155, d2.loss_plan_l1_fix_dist: 0.9566, d3.loss_plan_l1_fix_time: 3.8383, d3.loss_plan_l1_fix_dist: 1.0524, d4.loss_plan_l1_fix_time: 3.8725, d4.loss_plan_l1_fix_dist: 1.1573, d5.loss_plan_l1_fix_time: 3.9047, d5.loss_plan_l1_fix_dist: 1.2746, d6.loss_plan_l1_fix_time: 3.9345, d6.loss_plan_l1_fix_dist: 1.3932, d0.loss_cls_all: 1.0202, d0.loss_bbox_all: 1.1558, d0.loss_cls: 1.0202, d0.loss_bbox: 1.1558, d1.loss_cls: 1.0237, d1.loss_bbox: 1.1551, d2.loss_cls: 1.0259, d2.loss_bbox: 1.1617, d3.loss_cls: 1.0240, d3.loss_bbox: 1.1755, d4.loss_cls: 1.0208, d4.loss_bbox: 1.1841, d5.loss_cls: 1.0282, d5.loss_bbox: 1.1998, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.3295, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4413, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5523, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6436, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.7327, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8412, d0.loss_map_cls_all: 0.6622, d0.loss_map_pts_all: 3.4733, d0.loss_map_dir_all: 0.0495, d0.loss_map_cls: 0.6622, d0.loss_map_pts: 3.4733, d0.loss_map_dir: 0.0495, d1.loss_map_cls: 0.6760, d1.loss_map_pts: 2.9214, d1.loss_map_dir: 0.0493, d2.loss_map_cls: 0.6799, d2.loss_map_pts: 2.8606, d2.loss_map_dir: 0.0498, d3.loss_map_cls: 0.6827, d3.loss_map_pts: 2.8544, d3.loss_map_dir: 0.0500, d4.loss_map_cls: 0.6846, d4.loss_map_pts: 2.8578, d4.loss_map_dir: 0.0498, d5.loss_map_cls: 0.6835, d5.loss_map_pts: 2.8663, d5.loss_map_dir: 0.0498, loss: 100.5973, grad_norm: 261.1417 2026-02-24 00:14:43,425 - DriveTransformer - INFO - Epoch [1][10950/117620] lr: 1.000e-04, eta: 27 days, 11:30:15, time: 0.493, data_time: 0.018, memory: 8395, loss_cls: 1.1262, loss_bbox: 1.2458, loss_traj: 2.6603, loss_traj_cls: 0.0006, loss_map_cls: 0.6558, loss_map_pts: 2.7937, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 3.0683, d0.loss_plan_l1_fix_dist: 0.7139, d1.loss_plan_l1_fix_time: 3.0000, d1.loss_plan_l1_fix_dist: 0.7568, d2.loss_plan_l1_fix_time: 2.9955, d2.loss_plan_l1_fix_dist: 0.8294, d3.loss_plan_l1_fix_time: 3.0069, d3.loss_plan_l1_fix_dist: 0.9358, d4.loss_plan_l1_fix_time: 3.0374, d4.loss_plan_l1_fix_dist: 1.0465, d5.loss_plan_l1_fix_time: 3.0660, d5.loss_plan_l1_fix_dist: 1.1627, d6.loss_plan_l1_fix_time: 3.0995, d6.loss_plan_l1_fix_dist: 1.2795, d0.loss_cls_all: 1.0990, d0.loss_bbox_all: 1.1886, d0.loss_cls: 1.0990, d0.loss_bbox: 1.1886, d1.loss_cls: 1.0892, d1.loss_bbox: 1.2005, d2.loss_cls: 1.1068, d2.loss_bbox: 1.1926, d3.loss_cls: 1.1087, d3.loss_bbox: 1.2013, d4.loss_cls: 1.1001, d4.loss_bbox: 1.2105, d5.loss_cls: 1.1069, d5.loss_bbox: 1.2251, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1342, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2154, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3163, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3950, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4795, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5708, d0.loss_map_cls_all: 0.6397, d0.loss_map_pts_all: 3.4681, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6397, d0.loss_map_pts: 3.4681, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6467, d1.loss_map_pts: 2.8214, d1.loss_map_dir: 0.0445, d2.loss_map_cls: 0.6498, d2.loss_map_pts: 2.7458, d2.loss_map_dir: 0.0448, d3.loss_map_cls: 0.6517, d3.loss_map_pts: 2.7500, d3.loss_map_dir: 0.0448, d4.loss_map_cls: 0.6549, d4.loss_map_pts: 2.7640, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.6552, d5.loss_map_pts: 2.7801, d5.loss_map_dir: 0.0448, loss: 92.4065, grad_norm: 260.7894 2026-02-24 00:15:13,227 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 00:15:13,238 - DriveTransformer - INFO - Epoch [1][11000/117620] lr: 1.000e-04, eta: 27 days, 13:48:14, time: 0.596, data_time: 0.017, memory: 8395, loss_cls: 1.0157, loss_bbox: 1.2021, loss_traj: 1.7681, loss_traj_cls: 0.0006, loss_map_cls: 0.6525, loss_map_pts: 2.7222, loss_map_dir: 0.0447, d0.loss_plan_l1_fix_time: 3.0928, d0.loss_plan_l1_fix_dist: 0.6224, d1.loss_plan_l1_fix_time: 2.9884, d1.loss_plan_l1_fix_dist: 0.6484, d2.loss_plan_l1_fix_time: 2.9667, d2.loss_plan_l1_fix_dist: 0.7124, d3.loss_plan_l1_fix_time: 2.9701, d3.loss_plan_l1_fix_dist: 0.7945, d4.loss_plan_l1_fix_time: 2.9930, d4.loss_plan_l1_fix_dist: 0.8748, d5.loss_plan_l1_fix_time: 3.0195, d5.loss_plan_l1_fix_dist: 0.9642, d6.loss_plan_l1_fix_time: 3.0517, d6.loss_plan_l1_fix_dist: 1.0563, d0.loss_cls_all: 0.9981, d0.loss_bbox_all: 1.1614, d0.loss_cls: 0.9981, d0.loss_bbox: 1.1614, d1.loss_cls: 1.0015, d1.loss_bbox: 1.1661, d2.loss_cls: 1.0109, d2.loss_bbox: 1.1660, d3.loss_cls: 1.0090, d3.loss_bbox: 1.1751, d4.loss_cls: 1.0048, d4.loss_bbox: 1.1798, d5.loss_cls: 1.0053, d5.loss_bbox: 1.1798, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6500, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.6872, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.7239, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7183, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.7605, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8346, d0.loss_map_cls_all: 0.6257, d0.loss_map_pts_all: 3.4229, d0.loss_map_dir_all: 0.0440, d0.loss_map_cls: 0.6257, d0.loss_map_pts: 3.4229, d0.loss_map_dir: 0.0440, d1.loss_map_cls: 0.6404, d1.loss_map_pts: 2.7864, d1.loss_map_dir: 0.0437, d2.loss_map_cls: 0.6445, d2.loss_map_pts: 2.6870, d2.loss_map_dir: 0.0439, d3.loss_map_cls: 0.6450, d3.loss_map_pts: 2.6834, d3.loss_map_dir: 0.0441, d4.loss_map_cls: 0.6448, d4.loss_map_pts: 2.6920, d4.loss_map_dir: 0.0444, d5.loss_map_cls: 0.6493, d5.loss_map_pts: 2.7033, d5.loss_map_dir: 0.0446, loss: 84.9379, grad_norm: 260.7894 2026-02-24 00:15:40,997 - DriveTransformer - INFO - Epoch [1][11050/117620] lr: 1.000e-04, eta: 27 days, 15:43:27, time: 0.555, data_time: 0.020, memory: 8395, loss_cls: 1.0565, loss_bbox: 1.2977, loss_traj: 2.2898, loss_traj_cls: 0.0006, loss_map_cls: 0.6445, loss_map_pts: 2.9529, loss_map_dir: 0.0505, d0.loss_plan_l1_fix_time: 3.5596, d0.loss_plan_l1_fix_dist: 0.7423, d1.loss_plan_l1_fix_time: 3.4073, d1.loss_plan_l1_fix_dist: 0.7783, d2.loss_plan_l1_fix_time: 3.3938, d2.loss_plan_l1_fix_dist: 0.8437, d3.loss_plan_l1_fix_time: 3.4042, d3.loss_plan_l1_fix_dist: 0.9291, d4.loss_plan_l1_fix_time: 3.4186, d4.loss_plan_l1_fix_dist: 1.0150, d5.loss_plan_l1_fix_time: 3.4389, d5.loss_plan_l1_fix_dist: 1.1061, d6.loss_plan_l1_fix_time: 3.4572, d6.loss_plan_l1_fix_dist: 1.2057, d0.loss_cls_all: 1.0415, d0.loss_bbox_all: 1.2444, d0.loss_cls: 1.0415, d0.loss_bbox: 1.2444, d1.loss_cls: 1.0460, d1.loss_bbox: 1.2463, d2.loss_cls: 1.0585, d2.loss_bbox: 1.2486, d3.loss_cls: 1.0551, d3.loss_bbox: 1.2590, d4.loss_cls: 1.0499, d4.loss_bbox: 1.2710, d5.loss_cls: 1.0497, d5.loss_bbox: 1.2738, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0529, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0957, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1442, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1664, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2327, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3203, d0.loss_map_cls_all: 0.6299, d0.loss_map_pts_all: 3.4864, d0.loss_map_dir_all: 0.0498, d0.loss_map_cls: 0.6299, d0.loss_map_pts: 3.4864, d0.loss_map_dir: 0.0498, d1.loss_map_cls: 0.6412, d1.loss_map_pts: 2.9688, d1.loss_map_dir: 0.0497, d2.loss_map_cls: 0.6454, d2.loss_map_pts: 2.9171, d2.loss_map_dir: 0.0500, d3.loss_map_cls: 0.6459, d3.loss_map_pts: 2.9228, d3.loss_map_dir: 0.0501, d4.loss_map_cls: 0.6446, d4.loss_map_pts: 2.9327, d4.loss_map_dir: 0.0503, d5.loss_map_cls: 0.6435, d5.loss_map_pts: 2.9409, d5.loss_map_dir: 0.0503, loss: 94.6232, grad_norm: 260.4493 2026-02-24 00:16:07,239 - DriveTransformer - INFO - Epoch [1][11100/117620] lr: 1.000e-04, eta: 27 days, 17:21:19, time: 0.525, data_time: 0.017, memory: 8395, loss_cls: 1.0965, loss_bbox: 1.2791, loss_traj: 2.9339, loss_traj_cls: 0.0005, loss_map_cls: 0.6432, loss_map_pts: 3.0746, loss_map_dir: 0.0495, d0.loss_plan_l1_fix_time: 3.5528, d0.loss_plan_l1_fix_dist: 0.7282, d1.loss_plan_l1_fix_time: 3.3709, d1.loss_plan_l1_fix_dist: 0.7686, d2.loss_plan_l1_fix_time: 3.3452, d2.loss_plan_l1_fix_dist: 0.8376, d3.loss_plan_l1_fix_time: 3.3528, d3.loss_plan_l1_fix_dist: 0.9284, d4.loss_plan_l1_fix_time: 3.3662, d4.loss_plan_l1_fix_dist: 1.0400, d5.loss_plan_l1_fix_time: 3.3834, d5.loss_plan_l1_fix_dist: 1.1679, d6.loss_plan_l1_fix_time: 3.4042, d6.loss_plan_l1_fix_dist: 1.3120, d0.loss_cls_all: 1.0933, d0.loss_bbox_all: 1.2171, d0.loss_cls: 1.0933, d0.loss_bbox: 1.2171, d1.loss_cls: 1.0955, d1.loss_bbox: 1.2226, d2.loss_cls: 1.0985, d2.loss_bbox: 1.2259, d3.loss_cls: 1.0981, d3.loss_bbox: 1.2278, d4.loss_cls: 1.0927, d4.loss_bbox: 1.2432, d5.loss_cls: 1.0920, d5.loss_bbox: 1.2539, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2201, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3315, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4204, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5512, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6999, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8191, d0.loss_map_cls_all: 0.6321, d0.loss_map_pts_all: 3.7077, d0.loss_map_dir_all: 0.0491, d0.loss_map_cls: 0.6321, d0.loss_map_pts: 3.7077, d0.loss_map_dir: 0.0491, d1.loss_map_cls: 0.6394, d1.loss_map_pts: 3.1567, d1.loss_map_dir: 0.0490, d2.loss_map_cls: 0.6420, d2.loss_map_pts: 3.0729, d2.loss_map_dir: 0.0491, d3.loss_map_cls: 0.6408, d3.loss_map_pts: 3.0637, d3.loss_map_dir: 0.0493, d4.loss_map_cls: 0.6412, d4.loss_map_pts: 3.0639, d4.loss_map_dir: 0.0494, d5.loss_map_cls: 0.6422, d5.loss_map_pts: 3.0666, d5.loss_map_dir: 0.0495, loss: 98.6058, grad_norm: 260.4493 2026-02-24 00:16:36,010 - DriveTransformer - INFO - Epoch [1][11150/117620] lr: 1.000e-04, eta: 27 days, 19:25:02, time: 0.575, data_time: 0.017, memory: 8395, loss_cls: 1.1244, loss_bbox: 1.2793, loss_traj: 2.9370, loss_traj_cls: 0.0005, loss_map_cls: 0.6607, loss_map_pts: 3.1099, loss_map_dir: 0.0527, d0.loss_plan_l1_fix_time: 3.9710, d0.loss_plan_l1_fix_dist: 0.6781, d1.loss_plan_l1_fix_time: 3.9475, d1.loss_plan_l1_fix_dist: 0.7239, d2.loss_plan_l1_fix_time: 3.9455, d2.loss_plan_l1_fix_dist: 0.8033, d3.loss_plan_l1_fix_time: 3.9526, d3.loss_plan_l1_fix_dist: 0.9006, d4.loss_plan_l1_fix_time: 3.9723, d4.loss_plan_l1_fix_dist: 1.0241, d5.loss_plan_l1_fix_time: 3.9933, d5.loss_plan_l1_fix_dist: 1.1670, d6.loss_plan_l1_fix_time: 4.0258, d6.loss_plan_l1_fix_dist: 1.3319, d0.loss_cls_all: 1.0999, d0.loss_bbox_all: 1.2190, d0.loss_cls: 1.0999, d0.loss_bbox: 1.2190, d1.loss_cls: 1.1021, d1.loss_bbox: 1.2247, d2.loss_cls: 1.1139, d2.loss_bbox: 1.2210, d3.loss_cls: 1.1141, d3.loss_bbox: 1.2247, d4.loss_cls: 1.1129, d4.loss_bbox: 1.2349, d5.loss_cls: 1.1161, d5.loss_bbox: 1.2507, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1622, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2876, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3941, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5334, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7133, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.7989, d0.loss_map_cls_all: 0.6469, d0.loss_map_pts_all: 3.6377, d0.loss_map_dir_all: 0.0522, d0.loss_map_cls: 0.6469, d0.loss_map_pts: 3.6377, d0.loss_map_dir: 0.0522, d1.loss_map_cls: 0.6581, d1.loss_map_pts: 3.1548, d1.loss_map_dir: 0.0522, d2.loss_map_cls: 0.6593, d2.loss_map_pts: 3.0938, d2.loss_map_dir: 0.0525, d3.loss_map_cls: 0.6577, d3.loss_map_pts: 3.0915, d3.loss_map_dir: 0.0526, d4.loss_map_cls: 0.6585, d4.loss_map_pts: 3.0970, d4.loss_map_dir: 0.0526, d5.loss_map_cls: 0.6590, d5.loss_map_pts: 3.1048, d5.loss_map_dir: 0.0527, loss: 102.6179, grad_norm: 259.9284 2026-02-24 00:17:01,909 - DriveTransformer - INFO - Epoch [1][11200/117620] lr: 1.000e-04, eta: 27 days, 20:57:34, time: 0.518, data_time: 0.018, memory: 8395, loss_cls: 1.1501, loss_bbox: 1.1942, loss_traj: 2.4740, loss_traj_cls: 0.0005, loss_map_cls: 0.6874, loss_map_pts: 2.8297, loss_map_dir: 0.0486, d0.loss_plan_l1_fix_time: 3.6625, d0.loss_plan_l1_fix_dist: 0.7754, d1.loss_plan_l1_fix_time: 3.5146, d1.loss_plan_l1_fix_dist: 0.8494, d2.loss_plan_l1_fix_time: 3.5105, d2.loss_plan_l1_fix_dist: 0.9553, d3.loss_plan_l1_fix_time: 3.5289, d3.loss_plan_l1_fix_dist: 1.0811, d4.loss_plan_l1_fix_time: 3.5447, d4.loss_plan_l1_fix_dist: 1.2369, d5.loss_plan_l1_fix_time: 3.5658, d5.loss_plan_l1_fix_dist: 1.3962, d6.loss_plan_l1_fix_time: 3.5900, d6.loss_plan_l1_fix_dist: 1.5640, d0.loss_cls_all: 1.1036, d0.loss_bbox_all: 1.1385, d0.loss_cls: 1.1036, d0.loss_bbox: 1.1385, d1.loss_cls: 1.1007, d1.loss_bbox: 1.1486, d2.loss_cls: 1.1046, d2.loss_bbox: 1.1584, d3.loss_cls: 1.1079, d3.loss_bbox: 1.1639, d4.loss_cls: 1.1138, d4.loss_bbox: 1.1642, d5.loss_cls: 1.1229, d5.loss_bbox: 1.1770, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0901, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1406, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1964, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2732, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3937, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3882, d0.loss_map_cls_all: 0.6607, d0.loss_map_pts_all: 3.4455, d0.loss_map_dir_all: 0.0487, d0.loss_map_cls: 0.6607, d0.loss_map_pts: 3.4455, d0.loss_map_dir: 0.0487, d1.loss_map_cls: 0.6752, d1.loss_map_pts: 2.9200, d1.loss_map_dir: 0.0481, d2.loss_map_cls: 0.6789, d2.loss_map_pts: 2.8225, d2.loss_map_dir: 0.0482, d3.loss_map_cls: 0.6825, d3.loss_map_pts: 2.8075, d3.loss_map_dir: 0.0484, d4.loss_map_cls: 0.6870, d4.loss_map_pts: 2.8125, d4.loss_map_dir: 0.0483, d5.loss_map_cls: 0.6878, d5.loss_map_pts: 2.8261, d5.loss_map_dir: 0.0485, loss: 96.6430, grad_norm: 259.9284 2026-02-24 00:17:28,493 - DriveTransformer - INFO - Epoch [1][11250/117620] lr: 1.000e-04, eta: 27 days, 22:36:23, time: 0.532, data_time: 0.017, memory: 8395, loss_cls: 1.1701, loss_bbox: 1.2966, loss_traj: 2.5558, loss_traj_cls: 0.0005, loss_map_cls: 0.6628, loss_map_pts: 2.9782, loss_map_dir: 0.0511, d0.loss_plan_l1_fix_time: 3.3470, d0.loss_plan_l1_fix_dist: 0.9029, d1.loss_plan_l1_fix_time: 3.2354, d1.loss_plan_l1_fix_dist: 0.9459, d2.loss_plan_l1_fix_time: 3.2386, d2.loss_plan_l1_fix_dist: 1.0140, d3.loss_plan_l1_fix_time: 3.2583, d3.loss_plan_l1_fix_dist: 1.0957, d4.loss_plan_l1_fix_time: 3.2819, d4.loss_plan_l1_fix_dist: 1.2011, d5.loss_plan_l1_fix_time: 3.3080, d5.loss_plan_l1_fix_dist: 1.3189, d6.loss_plan_l1_fix_time: 3.3365, d6.loss_plan_l1_fix_dist: 1.4539, d0.loss_cls_all: 1.1104, d0.loss_bbox_all: 1.2325, d0.loss_cls: 1.1104, d0.loss_bbox: 1.2325, d1.loss_cls: 1.1156, d1.loss_bbox: 1.2368, d2.loss_cls: 1.1180, d2.loss_bbox: 1.2458, d3.loss_cls: 1.1216, d3.loss_bbox: 1.2534, d4.loss_cls: 1.1244, d4.loss_bbox: 1.2640, d5.loss_cls: 1.1379, d5.loss_bbox: 1.2800, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8860, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0173, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1331, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2758, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3984, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4513, d0.loss_map_cls_all: 0.6458, d0.loss_map_pts_all: 3.5794, d0.loss_map_dir_all: 0.0501, d0.loss_map_cls: 0.6458, d0.loss_map_pts: 3.5794, d0.loss_map_dir: 0.0501, d1.loss_map_cls: 0.6580, d1.loss_map_pts: 3.0696, d1.loss_map_dir: 0.0505, d2.loss_map_cls: 0.6598, d2.loss_map_pts: 2.9745, d2.loss_map_dir: 0.0509, d3.loss_map_cls: 0.6610, d3.loss_map_pts: 2.9570, d3.loss_map_dir: 0.0510, d4.loss_map_cls: 0.6630, d4.loss_map_pts: 2.9630, d4.loss_map_dir: 0.0510, d5.loss_map_cls: 0.6637, d5.loss_map_pts: 2.9744, d5.loss_map_dir: 0.0511, loss: 96.4501, grad_norm: 259.1911 2026-02-24 00:17:55,287 - DriveTransformer - INFO - Epoch [1][11300/117620] lr: 1.000e-04, eta: 28 days, 0:16:29, time: 0.536, data_time: 0.016, memory: 8395, loss_cls: 1.1262, loss_bbox: 1.2222, loss_traj: 2.6256, loss_traj_cls: 0.0006, loss_map_cls: 0.6610, loss_map_pts: 2.6943, loss_map_dir: 0.0469, d0.loss_plan_l1_fix_time: 2.9029, d0.loss_plan_l1_fix_dist: 0.5814, d1.loss_plan_l1_fix_time: 2.8409, d1.loss_plan_l1_fix_dist: 0.6205, d2.loss_plan_l1_fix_time: 2.8602, d2.loss_plan_l1_fix_dist: 0.6840, d3.loss_plan_l1_fix_time: 2.8898, d3.loss_plan_l1_fix_dist: 0.7589, d4.loss_plan_l1_fix_time: 2.9201, d4.loss_plan_l1_fix_dist: 0.8469, d5.loss_plan_l1_fix_time: 2.9497, d5.loss_plan_l1_fix_dist: 0.9453, d6.loss_plan_l1_fix_time: 2.9845, d6.loss_plan_l1_fix_dist: 1.0622, d0.loss_cls_all: 1.0488, d0.loss_bbox_all: 1.1555, d0.loss_cls: 1.0488, d0.loss_bbox: 1.1555, d1.loss_cls: 1.0490, d1.loss_bbox: 1.1650, d2.loss_cls: 1.0596, d2.loss_bbox: 1.1755, d3.loss_cls: 1.0623, d3.loss_bbox: 1.1798, d4.loss_cls: 1.0624, d4.loss_bbox: 1.1914, d5.loss_cls: 1.0834, d5.loss_bbox: 1.2076, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6909, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8698, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0231, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2152, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3038, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4833, d0.loss_map_cls_all: 0.6443, d0.loss_map_pts_all: 3.3966, d0.loss_map_dir_all: 0.0467, d0.loss_map_cls: 0.6443, d0.loss_map_pts: 3.3966, d0.loss_map_dir: 0.0467, d1.loss_map_cls: 0.6546, d1.loss_map_pts: 2.8154, d1.loss_map_dir: 0.0466, d2.loss_map_cls: 0.6566, d2.loss_map_pts: 2.7101, d2.loss_map_dir: 0.0468, d3.loss_map_cls: 0.6602, d3.loss_map_pts: 2.6882, d3.loss_map_dir: 0.0470, d4.loss_map_cls: 0.6637, d4.loss_map_pts: 2.6916, d4.loss_map_dir: 0.0469, d5.loss_map_cls: 0.6620, d5.loss_map_pts: 2.6977, d5.loss_map_dir: 0.0469, loss: 87.7668, grad_norm: 259.1911 2026-02-24 00:18:22,829 - DriveTransformer - INFO - Epoch [1][11350/117620] lr: 1.000e-04, eta: 28 days, 2:03:28, time: 0.551, data_time: 0.018, memory: 8395, loss_cls: 1.1458, loss_bbox: 1.2416, loss_traj: 2.0730, loss_traj_cls: 0.0005, loss_map_cls: 0.6728, loss_map_pts: 2.6864, loss_map_dir: 0.0445, d0.loss_plan_l1_fix_time: 3.2476, d0.loss_plan_l1_fix_dist: 0.5829, d1.loss_plan_l1_fix_time: 3.1824, d1.loss_plan_l1_fix_dist: 0.6405, d2.loss_plan_l1_fix_time: 3.2009, d2.loss_plan_l1_fix_dist: 0.7206, d3.loss_plan_l1_fix_time: 3.2258, d3.loss_plan_l1_fix_dist: 0.8083, d4.loss_plan_l1_fix_time: 3.2553, d4.loss_plan_l1_fix_dist: 0.8994, d5.loss_plan_l1_fix_time: 3.2841, d5.loss_plan_l1_fix_dist: 1.0089, d6.loss_plan_l1_fix_time: 3.3185, d6.loss_plan_l1_fix_dist: 1.1319, d0.loss_cls_all: 1.1034, d0.loss_bbox_all: 1.1650, d0.loss_cls: 1.1034, d0.loss_bbox: 1.1650, d1.loss_cls: 1.1047, d1.loss_bbox: 1.1864, d2.loss_cls: 1.1096, d2.loss_bbox: 1.1992, d3.loss_cls: 1.1148, d3.loss_bbox: 1.2114, d4.loss_cls: 1.1212, d4.loss_bbox: 1.2152, d5.loss_cls: 1.1269, d5.loss_bbox: 1.2213, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.3993, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.5493, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6566, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7846, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8436, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9679, d0.loss_map_cls_all: 0.6602, d0.loss_map_pts_all: 3.4361, d0.loss_map_dir_all: 0.0440, d0.loss_map_cls: 0.6602, d0.loss_map_pts: 3.4361, d0.loss_map_dir: 0.0440, d1.loss_map_cls: 0.6689, d1.loss_map_pts: 2.8196, d1.loss_map_dir: 0.0444, d2.loss_map_cls: 0.6732, d2.loss_map_pts: 2.7061, d2.loss_map_dir: 0.0444, d3.loss_map_cls: 0.6748, d3.loss_map_pts: 2.6802, d3.loss_map_dir: 0.0445, d4.loss_map_cls: 0.6786, d4.loss_map_pts: 2.6779, d4.loss_map_dir: 0.0445, d5.loss_map_cls: 0.6749, d5.loss_map_pts: 2.6820, d5.loss_map_dir: 0.0446, loss: 88.1626, grad_norm: 259.8574 2026-02-24 00:18:50,165 - DriveTransformer - INFO - Epoch [1][11400/117620] lr: 1.000e-04, eta: 28 days, 3:47:20, time: 0.547, data_time: 0.017, memory: 8395, loss_cls: 1.1481, loss_bbox: 1.2667, loss_traj: 2.6897, loss_traj_cls: 0.0006, loss_map_cls: 0.6501, loss_map_pts: 2.8049, loss_map_dir: 0.0459, d0.loss_plan_l1_fix_time: 4.0542, d0.loss_plan_l1_fix_dist: 0.7573, d1.loss_plan_l1_fix_time: 4.0346, d1.loss_plan_l1_fix_dist: 0.8305, d2.loss_plan_l1_fix_time: 4.0792, d2.loss_plan_l1_fix_dist: 0.9284, d3.loss_plan_l1_fix_time: 4.1149, d3.loss_plan_l1_fix_dist: 1.0284, d4.loss_plan_l1_fix_time: 4.1472, d4.loss_plan_l1_fix_dist: 1.1231, d5.loss_plan_l1_fix_time: 4.1760, d5.loss_plan_l1_fix_dist: 1.2391, d6.loss_plan_l1_fix_time: 4.2031, d6.loss_plan_l1_fix_dist: 1.3675, d0.loss_cls_all: 1.1352, d0.loss_bbox_all: 1.2140, d0.loss_cls: 1.1352, d0.loss_bbox: 1.2140, d1.loss_cls: 1.1379, d1.loss_bbox: 1.2235, d2.loss_cls: 1.1465, d2.loss_bbox: 1.2246, d3.loss_cls: 1.1535, d3.loss_bbox: 1.2328, d4.loss_cls: 1.1623, d4.loss_bbox: 1.2360, d5.loss_cls: 1.1548, d5.loss_bbox: 1.2390, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8726, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0108, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1524, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3075, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3666, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5511, d0.loss_map_cls_all: 0.6369, d0.loss_map_pts_all: 3.4432, d0.loss_map_dir_all: 0.0457, d0.loss_map_cls: 0.6369, d0.loss_map_pts: 3.4432, d0.loss_map_dir: 0.0457, d1.loss_map_cls: 0.6431, d1.loss_map_pts: 2.9050, d1.loss_map_dir: 0.0456, d2.loss_map_cls: 0.6458, d2.loss_map_pts: 2.8128, d2.loss_map_dir: 0.0458, d3.loss_map_cls: 0.6477, d3.loss_map_pts: 2.7904, d3.loss_map_dir: 0.0459, d4.loss_map_cls: 0.6486, d4.loss_map_pts: 2.7839, d4.loss_map_dir: 0.0460, d5.loss_map_cls: 0.6486, d5.loss_map_pts: 2.7879, d5.loss_map_dir: 0.0459, loss: 100.3573, grad_norm: 259.8574 2026-02-24 00:19:17,265 - DriveTransformer - INFO - Epoch [1][11450/117620] lr: 1.000e-04, eta: 28 days, 5:28:00, time: 0.542, data_time: 0.020, memory: 8395, loss_cls: 1.0658, loss_bbox: 1.2306, loss_traj: 2.9182, loss_traj_cls: 0.0006, loss_map_cls: 0.6664, loss_map_pts: 2.7769, loss_map_dir: 0.0488, d0.loss_plan_l1_fix_time: 3.3579, d0.loss_plan_l1_fix_dist: 0.6838, d1.loss_plan_l1_fix_time: 3.3243, d1.loss_plan_l1_fix_dist: 0.7731, d2.loss_plan_l1_fix_time: 3.3474, d2.loss_plan_l1_fix_dist: 0.8681, d3.loss_plan_l1_fix_time: 3.3727, d3.loss_plan_l1_fix_dist: 0.9721, d4.loss_plan_l1_fix_time: 3.3946, d4.loss_plan_l1_fix_dist: 1.0805, d5.loss_plan_l1_fix_time: 3.4168, d5.loss_plan_l1_fix_dist: 1.2025, d6.loss_plan_l1_fix_time: 3.4357, d6.loss_plan_l1_fix_dist: 1.3297, d0.loss_cls_all: 1.0588, d0.loss_bbox_all: 1.1990, d0.loss_cls: 1.0588, d0.loss_bbox: 1.1990, d1.loss_cls: 1.0653, d1.loss_bbox: 1.1978, d2.loss_cls: 1.0706, d2.loss_bbox: 1.2009, d3.loss_cls: 1.0719, d3.loss_bbox: 1.2035, d4.loss_cls: 1.0742, d4.loss_bbox: 1.2024, d5.loss_cls: 1.0717, d5.loss_bbox: 1.2065, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3838, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4895, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5900, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6893, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7309, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7957, d0.loss_map_cls_all: 0.6457, d0.loss_map_pts_all: 3.4712, d0.loss_map_dir_all: 0.0482, d0.loss_map_cls: 0.6457, d0.loss_map_pts: 3.4712, d0.loss_map_dir: 0.0482, d1.loss_map_cls: 0.6585, d1.loss_map_pts: 2.8865, d1.loss_map_dir: 0.0486, d2.loss_map_cls: 0.6610, d2.loss_map_pts: 2.7856, d2.loss_map_dir: 0.0487, d3.loss_map_cls: 0.6610, d3.loss_map_pts: 2.7610, d3.loss_map_dir: 0.0488, d4.loss_map_cls: 0.6618, d4.loss_map_pts: 2.7534, d4.loss_map_dir: 0.0489, d5.loss_map_cls: 0.6639, d5.loss_map_pts: 2.7580, d5.loss_map_dir: 0.0490, loss: 96.6544, grad_norm: 259.8139 2026-02-24 00:19:44,607 - DriveTransformer - INFO - Epoch [1][11500/117620] lr: 1.000e-04, eta: 28 days, 7:10:05, time: 0.547, data_time: 0.019, memory: 8395, loss_cls: 1.0954, loss_bbox: 1.2845, loss_traj: 2.6542, loss_traj_cls: 0.0006, loss_map_cls: 0.6635, loss_map_pts: 2.9876, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 4.1222, d0.loss_plan_l1_fix_dist: 0.8407, d1.loss_plan_l1_fix_time: 4.0604, d1.loss_plan_l1_fix_dist: 0.9193, d2.loss_plan_l1_fix_time: 4.0832, d2.loss_plan_l1_fix_dist: 1.0169, d3.loss_plan_l1_fix_time: 4.1076, d3.loss_plan_l1_fix_dist: 1.1309, d4.loss_plan_l1_fix_time: 4.1322, d4.loss_plan_l1_fix_dist: 1.2506, d5.loss_plan_l1_fix_time: 4.1570, d5.loss_plan_l1_fix_dist: 1.3775, d6.loss_plan_l1_fix_time: 4.1786, d6.loss_plan_l1_fix_dist: 1.5089, d0.loss_cls_all: 1.0771, d0.loss_bbox_all: 1.2497, d0.loss_cls: 1.0771, d0.loss_bbox: 1.2497, d1.loss_cls: 1.0789, d1.loss_bbox: 1.2525, d2.loss_cls: 1.0900, d2.loss_bbox: 1.2456, d3.loss_cls: 1.0901, d3.loss_bbox: 1.2477, d4.loss_cls: 1.0928, d4.loss_bbox: 1.2489, d5.loss_cls: 1.1035, d5.loss_bbox: 1.2607, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2787, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3404, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4522, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5156, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5149, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5340, d0.loss_map_cls_all: 0.6360, d0.loss_map_pts_all: 3.6240, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6360, d0.loss_map_pts: 3.6240, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6477, d1.loss_map_pts: 3.0663, d1.loss_map_dir: 0.0450, d2.loss_map_cls: 0.6522, d2.loss_map_pts: 2.9643, d2.loss_map_dir: 0.0452, d3.loss_map_cls: 0.6533, d3.loss_map_pts: 2.9453, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.6529, d4.loss_map_pts: 2.9460, d4.loss_map_dir: 0.0453, d5.loss_map_cls: 0.6580, d5.loss_map_pts: 2.9583, d5.loss_map_dir: 0.0453, loss: 103.6007, grad_norm: 259.8139 2026-02-24 00:20:14,667 - DriveTransformer - INFO - Epoch [1][11550/117620] lr: 1.000e-04, eta: 28 days, 9:18:48, time: 0.601, data_time: 0.019, memory: 8395, loss_cls: 1.0984, loss_bbox: 1.2278, loss_traj: 2.8475, loss_traj_cls: 0.0005, loss_map_cls: 0.7079, loss_map_pts: 2.9950, loss_map_dir: 0.0464, d0.loss_plan_l1_fix_time: 4.2310, d0.loss_plan_l1_fix_dist: 0.6487, d1.loss_plan_l1_fix_time: 4.0943, d1.loss_plan_l1_fix_dist: 0.7104, d2.loss_plan_l1_fix_time: 4.1022, d2.loss_plan_l1_fix_dist: 0.7922, d3.loss_plan_l1_fix_time: 4.1217, d3.loss_plan_l1_fix_dist: 0.8901, d4.loss_plan_l1_fix_time: 4.1419, d4.loss_plan_l1_fix_dist: 0.9948, d5.loss_plan_l1_fix_time: 4.1645, d5.loss_plan_l1_fix_dist: 1.1094, d6.loss_plan_l1_fix_time: 4.1843, d6.loss_plan_l1_fix_dist: 1.2114, d0.loss_cls_all: 1.0751, d0.loss_bbox_all: 1.1932, d0.loss_cls: 1.0751, d0.loss_bbox: 1.1932, d1.loss_cls: 1.0808, d1.loss_bbox: 1.1974, d2.loss_cls: 1.0821, d2.loss_bbox: 1.1940, d3.loss_cls: 1.0825, d3.loss_bbox: 1.1992, d4.loss_cls: 1.0838, d4.loss_bbox: 1.2019, d5.loss_cls: 1.0917, d5.loss_bbox: 1.2200, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.5447, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5906, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6684, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7030, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7502, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7570, d0.loss_map_cls_all: 0.6935, d0.loss_map_pts_all: 3.4796, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6935, d0.loss_map_pts: 3.4796, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.7022, d1.loss_map_pts: 3.0165, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.7061, d2.loss_map_pts: 2.9572, d2.loss_map_dir: 0.0463, d3.loss_map_cls: 0.7051, d3.loss_map_pts: 2.9562, d3.loss_map_dir: 0.0464, d4.loss_map_cls: 0.7043, d4.loss_map_pts: 2.9621, d4.loss_map_dir: 0.0463, d5.loss_map_cls: 0.7066, d5.loss_map_pts: 2.9720, d5.loss_map_dir: 0.0463, loss: 103.3655, grad_norm: 258.1590 2026-02-24 00:20:45,787 - DriveTransformer - INFO - Epoch [1][11600/117620] lr: 1.000e-04, eta: 28 days, 11:37:38, time: 0.623, data_time: 0.021, memory: 8395, loss_cls: 1.1253, loss_bbox: 1.2945, loss_traj: 2.3114, loss_traj_cls: 0.0006, loss_map_cls: 0.6605, loss_map_pts: 3.0090, loss_map_dir: 0.0483, d0.loss_plan_l1_fix_time: 3.0264, d0.loss_plan_l1_fix_dist: 0.7984, d1.loss_plan_l1_fix_time: 3.0370, d1.loss_plan_l1_fix_dist: 0.8280, d2.loss_plan_l1_fix_time: 3.0657, d2.loss_plan_l1_fix_dist: 0.8904, d3.loss_plan_l1_fix_time: 3.0937, d3.loss_plan_l1_fix_dist: 0.9667, d4.loss_plan_l1_fix_time: 3.1253, d4.loss_plan_l1_fix_dist: 1.0545, d5.loss_plan_l1_fix_time: 3.1541, d5.loss_plan_l1_fix_dist: 1.1553, d6.loss_plan_l1_fix_time: 3.1825, d6.loss_plan_l1_fix_dist: 1.2294, d0.loss_cls_all: 1.1117, d0.loss_bbox_all: 1.2548, d0.loss_cls: 1.1117, d0.loss_bbox: 1.2548, d1.loss_cls: 1.1168, d1.loss_bbox: 1.2673, d2.loss_cls: 1.1211, d2.loss_bbox: 1.2670, d3.loss_cls: 1.1248, d3.loss_bbox: 1.2736, d4.loss_cls: 1.1219, d4.loss_bbox: 1.2767, d5.loss_cls: 1.1168, d5.loss_bbox: 1.2920, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7067, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8388, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9807, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0376, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1527, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1923, d0.loss_map_cls_all: 0.6356, d0.loss_map_pts_all: 3.5937, d0.loss_map_dir_all: 0.0481, d0.loss_map_cls: 0.6356, d0.loss_map_pts: 3.5937, d0.loss_map_dir: 0.0481, d1.loss_map_cls: 0.6452, d1.loss_map_pts: 3.0688, d1.loss_map_dir: 0.0481, d2.loss_map_cls: 0.6481, d2.loss_map_pts: 3.0000, d2.loss_map_dir: 0.0481, d3.loss_map_cls: 0.6500, d3.loss_map_pts: 2.9925, d3.loss_map_dir: 0.0482, d4.loss_map_cls: 0.6544, d4.loss_map_pts: 2.9937, d4.loss_map_dir: 0.0482, d5.loss_map_cls: 0.6572, d5.loss_map_pts: 2.9954, d5.loss_map_dir: 0.0484, loss: 92.7816, grad_norm: 258.1590