2026-02-24 00:26:06,872 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} 2026-02-24 00:26:06,987 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} Name of parameter - Initialization information pts_bbox_head.code_weights - torch.Size([10]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_code_weights - torch.Size([4]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.position_range - torch.Size([6]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.pc_range - torch.Size([6]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_query.weight - torch.Size([900, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_reference_points.weight - torch.Size([900, 3]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.0.weight - torch.Size([512, 9]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_cls_embedding.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.0.weight - torch.Size([512, 768]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.agent_ref_embedding.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.mode_embedding.weight - torch.Size([6, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_query.weight - torch.Size([100, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_reference_points.weight - torch.Size([100, 2]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.0.weight - torch.Size([512, 6]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_cls_embedding.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.0.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.map_ref_embedding.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.0.weight - torch.Size([512, 141]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_lcf_encoder.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_traj_ref_fix_time_embedding.0.weight - torch.Size([512, 1920]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_time_embedding.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_time_embedding.2.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_time_embedding.2.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_time_embedding.4.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_time_embedding.4.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.weight - torch.Size([512, 640]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.2.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_ref_fix_dist_embedding.4.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.featurized_pe.reduce.0.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.featurized_pe.reduce.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.featurized_pe.gamma.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.featurized_pe.gamma.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.featurized_pe.beta.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.featurized_pe.beta.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.spatial_alignment.reduce.0.weight - torch.Size([512, 8]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.spatial_alignment.reduce.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.spatial_alignment.gamma.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.spatial_alignment.gamma.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.spatial_alignment.beta.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.spatial_alignment.beta.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.time_embedding.0.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.time_embedding.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.time_embedding.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.time_embedding.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.time_embedding.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.time_embedding.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.0.weight - torch.Size([512, 192]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.2.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.2.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.4.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.img_position_encoder.4.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.reduce.0.weight - torch.Size([512, 180]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.reduce.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.gamma.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.gamma.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.beta.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_pe.beta.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_pose_memory.reduce.0.weight - torch.Size([512, 180]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_memory.reduce.0.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_memory.gamma.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_memory.gamma.bias - torch.Size([512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_memory.beta.weight - torch.Size([512, 512]): Initialized by user-defined `init_weights` in DriveTransformerlHead pts_bbox_head.ego_pose_memory.beta.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.agent_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.attentions.1.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_prep_decoder.layers.0.ffns.0.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.task_self_attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.sensor_cross_attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.cross_w_q.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.0.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.1.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.0.ffns.0.2.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.task_self_attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.1.temporal_cro2026-02-24 00:26:07,010 - DriveTransformer - INFO - Model: DriveTransformer( (pts_bbox_head): DriveTransformerlHead( (loss_cls): FocalLoss() (loss_bbox): L1Loss() (loss_traj): L1Loss() (loss_traj_cls): FocalLoss() (loss_map_cls): FocalLoss() (loss_map_pts): PtsL1Loss() (loss_map_dir): PtsDirCosLoss() (loss_plan_reg_fix_dist): L1Loss() (loss_plan_reg_fix_time): L1Loss() (loss_plan_cls): FocalLoss() (agent_query): Embedding(900, 512) (agent_reference_points): Embedding(900, 3) (agent_cls_embedding): Sequential( (0): Linear(in_features=9, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (agent_ref_embedding): Sequential( (0): Linear(in_features=768, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (mode_embedding): Embedding(6, 512) (map_query): Embedding(100, 512) (map_reference_points): Embedding(100, 2) (map_cls_embedding): Sequential( (0): Linear(in_features=6, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (map_ref_embedding): Sequential( (0): Linear(in_features=512, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (ego_lcf_encoder): Sequential( (0): Linear(in_features=141, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (ego_traj_ref_fix_time_embedding): Sequential( (0): Linear(in_features=1920, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (ego_traj_ref_fix_dist_embedding): Sequential( (0): Linear(in_features=640, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (featurized_pe): MLN( (reduce): Sequential( (0): Linear(in_features=512, out_features=512, bias=True) (1): SiLU(inplace=True) ) (gamma): Linear(in_features=512, out_features=512, bias=True) (beta): Linear(in_features=512, out_features=512, bias=True) (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) ) (spatial_alignment): MLN( (reduce): Sequential( (0): Linear(in_features=8, out_features=512, bias=True) (1): SiLU(inplace=True) ) (gamma): Linear(in_features=512, out_features=512, bias=True) (beta): Linear(in_features=512, out_features=512, bias=True) (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) ) (time_embedding): Sequential( (0): Linear(in_features=512, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (img_position_encoder): Sequential( (0): Linear(in_features=192, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (ego_pose_pe): MLN( (reduce): Sequential( (0): Linear(in_features=180, out_features=512, bias=True) (1): SiLU(inplace=True) ) (gamma): Linear(in_features=512, out_features=512, bias=True) (beta): Linear(in_features=512, out_features=512, bias=True) (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) ) (ego_pose_memory): MLN( (reduce): Sequential( (0): Linear(in_features=180, out_features=512, bias=True) (1): SiLU(inplace=True) ) (gamma): Linear(in_features=512, out_features=512, bias=True) (beta): Linear(in_features=512, out_features=512, bias=True) (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) ) (agent_prep_decoder): DriveTransformerPreDecoder( (layers): ModuleList( (0): DriveTransformerPreDecoderLayer( (attentions): ModuleList( (0-1): 2 x AttentionLayer( (w_q): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_k): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_v): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (proj): Linear(in_features=512, out_features=512, bias=True) (postnorm): Identity() ) ) (ffns): ModuleList( (0): SwiGLULayer( (swiglu): SwiGLU( (w12): Linear(in_features=512, out_features=2736, bias=True) (w3): Linear(in_features=1368, out_features=512, bias=True) ) (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (dropout): Dropout(p=0.1, inplace=False) (postnorm): Identity() ) ) ) ) ) (map_prep_decoder): DriveTransformerPreDecoder( (layers): ModuleList( (0): DriveTransformerPreDecoderLayer( (attentions): ModuleList( (0-1): 2 x AttentionLayer( (w_q): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_k): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_v): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (proj): Linear(in_features=512, out_features=512, bias=True) (postnorm): Identity() ) ) (ffns): ModuleList( (0): SwiGLULayer( (swiglu): SwiGLU( (w12): Linear(in_features=512, out_features=2736, bias=True) (w3): Linear(in_features=1368, out_features=512, bias=True) ) (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (dropout): Dropout(p=0.1, inplace=False) (postnorm): Identity() ) ) ) ) ) (transformer): DriveTransformerWrapper( (decoder): DriveTransformerDecoder( (layers): ModuleList( (0-5): 6 x DriveTransformerDecoderLayer( (task_self_attentions): ModuleList( (0): AttentionLayer( (w_q): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_k): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_v): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (proj): Linear(in_features=512, out_features=512, bias=True) (postnorm): Identity() ) ) (temporal_cross_attention_layers): ModuleList( (0-2): 3 x AttentionLayer( (w_q): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_k): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_v): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (proj): Linear(in_features=512, out_features=512, bias=True) (postnorm): Identity() ) ) (sensor_cross_attentions): ModuleList( (0): AttentionLayer( (w_k): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_v): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (proj): Linear(in_features=512, out_features=512, bias=True) (postnorm): Identity() ) ) (cross_w_q): ModuleList( (0-2): 3 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) ) (ffns): ModuleList( (0): ModuleList( (0-2): 3 x SwiGLULayer( (swiglu): SwiGLU( (w12): Linear(in_features=512, out_features=2736, bias=True) (w3): Linear(in_features=1368, out_features=512, bias=True) ) (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (dropout): Dropout(p=0.1, inplace=False) (postnorm): Identity() ) ) ) ) ) ) ) (cls_branches): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=9, bias=False) ) ) (reg_branches): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=10, bias=True) ) ) (traj_branches): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=12, bias=True) ) ) (traj_cls_branches): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (6): Linear(in_features=512, out_features=1, bias=False) ) ) (map_cls_branches): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=6, bias=False) ) ) (map_reg_branches): ModuleList( (0-5): 6 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=2, bias=True) ) (6): Linear(in_features=512, out_features=40, bias=True) ) (ego_traj_branches_fix_dist): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=20, bias=True) ) ) (ego_traj_branches_fix_time): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=60, bias=True) ) ) ) (img_backbone): ResNet( (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) (layer1): ResLayer( (0): Bottleneck( (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (1): Bottleneck( (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (2): Bottleneck( (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} ) (layer2): ResLayer( (0): Bottleneck( (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (1): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (2): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (3): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} ) (layer3): ResLayer( (0): Bottleneck( (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (1): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (2): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (3): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (4): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (5): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} ) (layer4): ResLayer( (0): Bottleneck( (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (1): Bottleneck( (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (2): Bottleneck( (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} ) ) init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} (img_neck): FPN( (lateral_convs): ModuleList( (0): ConvModule( (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) ) ) (fpn_convs): ModuleList( (0): ConvModule( (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) ) ) init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} (grid_mask): GridMask() ) 2026-02-24 00:26:07,220 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu 2026-02-24 00:26:07,220 - DriveTransformer - INFO - Hooks will be executed in the following order: before_run: (VERY_HIGH ) CosineAnnealingLrUpdaterHook (ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook (NORMAL ) CheckpointHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_train_epoch: (VERY_HIGH ) CosineAnnealingLrUpdaterHook (LOW ) IterTimerHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_train_iter: (VERY_HIGH ) CosineAnnealingLrUpdaterHook (LOW ) IterTimerHook -------------------- after_train_iter: (ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook (NORMAL ) CheckpointHook (LOW ) IterTimerHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- after_train_epoch: (NORMAL ) CheckpointHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_val_epoch: (LOW ) IterTimerHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_val_iter: (LOW ) IterTimerHook -------------------- after_val_iter: (LOW ) IterTimerHook -------------------- after_val_epoch: (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- after_run: (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- 2026-02-24 00:26:07,220 - DriveTransformer - INFO - workflow: [('train', 1)], max: 60 epochs 2026-02-24 00:26:07,222 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. 2026-02-24 00:26:15,249 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. 2026-02-24 00:26:44,897 - DriveTransformer - INFO - Epoch [1][50/59059] lr: 1.441e-05, eta: 30 days, 20:13:58, time: 0.752, data_time: 0.158, memory: 14119, loss_cls: 665.1157, loss_bbox: 1.6233, loss_traj: 6.0926, loss_traj_cls: 0.0888, loss_map_cls: 10.8933, loss_map_pts: 5.6514, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 11.0769, d0.loss_plan_l1_fix_dist: 3.3749, d1.loss_plan_l1_fix_time: 11.4573, d1.loss_plan_l1_fix_dist: 4.4321, d2.loss_plan_l1_fix_time: 11.9089, d2.loss_plan_l1_fix_dist: 6.0473, d3.loss_plan_l1_fix_time: 12.4576, d3.loss_plan_l1_fix_dist: 7.8964, d4.loss_plan_l1_fix_time: 12.9777, d4.loss_plan_l1_fix_dist: 10.5198, d5.loss_plan_l1_fix_time: 13.5678, d5.loss_plan_l1_fix_dist: 13.2775, d6.loss_plan_l1_fix_time: 14.1196, d6.loss_plan_l1_fix_dist: 15.8675, d0.loss_cls_all: 462.0928, d0.loss_bbox_all: 1.5989, d0.loss_cls: 462.0928, d0.loss_bbox: 1.5989, d1.loss_cls: 511.5482, d1.loss_bbox: 1.5521, d2.loss_cls: 509.3752, d2.loss_bbox: 1.6251, d3.loss_cls: 578.7340, d3.loss_bbox: 1.6192, d4.loss_cls: 542.3878, d4.loss_bbox: 1.5317, d5.loss_cls: 603.2402, d5.loss_bbox: 1.6373, d0.loss_traj_cls: 0.0747, d0.loss_traj: 6.0560, d1.loss_traj_cls: 0.0625, d1.loss_traj: 6.1144, d2.loss_traj_cls: 0.0640, d2.loss_traj: 6.2069, d3.loss_traj_cls: 0.1045, d3.loss_traj: 6.1479, d4.loss_traj_cls: 0.0534, d4.loss_traj: 6.0363, d5.loss_traj_cls: 0.0536, d5.loss_traj: 6.0899, d0.loss_map_cls_all: 8.4216, d0.loss_map_pts_all: 5.4001, d0.loss_map_dir_all: 0.0959, d0.loss_map_cls: 8.4216, d0.loss_map_pts: 5.4001, d0.loss_map_dir: 0.0959, d1.loss_map_cls: 7.6781, d1.loss_map_pts: 5.4225, d1.loss_map_dir: 0.0956, d2.loss_map_cls: 8.3617, d2.loss_map_pts: 5.4465, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 11.2386, d3.loss_map_pts: 5.4836, d3.loss_map_dir: 0.0953, d4.loss_map_cls: 11.4251, d4.loss_map_pts: 5.5503, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 11.3287, d5.loss_map_pts: 5.6056, d5.loss_map_dir: 0.0952, loss: 4662.0925, grad_norm: 63091.3398 2026-02-24 00:27:12,376 - DriveTransformer - INFO - Epoch [1][100/59059] lr: 1.891e-05, eta: 26 days, 16:37:06, time: 0.550, data_time: 0.023, memory: 14124, loss_cls: 364.9208, loss_bbox: 1.8208, loss_traj: 5.8746, loss_traj_cls: 0.0884, loss_map_cls: 10.9275, loss_map_pts: 5.5150, loss_map_dir: 0.0952, d0.loss_plan_l1_fix_time: 10.6874, d0.loss_plan_l1_fix_dist: 3.3497, d1.loss_plan_l1_fix_time: 11.0376, d1.loss_plan_l1_fix_dist: 4.0949, d2.loss_plan_l1_fix_time: 11.4442, d2.loss_plan_l1_fix_dist: 5.5867, d3.loss_plan_l1_fix_time: 11.9538, d3.loss_plan_l1_fix_dist: 7.2250, d4.loss_plan_l1_fix_time: 12.3848, d4.loss_plan_l1_fix_dist: 9.4505, d5.loss_plan_l1_fix_time: 12.8737, d5.loss_plan_l1_fix_dist: 11.5230, d6.loss_plan_l1_fix_time: 13.3541, d6.loss_plan_l1_fix_dist: 13.5126, d0.loss_cls_all: 315.2261, d0.loss_bbox_all: 1.5803, d0.loss_cls: 315.2261, d0.loss_bbox: 1.5803, d1.loss_cls: 326.4064, d1.loss_bbox: 1.5262, d2.loss_cls: 290.8711, d2.loss_bbox: 1.5975, d3.loss_cls: 312.5557, d3.loss_bbox: 1.5709, d4.loss_cls: 289.4957, d4.loss_bbox: 1.5947, d5.loss_cls: 333.1301, d5.loss_bbox: 1.7894, d0.loss_traj_cls: 0.0634, d0.loss_traj: 5.7707, d1.loss_traj_cls: 0.0501, d1.loss_traj: 5.8890, d2.loss_traj_cls: 0.0472, d2.loss_traj: 5.9422, d3.loss_traj_cls: 0.0944, d3.loss_traj: 5.9128, d4.loss_traj_cls: 0.0450, d4.loss_traj: 5.8321, d5.loss_traj_cls: 0.0547, d5.loss_traj: 5.8939, d0.loss_map_cls_all: 8.2132, d0.loss_map_pts_all: 5.2584, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.2132, d0.loss_map_pts: 5.2584, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.8007, d1.loss_map_pts: 5.2869, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 8.5716, d2.loss_map_pts: 5.3187, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 11.9263, d3.loss_map_pts: 5.3418, d3.loss_map_dir: 0.0952, d4.loss_map_cls: 11.5058, d4.loss_map_pts: 5.3977, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 11.4603, d5.loss_map_pts: 5.4544, d5.loss_map_dir: 0.0952, loss: 2863.1402, grad_norm: 51662.9902 2026-02-24 00:27:38,545 - DriveTransformer - INFO - Epoch [1][150/59059] lr: 2.341e-05, eta: 24 days, 22:47:11, time: 0.523, data_time: 0.024, memory: 14128, loss_cls: 158.3773, loss_bbox: 1.9104, loss_traj: 5.7019, loss_traj_cls: 0.0615, loss_map_cls: 10.0843, loss_map_pts: 5.3371, loss_map_dir: 0.0968, d0.loss_plan_l1_fix_time: 11.3798, d0.loss_plan_l1_fix_dist: 3.2541, d1.loss_plan_l1_fix_time: 11.6302, d1.loss_plan_l1_fix_dist: 3.8358, d2.loss_plan_l1_fix_time: 11.9450, d2.loss_plan_l1_fix_dist: 5.1619, d3.loss_plan_l1_fix_time: 12.3619, d3.loss_plan_l1_fix_dist: 6.5676, d4.loss_plan_l1_fix_time: 12.7220, d4.loss_plan_l1_fix_dist: 8.3143, d5.loss_plan_l1_fix_time: 13.1138, d5.loss_plan_l1_fix_dist: 9.7374, d6.loss_plan_l1_fix_time: 13.5071, d6.loss_plan_l1_fix_dist: 10.8456, d0.loss_cls_all: 182.8726, d0.loss_bbox_all: 1.5273, d0.loss_cls: 182.8726, d0.loss_bbox: 1.5273, d1.loss_cls: 173.0771, d1.loss_bbox: 1.5386, d2.loss_cls: 135.7859, d2.loss_bbox: 1.6058, d3.loss_cls: 132.0764, d3.loss_bbox: 1.5687, d4.loss_cls: 125.3341, d4.loss_bbox: 1.6518, d5.loss_cls: 148.9963, d5.loss_bbox: 1.8575, d0.loss_traj_cls: 0.0525, d0.loss_traj: 5.5363, d1.loss_traj_cls: 0.0379, d1.loss_traj: 5.7111, d2.loss_traj_cls: 0.0333, d2.loss_traj: 5.7136, d3.loss_traj_cls: 0.0675, d3.loss_traj: 5.7106, d4.loss_traj_cls: 0.0318, d4.loss_traj: 5.6722, d5.loss_traj_cls: 0.0385, d5.loss_traj: 5.7352, d0.loss_map_cls_all: 7.8964, d0.loss_map_pts_all: 5.1967, d0.loss_map_dir_all: 0.0966, d0.loss_map_cls: 7.8964, d0.loss_map_pts: 5.1967, d0.loss_map_dir: 0.0966, d1.loss_map_cls: 7.9392, d1.loss_map_pts: 5.2133, d1.loss_map_dir: 0.0966, d2.loss_map_cls: 8.5920, d2.loss_map_pts: 5.2315, d2.loss_map_dir: 0.0967, d3.loss_map_cls: 11.7760, d3.loss_map_pts: 5.2400, d3.loss_map_dir: 0.0967, d4.loss_map_cls: 11.0947, d4.loss_map_pts: 5.2672, d4.loss_map_dir: 0.0967, d5.loss_map_cls: 10.7875, d5.loss_map_pts: 5.3003, d5.loss_map_dir: 0.0968, loss: 1545.8825, grad_norm: 40828.7305 2026-02-24 00:28:07,190 - DriveTransformer - INFO - Epoch [1][200/59059] lr: 2.791e-05, eta: 24 days, 14:02:46, time: 0.573, data_time: 0.028, memory: 14132, loss_cls: 62.4457, loss_bbox: 1.7902, loss_traj: 6.4806, loss_traj_cls: 0.0542, loss_map_cls: 6.9785, loss_map_pts: 5.2263, loss_map_dir: 0.0972, d0.loss_plan_l1_fix_time: 12.9479, d0.loss_plan_l1_fix_dist: 3.2033, d1.loss_plan_l1_fix_time: 13.1021, d1.loss_plan_l1_fix_dist: 3.5603, d2.loss_plan_l1_fix_time: 13.3210, d2.loss_plan_l1_fix_dist: 4.8165, d3.loss_plan_l1_fix_time: 13.6697, d3.loss_plan_l1_fix_dist: 6.0473, d4.loss_plan_l1_fix_time: 14.0177, d4.loss_plan_l1_fix_dist: 7.3750, d5.loss_plan_l1_fix_time: 14.3691, d5.loss_plan_l1_fix_dist: 8.5147, d6.loss_plan_l1_fix_time: 14.7488, d6.loss_plan_l1_fix_dist: 8.9753, d0.loss_cls_all: 93.5120, d0.loss_bbox_all: 1.5288, d0.loss_cls: 93.5120, d0.loss_bbox: 1.5288, d1.loss_cls: 79.4665, d1.loss_bbox: 1.6234, d2.loss_cls: 56.1464, d2.loss_bbox: 1.6463, d3.loss_cls: 50.9766, d3.loss_bbox: 1.5672, d4.loss_cls: 49.1985, d4.loss_bbox: 1.6444, d5.loss_cls: 59.9782, d5.loss_bbox: 1.7668, d0.loss_traj_cls: 0.0417, d0.loss_traj: 6.2717, d1.loss_traj_cls: 0.0276, d1.loss_traj: 6.4602, d2.loss_traj_cls: 0.0259, d2.loss_traj: 6.4378, d3.loss_traj_cls: 0.0531, d3.loss_traj: 6.4667, d4.loss_traj_cls: 0.0245, d4.loss_traj: 6.4329, d5.loss_traj_cls: 0.0311, d5.loss_traj: 6.5228, d0.loss_map_cls_all: 5.7625, d0.loss_map_pts_all: 5.1419, d0.loss_map_dir_all: 0.0972, d0.loss_map_cls: 5.7625, d0.loss_map_pts: 5.1419, d0.loss_map_dir: 0.0972, d1.loss_map_cls: 5.8931, d1.loss_map_pts: 5.1548, d1.loss_map_dir: 0.0972, d2.loss_map_cls: 6.3264, d2.loss_map_pts: 5.1669, d2.loss_map_dir: 0.0972, d3.loss_map_cls: 8.3709, d3.loss_map_pts: 5.1689, d3.loss_map_dir: 0.0972, d4.loss_map_cls: 7.9010, d4.loss_map_pts: 5.1769, d4.loss_map_dir: 0.0972, d5.loss_map_cls: 7.6181, d5.loss_map_pts: 5.1938, d5.loss_map_dir: 0.0972, loss: 839.0935, grad_norm: 32993.6270 2026-02-24 00:28:35,667 - DriveTransformer - INFO - Epoch [1][250/59059] lr: 3.241e-05, eta: 24 days, 8:08:08, time: 0.569, data_time: 0.026, memory: 14134, loss_cls: 23.6620, loss_bbox: 1.7118, loss_traj: 6.7461, loss_traj_cls: 0.0457, loss_map_cls: 4.2928, loss_map_pts: 4.8726, loss_map_dir: 0.0979, d0.loss_plan_l1_fix_time: 12.1498, d0.loss_plan_l1_fix_dist: 3.1528, d1.loss_plan_l1_fix_time: 12.3269, d1.loss_plan_l1_fix_dist: 3.3732, d2.loss_plan_l1_fix_time: 12.5597, d2.loss_plan_l1_fix_dist: 4.1438, d3.loss_plan_l1_fix_time: 12.9022, d3.loss_plan_l1_fix_dist: 4.8248, d4.loss_plan_l1_fix_time: 13.3056, d4.loss_plan_l1_fix_dist: 5.5265, d5.loss_plan_l1_fix_time: 13.6742, d5.loss_plan_l1_fix_dist: 6.2359, d6.loss_plan_l1_fix_time: 14.0767, d6.loss_plan_l1_fix_dist: 6.6302, d0.loss_cls_all: 45.6428, d0.loss_bbox_all: 1.5776, d0.loss_cls: 45.6428, d0.loss_bbox: 1.5776, d1.loss_cls: 35.9000, d1.loss_bbox: 1.6923, d2.loss_cls: 22.9568, d2.loss_bbox: 1.6430, d3.loss_cls: 20.8225, d3.loss_bbox: 1.5546, d4.loss_cls: 19.1268, d4.loss_bbox: 1.6401, d5.loss_cls: 23.0148, d5.loss_bbox: 1.7114, d0.loss_traj_cls: 0.0305, d0.loss_traj: 6.5667, d1.loss_traj_cls: 0.0217, d1.loss_traj: 6.7480, d2.loss_traj_cls: 0.0224, d2.loss_traj: 6.6802, d3.loss_traj_cls: 0.0416, d3.loss_traj: 6.7177, d4.loss_traj_cls: 0.0210, d4.loss_traj: 6.6986, d5.loss_traj_cls: 0.0252, d5.loss_traj: 6.7927, d0.loss_map_cls_all: 4.3559, d0.loss_map_pts_all: 4.8455, d0.loss_map_dir_all: 0.0981, d0.loss_map_cls: 4.3559, d0.loss_map_pts: 4.8455, d0.loss_map_dir: 0.0981, d1.loss_map_cls: 4.3639, d1.loss_map_pts: 4.8675, d1.loss_map_dir: 0.0982, d2.loss_map_cls: 4.5133, d2.loss_map_pts: 4.8782, d2.loss_map_dir: 0.0982, d3.loss_map_cls: 5.3190, d3.loss_map_pts: 4.8730, d3.loss_map_dir: 0.0981, d4.loss_map_cls: 5.2583, d4.loss_map_pts: 4.8725, d4.loss_map_dir: 0.0982, d5.loss_map_cls: 4.8517, d5.loss_map_pts: 4.8662, d5.loss_map_dir: 0.0981, loss: 498.9339, grad_norm: 27214.7181 2026-02-24 00:29:03,936 - DriveTransformer - INFO - Epoch [1][300/59059] lr: 3.691e-05, eta: 24 days, 3:30:36, time: 0.565, data_time: 0.024, memory: 14134, loss_cls: 11.5199, loss_bbox: 1.5437, loss_traj: 7.6457, loss_traj_cls: 0.0397, loss_map_cls: 2.8155, loss_map_pts: 5.1456, loss_map_dir: 0.0972, d0.loss_plan_l1_fix_time: 13.0742, d0.loss_plan_l1_fix_dist: 3.0169, d1.loss_plan_l1_fix_time: 13.1494, d1.loss_plan_l1_fix_dist: 3.1722, d2.loss_plan_l1_fix_time: 13.2979, d2.loss_plan_l1_fix_dist: 3.4037, d3.loss_plan_l1_fix_time: 13.5348, d3.loss_plan_l1_fix_dist: 3.5415, d4.loss_plan_l1_fix_time: 13.8274, d4.loss_plan_l1_fix_dist: 3.6094, d5.loss_plan_l1_fix_time: 14.0940, d5.loss_plan_l1_fix_dist: 4.1187, d6.loss_plan_l1_fix_time: 14.3957, d6.loss_plan_l1_fix_dist: 5.1831, d0.loss_cls_all: 29.4816, d0.loss_bbox_all: 1.5735, d0.loss_cls: 29.4816, d0.loss_bbox: 1.5735, d1.loss_cls: 22.1904, d1.loss_bbox: 1.6327, d2.loss_cls: 12.5969, d2.loss_bbox: 1.5514, d3.loss_cls: 11.1892, d3.loss_bbox: 1.4614, d4.loss_cls: 9.3566, d4.loss_bbox: 1.5222, d5.loss_cls: 11.1329, d5.loss_bbox: 1.5647, d0.loss_traj_cls: 0.0201, d0.loss_traj: 7.5115, d1.loss_traj_cls: 0.0170, d1.loss_traj: 7.7024, d2.loss_traj_cls: 0.0221, d2.loss_traj: 7.5951, d3.loss_traj_cls: 0.0372, d3.loss_traj: 7.5974, d4.loss_traj_cls: 0.0185, d4.loss_traj: 7.6032, d5.loss_traj_cls: 0.0234, d5.loss_traj: 7.6604, d0.loss_map_cls_all: 3.6710, d0.loss_map_pts_all: 5.1384, d0.loss_map_dir_all: 0.0975, d0.loss_map_cls: 3.6710, d0.loss_map_pts: 5.1384, d0.loss_map_dir: 0.0975, d1.loss_map_cls: 3.6549, d1.loss_map_pts: 5.1512, d1.loss_map_dir: 0.0976, d2.loss_map_cls: 3.6032, d2.loss_map_pts: 5.1478, d2.loss_map_dir: 0.0976, d3.loss_map_cls: 3.5871, d3.loss_map_pts: 5.1441, d3.loss_map_dir: 0.0975, d4.loss_map_cls: 3.8864, d4.loss_map_pts: 5.1453, d4.loss_map_dir: 0.0974, d5.loss_map_cls: 3.4095, d5.loss_map_pts: 5.1413, d5.loss_map_dir: 0.0973, loss: 394.5156, grad_norm: 23083.6060 2026-02-24 00:29:32,309 - DriveTransformer - INFO - Epoch [1][350/59059] lr: 4.141e-05, eta: 24 days, 0:30:19, time: 0.567, data_time: 0.024, memory: 14134, loss_cls: 4.1605, loss_bbox: 1.5115, loss_traj: 5.4986, loss_traj_cls: 0.0264, loss_map_cls: 1.5121, loss_map_pts: 5.3143, loss_map_dir: 0.0952, d0.loss_plan_l1_fix_time: 10.6646, d0.loss_plan_l1_fix_dist: 2.9411, d1.loss_plan_l1_fix_time: 10.7259, d1.loss_plan_l1_fix_dist: 2.9704, d2.loss_plan_l1_fix_time: 10.9148, d2.loss_plan_l1_fix_dist: 2.7965, d3.loss_plan_l1_fix_time: 11.1765, d3.loss_plan_l1_fix_dist: 2.9537, d4.loss_plan_l1_fix_time: 11.4396, d4.loss_plan_l1_fix_dist: 3.3913, d5.loss_plan_l1_fix_time: 11.6841, d5.loss_plan_l1_fix_dist: 4.1494, d6.loss_plan_l1_fix_time: 11.9524, d6.loss_plan_l1_fix_dist: 5.5187, d0.loss_cls_all: 12.1516, d0.loss_bbox_all: 1.5726, d0.loss_cls: 12.1516, d0.loss_bbox: 1.5726, d1.loss_cls: 8.3637, d1.loss_bbox: 1.6225, d2.loss_cls: 4.9051, d2.loss_bbox: 1.5235, d3.loss_cls: 4.4440, d3.loss_bbox: 1.4653, d4.loss_cls: 3.6718, d4.loss_bbox: 1.4930, d5.loss_cls: 4.1353, d5.loss_bbox: 1.5340, d0.loss_traj_cls: 0.0121, d0.loss_traj: 5.3889, d1.loss_traj_cls: 0.0119, d1.loss_traj: 5.5732, d2.loss_traj_cls: 0.0173, d2.loss_traj: 5.4431, d3.loss_traj_cls: 0.0252, d3.loss_traj: 5.4422, d4.loss_traj_cls: 0.0149, d4.loss_traj: 5.4514, d5.loss_traj_cls: 0.0188, d5.loss_traj: 5.4684, d0.loss_map_cls_all: 2.3935, d0.loss_map_pts_all: 5.3195, d0.loss_map_dir_all: 0.0955, d0.loss_map_cls: 2.3935, d0.loss_map_pts: 5.3195, d0.loss_map_dir: 0.0955, d1.loss_map_cls: 2.4242, d1.loss_map_pts: 5.3337, d1.loss_map_dir: 0.0954, d2.loss_map_cls: 2.2839, d2.loss_map_pts: 5.3267, d2.loss_map_dir: 0.0954, d3.loss_map_cls: 1.9461, d3.loss_map_pts: 5.3181, d3.loss_map_dir: 0.0953, d4.loss_map_cls: 2.3705, d4.loss_map_pts: 5.3137, d4.loss_map_dir: 0.0953, d5.loss_map_cls: 1.9065, d5.loss_map_pts: 5.3080, d5.loss_map_dir: 0.0953, loss: 268.4965, grad_norm: 19957.1423 2026-02-24 00:30:00,282 - DriveTransformer - INFO - Epoch [1][400/59059] lr: 4.591e-05, eta: 23 days, 21:15:39, time: 0.559, data_time: 0.023, memory: 14134, loss_cls: 2.4466, loss_bbox: 1.3912, loss_traj: 5.8775, loss_traj_cls: 0.0161, loss_map_cls: 1.1782, loss_map_pts: 5.3594, loss_map_dir: 0.0942, d0.loss_plan_l1_fix_time: 11.4324, d0.loss_plan_l1_fix_dist: 2.7748, d1.loss_plan_l1_fix_time: 11.3894, d1.loss_plan_l1_fix_dist: 2.6205, d2.loss_plan_l1_fix_time: 11.4878, d2.loss_plan_l1_fix_dist: 2.4426, d3.loss_plan_l1_fix_time: 11.6483, d3.loss_plan_l1_fix_dist: 2.7605, d4.loss_plan_l1_fix_time: 11.7828, d4.loss_plan_l1_fix_dist: 3.4828, d5.loss_plan_l1_fix_time: 11.9505, d5.loss_plan_l1_fix_dist: 4.3168, d6.loss_plan_l1_fix_time: 12.1239, d6.loss_plan_l1_fix_dist: 5.1327, d0.loss_cls_all: 6.6812, d0.loss_bbox_all: 1.4909, d0.loss_cls: 6.6812, d0.loss_bbox: 1.4909, d1.loss_cls: 4.3562, d1.loss_bbox: 1.4801, d2.loss_cls: 2.8758, d2.loss_bbox: 1.4252, d3.loss_cls: 2.6724, d3.loss_bbox: 1.3870, d4.loss_cls: 2.3010, d4.loss_bbox: 1.4070, d5.loss_cls: 2.4795, d5.loss_bbox: 1.4335, d0.loss_traj_cls: 0.0067, d0.loss_traj: 5.7800, d1.loss_traj_cls: 0.0085, d1.loss_traj: 5.9422, d2.loss_traj_cls: 0.0121, d2.loss_traj: 5.8596, d3.loss_traj_cls: 0.0170, d3.loss_traj: 5.8479, d4.loss_traj_cls: 0.0114, d4.loss_traj: 5.8205, d5.loss_traj_cls: 0.0152, d5.loss_traj: 5.8283, d0.loss_map_cls_all: 2.0157, d0.loss_map_pts_all: 5.3951, d0.loss_map_dir_all: 0.0944, d0.loss_map_cls: 2.0157, d0.loss_map_pts: 5.3951, d0.loss_map_dir: 0.0944, d1.loss_map_cls: 2.0002, d1.loss_map_pts: 5.4014, d1.loss_map_dir: 0.0943, d2.loss_map_cls: 1.8490, d2.loss_map_pts: 5.3855, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 1.5356, d3.loss_map_pts: 5.3719, d3.loss_map_dir: 0.0943, d4.loss_map_cls: 1.9260, d4.loss_map_pts: 5.3635, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 1.4881, d5.loss_map_pts: 5.3576, d5.loss_map_dir: 0.0943, loss: 246.1815, grad_norm: 17551.6528 2026-02-24 00:30:29,555 - DriveTransformer - INFO - Epoch [1][450/59059] lr: 5.041e-05, eta: 23 days, 21:34:36, time: 0.585, data_time: 0.028, memory: 14134, loss_cls: 1.8794, loss_bbox: 1.4593, loss_traj: 5.2009, loss_traj_cls: 0.0152, loss_map_cls: 0.8361, loss_map_pts: 5.0366, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 10.5917, d0.loss_plan_l1_fix_dist: 2.5206, d1.loss_plan_l1_fix_time: 10.5068, d1.loss_plan_l1_fix_dist: 2.4195, d2.loss_plan_l1_fix_time: 10.5405, d2.loss_plan_l1_fix_dist: 2.4524, d3.loss_plan_l1_fix_time: 10.6450, d3.loss_plan_l1_fix_dist: 2.9395, d4.loss_plan_l1_fix_time: 10.7568, d4.loss_plan_l1_fix_dist: 3.6763, d5.loss_plan_l1_fix_time: 10.9525, d5.loss_plan_l1_fix_dist: 4.3080, d6.loss_plan_l1_fix_time: 11.1445, d6.loss_plan_l1_fix_dist: 4.9326, d0.loss_cls_all: 3.9044, d0.loss_bbox_all: 1.5300, d0.loss_cls: 3.9044, d0.loss_bbox: 1.5300, d1.loss_cls: 2.8037, d1.loss_bbox: 1.4873, d2.loss_cls: 2.0667, d2.loss_bbox: 1.4795, d3.loss_cls: 1.9573, d3.loss_bbox: 1.4585, d4.loss_cls: 1.8134, d4.loss_bbox: 1.4804, d5.loss_cls: 1.8912, d5.loss_bbox: 1.4955, d0.loss_traj_cls: 0.0033, d0.loss_traj: 5.0622, d1.loss_traj_cls: 0.0063, d1.loss_traj: 5.1832, d2.loss_traj_cls: 0.0102, d2.loss_traj: 5.1982, d3.loss_traj_cls: 0.0149, d3.loss_traj: 5.1932, d4.loss_traj_cls: 0.0093, d4.loss_traj: 5.1423, d5.loss_traj_cls: 0.0129, d5.loss_traj: 5.1425, d0.loss_map_cls_all: 1.0432, d0.loss_map_pts_all: 5.0940, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 1.0432, d0.loss_map_pts: 5.0940, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 1.0114, d1.loss_map_pts: 5.0916, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 0.9731, d2.loss_map_pts: 5.0704, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 0.8929, d3.loss_map_pts: 5.0536, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 1.0034, d4.loss_map_pts: 5.0439, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 0.8718, d5.loss_map_pts: 5.0387, d5.loss_map_dir: 0.0944, loss: 215.6761, grad_norm: 15688.7594 2026-02-24 00:30:56,106 - DriveTransformer - INFO - Epoch [1][500/59059] lr: 5.491e-05, eta: 23 days, 16:28:06, time: 0.531, data_time: 0.026, memory: 14134, loss_cls: 1.6351, loss_bbox: 1.3945, loss_traj: 6.5523, loss_traj_cls: 0.0156, loss_map_cls: 0.8721, loss_map_pts: 5.4765, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 12.5918, d0.loss_plan_l1_fix_dist: 2.3378, d1.loss_plan_l1_fix_time: 12.3886, d1.loss_plan_l1_fix_dist: 2.1555, d2.loss_plan_l1_fix_time: 12.2943, d2.loss_plan_l1_fix_dist: 2.6622, d3.loss_plan_l1_fix_time: 12.2562, d3.loss_plan_l1_fix_dist: 2.9858, d4.loss_plan_l1_fix_time: 12.2452, d4.loss_plan_l1_fix_dist: 3.5003, d5.loss_plan_l1_fix_time: 12.3293, d5.loss_plan_l1_fix_dist: 3.9804, d6.loss_plan_l1_fix_time: 12.4598, d6.loss_plan_l1_fix_dist: 4.8277, d0.loss_cls_all: 2.6679, d0.loss_bbox_all: 1.4648, d0.loss_cls: 2.6679, d0.loss_bbox: 1.4648, d1.loss_cls: 2.1324, d1.loss_bbox: 1.4102, d2.loss_cls: 1.7139, d2.loss_bbox: 1.4176, d3.loss_cls: 1.6710, d3.loss_bbox: 1.3819, d4.loss_cls: 1.6228, d4.loss_bbox: 1.4178, d5.loss_cls: 1.6492, d5.loss_bbox: 1.4145, d0.loss_traj_cls: 0.0018, d0.loss_traj: 6.4620, d1.loss_traj_cls: 0.0046, d1.loss_traj: 6.5273, d2.loss_traj_cls: 0.0103, d2.loss_traj: 6.5806, d3.loss_traj_cls: 0.0147, d3.loss_traj: 6.5576, d4.loss_traj_cls: 0.0072, d4.loss_traj: 6.5163, d5.loss_traj_cls: 0.0108, d5.loss_traj: 6.5337, d0.loss_map_cls_all: 0.9112, d0.loss_map_pts_all: 5.5047, d0.loss_map_dir_all: 0.0943, d0.loss_map_cls: 0.9112, d0.loss_map_pts: 5.5047, d0.loss_map_dir: 0.0943, d1.loss_map_cls: 0.8879, d1.loss_map_pts: 5.5005, d1.loss_map_dir: 0.0943, d2.loss_map_cls: 0.8677, d2.loss_map_pts: 5.4780, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 0.8368, d3.loss_map_pts: 5.4721, d3.loss_map_dir: 0.0942, d4.loss_map_cls: 0.8827, d4.loss_map_pts: 5.4740, d4.loss_map_dir: 0.0943, d5.loss_map_cls: 0.8469, d5.loss_map_pts: 5.4762, d5.loss_map_dir: 0.0944, loss: 233.5938, grad_norm: 14188.1028 2026-02-24 00:31:23,738 - DriveTransformer - INFO - Epoch [1][550/59059] lr: 5.941e-05, eta: 23 days, 14:13:37, time: 0.553, data_time: 0.025, memory: 14134, loss_cls: 1.4858, loss_bbox: 1.5207, loss_traj: 5.4176, loss_traj_cls: 0.0127, loss_map_cls: 0.8294, loss_map_pts: 5.0567, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 11.2683, d0.loss_plan_l1_fix_dist: 2.4668, d1.loss_plan_l1_fix_time: 11.0353, d1.loss_plan_l1_fix_dist: 2.2917, d2.loss_plan_l1_fix_time: 10.9054, d2.loss_plan_l1_fix_dist: 2.5433, d3.loss_plan_l1_fix_time: 10.8437, d3.loss_plan_l1_fix_dist: 2.9473, d4.loss_plan_l1_fix_time: 10.8033, d4.loss_plan_l1_fix_dist: 3.5908, d5.loss_plan_l1_fix_time: 10.8748, d5.loss_plan_l1_fix_dist: 4.1804, d6.loss_plan_l1_fix_time: 11.0118, d6.loss_plan_l1_fix_dist: 4.8276, d0.loss_cls_all: 1.8473, d0.loss_bbox_all: 1.5086, d0.loss_cls: 1.8473, d0.loss_bbox: 1.5086, d1.loss_cls: 1.6586, d1.loss_bbox: 1.5090, d2.loss_cls: 1.5170, d2.loss_bbox: 1.4935, d3.loss_cls: 1.4933, d3.loss_bbox: 1.4843, d4.loss_cls: 1.4820, d4.loss_bbox: 1.4935, d5.loss_cls: 1.4830, d5.loss_bbox: 1.5001, d0.loss_traj_cls: 0.0010, d0.loss_traj: 5.3292, d1.loss_traj_cls: 0.0029, d1.loss_traj: 5.3911, d2.loss_traj_cls: 0.0083, d2.loss_traj: 5.4275, d3.loss_traj_cls: 0.0111, d3.loss_traj: 5.4459, d4.loss_traj_cls: 0.0057, d4.loss_traj: 5.4180, d5.loss_traj_cls: 0.0093, d5.loss_traj: 5.4158, d0.loss_map_cls_all: 0.7814, d0.loss_map_pts_all: 5.1022, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 0.7814, d0.loss_map_pts: 5.1022, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 0.7520, d1.loss_map_pts: 5.0871, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 0.7554, d2.loss_map_pts: 5.0666, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 0.7572, d3.loss_map_pts: 5.0585, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 0.7928, d4.loss_map_pts: 5.0556, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 0.7886, d5.loss_map_pts: 5.0561, d5.loss_map_dir: 0.0945, loss: 209.8982, grad_norm: 12954.1778 2026-02-24 00:31:51,034 - DriveTransformer - INFO - Epoch [1][600/59059] lr: 6.391e-05, eta: 23 days, 11:48:11, time: 0.546, data_time: 0.025, memory: 14134, loss_cls: 1.4365, loss_bbox: 1.3530, loss_traj: 5.5352, loss_traj_cls: 0.0105, loss_map_cls: 0.8473, loss_map_pts: 5.1505, loss_map_dir: 0.0932, d0.loss_plan_l1_fix_time: 11.4651, d0.loss_plan_l1_fix_dist: 2.0573, d1.loss_plan_l1_fix_time: 11.2106, d1.loss_plan_l1_fix_dist: 1.9134, d2.loss_plan_l1_fix_time: 11.0499, d2.loss_plan_l1_fix_dist: 1.9771, d3.loss_plan_l1_fix_time: 10.9776, d3.loss_plan_l1_fix_dist: 2.6817, d4.loss_plan_l1_fix_time: 10.9166, d4.loss_plan_l1_fix_dist: 3.4090, d5.loss_plan_l1_fix_time: 10.9511, d5.loss_plan_l1_fix_dist: 4.1549, d6.loss_plan_l1_fix_time: 11.0385, d6.loss_plan_l1_fix_dist: 4.8584, d0.loss_cls_all: 1.6392, d0.loss_bbox_all: 1.3860, d0.loss_cls: 1.6392, d0.loss_bbox: 1.3860, d1.loss_cls: 1.5538, d1.loss_bbox: 1.3944, d2.loss_cls: 1.4682, d2.loss_bbox: 1.3623, d3.loss_cls: 1.4407, d3.loss_bbox: 1.3594, d4.loss_cls: 1.4324, d4.loss_bbox: 1.3545, d5.loss_cls: 1.4302, d5.loss_bbox: 1.3665, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.4960, d1.loss_traj_cls: 0.0018, d1.loss_traj: 5.5253, d2.loss_traj_cls: 0.0055, d2.loss_traj: 5.5339, d3.loss_traj_cls: 0.0080, d3.loss_traj: 5.5436, d4.loss_traj_cls: 0.0046, d4.loss_traj: 5.5462, d5.loss_traj_cls: 0.0078, d5.loss_traj: 5.5268, d0.loss_map_cls_all: 0.7847, d0.loss_map_pts_all: 5.2002, d0.loss_map_dir_all: 0.0933, d0.loss_map_cls: 0.7847, d0.loss_map_pts: 5.2002, d0.loss_map_dir: 0.0933, d1.loss_map_cls: 0.7649, d1.loss_map_pts: 5.1801, d1.loss_map_dir: 0.0932, d2.loss_map_cls: 0.7729, d2.loss_map_pts: 5.1569, d2.loss_map_dir: 0.0932, d3.loss_map_cls: 0.7904, d3.loss_map_pts: 5.1520, d3.loss_map_dir: 0.0933, d4.loss_map_cls: 0.8087, d4.loss_map_pts: 5.1490, d4.loss_map_dir: 0.0933, d5.loss_map_cls: 0.8109, d5.loss_map_pts: 5.1491, d5.loss_map_dir: 0.0932, loss: 208.8574, grad_norm: 11935.5868 2026-02-24 00:32:19,806 - DriveTransformer - INFO - Epoch [1][650/59059] lr: 6.841e-05, eta: 23 days, 11:59:12, time: 0.575, data_time: 0.023, memory: 14134, loss_cls: 1.4541, loss_bbox: 1.4799, loss_traj: 4.5543, loss_traj_cls: 0.0098, loss_map_cls: 0.7956, loss_map_pts: 4.9684, loss_map_dir: 0.0911, d0.loss_plan_l1_fix_time: 9.3112, d0.loss_plan_l1_fix_dist: 1.8434, d1.loss_plan_l1_fix_time: 9.1458, d1.loss_plan_l1_fix_dist: 1.7949, d2.loss_plan_l1_fix_time: 9.0961, d2.loss_plan_l1_fix_dist: 2.1197, d3.loss_plan_l1_fix_time: 9.1498, d3.loss_plan_l1_fix_dist: 2.5955, d4.loss_plan_l1_fix_time: 9.1925, d4.loss_plan_l1_fix_dist: 3.1510, d5.loss_plan_l1_fix_time: 9.2966, d5.loss_plan_l1_fix_dist: 3.7959, d6.loss_plan_l1_fix_time: 9.4679, d6.loss_plan_l1_fix_dist: 4.6083, d0.loss_cls_all: 1.5431, d0.loss_bbox_all: 1.4353, d0.loss_cls: 1.5431, d0.loss_bbox: 1.4353, d1.loss_cls: 1.5221, d1.loss_bbox: 1.4646, d2.loss_cls: 1.4816, d2.loss_bbox: 1.4530, d3.loss_cls: 1.4521, d3.loss_bbox: 1.4602, d4.loss_cls: 1.4401, d4.loss_bbox: 1.4630, d5.loss_cls: 1.4433, d5.loss_bbox: 1.4732, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.4890, d1.loss_traj_cls: 0.0017, d1.loss_traj: 4.5077, d2.loss_traj_cls: 0.0038, d2.loss_traj: 4.5237, d3.loss_traj_cls: 0.0067, d3.loss_traj: 4.5234, d4.loss_traj_cls: 0.0036, d4.loss_traj: 4.5515, d5.loss_traj_cls: 0.0063, d5.loss_traj: 4.5409, d0.loss_map_cls_all: 0.7475, d0.loss_map_pts_all: 5.0417, d0.loss_map_dir_all: 0.0911, d0.loss_map_cls: 0.7475, d0.loss_map_pts: 5.0417, d0.loss_map_dir: 0.0911, d1.loss_map_cls: 0.7359, d1.loss_map_pts: 5.0103, d1.loss_map_dir: 0.0910, d2.loss_map_cls: 0.7438, d2.loss_map_pts: 4.9817, d2.loss_map_dir: 0.0911, d3.loss_map_cls: 0.7689, d3.loss_map_pts: 4.9712, d3.loss_map_dir: 0.0912, d4.loss_map_cls: 0.7786, d4.loss_map_pts: 4.9652, d4.loss_map_dir: 0.0911, d5.loss_map_cls: 0.7684, d5.loss_map_pts: 4.9646, d5.loss_map_dir: 0.0911, loss: 186.5953, grad_norm: 11058.6370 2026-02-24 00:32:48,327 - DriveTransformer - INFO - Epoch [1][700/59059] lr: 7.291e-05, eta: 23 days, 11:47:32, time: 0.570, data_time: 0.023, memory: 14134, loss_cls: 1.4346, loss_bbox: 1.3483, loss_traj: 5.9182, loss_traj_cls: 0.0088, loss_map_cls: 0.7591, loss_map_pts: 5.0042, loss_map_dir: 0.0913, d0.loss_plan_l1_fix_time: 11.4675, d0.loss_plan_l1_fix_dist: 1.6784, d1.loss_plan_l1_fix_time: 11.1376, d1.loss_plan_l1_fix_dist: 1.7425, d2.loss_plan_l1_fix_time: 10.9158, d2.loss_plan_l1_fix_dist: 2.1472, d3.loss_plan_l1_fix_time: 10.7942, d3.loss_plan_l1_fix_dist: 2.4057, d4.loss_plan_l1_fix_time: 10.7054, d4.loss_plan_l1_fix_dist: 2.7631, d5.loss_plan_l1_fix_time: 10.6678, d5.loss_plan_l1_fix_dist: 3.1351, d6.loss_plan_l1_fix_time: 10.7032, d6.loss_plan_l1_fix_dist: 3.6406, d0.loss_cls_all: 1.4757, d0.loss_bbox_all: 1.3406, d0.loss_cls: 1.4757, d0.loss_bbox: 1.3406, d1.loss_cls: 1.4724, d1.loss_bbox: 1.3905, d2.loss_cls: 1.4539, d2.loss_bbox: 1.3376, d3.loss_cls: 1.4247, d3.loss_bbox: 1.3132, d4.loss_cls: 1.4163, d4.loss_bbox: 1.3062, d5.loss_cls: 1.4256, d5.loss_bbox: 1.3239, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.8188, d1.loss_traj_cls: 0.0014, d1.loss_traj: 5.8493, d2.loss_traj_cls: 0.0036, d2.loss_traj: 5.8915, d3.loss_traj_cls: 0.0064, d3.loss_traj: 5.8843, d4.loss_traj_cls: 0.0029, d4.loss_traj: 5.9043, d5.loss_traj_cls: 0.0056, d5.loss_traj: 5.9077, d0.loss_map_cls_all: 0.7339, d0.loss_map_pts_all: 5.1030, d0.loss_map_dir_all: 0.0914, d0.loss_map_cls: 0.7339, d0.loss_map_pts: 5.1030, d0.loss_map_dir: 0.0914, d1.loss_map_cls: 0.7306, d1.loss_map_pts: 5.0651, d1.loss_map_dir: 0.0914, d2.loss_map_cls: 0.7377, d2.loss_map_pts: 5.0353, d2.loss_map_dir: 0.0914, d3.loss_map_cls: 0.7568, d3.loss_map_pts: 5.0195, d3.loss_map_dir: 0.0914, d4.loss_map_cls: 0.7491, d4.loss_map_pts: 5.0074, d4.loss_map_dir: 0.0914, d5.loss_map_cls: 0.7383, d5.loss_map_pts: 5.0039, d5.loss_map_dir: 0.0913, loss: 204.3990, grad_norm: 10304.7778 2026-02-24 00:33:17,201 - DriveTransformer - INFO - Epoch [1][750/59059] lr: 7.741e-05, eta: 23 days, 12:05:38, time: 0.578, data_time: 0.025, memory: 14134, loss_cls: 1.4726, loss_bbox: 1.3611, loss_traj: 5.7049, loss_traj_cls: 0.0079, loss_map_cls: 0.8033, loss_map_pts: 4.8922, loss_map_dir: 0.0885, d0.loss_plan_l1_fix_time: 11.4326, d0.loss_plan_l1_fix_dist: 1.7414, d1.loss_plan_l1_fix_time: 11.0687, d1.loss_plan_l1_fix_dist: 1.8293, d2.loss_plan_l1_fix_time: 10.7858, d2.loss_plan_l1_fix_dist: 2.2667, d3.loss_plan_l1_fix_time: 10.5700, d3.loss_plan_l1_fix_dist: 2.7390, d4.loss_plan_l1_fix_time: 10.4290, d4.loss_plan_l1_fix_dist: 3.1530, d5.loss_plan_l1_fix_time: 10.3295, d5.loss_plan_l1_fix_dist: 3.5841, d6.loss_plan_l1_fix_time: 10.2989, d6.loss_plan_l1_fix_dist: 4.0326, d0.loss_cls_all: 1.4766, d0.loss_bbox_all: 1.3027, d0.loss_cls: 1.4766, d0.loss_bbox: 1.3027, d1.loss_cls: 1.4804, d1.loss_bbox: 1.3379, d2.loss_cls: 1.4739, d2.loss_bbox: 1.2953, d3.loss_cls: 1.4661, d3.loss_bbox: 1.2742, d4.loss_cls: 1.4677, d4.loss_bbox: 1.2820, d5.loss_cls: 1.4772, d5.loss_bbox: 1.3161, d0.loss_traj_cls: 0.0005, d0.loss_traj: 5.6047, d1.loss_traj_cls: 0.0010, d1.loss_traj: 5.6383, d2.loss_traj_cls: 0.0038, d2.loss_traj: 5.6788, d3.loss_traj_cls: 0.0056, d3.loss_traj: 5.6819, d4.loss_traj_cls: 0.0023, d4.loss_traj: 5.7021, d5.loss_traj_cls: 0.0045, d5.loss_traj: 5.7045, d0.loss_map_cls_all: 0.7418, d0.loss_map_pts_all: 4.9658, d0.loss_map_dir_all: 0.0883, d0.loss_map_cls: 0.7418, d0.loss_map_pts: 4.9658, d0.loss_map_dir: 0.0883, d1.loss_map_cls: 0.7519, d1.loss_map_pts: 4.9292, d1.loss_map_dir: 0.0884, d2.loss_map_cls: 0.7703, d2.loss_map_pts: 4.9089, d2.loss_map_dir: 0.0886, d3.loss_map_cls: 0.7781, d3.loss_map_pts: 4.8980, d3.loss_map_dir: 0.0886, d4.loss_map_cls: 0.7709, d4.loss_map_pts: 4.8934, d4.loss_map_dir: 0.0886, d5.loss_map_cls: 0.7776, d5.loss_map_pts: 4.8929, d5.loss_map_dir: 0.0885, loss: 202.4540, grad_norm: 9652.8110 2026-02-24 00:33:47,723 - DriveTransformer - INFO - Epoch [1][800/59059] lr: 8.191e-05, eta: 23 days, 14:21:58, time: 0.610, data_time: 0.026, memory: 14134, loss_cls: 1.4490, loss_bbox: 1.4205, loss_traj: 5.2014, loss_traj_cls: 0.0069, loss_map_cls: 0.7250, loss_map_pts: 4.8455, loss_map_dir: 0.0860, d0.loss_plan_l1_fix_time: 11.0070, d0.loss_plan_l1_fix_dist: 1.5050, d1.loss_plan_l1_fix_time: 10.6578, d1.loss_plan_l1_fix_dist: 1.6395, d2.loss_plan_l1_fix_time: 10.4105, d2.loss_plan_l1_fix_dist: 2.0899, d3.loss_plan_l1_fix_time: 10.2391, d3.loss_plan_l1_fix_dist: 2.5690, d4.loss_plan_l1_fix_time: 10.1617, d4.loss_plan_l1_fix_dist: 3.1198, d5.loss_plan_l1_fix_time: 10.1270, d5.loss_plan_l1_fix_dist: 3.7981, d6.loss_plan_l1_fix_time: 10.1542, d6.loss_plan_l1_fix_dist: 4.5825, d0.loss_cls_all: 1.4295, d0.loss_bbox_all: 1.3312, d0.loss_cls: 1.4295, d0.loss_bbox: 1.3312, d1.loss_cls: 1.4561, d1.loss_bbox: 1.3489, d2.loss_cls: 1.4506, d2.loss_bbox: 1.3203, d3.loss_cls: 1.4467, d3.loss_bbox: 1.3323, d4.loss_cls: 1.4341, d4.loss_bbox: 1.3559, d5.loss_cls: 1.4439, d5.loss_bbox: 1.3845, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.1027, d1.loss_traj_cls: 0.0008, d1.loss_traj: 5.1381, d2.loss_traj_cls: 0.0029, d2.loss_traj: 5.1601, d3.loss_traj_cls: 0.0037, d3.loss_traj: 5.1779, d4.loss_traj_cls: 0.0019, d4.loss_traj: 5.2126, d5.loss_traj_cls: 0.0037, d5.loss_traj: 5.2014, d0.loss_map_cls_all: 0.6867, d0.loss_map_pts_all: 4.8615, d0.loss_map_dir_all: 0.0857, d0.loss_map_cls: 0.6867, d0.loss_map_pts: 4.8615, d0.loss_map_dir: 0.0857, d1.loss_map_cls: 0.7008, d1.loss_map_pts: 4.8346, d1.loss_map_dir: 0.0859, d2.loss_map_cls: 0.7033, d2.loss_map_pts: 4.8294, d2.loss_map_dir: 0.0860, d3.loss_map_cls: 0.7062, d3.loss_map_pts: 4.8329, d3.loss_map_dir: 0.0860, d4.loss_map_cls: 0.6975, d4.loss_map_pts: 4.8409, d4.loss_map_dir: 0.0860, d5.loss_map_cls: 0.7095, d5.loss_map_pts: 4.8453, d5.loss_map_dir: 0.0860, loss: 195.6944, grad_norm: 9091.9762 2026-02-24 00:34:17,134 - DriveTransformer - INFO - Epoch [1][850/59059] lr: 8.641e-05, eta: 23 days, 15:05:38, time: 0.588, data_time: 0.025, memory: 14134, loss_cls: 1.4775, loss_bbox: 1.4746, loss_traj: 5.0718, loss_traj_cls: 0.0073, loss_map_cls: 0.7305, loss_map_pts: 5.1667, loss_map_dir: 0.0873, d0.loss_plan_l1_fix_time: 12.1655, d0.loss_plan_l1_fix_dist: 1.3593, d1.loss_plan_l1_fix_time: 11.7169, d1.loss_plan_l1_fix_dist: 1.4227, d2.loss_plan_l1_fix_time: 11.3656, d2.loss_plan_l1_fix_dist: 1.8905, d3.loss_plan_l1_fix_time: 11.0896, d3.loss_plan_l1_fix_dist: 2.1807, d4.loss_plan_l1_fix_time: 10.9058, d4.loss_plan_l1_fix_dist: 2.6094, d5.loss_plan_l1_fix_time: 10.7802, d5.loss_plan_l1_fix_dist: 3.1817, d6.loss_plan_l1_fix_time: 10.7066, d6.loss_plan_l1_fix_dist: 3.9086, d0.loss_cls_all: 1.4537, d0.loss_bbox_all: 1.3940, d0.loss_cls: 1.4537, d0.loss_bbox: 1.3940, d1.loss_cls: 1.4898, d1.loss_bbox: 1.4155, d2.loss_cls: 1.4844, d2.loss_bbox: 1.4058, d3.loss_cls: 1.4876, d3.loss_bbox: 1.4484, d4.loss_cls: 1.4684, d4.loss_bbox: 1.4580, d5.loss_cls: 1.4803, d5.loss_bbox: 1.4724, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.9873, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.0176, d2.loss_traj_cls: 0.0017, d2.loss_traj: 5.0339, d3.loss_traj_cls: 0.0034, d3.loss_traj: 5.0490, d4.loss_traj_cls: 0.0016, d4.loss_traj: 5.0984, d5.loss_traj_cls: 0.0031, d5.loss_traj: 5.0761, d0.loss_map_cls_all: 0.7011, d0.loss_map_pts_all: 5.1999, d0.loss_map_dir_all: 0.0870, d0.loss_map_cls: 0.7011, d0.loss_map_pts: 5.1999, d0.loss_map_dir: 0.0870, d1.loss_map_cls: 0.7046, d1.loss_map_pts: 5.1644, d1.loss_map_dir: 0.0870, d2.loss_map_cls: 0.7134, d2.loss_map_pts: 5.1561, d2.loss_map_dir: 0.0872, d3.loss_map_cls: 0.7137, d3.loss_map_pts: 5.1588, d3.loss_map_dir: 0.0873, d4.loss_map_cls: 0.7169, d4.loss_map_pts: 5.1627, d4.loss_map_dir: 0.0872, d5.loss_map_cls: 0.7244, d5.loss_map_pts: 5.1657, d5.loss_map_dir: 0.0872, loss: 201.6709, grad_norm: 8587.1978 2026-02-24 00:34:44,292 - DriveTransformer - INFO - Epoch [1][900/59059] lr: 9.091e-05, eta: 23 days, 13:16:21, time: 0.543, data_time: 0.029, memory: 14134, loss_cls: 1.4683, loss_bbox: 1.3542, loss_traj: 6.2953, loss_traj_cls: 0.0065, loss_map_cls: 0.8752, loss_map_pts: 4.9609, loss_map_dir: 0.0884, d0.loss_plan_l1_fix_time: 11.9680, d0.loss_plan_l1_fix_dist: 1.3634, d1.loss_plan_l1_fix_time: 11.4899, d1.loss_plan_l1_fix_dist: 1.5789, d2.loss_plan_l1_fix_time: 11.1491, d2.loss_plan_l1_fix_dist: 1.9796, d3.loss_plan_l1_fix_time: 10.8853, d3.loss_plan_l1_fix_dist: 2.3855, d4.loss_plan_l1_fix_time: 10.7054, d4.loss_plan_l1_fix_dist: 2.8070, d5.loss_plan_l1_fix_time: 10.5897, d5.loss_plan_l1_fix_dist: 3.2070, d6.loss_plan_l1_fix_time: 10.5347, d6.loss_plan_l1_fix_dist: 3.7749, d0.loss_cls_all: 1.4473, d0.loss_bbox_all: 1.2531, d0.loss_cls: 1.4473, d0.loss_bbox: 1.2531, d1.loss_cls: 1.4857, d1.loss_bbox: 1.2741, d2.loss_cls: 1.4684, d2.loss_bbox: 1.2789, d3.loss_cls: 1.4787, d3.loss_bbox: 1.3161, d4.loss_cls: 1.4701, d4.loss_bbox: 1.3120, d5.loss_cls: 1.4761, d5.loss_bbox: 1.3236, d0.loss_traj_cls: 0.0006, d0.loss_traj: 6.1595, d1.loss_traj_cls: 0.0005, d1.loss_traj: 6.2051, d2.loss_traj_cls: 0.0012, d2.loss_traj: 6.2498, d3.loss_traj_cls: 0.0034, d3.loss_traj: 6.2659, d4.loss_traj_cls: 0.0013, d4.loss_traj: 6.3182, d5.loss_traj_cls: 0.0026, d5.loss_traj: 6.3047, d0.loss_map_cls_all: 0.8608, d0.loss_map_pts_all: 5.0039, d0.loss_map_dir_all: 0.0881, d0.loss_map_cls: 0.8608, d0.loss_map_pts: 5.0039, d0.loss_map_dir: 0.0881, d1.loss_map_cls: 0.7983, d1.loss_map_pts: 4.9752, d1.loss_map_dir: 0.0881, d2.loss_map_cls: 0.8177, d2.loss_map_pts: 4.9705, d2.loss_map_dir: 0.0881, d3.loss_map_cls: 0.8176, d3.loss_map_pts: 4.9688, d3.loss_map_dir: 0.0882, d4.loss_map_cls: 0.8619, d4.loss_map_pts: 4.9678, d4.loss_map_dir: 0.0882, d5.loss_map_cls: 0.8541, d5.loss_map_pts: 4.9656, d5.loss_map_dir: 0.0883, loss: 207.6086, grad_norm: 8135.8032 2026-02-24 00:35:14,740 - DriveTransformer - INFO - Epoch [1][950/59059] lr: 9.541e-05, eta: 23 days, 15:03:22, time: 0.609, data_time: 0.025, memory: 14134, loss_cls: 1.5001, loss_bbox: 1.5537, loss_traj: 4.9956, loss_traj_cls: 0.0051, loss_map_cls: 0.7734, loss_map_pts: 4.9203, loss_map_dir: 0.0878, d0.loss_plan_l1_fix_time: 11.7340, d0.loss_plan_l1_fix_dist: 1.3719, d1.loss_plan_l1_fix_time: 11.1690, d1.loss_plan_l1_fix_dist: 1.5318, d2.loss_plan_l1_fix_time: 10.7227, d2.loss_plan_l1_fix_dist: 1.9115, d3.loss_plan_l1_fix_time: 10.3771, d3.loss_plan_l1_fix_dist: 2.3837, d4.loss_plan_l1_fix_time: 10.1069, d4.loss_plan_l1_fix_dist: 2.8855, d5.loss_plan_l1_fix_time: 9.9256, d5.loss_plan_l1_fix_dist: 3.2768, d6.loss_plan_l1_fix_time: 9.8381, d6.loss_plan_l1_fix_dist: 3.6997, d0.loss_cls_all: 1.4968, d0.loss_bbox_all: 1.5274, d0.loss_cls: 1.4968, d0.loss_bbox: 1.5274, d1.loss_cls: 1.5416, d1.loss_bbox: 1.5382, d2.loss_cls: 1.5058, d2.loss_bbox: 1.5287, d3.loss_cls: 1.5071, d3.loss_bbox: 1.5364, d4.loss_cls: 1.4872, d4.loss_bbox: 1.5328, d5.loss_cls: 1.5083, d5.loss_bbox: 1.5425, d0.loss_traj_cls: 0.0008, d0.loss_traj: 4.8195, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8813, d2.loss_traj_cls: 0.0014, d2.loss_traj: 4.9272, d3.loss_traj_cls: 0.0029, d3.loss_traj: 4.9575, d4.loss_traj_cls: 0.0011, d4.loss_traj: 4.9872, d5.loss_traj_cls: 0.0022, d5.loss_traj: 4.9867, d0.loss_map_cls_all: 0.7298, d0.loss_map_pts_all: 4.9918, d0.loss_map_dir_all: 0.0878, d0.loss_map_cls: 0.7298, d0.loss_map_pts: 4.9918, d0.loss_map_dir: 0.0878, d1.loss_map_cls: 0.7212, d1.loss_map_pts: 4.9488, d1.loss_map_dir: 0.0877, d2.loss_map_cls: 0.7431, d2.loss_map_pts: 4.9279, d2.loss_map_dir: 0.0878, d3.loss_map_cls: 0.7546, d3.loss_map_pts: 4.9186, d3.loss_map_dir: 0.0878, d4.loss_map_cls: 0.7605, d4.loss_map_pts: 4.9151, d4.loss_map_dir: 0.0878, d5.loss_map_cls: 0.7565, d5.loss_map_pts: 4.9147, d5.loss_map_dir: 0.0878, loss: 196.0345, grad_norm: 7729.4752 2026-02-24 00:35:42,234 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 00:35:42,234 - DriveTransformer - INFO - Epoch [1][1000/59059] lr: 9.991e-05, eta: 23 days, 13:44:46, time: 0.550, data_time: 0.023, memory: 14134, loss_cls: 1.4665, loss_bbox: 1.2713, loss_traj: 5.6869, loss_traj_cls: 0.0050, loss_map_cls: 0.8003, loss_map_pts: 5.1844, loss_map_dir: 0.0873, d0.loss_plan_l1_fix_time: 11.7475, d0.loss_plan_l1_fix_dist: 1.2540, d1.loss_plan_l1_fix_time: 11.1151, d1.loss_plan_l1_fix_dist: 1.4159, d2.loss_plan_l1_fix_time: 10.6024, d2.loss_plan_l1_fix_dist: 1.7394, d3.loss_plan_l1_fix_time: 10.1938, d3.loss_plan_l1_fix_dist: 2.0952, d4.loss_plan_l1_fix_time: 9.8715, d4.loss_plan_l1_fix_dist: 2.6582, d5.loss_plan_l1_fix_time: 9.6543, d5.loss_plan_l1_fix_dist: 3.2238, d6.loss_plan_l1_fix_time: 9.5678, d6.loss_plan_l1_fix_dist: 3.8046, d0.loss_cls_all: 1.4436, d0.loss_bbox_all: 1.2010, d0.loss_cls: 1.4436, d0.loss_bbox: 1.2010, d1.loss_cls: 1.4730, d1.loss_bbox: 1.2026, d2.loss_cls: 1.4574, d2.loss_bbox: 1.1851, d3.loss_cls: 1.4810, d3.loss_bbox: 1.2062, d4.loss_cls: 1.4761, d4.loss_bbox: 1.2194, d5.loss_cls: 1.4820, d5.loss_bbox: 1.2402, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.4780, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.5618, d2.loss_traj_cls: 0.0014, d2.loss_traj: 5.6209, d3.loss_traj_cls: 0.0020, d3.loss_traj: 5.6583, d4.loss_traj_cls: 0.0009, d4.loss_traj: 5.6889, d5.loss_traj_cls: 0.0018, d5.loss_traj: 5.6849, d0.loss_map_cls_all: 0.7669, d0.loss_map_pts_all: 5.2487, d0.loss_map_dir_all: 0.0874, d0.loss_map_cls: 0.7669, d0.loss_map_pts: 5.2487, d0.loss_map_dir: 0.0874, d1.loss_map_cls: 0.7692, d1.loss_map_pts: 5.1993, d1.loss_map_dir: 0.0874, d2.loss_map_cls: 0.7941, d2.loss_map_pts: 5.1741, d2.loss_map_dir: 0.0874, d3.loss_map_cls: 0.7970, d3.loss_map_pts: 5.1681, d3.loss_map_dir: 0.0875, d4.loss_map_cls: 0.7977, d4.loss_map_pts: 5.1682, d4.loss_map_dir: 0.0874, d5.loss_map_cls: 0.7955, d5.loss_map_pts: 5.1719, d5.loss_map_dir: 0.0873, loss: 198.3358, grad_norm: 7363.0140 2026-02-24 00:36:10,302 - DriveTransformer - INFO - Epoch [1][1050/59059] lr: 1.000e-04, eta: 23 days, 13:06:15, time: 0.561, data_time: 0.032, memory: 14134, loss_cls: 1.4493, loss_bbox: 1.4282, loss_traj: 5.8424, loss_traj_cls: 0.0054, loss_map_cls: 0.7776, loss_map_pts: 5.0965, loss_map_dir: 0.0865, d0.loss_plan_l1_fix_time: 11.0672, d0.loss_plan_l1_fix_dist: 1.1675, d1.loss_plan_l1_fix_time: 10.4578, d1.loss_plan_l1_fix_dist: 1.4837, d2.loss_plan_l1_fix_time: 10.0196, d2.loss_plan_l1_fix_dist: 1.8543, d3.loss_plan_l1_fix_time: 9.6941, d3.loss_plan_l1_fix_dist: 2.2413, d4.loss_plan_l1_fix_time: 9.4723, d4.loss_plan_l1_fix_dist: 2.6648, d5.loss_plan_l1_fix_time: 9.3347, d5.loss_plan_l1_fix_dist: 3.1247, d6.loss_plan_l1_fix_time: 9.3263, d6.loss_plan_l1_fix_dist: 3.6179, d0.loss_cls_all: 1.4493, d0.loss_bbox_all: 1.3527, d0.loss_cls: 1.4493, d0.loss_bbox: 1.3527, d1.loss_cls: 1.4825, d1.loss_bbox: 1.3635, d2.loss_cls: 1.4476, d2.loss_bbox: 1.3541, d3.loss_cls: 1.4823, d3.loss_bbox: 1.3754, d4.loss_cls: 1.4588, d4.loss_bbox: 1.3920, d5.loss_cls: 1.4637, d5.loss_bbox: 1.3977, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.5973, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7077, d2.loss_traj_cls: 0.0011, d2.loss_traj: 5.7688, d3.loss_traj_cls: 0.0016, d3.loss_traj: 5.8023, d4.loss_traj_cls: 0.0008, d4.loss_traj: 5.8726, d5.loss_traj_cls: 0.0016, d5.loss_traj: 5.8480, d0.loss_map_cls_all: 0.7557, d0.loss_map_pts_all: 5.1726, d0.loss_map_dir_all: 0.0865, d0.loss_map_cls: 0.7557, d0.loss_map_pts: 5.1726, d0.loss_map_dir: 0.0865, d1.loss_map_cls: 0.7559, d1.loss_map_pts: 5.1263, d1.loss_map_dir: 0.0864, d2.loss_map_cls: 0.7748, d2.loss_map_pts: 5.1055, d2.loss_map_dir: 0.0865, d3.loss_map_cls: 0.7662, d3.loss_map_pts: 5.0972, d3.loss_map_dir: 0.0865, d4.loss_map_cls: 0.7768, d4.loss_map_pts: 5.0927, d4.loss_map_dir: 0.0865, d5.loss_map_cls: 0.7791, d5.loss_map_pts: 5.0906, d5.loss_map_dir: 0.0864, loss: 196.4639, grad_norm: 7033.5652 2026-02-24 00:36:39,314 - DriveTransformer - INFO - Epoch [1][1100/59059] lr: 1.000e-04, eta: 23 days, 13:21:37, time: 0.580, data_time: 0.023, memory: 14134, loss_cls: 1.4545, loss_bbox: 1.4597, loss_traj: 5.8278, loss_traj_cls: 0.0037, loss_map_cls: 0.7491, loss_map_pts: 5.0273, loss_map_dir: 0.0849, d0.loss_plan_l1_fix_time: 9.9860, d0.loss_plan_l1_fix_dist: 1.1042, d1.loss_plan_l1_fix_time: 9.5505, d1.loss_plan_l1_fix_dist: 1.3830, d2.loss_plan_l1_fix_time: 9.2963, d2.loss_plan_l1_fix_dist: 1.7069, d3.loss_plan_l1_fix_time: 9.1359, d3.loss_plan_l1_fix_dist: 2.1637, d4.loss_plan_l1_fix_time: 9.0777, d4.loss_plan_l1_fix_dist: 2.5827, d5.loss_plan_l1_fix_time: 9.0995, d5.loss_plan_l1_fix_dist: 3.1015, d6.loss_plan_l1_fix_time: 9.2246, d6.loss_plan_l1_fix_dist: 3.7730, d0.loss_cls_all: 1.4566, d0.loss_bbox_all: 1.3720, d0.loss_cls: 1.4566, d0.loss_bbox: 1.3720, d1.loss_cls: 1.4817, d1.loss_bbox: 1.3915, d2.loss_cls: 1.4486, d2.loss_bbox: 1.3844, d3.loss_cls: 1.4708, d3.loss_bbox: 1.4125, d4.loss_cls: 1.4510, d4.loss_bbox: 1.4294, d5.loss_cls: 1.4541, d5.loss_bbox: 1.4342, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.5059, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.6338, d2.loss_traj_cls: 0.0008, d2.loss_traj: 5.7156, d3.loss_traj_cls: 0.0018, d3.loss_traj: 5.7496, d4.loss_traj_cls: 0.0007, d4.loss_traj: 5.8237, d5.loss_traj_cls: 0.0013, d5.loss_traj: 5.8138, d0.loss_map_cls_all: 0.7381, d0.loss_map_pts_all: 5.1029, d0.loss_map_dir_all: 0.0849, d0.loss_map_cls: 0.7381, d0.loss_map_pts: 5.1029, d0.loss_map_dir: 0.0849, d1.loss_map_cls: 0.7283, d1.loss_map_pts: 5.0423, d1.loss_map_dir: 0.0849, d2.loss_map_cls: 0.7388, d2.loss_map_pts: 5.0198, d2.loss_map_dir: 0.0849, d3.loss_map_cls: 0.7234, d3.loss_map_pts: 5.0111, d3.loss_map_dir: 0.0849, d4.loss_map_cls: 0.7490, d4.loss_map_pts: 5.0142, d4.loss_map_dir: 0.0850, d5.loss_map_cls: 0.7497, d5.loss_map_pts: 5.0219, d5.loss_map_dir: 0.0849, loss: 191.1314, grad_norm: 6732.6333 2026-02-24 00:37:08,021 - DriveTransformer - INFO - Epoch [1][1150/59059] lr: 1.000e-04, eta: 23 days, 13:20:01, time: 0.574, data_time: 0.031, memory: 14134, loss_cls: 1.4458, loss_bbox: 1.3678, loss_traj: 5.4633, loss_traj_cls: 0.0034, loss_map_cls: 0.8647, loss_map_pts: 5.0095, loss_map_dir: 0.0823, d0.loss_plan_l1_fix_time: 9.0528, d0.loss_plan_l1_fix_dist: 1.1973, d1.loss_plan_l1_fix_time: 8.7657, d1.loss_plan_l1_fix_dist: 1.4747, d2.loss_plan_l1_fix_time: 8.6714, d2.loss_plan_l1_fix_dist: 1.7862, d3.loss_plan_l1_fix_time: 8.6751, d3.loss_plan_l1_fix_dist: 2.1068, d4.loss_plan_l1_fix_time: 8.7728, d4.loss_plan_l1_fix_dist: 2.4078, d5.loss_plan_l1_fix_time: 8.9386, d5.loss_plan_l1_fix_dist: 2.7927, d6.loss_plan_l1_fix_time: 9.2059, d6.loss_plan_l1_fix_dist: 3.3016, d0.loss_cls_all: 1.4341, d0.loss_bbox_all: 1.2649, d0.loss_cls: 1.4341, d0.loss_bbox: 1.2649, d1.loss_cls: 1.4586, d1.loss_bbox: 1.2886, d2.loss_cls: 1.4433, d2.loss_bbox: 1.2819, d3.loss_cls: 1.4515, d3.loss_bbox: 1.3135, d4.loss_cls: 1.4434, d4.loss_bbox: 1.3236, d5.loss_cls: 1.4376, d5.loss_bbox: 1.3285, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.1494, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.2713, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.3658, d3.loss_traj_cls: 0.0018, d3.loss_traj: 5.4167, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.4560, d5.loss_traj_cls: 0.0011, d5.loss_traj: 5.4563, d0.loss_map_cls_all: 0.7776, d0.loss_map_pts_all: 5.1187, d0.loss_map_dir_all: 0.0828, d0.loss_map_cls: 0.7776, d0.loss_map_pts: 5.1187, d0.loss_map_dir: 0.0828, d1.loss_map_cls: 0.7779, d1.loss_map_pts: 5.0483, d1.loss_map_dir: 0.0825, d2.loss_map_cls: 0.7953, d2.loss_map_pts: 5.0143, d2.loss_map_dir: 0.0825, d3.loss_map_cls: 0.8120, d3.loss_map_pts: 5.0034, d3.loss_map_dir: 0.0824, d4.loss_map_cls: 0.8285, d4.loss_map_pts: 5.0001, d4.loss_map_dir: 0.0824, d5.loss_map_cls: 0.8469, d5.loss_map_pts: 5.0010, d5.loss_map_dir: 0.0824, loss: 184.1740, grad_norm: 6458.7740 2026-02-24 00:37:35,880 - DriveTransformer - INFO - Epoch [1][1200/59059] lr: 1.000e-04, eta: 23 days, 12:39:08, time: 0.558, data_time: 0.027, memory: 14134, loss_cls: 1.4437, loss_bbox: 1.3106, loss_traj: 6.2873, loss_traj_cls: 0.0040, loss_map_cls: 0.7795, loss_map_pts: 4.8283, loss_map_dir: 0.0804, d0.loss_plan_l1_fix_time: 11.7813, d0.loss_plan_l1_fix_dist: 1.1748, d1.loss_plan_l1_fix_time: 10.9131, d1.loss_plan_l1_fix_dist: 1.3161, d2.loss_plan_l1_fix_time: 10.2635, d2.loss_plan_l1_fix_dist: 1.7004, d3.loss_plan_l1_fix_time: 9.8138, d3.loss_plan_l1_fix_dist: 2.0790, d4.loss_plan_l1_fix_time: 9.5399, d4.loss_plan_l1_fix_dist: 2.4973, d5.loss_plan_l1_fix_time: 9.3771, d5.loss_plan_l1_fix_dist: 3.0328, d6.loss_plan_l1_fix_time: 9.3489, d6.loss_plan_l1_fix_dist: 3.8012, d0.loss_cls_all: 1.4199, d0.loss_bbox_all: 1.2342, d0.loss_cls: 1.4199, d0.loss_bbox: 1.2342, d1.loss_cls: 1.4375, d1.loss_bbox: 1.2663, d2.loss_cls: 1.4428, d2.loss_bbox: 1.2555, d3.loss_cls: 1.4352, d3.loss_bbox: 1.2776, d4.loss_cls: 1.4512, d4.loss_bbox: 1.2975, d5.loss_cls: 1.4370, d5.loss_bbox: 1.3076, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.9241, d1.loss_traj_cls: 0.0005, d1.loss_traj: 6.0661, d2.loss_traj_cls: 0.0006, d2.loss_traj: 6.1714, d3.loss_traj_cls: 0.0013, d3.loss_traj: 6.2305, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.2700, d5.loss_traj_cls: 0.0009, d5.loss_traj: 6.2772, d0.loss_map_cls_all: 0.7260, d0.loss_map_pts_all: 4.9394, d0.loss_map_dir_all: 0.0803, d0.loss_map_cls: 0.7260, d0.loss_map_pts: 4.9394, d0.loss_map_dir: 0.0803, d1.loss_map_cls: 0.7165, d1.loss_map_pts: 4.8772, d1.loss_map_dir: 0.0801, d2.loss_map_cls: 0.7299, d2.loss_map_pts: 4.8507, d2.loss_map_dir: 0.0804, d3.loss_map_cls: 0.7374, d3.loss_map_pts: 4.8412, d3.loss_map_dir: 0.0805, d4.loss_map_cls: 0.7561, d4.loss_map_pts: 4.8340, d4.loss_map_dir: 0.0804, d5.loss_map_cls: 0.7681, d5.loss_map_pts: 4.8270, d5.loss_map_dir: 0.0803, loss: 197.0648, grad_norm: 5976.0548 2026-02-24 00:38:07,866 - DriveTransformer - INFO - Epoch [1][1250/59059] lr: 1.000e-04, eta: 23 days, 15:12:36, time: 0.639, data_time: 0.035, memory: 14134, loss_cls: 1.4990, loss_bbox: 1.3947, loss_traj: 6.3784, loss_traj_cls: 0.0034, loss_map_cls: 0.7917, loss_map_pts: 4.9362, loss_map_dir: 0.0795, d0.loss_plan_l1_fix_time: 10.9935, d0.loss_plan_l1_fix_dist: 1.1585, d1.loss_plan_l1_fix_time: 10.1568, d1.loss_plan_l1_fix_dist: 1.3766, d2.loss_plan_l1_fix_time: 9.5638, d2.loss_plan_l1_fix_dist: 1.7355, d3.loss_plan_l1_fix_time: 9.2000, d3.loss_plan_l1_fix_dist: 2.1104, d4.loss_plan_l1_fix_time: 8.9702, d4.loss_plan_l1_fix_dist: 2.6074, d5.loss_plan_l1_fix_time: 8.8661, d5.loss_plan_l1_fix_dist: 3.0468, d6.loss_plan_l1_fix_time: 8.8910, d6.loss_plan_l1_fix_dist: 3.5277, d0.loss_cls_all: 1.4707, d0.loss_bbox_all: 1.3348, d0.loss_cls: 1.4707, d0.loss_bbox: 1.3348, d1.loss_cls: 1.4853, d1.loss_bbox: 1.3552, d2.loss_cls: 1.5072, d2.loss_bbox: 1.3352, d3.loss_cls: 1.5004, d3.loss_bbox: 1.3587, d4.loss_cls: 1.4957, d4.loss_bbox: 1.3830, d5.loss_cls: 1.4732, d5.loss_bbox: 1.4018, d0.loss_traj_cls: 0.0007, d0.loss_traj: 5.8936, d1.loss_traj_cls: 0.0005, d1.loss_traj: 6.0953, d2.loss_traj_cls: 0.0007, d2.loss_traj: 6.2194, d3.loss_traj_cls: 0.0009, d3.loss_traj: 6.2799, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.3641, d5.loss_traj_cls: 0.0009, d5.loss_traj: 6.3592, d0.loss_map_cls_all: 0.7433, d0.loss_map_pts_all: 5.0718, d0.loss_map_dir_all: 0.0796, d0.loss_map_cls: 0.7433, d0.loss_map_pts: 5.0718, d0.loss_map_dir: 0.0796, d1.loss_map_cls: 0.7484, d1.loss_map_pts: 4.9947, d1.loss_map_dir: 0.0793, d2.loss_map_cls: 0.7651, d2.loss_map_pts: 4.9657, d2.loss_map_dir: 0.0796, d3.loss_map_cls: 0.7739, d3.loss_map_pts: 4.9526, d3.loss_map_dir: 0.0796, d4.loss_map_cls: 0.7793, d4.loss_map_pts: 4.9443, d4.loss_map_dir: 0.0795, d5.loss_map_cls: 0.7849, d5.loss_map_pts: 4.9371, d5.loss_map_dir: 0.0794, loss: 195.2424, grad_norm: 5761.2103 2026-02-24 00:38:56,550 - DriveTransformer - INFO - Epoch [1][1300/59059] lr: 1.000e-04, eta: 24 days, 6:13:28, time: 0.973, data_time: 0.038, memory: 14134, loss_cls: 1.4461, loss_bbox: 1.3040, loss_traj: 5.9910, loss_traj_cls: 0.0024, loss_map_cls: 0.7777, loss_map_pts: 4.9822, loss_map_dir: 0.0787, d0.loss_plan_l1_fix_time: 10.6773, d0.loss_plan_l1_fix_dist: 1.1980, d1.loss_plan_l1_fix_time: 9.9867, d1.loss_plan_l1_fix_dist: 1.3494, d2.loss_plan_l1_fix_time: 9.5106, d2.loss_plan_l1_fix_dist: 1.6882, d3.loss_plan_l1_fix_time: 9.2113, d3.loss_plan_l1_fix_dist: 2.0595, d4.loss_plan_l1_fix_time: 9.0499, d4.loss_plan_l1_fix_dist: 2.5475, d5.loss_plan_l1_fix_time: 9.0193, d5.loss_plan_l1_fix_dist: 2.8480, d6.loss_plan_l1_fix_time: 9.1159, d6.loss_plan_l1_fix_dist: 3.0260, d0.loss_cls_all: 1.4140, d0.loss_bbox_all: 1.2251, d0.loss_cls: 1.4140, d0.loss_bbox: 1.2251, d1.loss_cls: 1.4164, d1.loss_bbox: 1.2358, d2.loss_cls: 1.4244, d2.loss_bbox: 1.2168, d3.loss_cls: 1.4120, d3.loss_bbox: 1.2373, d4.loss_cls: 1.4289, d4.loss_bbox: 1.2583, d5.loss_cls: 1.4300, d5.loss_bbox: 1.2838, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.4949, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.7021, d2.loss_traj_cls: 0.0008, d2.loss_traj: 5.8458, d3.loss_traj_cls: 0.0008, d3.loss_traj: 5.9115, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.9834, d5.loss_traj_cls: 0.0008, d5.loss_traj: 5.9736, d0.loss_map_cls_all: 0.7360, d0.loss_map_pts_all: 5.1161, d0.loss_map_dir_all: 0.0789, d0.loss_map_cls: 0.7360, d0.loss_map_pts: 5.1161, d0.loss_map_dir: 0.0789, d1.loss_map_cls: 0.7425, d1.loss_map_pts: 5.0420, d1.loss_map_dir: 0.0785, d2.loss_map_cls: 0.7587, d2.loss_map_pts: 5.0173, d2.loss_map_dir: 0.0786, d3.loss_map_cls: 0.7569, d3.loss_map_pts: 5.0061, d3.loss_map_dir: 0.0787, d4.loss_map_cls: 0.7767, d4.loss_map_pts: 5.0005, d4.loss_map_dir: 0.0788, d5.loss_map_cls: 0.7697, d5.loss_map_pts: 4.9925, d5.loss_map_dir: 0.0788, loss: 190.5255, grad_norm: 5565.5264 2026-02-24 00:39:25,238 - DriveTransformer - INFO - Epoch [1][1350/59059] lr: 1.000e-04, eta: 24 days, 5:33:46, time: 0.574, data_time: 0.029, memory: 14134, loss_cls: 1.4382, loss_bbox: 1.2860, loss_traj: 6.0905, loss_traj_cls: 0.0023, loss_map_cls: 0.7569, loss_map_pts: 4.7659, loss_map_dir: 0.0791, d0.loss_plan_l1_fix_time: 10.0153, d0.loss_plan_l1_fix_dist: 1.0485, d1.loss_plan_l1_fix_time: 9.2732, d1.loss_plan_l1_fix_dist: 1.1959, d2.loss_plan_l1_fix_time: 8.8341, d2.loss_plan_l1_fix_dist: 1.4250, d3.loss_plan_l1_fix_time: 8.5934, d3.loss_plan_l1_fix_dist: 1.6668, d4.loss_plan_l1_fix_time: 8.4779, d4.loss_plan_l1_fix_dist: 1.8626, d5.loss_plan_l1_fix_time: 8.5093, d5.loss_plan_l1_fix_dist: 2.0580, d6.loss_plan_l1_fix_time: 8.6643, d6.loss_plan_l1_fix_dist: 2.3116, d0.loss_cls_all: 1.4129, d0.loss_bbox_all: 1.2595, d0.loss_cls: 1.4129, d0.loss_bbox: 1.2595, d1.loss_cls: 1.4224, d1.loss_bbox: 1.2584, d2.loss_cls: 1.4259, d2.loss_bbox: 1.2746, d3.loss_cls: 1.4234, d3.loss_bbox: 1.2652, d4.loss_cls: 1.4363, d4.loss_bbox: 1.2798, d5.loss_cls: 1.4369, d5.loss_bbox: 1.2745, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.6100, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.8120, d2.loss_traj_cls: 0.0008, d2.loss_traj: 5.9509, d3.loss_traj_cls: 0.0009, d3.loss_traj: 6.0228, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.0794, d5.loss_traj_cls: 0.0007, d5.loss_traj: 6.0778, d0.loss_map_cls_all: 0.7337, d0.loss_map_pts_all: 4.8764, d0.loss_map_dir_all: 0.0788, d0.loss_map_cls: 0.7337, d0.loss_map_pts: 4.8764, d0.loss_map_dir: 0.0788, d1.loss_map_cls: 0.7372, d1.loss_map_pts: 4.8075, d1.loss_map_dir: 0.0788, d2.loss_map_cls: 0.7411, d2.loss_map_pts: 4.7867, d2.loss_map_dir: 0.0790, d3.loss_map_cls: 0.7405, d3.loss_map_pts: 4.7820, d3.loss_map_dir: 0.0791, d4.loss_map_cls: 0.7557, d4.loss_map_pts: 4.7821, d4.loss_map_dir: 0.0791, d5.loss_map_cls: 0.7503, d5.loss_map_pts: 4.7769, d5.loss_map_dir: 0.0791, loss: 182.1867, grad_norm: 5376.7920 2026-02-24 00:39:53,966 - DriveTransformer - INFO - Epoch [1][1400/59059] lr: 1.000e-04, eta: 24 days, 4:58:27, time: 0.575, data_time: 0.026, memory: 14134, loss_cls: 1.4430, loss_bbox: 1.3623, loss_traj: 5.7264, loss_traj_cls: 0.0024, loss_map_cls: 0.7478, loss_map_pts: 4.8691, loss_map_dir: 0.0809, d0.loss_plan_l1_fix_time: 11.4622, d0.loss_plan_l1_fix_dist: 0.9885, d1.loss_plan_l1_fix_time: 10.3723, d1.loss_plan_l1_fix_dist: 1.2312, d2.loss_plan_l1_fix_time: 9.5545, d2.loss_plan_l1_fix_dist: 1.5227, d3.loss_plan_l1_fix_time: 8.9315, d3.loss_plan_l1_fix_dist: 1.9226, d4.loss_plan_l1_fix_time: 8.4745, d4.loss_plan_l1_fix_dist: 2.3424, d5.loss_plan_l1_fix_time: 8.2089, d5.loss_plan_l1_fix_dist: 2.8330, d6.loss_plan_l1_fix_time: 8.1375, d6.loss_plan_l1_fix_dist: 3.3912, d0.loss_cls_all: 1.4323, d0.loss_bbox_all: 1.3012, d0.loss_cls: 1.4323, d0.loss_bbox: 1.3012, d1.loss_cls: 1.4535, d1.loss_bbox: 1.3110, d2.loss_cls: 1.4446, d2.loss_bbox: 1.3392, d3.loss_cls: 1.4552, d3.loss_bbox: 1.3454, d4.loss_cls: 1.4532, d4.loss_bbox: 1.3453, d5.loss_cls: 1.4402, d5.loss_bbox: 1.3483, d0.loss_traj_cls: 0.0009, d0.loss_traj: 5.1678, d1.loss_traj_cls: 0.0007, d1.loss_traj: 5.3879, d2.loss_traj_cls: 0.0008, d2.loss_traj: 5.5577, d3.loss_traj_cls: 0.0009, d3.loss_traj: 5.6183, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.6996, d5.loss_traj_cls: 0.0007, d5.loss_traj: 5.7047, d0.loss_map_cls_all: 0.7359, d0.loss_map_pts_all: 5.0081, d0.loss_map_dir_all: 0.0807, d0.loss_map_cls: 0.7359, d0.loss_map_pts: 5.0081, d0.loss_map_dir: 0.0807, d1.loss_map_cls: 0.7341, d1.loss_map_pts: 4.9289, d1.loss_map_dir: 0.0806, d2.loss_map_cls: 0.7386, d2.loss_map_pts: 4.9072, d2.loss_map_dir: 0.0810, d3.loss_map_cls: 0.7447, d3.loss_map_pts: 4.8941, d3.loss_map_dir: 0.0811, d4.loss_map_cls: 0.7500, d4.loss_map_pts: 4.8828, d4.loss_map_dir: 0.0810, d5.loss_map_cls: 0.7476, d5.loss_map_pts: 4.8745, d5.loss_map_dir: 0.0810, loss: 186.4052, grad_norm: 5205.4507 2026-02-24 00:40:22,728 - DriveTransformer - INFO - Epoch [1][1450/59059] lr: 1.000e-04, eta: 24 days, 4:26:56, time: 0.575, data_time: 0.024, memory: 14134, loss_cls: 1.4548, loss_bbox: 1.3675, loss_traj: 5.1867, loss_traj_cls: 0.0020, loss_map_cls: 0.7431, loss_map_pts: 4.6099, loss_map_dir: 0.0813, d0.loss_plan_l1_fix_time: 8.8684, d0.loss_plan_l1_fix_dist: 1.1323, d1.loss_plan_l1_fix_time: 8.3584, d1.loss_plan_l1_fix_dist: 1.3687, d2.loss_plan_l1_fix_time: 8.1590, d2.loss_plan_l1_fix_dist: 1.6831, d3.loss_plan_l1_fix_time: 8.1540, d3.loss_plan_l1_fix_dist: 2.0091, d4.loss_plan_l1_fix_time: 8.2715, d4.loss_plan_l1_fix_dist: 2.4066, d5.loss_plan_l1_fix_time: 8.5030, d5.loss_plan_l1_fix_dist: 2.8370, d6.loss_plan_l1_fix_time: 8.8590, d6.loss_plan_l1_fix_dist: 3.2998, d0.loss_cls_all: 1.4353, d0.loss_bbox_all: 1.2787, d0.loss_cls: 1.4353, d0.loss_bbox: 1.2787, d1.loss_cls: 1.4592, d1.loss_bbox: 1.2959, d2.loss_cls: 1.4455, d2.loss_bbox: 1.2992, d3.loss_cls: 1.4569, d3.loss_bbox: 1.3200, d4.loss_cls: 1.4465, d4.loss_bbox: 1.3281, d5.loss_cls: 1.4324, d5.loss_bbox: 1.3542, d0.loss_traj_cls: 0.0009, d0.loss_traj: 4.6120, d1.loss_traj_cls: 0.0007, d1.loss_traj: 4.8571, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.0382, d3.loss_traj_cls: 0.0009, d3.loss_traj: 5.0952, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.1813, d5.loss_traj_cls: 0.0007, d5.loss_traj: 5.1816, d0.loss_map_cls_all: 0.7328, d0.loss_map_pts_all: 4.7600, d0.loss_map_dir_all: 0.0815, d0.loss_map_cls: 0.7328, d0.loss_map_pts: 4.7600, d0.loss_map_dir: 0.0815, d1.loss_map_cls: 0.7350, d1.loss_map_pts: 4.6613, d1.loss_map_dir: 0.0814, d2.loss_map_cls: 0.7415, d2.loss_map_pts: 4.6264, d2.loss_map_dir: 0.0813, d3.loss_map_cls: 0.7483, d3.loss_map_pts: 4.6062, d3.loss_map_dir: 0.0815, d4.loss_map_cls: 0.7424, d4.loss_map_pts: 4.5952, d4.loss_map_dir: 0.0814, d5.loss_map_cls: 0.7513, d5.loss_map_pts: 4.5991, d5.loss_map_dir: 0.0814, loss: 174.9535, grad_norm: 5045.6124 2026-02-24 00:40:53,047 - DriveTransformer - INFO - Epoch [1][1500/59059] lr: 1.000e-04, eta: 24 days, 4:58:44, time: 0.606, data_time: 0.026, memory: 14134, loss_cls: 1.4641, loss_bbox: 1.3293, loss_traj: 4.2282, loss_traj_cls: 0.0017, loss_map_cls: 0.7077, loss_map_pts: 4.8336, loss_map_dir: 0.0799, d0.loss_plan_l1_fix_time: 8.4798, d0.loss_plan_l1_fix_dist: 1.0738, d1.loss_plan_l1_fix_time: 7.8449, d1.loss_plan_l1_fix_dist: 1.2610, d2.loss_plan_l1_fix_time: 7.5821, d2.loss_plan_l1_fix_dist: 1.5299, d3.loss_plan_l1_fix_time: 7.5463, d3.loss_plan_l1_fix_dist: 1.8064, d4.loss_plan_l1_fix_time: 7.6530, d4.loss_plan_l1_fix_dist: 2.1028, d5.loss_plan_l1_fix_time: 7.8617, d5.loss_plan_l1_fix_dist: 2.4243, d6.loss_plan_l1_fix_time: 8.1906, d6.loss_plan_l1_fix_dist: 2.7676, d0.loss_cls_all: 1.4304, d0.loss_bbox_all: 1.2914, d0.loss_cls: 1.4304, d0.loss_bbox: 1.2914, d1.loss_cls: 1.4456, d1.loss_bbox: 1.3036, d2.loss_cls: 1.4388, d2.loss_bbox: 1.3012, d3.loss_cls: 1.4394, d3.loss_bbox: 1.3122, d4.loss_cls: 1.4451, d4.loss_bbox: 1.3215, d5.loss_cls: 1.4407, d5.loss_bbox: 1.3325, d0.loss_traj_cls: 0.0008, d0.loss_traj: 3.7071, d1.loss_traj_cls: 0.0006, d1.loss_traj: 3.9373, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.0826, d3.loss_traj_cls: 0.0007, d3.loss_traj: 4.1471, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.2187, d5.loss_traj_cls: 0.0007, d5.loss_traj: 4.2157, d0.loss_map_cls_all: 0.6859, d0.loss_map_pts_all: 5.0503, d0.loss_map_dir_all: 0.0801, d0.loss_map_cls: 0.6859, d0.loss_map_pts: 5.0503, d0.loss_map_dir: 0.0801, d1.loss_map_cls: 0.6979, d1.loss_map_pts: 4.9261, d1.loss_map_dir: 0.0801, d2.loss_map_cls: 0.7039, d2.loss_map_pts: 4.8785, d2.loss_map_dir: 0.0800, d3.loss_map_cls: 0.7084, d3.loss_map_pts: 4.8531, d3.loss_map_dir: 0.0800, d4.loss_map_cls: 0.7059, d4.loss_map_pts: 4.8414, d4.loss_map_dir: 0.0800, d5.loss_map_cls: 0.7131, d5.loss_map_pts: 4.8329, d5.loss_map_dir: 0.0799, loss: 164.1990, grad_norm: 4894.7838 2026-02-24 00:41:21,267 - DriveTransformer - INFO - Epoch [1][1550/59059] lr: 1.000e-04, eta: 24 days, 4:08:33, time: 0.564, data_time: 0.028, memory: 14134, loss_cls: 1.4588, loss_bbox: 1.3604, loss_traj: 5.3527, loss_traj_cls: 0.0015, loss_map_cls: 0.7247, loss_map_pts: 4.7843, loss_map_dir: 0.0766, d0.loss_plan_l1_fix_time: 9.9445, d0.loss_plan_l1_fix_dist: 1.1330, d1.loss_plan_l1_fix_time: 8.9850, d1.loss_plan_l1_fix_dist: 1.2337, d2.loss_plan_l1_fix_time: 8.4121, d2.loss_plan_l1_fix_dist: 1.4335, d3.loss_plan_l1_fix_time: 8.1102, d3.loss_plan_l1_fix_dist: 1.6901, d4.loss_plan_l1_fix_time: 8.0061, d4.loss_plan_l1_fix_dist: 1.9656, d5.loss_plan_l1_fix_time: 8.0303, d5.loss_plan_l1_fix_dist: 2.2236, d6.loss_plan_l1_fix_time: 8.2066, d6.loss_plan_l1_fix_dist: 2.5319, d0.loss_cls_all: 1.4575, d0.loss_bbox_all: 1.2870, d0.loss_cls: 1.4575, d0.loss_bbox: 1.2870, d1.loss_cls: 1.4730, d1.loss_bbox: 1.3017, d2.loss_cls: 1.4521, d2.loss_bbox: 1.3106, d3.loss_cls: 1.4565, d3.loss_bbox: 1.3153, d4.loss_cls: 1.4574, d4.loss_bbox: 1.3367, d5.loss_cls: 1.4509, d5.loss_bbox: 1.3451, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.6582, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9531, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.1467, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.2329, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3253, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.3267, d0.loss_map_cls_all: 0.6938, d0.loss_map_pts_all: 5.0034, d0.loss_map_dir_all: 0.0768, d0.loss_map_cls: 0.6938, d0.loss_map_pts: 5.0034, d0.loss_map_dir: 0.0768, d1.loss_map_cls: 0.7029, d1.loss_map_pts: 4.8663, d1.loss_map_dir: 0.0768, d2.loss_map_cls: 0.7036, d2.loss_map_pts: 4.8120, d2.loss_map_dir: 0.0768, d3.loss_map_cls: 0.7064, d3.loss_map_pts: 4.7902, d3.loss_map_dir: 0.0768, d4.loss_map_cls: 0.7171, d4.loss_map_pts: 4.7872, d4.loss_map_dir: 0.0767, d5.loss_map_cls: 0.7227, d5.loss_map_pts: 4.7818, d5.loss_map_dir: 0.0767, loss: 175.2220, grad_norm: 4751.1361 2026-02-24 00:41:47,427 - DriveTransformer - INFO - Epoch [1][1600/59059] lr: 1.000e-04, eta: 24 days, 2:05:30, time: 0.523, data_time: 0.024, memory: 14134, loss_cls: 1.4270, loss_bbox: 1.2883, loss_traj: 5.7787, loss_traj_cls: 0.0016, loss_map_cls: 0.7664, loss_map_pts: 4.5538, loss_map_dir: 0.0771, d0.loss_plan_l1_fix_time: 11.3390, d0.loss_plan_l1_fix_dist: 1.0829, d1.loss_plan_l1_fix_time: 9.9326, d1.loss_plan_l1_fix_dist: 1.3037, d2.loss_plan_l1_fix_time: 8.9516, d2.loss_plan_l1_fix_dist: 1.5708, d3.loss_plan_l1_fix_time: 8.2712, d3.loss_plan_l1_fix_dist: 1.8170, d4.loss_plan_l1_fix_time: 7.8512, d4.loss_plan_l1_fix_dist: 2.1477, d5.loss_plan_l1_fix_time: 7.6148, d5.loss_plan_l1_fix_dist: 2.5184, d6.loss_plan_l1_fix_time: 7.5749, d6.loss_plan_l1_fix_dist: 2.9033, d0.loss_cls_all: 1.4153, d0.loss_bbox_all: 1.1983, d0.loss_cls: 1.4153, d0.loss_bbox: 1.1983, d1.loss_cls: 1.4324, d1.loss_bbox: 1.2133, d2.loss_cls: 1.4195, d2.loss_bbox: 1.2284, d3.loss_cls: 1.4203, d3.loss_bbox: 1.2405, d4.loss_cls: 1.4189, d4.loss_bbox: 1.2623, d5.loss_cls: 1.4098, d5.loss_bbox: 1.2756, d0.loss_traj_cls: 0.0008, d0.loss_traj: 5.0620, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.3636, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.5717, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.6511, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.7407, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.7527, d0.loss_map_cls_all: 0.7189, d0.loss_map_pts_all: 4.7328, d0.loss_map_dir_all: 0.0768, d0.loss_map_cls: 0.7189, d0.loss_map_pts: 4.7328, d0.loss_map_dir: 0.0768, d1.loss_map_cls: 0.7244, d1.loss_map_pts: 4.6402, d1.loss_map_dir: 0.0771, d2.loss_map_cls: 0.7249, d2.loss_map_pts: 4.6070, d2.loss_map_dir: 0.0772, d3.loss_map_cls: 0.7328, d3.loss_map_pts: 4.5857, d3.loss_map_dir: 0.0772, d4.loss_map_cls: 0.7509, d4.loss_map_pts: 4.5699, d4.loss_map_dir: 0.0772, d5.loss_map_cls: 0.7584, d5.loss_map_pts: 4.5600, d5.loss_map_dir: 0.0771, loss: 178.5628, grad_norm: 4618.4101 2026-02-24 00:42:15,852 - DriveTransformer - INFO - Epoch [1][1650/59059] lr: 1.000e-04, eta: 24 days, 1:30:52, time: 0.568, data_time: 0.026, memory: 14134, loss_cls: 1.4573, loss_bbox: 1.3216, loss_traj: 4.8902, loss_traj_cls: 0.0016, loss_map_cls: 0.7651, loss_map_pts: 4.4985, loss_map_dir: 0.0759, d0.loss_plan_l1_fix_time: 8.3737, d0.loss_plan_l1_fix_dist: 0.9692, d1.loss_plan_l1_fix_time: 7.6776, d1.loss_plan_l1_fix_dist: 1.2253, d2.loss_plan_l1_fix_time: 7.3297, d2.loss_plan_l1_fix_dist: 1.5138, d3.loss_plan_l1_fix_time: 7.2026, d3.loss_plan_l1_fix_dist: 1.7442, d4.loss_plan_l1_fix_time: 7.2485, d4.loss_plan_l1_fix_dist: 2.0805, d5.loss_plan_l1_fix_time: 7.4338, d5.loss_plan_l1_fix_dist: 2.4177, d6.loss_plan_l1_fix_time: 7.7023, d6.loss_plan_l1_fix_dist: 2.7709, d0.loss_cls_all: 1.4117, d0.loss_bbox_all: 1.2550, d0.loss_cls: 1.4117, d0.loss_bbox: 1.2550, d1.loss_cls: 1.4184, d1.loss_bbox: 1.2591, d2.loss_cls: 1.4330, d2.loss_bbox: 1.2810, d3.loss_cls: 1.4240, d3.loss_bbox: 1.2863, d4.loss_cls: 1.4294, d4.loss_bbox: 1.2952, d5.loss_cls: 1.4332, d5.loss_bbox: 1.3095, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.1571, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.4687, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.6618, d3.loss_traj_cls: 0.0007, d3.loss_traj: 4.7462, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8421, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.8573, d0.loss_map_cls_all: 0.7303, d0.loss_map_pts_all: 4.7580, d0.loss_map_dir_all: 0.0761, d0.loss_map_cls: 0.7303, d0.loss_map_pts: 4.7580, d0.loss_map_dir: 0.0761, d1.loss_map_cls: 0.7375, d1.loss_map_pts: 4.6056, d1.loss_map_dir: 0.0760, d2.loss_map_cls: 0.7423, d2.loss_map_pts: 4.5416, d2.loss_map_dir: 0.0761, d3.loss_map_cls: 0.7493, d3.loss_map_pts: 4.5162, d3.loss_map_dir: 0.0760, d4.loss_map_cls: 0.7545, d4.loss_map_pts: 4.5043, d4.loss_map_dir: 0.0760, d5.loss_map_cls: 0.7616, d5.loss_map_pts: 4.5020, d5.loss_map_dir: 0.0760, loss: 163.2633, grad_norm: 4493.8449 2026-02-24 00:42:45,469 - DriveTransformer - INFO - Epoch [1][1700/59059] lr: 1.000e-04, eta: 24 days, 1:39:37, time: 0.592, data_time: 0.025, memory: 14134, loss_cls: 1.4677, loss_bbox: 1.4860, loss_traj: 4.0754, loss_traj_cls: 0.0014, loss_map_cls: 0.6660, loss_map_pts: 4.6284, loss_map_dir: 0.0768, d0.loss_plan_l1_fix_time: 7.6387, d0.loss_plan_l1_fix_dist: 1.1917, d1.loss_plan_l1_fix_time: 7.2403, d1.loss_plan_l1_fix_dist: 1.3680, d2.loss_plan_l1_fix_time: 7.1815, d2.loss_plan_l1_fix_dist: 1.6533, d3.loss_plan_l1_fix_time: 7.2879, d3.loss_plan_l1_fix_dist: 1.9127, d4.loss_plan_l1_fix_time: 7.5080, d4.loss_plan_l1_fix_dist: 2.2033, d5.loss_plan_l1_fix_time: 7.8163, d5.loss_plan_l1_fix_dist: 2.5035, d6.loss_plan_l1_fix_time: 8.1465, d6.loss_plan_l1_fix_dist: 2.8307, d0.loss_cls_all: 1.4193, d0.loss_bbox_all: 1.4375, d0.loss_cls: 1.4193, d0.loss_bbox: 1.4375, d1.loss_cls: 1.4351, d1.loss_bbox: 1.4490, d2.loss_cls: 1.4513, d2.loss_bbox: 1.4654, d3.loss_cls: 1.4334, d3.loss_bbox: 1.4701, d4.loss_cls: 1.4402, d4.loss_bbox: 1.4717, d5.loss_cls: 1.4435, d5.loss_bbox: 1.4816, d0.loss_traj_cls: 0.0008, d0.loss_traj: 3.4512, d1.loss_traj_cls: 0.0007, d1.loss_traj: 3.7032, d2.loss_traj_cls: 0.0006, d2.loss_traj: 3.8707, d3.loss_traj_cls: 0.0008, d3.loss_traj: 3.9358, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.0442, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.0407, d0.loss_map_cls_all: 0.6681, d0.loss_map_pts_all: 4.8760, d0.loss_map_dir_all: 0.0772, d0.loss_map_cls: 0.6681, d0.loss_map_pts: 4.8760, d0.loss_map_dir: 0.0772, d1.loss_map_cls: 0.6714, d1.loss_map_pts: 4.7185, d1.loss_map_dir: 0.0772, d2.loss_map_cls: 0.6755, d2.loss_map_pts: 4.6577, d2.loss_map_dir: 0.0770, d3.loss_map_cls: 0.6711, d3.loss_map_pts: 4.6358, d3.loss_map_dir: 0.0770, d4.loss_map_cls: 0.6636, d4.loss_map_pts: 4.6286, d4.loss_map_dir: 0.0769, d5.loss_map_cls: 0.6697, d5.loss_map_pts: 4.6269, d5.loss_map_dir: 0.0769, loss: 160.4350, grad_norm: 4374.8621 2026-02-24 00:43:14,046 - DriveTransformer - INFO - Epoch [1][1750/59059] lr: 1.000e-04, eta: 24 days, 1:12:49, time: 0.572, data_time: 0.026, memory: 14134, loss_cls: 1.4463, loss_bbox: 1.3146, loss_traj: 5.5147, loss_traj_cls: 0.0013, loss_map_cls: 0.7219, loss_map_pts: 4.6063, loss_map_dir: 0.0738, d0.loss_plan_l1_fix_time: 9.2535, d0.loss_plan_l1_fix_dist: 0.9883, d1.loss_plan_l1_fix_time: 8.2248, d1.loss_plan_l1_fix_dist: 1.1166, d2.loss_plan_l1_fix_time: 7.7280, d2.loss_plan_l1_fix_dist: 1.3858, d3.loss_plan_l1_fix_time: 7.5365, d3.loss_plan_l1_fix_dist: 1.6488, d4.loss_plan_l1_fix_time: 7.5110, d4.loss_plan_l1_fix_dist: 1.8998, d5.loss_plan_l1_fix_time: 7.5854, d5.loss_plan_l1_fix_dist: 2.1611, d6.loss_plan_l1_fix_time: 7.7272, d6.loss_plan_l1_fix_dist: 2.4516, d0.loss_cls_all: 1.4227, d0.loss_bbox_all: 1.2730, d0.loss_cls: 1.4227, d0.loss_bbox: 1.2730, d1.loss_cls: 1.4363, d1.loss_bbox: 1.2782, d2.loss_cls: 1.4311, d2.loss_bbox: 1.2878, d3.loss_cls: 1.4216, d3.loss_bbox: 1.2901, d4.loss_cls: 1.4305, d4.loss_bbox: 1.3006, d5.loss_cls: 1.4345, d5.loss_bbox: 1.3117, d0.loss_traj_cls: 0.0007, d0.loss_traj: 4.7065, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.0540, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.2826, d3.loss_traj_cls: 0.0008, d3.loss_traj: 5.3695, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.4671, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.4832, d0.loss_map_cls_all: 0.7038, d0.loss_map_pts_all: 4.8668, d0.loss_map_dir_all: 0.0740, d0.loss_map_cls: 0.7038, d0.loss_map_pts: 4.8668, d0.loss_map_dir: 0.0740, d1.loss_map_cls: 0.7209, d1.loss_map_pts: 4.6978, d1.loss_map_dir: 0.0738, d2.loss_map_cls: 0.7239, d2.loss_map_pts: 4.6417, d2.loss_map_dir: 0.0737, d3.loss_map_cls: 0.7264, d3.loss_map_pts: 4.6207, d3.loss_map_dir: 0.0738, d4.loss_map_cls: 0.7190, d4.loss_map_pts: 4.6104, d4.loss_map_dir: 0.0737, d5.loss_map_cls: 0.7265, d5.loss_map_pts: 4.6042, d5.loss_map_dir: 0.0738, loss: 169.7269, grad_norm: 4261.7267 2026-02-24 00:43:41,464 - DriveTransformer - INFO - Epoch [1][1800/59059] lr: 1.000e-04, eta: 24 days, 0:09:25, time: 0.548, data_time: 0.024, memory: 14134, loss_cls: 1.4356, loss_bbox: 1.3177, loss_traj: 5.9980, loss_traj_cls: 0.0015, loss_map_cls: 0.7306, loss_map_pts: 4.5789, loss_map_dir: 0.0744, d0.loss_plan_l1_fix_time: 8.9465, d0.loss_plan_l1_fix_dist: 0.9419, d1.loss_plan_l1_fix_time: 7.9045, d1.loss_plan_l1_fix_dist: 1.0438, d2.loss_plan_l1_fix_time: 7.3934, d2.loss_plan_l1_fix_dist: 1.2437, d3.loss_plan_l1_fix_time: 7.1617, d3.loss_plan_l1_fix_dist: 1.4846, d4.loss_plan_l1_fix_time: 7.0741, d4.loss_plan_l1_fix_dist: 1.7428, d5.loss_plan_l1_fix_time: 7.0739, d5.loss_plan_l1_fix_dist: 2.0161, d6.loss_plan_l1_fix_time: 7.1587, d6.loss_plan_l1_fix_dist: 2.2844, d0.loss_cls_all: 1.4183, d0.loss_bbox_all: 1.2667, d0.loss_cls: 1.4183, d0.loss_bbox: 1.2667, d1.loss_cls: 1.4316, d1.loss_bbox: 1.2698, d2.loss_cls: 1.4272, d2.loss_bbox: 1.2744, d3.loss_cls: 1.4290, d3.loss_bbox: 1.2877, d4.loss_cls: 1.4350, d4.loss_bbox: 1.3011, d5.loss_cls: 1.4377, d5.loss_bbox: 1.3087, d0.loss_traj_cls: 0.0006, d0.loss_traj: 5.0556, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.4707, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.7292, d3.loss_traj_cls: 0.0007, d3.loss_traj: 5.8425, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.9461, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.9831, d0.loss_map_cls_all: 0.7152, d0.loss_map_pts_all: 4.7607, d0.loss_map_dir_all: 0.0746, d0.loss_map_cls: 0.7152, d0.loss_map_pts: 4.7607, d0.loss_map_dir: 0.0746, d1.loss_map_cls: 0.7294, d1.loss_map_pts: 4.6062, d1.loss_map_dir: 0.0746, d2.loss_map_cls: 0.7332, d2.loss_map_pts: 4.5731, d2.loss_map_dir: 0.0745, d3.loss_map_cls: 0.7328, d3.loss_map_pts: 4.5626, d3.loss_map_dir: 0.0745, d4.loss_map_cls: 0.7260, d4.loss_map_pts: 4.5618, d4.loss_map_dir: 0.0744, d5.loss_map_cls: 0.7335, d5.loss_map_pts: 4.5677, d5.loss_map_dir: 0.0744, loss: 168.6094, grad_norm: 4155.2182 2026-02-24 00:44:11,058 - DriveTransformer - INFO - Epoch [1][1850/59059] lr: 1.000e-04, eta: 24 days, 0:18:51, time: 0.592, data_time: 0.030, memory: 14134, loss_cls: 1.4120, loss_bbox: 1.2922, loss_traj: 5.4218, loss_traj_cls: 0.0012, loss_map_cls: 0.7011, loss_map_pts: 4.4061, loss_map_dir: 0.0762, d0.loss_plan_l1_fix_time: 7.8042, d0.loss_plan_l1_fix_dist: 1.2249, d1.loss_plan_l1_fix_time: 7.0856, d1.loss_plan_l1_fix_dist: 1.3946, d2.loss_plan_l1_fix_time: 6.8772, d2.loss_plan_l1_fix_dist: 1.5981, d3.loss_plan_l1_fix_time: 6.8855, d3.loss_plan_l1_fix_dist: 1.8931, d4.loss_plan_l1_fix_time: 7.0238, d4.loss_plan_l1_fix_dist: 2.2241, d5.loss_plan_l1_fix_time: 7.1988, d5.loss_plan_l1_fix_dist: 2.5925, d6.loss_plan_l1_fix_time: 7.4107, d6.loss_plan_l1_fix_dist: 2.8846, d0.loss_cls_all: 1.3827, d0.loss_bbox_all: 1.2455, d0.loss_cls: 1.3827, d0.loss_bbox: 1.2455, d1.loss_cls: 1.3906, d1.loss_bbox: 1.2483, d2.loss_cls: 1.3975, d2.loss_bbox: 1.2494, d3.loss_cls: 1.3946, d3.loss_bbox: 1.2585, d4.loss_cls: 1.4047, d4.loss_bbox: 1.2677, d5.loss_cls: 1.4109, d5.loss_bbox: 1.2799, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.4343, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.8659, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.1379, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.2593, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.3755, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.4010, d0.loss_map_cls_all: 0.6780, d0.loss_map_pts_all: 4.6618, d0.loss_map_dir_all: 0.0762, d0.loss_map_cls: 0.6780, d0.loss_map_pts: 4.6618, d0.loss_map_dir: 0.0762, d1.loss_map_cls: 0.6870, d1.loss_map_pts: 4.4559, d1.loss_map_dir: 0.0763, d2.loss_map_cls: 0.6941, d2.loss_map_pts: 4.4063, d2.loss_map_dir: 0.0762, d3.loss_map_cls: 0.6962, d3.loss_map_pts: 4.3920, d3.loss_map_dir: 0.0762, d4.loss_map_cls: 0.6957, d4.loss_map_pts: 4.3986, d4.loss_map_dir: 0.0761, d5.loss_map_cls: 0.7042, d5.loss_map_pts: 4.4058, d5.loss_map_dir: 0.0761, loss: 163.1930, grad_norm: 4052.8245 2026-02-24 00:44:39,351 - DriveTransformer - INFO - Epoch [1][1900/59059] lr: 1.000e-04, eta: 23 days, 23:47:24, time: 0.566, data_time: 0.028, memory: 14134, loss_cls: 1.4053, loss_bbox: 1.3632, loss_traj: 4.2863, loss_traj_cls: 0.0010, loss_map_cls: 0.6954, loss_map_pts: 4.4347, loss_map_dir: 0.0757, d0.loss_plan_l1_fix_time: 7.6061, d0.loss_plan_l1_fix_dist: 1.0713, d1.loss_plan_l1_fix_time: 6.9746, d1.loss_plan_l1_fix_dist: 1.2607, d2.loss_plan_l1_fix_time: 6.8542, d2.loss_plan_l1_fix_dist: 1.5129, d3.loss_plan_l1_fix_time: 6.9601, d3.loss_plan_l1_fix_dist: 1.8063, d4.loss_plan_l1_fix_time: 7.1819, d4.loss_plan_l1_fix_dist: 2.1080, d5.loss_plan_l1_fix_time: 7.4200, d5.loss_plan_l1_fix_dist: 2.4683, d6.loss_plan_l1_fix_time: 7.6805, d6.loss_plan_l1_fix_dist: 2.8351, d0.loss_cls_all: 1.3892, d0.loss_bbox_all: 1.3240, d0.loss_cls: 1.3892, d0.loss_bbox: 1.3240, d1.loss_cls: 1.3979, d1.loss_bbox: 1.3284, d2.loss_cls: 1.4014, d2.loss_bbox: 1.3329, d3.loss_cls: 1.3975, d3.loss_bbox: 1.3336, d4.loss_cls: 1.3999, d4.loss_bbox: 1.3354, d5.loss_cls: 1.4016, d5.loss_bbox: 1.3487, d0.loss_traj_cls: 0.0007, d0.loss_traj: 3.4117, d1.loss_traj_cls: 0.0007, d1.loss_traj: 3.7637, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.0203, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.1235, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.2331, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.2582, d0.loss_map_cls_all: 0.6725, d0.loss_map_pts_all: 4.6234, d0.loss_map_dir_all: 0.0756, d0.loss_map_cls: 0.6725, d0.loss_map_pts: 4.6234, d0.loss_map_dir: 0.0756, d1.loss_map_cls: 0.6835, d1.loss_map_pts: 4.4502, d1.loss_map_dir: 0.0758, d2.loss_map_cls: 0.6899, d2.loss_map_pts: 4.4052, d2.loss_map_dir: 0.0758, d3.loss_map_cls: 0.6921, d3.loss_map_pts: 4.3934, d3.loss_map_dir: 0.0758, d4.loss_map_cls: 0.6927, d4.loss_map_pts: 4.3943, d4.loss_map_dir: 0.0757, d5.loss_map_cls: 0.6974, d5.loss_map_pts: 4.4028, d5.loss_map_dir: 0.0757, loss: 155.5432, grad_norm: 3957.5284 2026-02-24 00:45:06,496 - DriveTransformer - INFO - Epoch [1][1950/59059] lr: 1.000e-04, eta: 23 days, 22:42:44, time: 0.543, data_time: 0.028, memory: 14134, loss_cls: 1.4136, loss_bbox: 1.2576, loss_traj: 5.6947, loss_traj_cls: 0.0010, loss_map_cls: 0.7480, loss_map_pts: 4.3669, loss_map_dir: 0.0734, d0.loss_plan_l1_fix_time: 9.5174, d0.loss_plan_l1_fix_dist: 0.9761, d1.loss_plan_l1_fix_time: 8.2561, d1.loss_plan_l1_fix_dist: 1.1109, d2.loss_plan_l1_fix_time: 7.5726, d2.loss_plan_l1_fix_dist: 1.3608, d3.loss_plan_l1_fix_time: 7.1820, d3.loss_plan_l1_fix_dist: 1.6268, d4.loss_plan_l1_fix_time: 6.9605, d4.loss_plan_l1_fix_dist: 1.8999, d5.loss_plan_l1_fix_time: 6.8631, d5.loss_plan_l1_fix_dist: 2.1732, d6.loss_plan_l1_fix_time: 6.8878, d6.loss_plan_l1_fix_dist: 2.5268, d0.loss_cls_all: 1.4059, d0.loss_bbox_all: 1.1826, d0.loss_cls: 1.4059, d0.loss_bbox: 1.1826, d1.loss_cls: 1.4064, d1.loss_bbox: 1.1912, d2.loss_cls: 1.4127, d2.loss_bbox: 1.2091, d3.loss_cls: 1.4144, d3.loss_bbox: 1.2212, d4.loss_cls: 1.4119, d4.loss_bbox: 1.2253, d5.loss_cls: 1.4103, d5.loss_bbox: 1.2349, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.4347, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.9766, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.3324, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.4875, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6217, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.6755, d0.loss_map_cls_all: 0.7450, d0.loss_map_pts_all: 4.5909, d0.loss_map_dir_all: 0.0739, d0.loss_map_cls: 0.7450, d0.loss_map_pts: 4.5909, d0.loss_map_dir: 0.0739, d1.loss_map_cls: 0.7518, d1.loss_map_pts: 4.3928, d1.loss_map_dir: 0.0738, d2.loss_map_cls: 0.7531, d2.loss_map_pts: 4.3544, d2.loss_map_dir: 0.0737, d3.loss_map_cls: 0.7493, d3.loss_map_pts: 4.3475, d3.loss_map_dir: 0.0736, d4.loss_map_cls: 0.7501, d4.loss_map_pts: 4.3480, d4.loss_map_dir: 0.0735, d5.loss_map_cls: 0.7480, d5.loss_map_pts: 4.3518, d5.loss_map_dir: 0.0735, loss: 165.0503, grad_norm: 3866.8379 2026-02-24 00:45:34,179 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 00:45:34,179 - DriveTransformer - INFO - Epoch [1][2000/59059] lr: 1.000e-04, eta: 23 days, 21:57:12, time: 0.554, data_time: 0.026, memory: 14134, loss_cls: 1.4495, loss_bbox: 1.3364, loss_traj: 5.2129, loss_traj_cls: 0.0011, loss_map_cls: 0.7438, loss_map_pts: 4.6442, loss_map_dir: 0.0732, d0.loss_plan_l1_fix_time: 8.3746, d0.loss_plan_l1_fix_dist: 1.0618, d1.loss_plan_l1_fix_time: 7.2076, d1.loss_plan_l1_fix_dist: 1.2031, d2.loss_plan_l1_fix_time: 6.7486, d2.loss_plan_l1_fix_dist: 1.4133, d3.loss_plan_l1_fix_time: 6.6195, d3.loss_plan_l1_fix_dist: 1.6716, d4.loss_plan_l1_fix_time: 6.6133, d4.loss_plan_l1_fix_dist: 1.9759, d5.loss_plan_l1_fix_time: 6.6708, d5.loss_plan_l1_fix_dist: 2.2509, d6.loss_plan_l1_fix_time: 6.7961, d6.loss_plan_l1_fix_dist: 2.5219, d0.loss_cls_all: 1.4628, d0.loss_bbox_all: 1.2896, d0.loss_cls: 1.4628, d0.loss_bbox: 1.2896, d1.loss_cls: 1.4636, d1.loss_bbox: 1.2964, d2.loss_cls: 1.4551, d2.loss_bbox: 1.3068, d3.loss_cls: 1.4507, d3.loss_bbox: 1.3123, d4.loss_cls: 1.4516, d4.loss_bbox: 1.3162, d5.loss_cls: 1.4456, d5.loss_bbox: 1.3241, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.1239, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.5813, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.8988, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.0366, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.1495, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.1875, d0.loss_map_cls_all: 0.7265, d0.loss_map_pts_all: 4.8821, d0.loss_map_dir_all: 0.0735, d0.loss_map_cls: 0.7265, d0.loss_map_pts: 4.8821, d0.loss_map_dir: 0.0735, d1.loss_map_cls: 0.7353, d1.loss_map_pts: 4.6771, d1.loss_map_dir: 0.0736, d2.loss_map_cls: 0.7417, d2.loss_map_pts: 4.6342, d2.loss_map_dir: 0.0736, d3.loss_map_cls: 0.7394, d3.loss_map_pts: 4.6334, d3.loss_map_dir: 0.0734, d4.loss_map_cls: 0.7431, d4.loss_map_pts: 4.6400, d4.loss_map_dir: 0.0733, d5.loss_map_cls: 0.7417, d5.loss_map_pts: 4.6443, d5.loss_map_dir: 0.0733, loss: 161.5597, grad_norm: 3780.4528 2026-02-24 00:46:00,719 - DriveTransformer - INFO - Epoch [1][2050/59059] lr: 1.000e-04, eta: 23 days, 20:40:57, time: 0.531, data_time: 0.027, memory: 14134, loss_cls: 1.4135, loss_bbox: 1.2360, loss_traj: 5.9591, loss_traj_cls: 0.0010, loss_map_cls: 0.7735, loss_map_pts: 4.6749, loss_map_dir: 0.0716, d0.loss_plan_l1_fix_time: 8.0539, d0.loss_plan_l1_fix_dist: 0.8464, d1.loss_plan_l1_fix_time: 6.8122, d1.loss_plan_l1_fix_dist: 1.0825, d2.loss_plan_l1_fix_time: 6.2762, d2.loss_plan_l1_fix_dist: 1.3691, d3.loss_plan_l1_fix_time: 6.0282, d3.loss_plan_l1_fix_dist: 1.6415, d4.loss_plan_l1_fix_time: 5.9582, d4.loss_plan_l1_fix_dist: 1.9681, d5.loss_plan_l1_fix_time: 5.9893, d5.loss_plan_l1_fix_dist: 2.3169, d6.loss_plan_l1_fix_time: 6.1245, d6.loss_plan_l1_fix_dist: 2.6417, d0.loss_cls_all: 1.3884, d0.loss_bbox_all: 1.1651, d0.loss_cls: 1.3884, d0.loss_bbox: 1.1651, d1.loss_cls: 1.3979, d1.loss_bbox: 1.1795, d2.loss_cls: 1.4060, d2.loss_bbox: 1.1872, d3.loss_cls: 1.4031, d3.loss_bbox: 1.2042, d4.loss_cls: 1.4078, d4.loss_bbox: 1.2178, d5.loss_cls: 1.4046, d5.loss_bbox: 1.2251, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.6058, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.1795, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.5830, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.7340, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.8968, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.9334, d0.loss_map_cls_all: 0.7449, d0.loss_map_pts_all: 4.8829, d0.loss_map_dir_all: 0.0718, d0.loss_map_cls: 0.7449, d0.loss_map_pts: 4.8829, d0.loss_map_dir: 0.0718, d1.loss_map_cls: 0.7554, d1.loss_map_pts: 4.7057, d1.loss_map_dir: 0.0719, d2.loss_map_cls: 0.7632, d2.loss_map_pts: 4.6628, d2.loss_map_dir: 0.0719, d3.loss_map_cls: 0.7642, d3.loss_map_pts: 4.6656, d3.loss_map_dir: 0.0718, d4.loss_map_cls: 0.7663, d4.loss_map_pts: 4.6714, d4.loss_map_dir: 0.0717, d5.loss_map_cls: 0.7707, d5.loss_map_pts: 4.6741, d5.loss_map_dir: 0.0717, loss: 161.2720, grad_norm: 3698.3422 2026-02-24 00:46:29,676 - DriveTransformer - INFO - Epoch [1][2100/59059] lr: 1.000e-04, eta: 23 days, 20:36:11, time: 0.579, data_time: 0.025, memory: 14134, loss_cls: 1.4434, loss_bbox: 1.3558, loss_traj: 5.1606, loss_traj_cls: 0.0008, loss_map_cls: 0.7088, loss_map_pts: 4.6470, loss_map_dir: 0.0739, d0.loss_plan_l1_fix_time: 7.4925, d0.loss_plan_l1_fix_dist: 1.1430, d1.loss_plan_l1_fix_time: 6.5345, d1.loss_plan_l1_fix_dist: 1.3219, d2.loss_plan_l1_fix_time: 6.3006, d2.loss_plan_l1_fix_dist: 1.5218, d3.loss_plan_l1_fix_time: 6.3245, d3.loss_plan_l1_fix_dist: 1.7075, d4.loss_plan_l1_fix_time: 6.4477, d4.loss_plan_l1_fix_dist: 1.9606, d5.loss_plan_l1_fix_time: 6.5828, d5.loss_plan_l1_fix_dist: 2.2461, d6.loss_plan_l1_fix_time: 6.7771, d6.loss_plan_l1_fix_dist: 2.5546, d0.loss_cls_all: 1.4171, d0.loss_bbox_all: 1.3013, d0.loss_cls: 1.4171, d0.loss_bbox: 1.3013, d1.loss_cls: 1.4309, d1.loss_bbox: 1.3126, d2.loss_cls: 1.4320, d2.loss_bbox: 1.3124, d3.loss_cls: 1.4261, d3.loss_bbox: 1.3275, d4.loss_cls: 1.4382, d4.loss_bbox: 1.3392, d5.loss_cls: 1.4350, d5.loss_bbox: 1.3436, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.0226, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.4709, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.8320, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.9711, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.0877, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.1271, d0.loss_map_cls_all: 0.6921, d0.loss_map_pts_all: 4.8598, d0.loss_map_dir_all: 0.0745, d0.loss_map_cls: 0.6921, d0.loss_map_pts: 4.8598, d0.loss_map_dir: 0.0745, d1.loss_map_cls: 0.7058, d1.loss_map_pts: 4.6443, d1.loss_map_dir: 0.0744, d2.loss_map_cls: 0.7070, d2.loss_map_pts: 4.5900, d2.loss_map_dir: 0.0744, d3.loss_map_cls: 0.7069, d3.loss_map_pts: 4.5891, d3.loss_map_dir: 0.0743, d4.loss_map_cls: 0.7051, d4.loss_map_pts: 4.6007, d4.loss_map_dir: 0.0742, d5.loss_map_cls: 0.7072, d5.loss_map_pts: 4.6219, d5.loss_map_dir: 0.0741, loss: 158.2567, grad_norm: 3620.4968 2026-02-24 00:46:56,642 - DriveTransformer - INFO - Epoch [1][2150/59059] lr: 1.000e-04, eta: 23 days, 19:37:00, time: 0.539, data_time: 0.024, memory: 14134, loss_cls: 1.4198, loss_bbox: 1.3318, loss_traj: 6.1253, loss_traj_cls: 0.0007, loss_map_cls: 0.6923, loss_map_pts: 4.4249, loss_map_dir: 0.0708, d0.loss_plan_l1_fix_time: 7.7731, d0.loss_plan_l1_fix_dist: 0.8733, d1.loss_plan_l1_fix_time: 6.4983, d1.loss_plan_l1_fix_dist: 1.0486, d2.loss_plan_l1_fix_time: 5.9795, d2.loss_plan_l1_fix_dist: 1.3327, d3.loss_plan_l1_fix_time: 5.7641, d3.loss_plan_l1_fix_dist: 1.6443, d4.loss_plan_l1_fix_time: 5.6821, d4.loss_plan_l1_fix_dist: 1.9510, d5.loss_plan_l1_fix_time: 5.6632, d5.loss_plan_l1_fix_dist: 2.2940, d6.loss_plan_l1_fix_time: 5.7523, d6.loss_plan_l1_fix_dist: 2.6757, d0.loss_cls_all: 1.4081, d0.loss_bbox_all: 1.2829, d0.loss_cls: 1.4081, d0.loss_bbox: 1.2829, d1.loss_cls: 1.4170, d1.loss_bbox: 1.2913, d2.loss_cls: 1.4127, d2.loss_bbox: 1.2918, d3.loss_cls: 1.4102, d3.loss_bbox: 1.3043, d4.loss_cls: 1.4179, d4.loss_bbox: 1.3092, d5.loss_cls: 1.4173, d5.loss_bbox: 1.3166, d0.loss_traj_cls: 0.0006, d0.loss_traj: 4.4778, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.1536, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.6422, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.8445, d4.loss_traj_cls: 0.0006, d4.loss_traj: 6.0274, d5.loss_traj_cls: 0.0006, d5.loss_traj: 6.0732, d0.loss_map_cls_all: 0.6847, d0.loss_map_pts_all: 4.7323, d0.loss_map_dir_all: 0.0711, d0.loss_map_cls: 0.6847, d0.loss_map_pts: 4.7323, d0.loss_map_dir: 0.0711, d1.loss_map_cls: 0.6894, d1.loss_map_pts: 4.4672, d1.loss_map_dir: 0.0711, d2.loss_map_cls: 0.6908, d2.loss_map_pts: 4.4193, d2.loss_map_dir: 0.0711, d3.loss_map_cls: 0.6888, d3.loss_map_pts: 4.4158, d3.loss_map_dir: 0.0710, d4.loss_map_cls: 0.6912, d4.loss_map_pts: 4.4175, d4.loss_map_dir: 0.0710, d5.loss_map_cls: 0.6904, d5.loss_map_pts: 4.4204, d5.loss_map_dir: 0.0709, loss: 158.1122, grad_norm: 3544.3314 2026-02-24 00:47:24,835 - DriveTransformer - INFO - Epoch [1][2200/59059] lr: 1.000e-04, eta: 23 days, 19:13:26, time: 0.564, data_time: 0.025, memory: 14134, loss_cls: 1.4234, loss_bbox: 1.2433, loss_traj: 6.3937, loss_traj_cls: 0.0007, loss_map_cls: 0.7142, loss_map_pts: 4.2191, loss_map_dir: 0.0667, d0.loss_plan_l1_fix_time: 8.5037, d0.loss_plan_l1_fix_dist: 1.0659, d1.loss_plan_l1_fix_time: 7.1348, d1.loss_plan_l1_fix_dist: 1.2158, d2.loss_plan_l1_fix_time: 6.5410, d2.loss_plan_l1_fix_dist: 1.4891, d3.loss_plan_l1_fix_time: 6.2616, d3.loss_plan_l1_fix_dist: 1.8223, d4.loss_plan_l1_fix_time: 6.1079, d4.loss_plan_l1_fix_dist: 2.0966, d5.loss_plan_l1_fix_time: 6.0296, d5.loss_plan_l1_fix_dist: 2.4019, d6.loss_plan_l1_fix_time: 6.0425, d6.loss_plan_l1_fix_dist: 2.7379, d0.loss_cls_all: 1.3994, d0.loss_bbox_all: 1.2049, d0.loss_cls: 1.3994, d0.loss_bbox: 1.2049, d1.loss_cls: 1.4067, d1.loss_bbox: 1.2129, d2.loss_cls: 1.4141, d2.loss_bbox: 1.2124, d3.loss_cls: 1.4239, d3.loss_bbox: 1.2212, d4.loss_cls: 1.4222, d4.loss_bbox: 1.2237, d5.loss_cls: 1.4272, d5.loss_bbox: 1.2352, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.8160, d1.loss_traj_cls: 0.0005, d1.loss_traj: 5.4505, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.9250, d3.loss_traj_cls: 0.0005, d3.loss_traj: 6.1157, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.2999, d5.loss_traj_cls: 0.0005, d5.loss_traj: 6.3447, d0.loss_map_cls_all: 0.6967, d0.loss_map_pts_all: 4.4075, d0.loss_map_dir_all: 0.0672, d0.loss_map_cls: 0.6967, d0.loss_map_pts: 4.4075, d0.loss_map_dir: 0.0672, d1.loss_map_cls: 0.7051, d1.loss_map_pts: 4.2184, d1.loss_map_dir: 0.0672, d2.loss_map_cls: 0.7081, d2.loss_map_pts: 4.2072, d2.loss_map_dir: 0.0672, d3.loss_map_cls: 0.7098, d3.loss_map_pts: 4.2124, d3.loss_map_dir: 0.0669, d4.loss_map_cls: 0.7155, d4.loss_map_pts: 4.2135, d4.loss_map_dir: 0.0668, d5.loss_map_cls: 0.7120, d5.loss_map_pts: 4.2139, d5.loss_map_dir: 0.0667, loss: 162.1688, grad_norm: 3473.5614 2026-02-24 00:47:51,697 - DriveTransformer - INFO - Epoch [1][2250/59059] lr: 1.000e-04, eta: 23 days, 18:15:59, time: 0.537, data_time: 0.025, memory: 14134, loss_cls: 1.4567, loss_bbox: 1.2545, loss_traj: 6.4070, loss_traj_cls: 0.0008, loss_map_cls: 0.7592, loss_map_pts: 4.4379, loss_map_dir: 0.0631, d0.loss_plan_l1_fix_time: 7.9606, d0.loss_plan_l1_fix_dist: 1.0742, d1.loss_plan_l1_fix_time: 6.6746, d1.loss_plan_l1_fix_dist: 1.1683, d2.loss_plan_l1_fix_time: 6.2107, d2.loss_plan_l1_fix_dist: 1.3728, d3.loss_plan_l1_fix_time: 6.0481, d3.loss_plan_l1_fix_dist: 1.6461, d4.loss_plan_l1_fix_time: 5.9899, d4.loss_plan_l1_fix_dist: 1.9122, d5.loss_plan_l1_fix_time: 5.9777, d5.loss_plan_l1_fix_dist: 2.1931, d6.loss_plan_l1_fix_time: 6.0306, d6.loss_plan_l1_fix_dist: 2.4387, d0.loss_cls_all: 1.4309, d0.loss_bbox_all: 1.2132, d0.loss_cls: 1.4309, d0.loss_bbox: 1.2132, d1.loss_cls: 1.4438, d1.loss_bbox: 1.2184, d2.loss_cls: 1.4529, d2.loss_bbox: 1.2206, d3.loss_cls: 1.4496, d3.loss_bbox: 1.2337, d4.loss_cls: 1.4517, d4.loss_bbox: 1.2449, d5.loss_cls: 1.4602, d5.loss_bbox: 1.2476, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.6538, d1.loss_traj_cls: 0.0006, d1.loss_traj: 5.3503, d2.loss_traj_cls: 0.0005, d2.loss_traj: 5.8935, d3.loss_traj_cls: 0.0005, d3.loss_traj: 6.1030, d4.loss_traj_cls: 0.0005, d4.loss_traj: 6.3039, d5.loss_traj_cls: 0.0005, d5.loss_traj: 6.3533, d0.loss_map_cls_all: 0.7220, d0.loss_map_pts_all: 4.7444, d0.loss_map_dir_all: 0.0637, d0.loss_map_cls: 0.7220, d0.loss_map_pts: 4.7444, d0.loss_map_dir: 0.0637, d1.loss_map_cls: 0.7469, d1.loss_map_pts: 4.5187, d1.loss_map_dir: 0.0637, d2.loss_map_cls: 0.7550, d2.loss_map_pts: 4.4713, d2.loss_map_dir: 0.0636, d3.loss_map_cls: 0.7596, d3.loss_map_pts: 4.4515, d3.loss_map_dir: 0.0634, d4.loss_map_cls: 0.7583, d4.loss_map_pts: 4.4380, d4.loss_map_dir: 0.0633, d5.loss_map_cls: 0.7596, d5.loss_map_pts: 4.4343, d5.loss_map_dir: 0.0632, loss: 161.9196, grad_norm: 3405.0808 2026-02-24 00:48:19,578 - DriveTransformer - INFO - Epoch [1][2300/59059] lr: 1.000e-04, eta: 23 days, 17:47:06, time: 0.558, data_time: 0.025, memory: 14134, loss_cls: 1.4385, loss_bbox: 1.3552, loss_traj: 5.6180, loss_traj_cls: 0.0009, loss_map_cls: 0.7187, loss_map_pts: 4.1478, loss_map_dir: 0.0650, d0.loss_plan_l1_fix_time: 7.6220, d0.loss_plan_l1_fix_dist: 0.9333, d1.loss_plan_l1_fix_time: 6.2629, d1.loss_plan_l1_fix_dist: 1.0669, d2.loss_plan_l1_fix_time: 5.8651, d2.loss_plan_l1_fix_dist: 1.2712, d3.loss_plan_l1_fix_time: 5.7458, d3.loss_plan_l1_fix_dist: 1.4901, d4.loss_plan_l1_fix_time: 5.7039, d4.loss_plan_l1_fix_dist: 1.7621, d5.loss_plan_l1_fix_time: 5.7212, d5.loss_plan_l1_fix_dist: 2.0150, d6.loss_plan_l1_fix_time: 5.7994, d6.loss_plan_l1_fix_dist: 2.2593, d0.loss_cls_all: 1.4208, d0.loss_bbox_all: 1.3358, d0.loss_cls: 1.4208, d0.loss_bbox: 1.3358, d1.loss_cls: 1.4302, d1.loss_bbox: 1.3416, d2.loss_cls: 1.4339, d2.loss_bbox: 1.3397, d3.loss_cls: 1.4358, d3.loss_bbox: 1.3457, d4.loss_cls: 1.4376, d4.loss_bbox: 1.3493, d5.loss_cls: 1.4398, d5.loss_bbox: 1.3509, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.0335, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.6568, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1310, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.3257, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.5231, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.5598, d0.loss_map_cls_all: 0.6887, d0.loss_map_pts_all: 4.3499, d0.loss_map_dir_all: 0.0657, d0.loss_map_cls: 0.6887, d0.loss_map_pts: 4.3499, d0.loss_map_dir: 0.0657, d1.loss_map_cls: 0.7054, d1.loss_map_pts: 4.1504, d1.loss_map_dir: 0.0656, d2.loss_map_cls: 0.7108, d2.loss_map_pts: 4.1092, d2.loss_map_dir: 0.0653, d3.loss_map_cls: 0.7126, d3.loss_map_pts: 4.0991, d3.loss_map_dir: 0.0653, d4.loss_map_cls: 0.7163, d4.loss_map_pts: 4.1139, d4.loss_map_dir: 0.0652, d5.loss_map_cls: 0.7187, d5.loss_map_pts: 4.1354, d5.loss_map_dir: 0.0650, loss: 151.2197, grad_norm: 3338.2208 2026-02-24 00:48:46,316 - DriveTransformer - INFO - Epoch [1][2350/59059] lr: 1.000e-04, eta: 23 days, 16:50:44, time: 0.535, data_time: 0.031, memory: 14134, loss_cls: 1.4113, loss_bbox: 1.2056, loss_traj: 5.7665, loss_traj_cls: 0.0007, loss_map_cls: 0.7265, loss_map_pts: 4.2021, loss_map_dir: 0.0617, d0.loss_plan_l1_fix_time: 6.9724, d0.loss_plan_l1_fix_dist: 0.9879, d1.loss_plan_l1_fix_time: 5.8457, d1.loss_plan_l1_fix_dist: 1.0768, d2.loss_plan_l1_fix_time: 5.6275, d2.loss_plan_l1_fix_dist: 1.2529, d3.loss_plan_l1_fix_time: 5.5942, d3.loss_plan_l1_fix_dist: 1.4145, d4.loss_plan_l1_fix_time: 5.5768, d4.loss_plan_l1_fix_dist: 1.5982, d5.loss_plan_l1_fix_time: 5.6024, d5.loss_plan_l1_fix_dist: 1.7927, d6.loss_plan_l1_fix_time: 5.6723, d6.loss_plan_l1_fix_dist: 2.0495, d0.loss_cls_all: 1.3884, d0.loss_bbox_all: 1.1934, d0.loss_cls: 1.3884, d0.loss_bbox: 1.1934, d1.loss_cls: 1.3975, d1.loss_bbox: 1.1943, d2.loss_cls: 1.4042, d2.loss_bbox: 1.1946, d3.loss_cls: 1.4149, d3.loss_bbox: 1.2012, d4.loss_cls: 1.4134, d4.loss_bbox: 1.2063, d5.loss_cls: 1.4174, d5.loss_bbox: 1.2133, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.9412, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.6401, d2.loss_traj_cls: 0.0006, d2.loss_traj: 5.1992, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.4339, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.6437, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.7067, d0.loss_map_cls_all: 0.6973, d0.loss_map_pts_all: 4.4965, d0.loss_map_dir_all: 0.0623, d0.loss_map_cls: 0.6973, d0.loss_map_pts: 4.4965, d0.loss_map_dir: 0.0623, d1.loss_map_cls: 0.7082, d1.loss_map_pts: 4.2746, d1.loss_map_dir: 0.0621, d2.loss_map_cls: 0.7138, d2.loss_map_pts: 4.2219, d2.loss_map_dir: 0.0619, d3.loss_map_cls: 0.7167, d3.loss_map_pts: 4.2054, d3.loss_map_dir: 0.0618, d4.loss_map_cls: 0.7237, d4.loss_map_pts: 4.1993, d4.loss_map_dir: 0.0616, d5.loss_map_cls: 0.7249, d5.loss_map_pts: 4.1987, d5.loss_map_dir: 0.0617, loss: 148.7360, grad_norm: 3274.8639 2026-02-24 00:49:14,203 - DriveTransformer - INFO - Epoch [1][2400/59059] lr: 1.000e-04, eta: 23 days, 16:26:05, time: 0.559, data_time: 0.025, memory: 14134, loss_cls: 1.4053, loss_bbox: 1.2486, loss_traj: 5.7984, loss_traj_cls: 0.0007, loss_map_cls: 0.7258, loss_map_pts: 4.2222, loss_map_dir: 0.0637, d0.loss_plan_l1_fix_time: 6.8030, d0.loss_plan_l1_fix_dist: 0.8545, d1.loss_plan_l1_fix_time: 5.7159, d1.loss_plan_l1_fix_dist: 0.9937, d2.loss_plan_l1_fix_time: 5.4720, d2.loss_plan_l1_fix_dist: 1.2779, d3.loss_plan_l1_fix_time: 5.3902, d3.loss_plan_l1_fix_dist: 1.5817, d4.loss_plan_l1_fix_time: 5.3644, d4.loss_plan_l1_fix_dist: 1.8749, d5.loss_plan_l1_fix_time: 5.3992, d5.loss_plan_l1_fix_dist: 2.2201, d6.loss_plan_l1_fix_time: 5.4886, d6.loss_plan_l1_fix_dist: 2.5784, d0.loss_cls_all: 1.3947, d0.loss_bbox_all: 1.2338, d0.loss_cls: 1.3947, d0.loss_bbox: 1.2338, d1.loss_cls: 1.4053, d1.loss_bbox: 1.2403, d2.loss_cls: 1.4019, d2.loss_bbox: 1.2435, d3.loss_cls: 1.4042, d3.loss_bbox: 1.2446, d4.loss_cls: 1.4041, d4.loss_bbox: 1.2493, d5.loss_cls: 1.4048, d5.loss_bbox: 1.2534, d0.loss_traj_cls: 0.0005, d0.loss_traj: 4.0301, d1.loss_traj_cls: 0.0006, d1.loss_traj: 4.6790, d2.loss_traj_cls: 0.0007, d2.loss_traj: 5.2380, d3.loss_traj_cls: 0.0006, d3.loss_traj: 5.4543, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.6933, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.7451, d0.loss_map_cls_all: 0.6968, d0.loss_map_pts_all: 4.5142, d0.loss_map_dir_all: 0.0639, d0.loss_map_cls: 0.6968, d0.loss_map_pts: 4.5142, d0.loss_map_dir: 0.0639, d1.loss_map_cls: 0.7068, d1.loss_map_pts: 4.2829, d1.loss_map_dir: 0.0638, d2.loss_map_cls: 0.7133, d2.loss_map_pts: 4.2235, d2.loss_map_dir: 0.0638, d3.loss_map_cls: 0.7173, d3.loss_map_pts: 4.2036, d3.loss_map_dir: 0.0636, d4.loss_map_cls: 0.7233, d4.loss_map_pts: 4.1986, d4.loss_map_dir: 0.0637, d5.loss_map_cls: 0.7239, d5.loss_map_pts: 4.2017, d5.loss_map_dir: 0.0637, loss: 149.3941, grad_norm: 3155.1128 2026-02-24 00:49:44,585 - DriveTransformer - INFO - Epoch [1][2450/59059] lr: 1.000e-04, eta: 23 days, 17:00:22, time: 0.607, data_time: 0.026, memory: 14134, loss_cls: 1.4002, loss_bbox: 1.3566, loss_traj: 4.8955, loss_traj_cls: 0.0006, loss_map_cls: 0.6873, loss_map_pts: 4.2025, loss_map_dir: 0.0633, d0.loss_plan_l1_fix_time: 6.7141, d0.loss_plan_l1_fix_dist: 1.0450, d1.loss_plan_l1_fix_time: 5.7229, d1.loss_plan_l1_fix_dist: 1.1202, d2.loss_plan_l1_fix_time: 5.5431, d2.loss_plan_l1_fix_dist: 1.3196, d3.loss_plan_l1_fix_time: 5.5543, d3.loss_plan_l1_fix_dist: 1.5566, d4.loss_plan_l1_fix_time: 5.6427, d4.loss_plan_l1_fix_dist: 1.8207, d5.loss_plan_l1_fix_time: 5.7679, d5.loss_plan_l1_fix_dist: 2.1171, d6.loss_plan_l1_fix_time: 5.9135, d6.loss_plan_l1_fix_dist: 2.3373, d0.loss_cls_all: 1.3810, d0.loss_bbox_all: 1.3212, d0.loss_cls: 1.3810, d0.loss_bbox: 1.3212, d1.loss_cls: 1.3904, d1.loss_bbox: 1.3283, d2.loss_cls: 1.3968, d2.loss_bbox: 1.3313, d3.loss_cls: 1.3986, d3.loss_bbox: 1.3309, d4.loss_cls: 1.3975, d4.loss_bbox: 1.3390, d5.loss_cls: 1.3960, d5.loss_bbox: 1.3497, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2428, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8411, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.3286, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.5726, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.7835, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.8265, d0.loss_map_cls_all: 0.6552, d0.loss_map_pts_all: 4.5351, d0.loss_map_dir_all: 0.0636, d0.loss_map_cls: 0.6552, d0.loss_map_pts: 4.5351, d0.loss_map_dir: 0.0636, d1.loss_map_cls: 0.6707, d1.loss_map_pts: 4.2937, d1.loss_map_dir: 0.0632, d2.loss_map_cls: 0.6796, d2.loss_map_pts: 4.2204, d2.loss_map_dir: 0.0632, d3.loss_map_cls: 0.6833, d3.loss_map_pts: 4.2005, d3.loss_map_dir: 0.0632, d4.loss_map_cls: 0.6867, d4.loss_map_pts: 4.1992, d4.loss_map_dir: 0.0632, d5.loss_map_cls: 0.6879, d5.loss_map_pts: 4.1992, d5.loss_map_dir: 0.0631, loss: 144.7875, grad_norm: 1898.7373 2026-02-24 00:50:13,521 - DriveTransformer - INFO - Epoch [1][2500/59059] lr: 1.000e-04, eta: 23 days, 17:00:11, time: 0.579, data_time: 0.030, memory: 14134, loss_cls: 1.4038, loss_bbox: 1.3948, loss_traj: 5.0508, loss_traj_cls: 0.0006, loss_map_cls: 0.6787, loss_map_pts: 3.9882, loss_map_dir: 0.0638, d0.loss_plan_l1_fix_time: 6.6445, d0.loss_plan_l1_fix_dist: 1.0026, d1.loss_plan_l1_fix_time: 5.4340, d1.loss_plan_l1_fix_dist: 1.0953, d2.loss_plan_l1_fix_time: 5.1290, d2.loss_plan_l1_fix_dist: 1.2363, d3.loss_plan_l1_fix_time: 5.0761, d3.loss_plan_l1_fix_dist: 1.3852, d4.loss_plan_l1_fix_time: 5.1101, d4.loss_plan_l1_fix_dist: 1.5705, d5.loss_plan_l1_fix_time: 5.1737, d5.loss_plan_l1_fix_dist: 1.7231, d6.loss_plan_l1_fix_time: 5.2499, d6.loss_plan_l1_fix_dist: 1.8903, d0.loss_cls_all: 1.3887, d0.loss_bbox_all: 1.3624, d0.loss_cls: 1.3887, d0.loss_bbox: 1.3624, d1.loss_cls: 1.3956, d1.loss_bbox: 1.3669, d2.loss_cls: 1.4015, d2.loss_bbox: 1.3738, d3.loss_cls: 1.4011, d3.loss_bbox: 1.3824, d4.loss_cls: 1.4005, d4.loss_bbox: 1.3873, d5.loss_cls: 1.4011, d5.loss_bbox: 1.3884, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1904, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8663, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.4277, d3.loss_traj_cls: 0.0007, d3.loss_traj: 4.6925, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9302, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9950, d0.loss_map_cls_all: 0.6509, d0.loss_map_pts_all: 4.3092, d0.loss_map_dir_all: 0.0643, d0.loss_map_cls: 0.6509, d0.loss_map_pts: 4.3092, d0.loss_map_dir: 0.0643, d1.loss_map_cls: 0.6667, d1.loss_map_pts: 4.0619, d1.loss_map_dir: 0.0639, d2.loss_map_cls: 0.6727, d2.loss_map_pts: 4.0019, d2.loss_map_dir: 0.0638, d3.loss_map_cls: 0.6743, d3.loss_map_pts: 3.9960, d3.loss_map_dir: 0.0638, d4.loss_map_cls: 0.6777, d4.loss_map_pts: 4.0021, d4.loss_map_dir: 0.0639, d5.loss_map_cls: 0.6792, d5.loss_map_pts: 4.0025, d5.loss_map_dir: 0.0637, loss: 139.6105, grad_norm: 1099.0461 2026-02-24 00:50:41,382 - DriveTransformer - INFO - Epoch [1][2550/59059] lr: 1.000e-04, eta: 23 days, 16:35:02, time: 0.557, data_time: 0.024, memory: 14134, loss_cls: 1.3929, loss_bbox: 1.2526, loss_traj: 5.1247, loss_traj_cls: 0.0006, loss_map_cls: 0.7381, loss_map_pts: 4.2612, loss_map_dir: 0.0607, d0.loss_plan_l1_fix_time: 6.0157, d0.loss_plan_l1_fix_dist: 1.2712, d1.loss_plan_l1_fix_time: 5.1852, d1.loss_plan_l1_fix_dist: 1.3592, d2.loss_plan_l1_fix_time: 5.0268, d2.loss_plan_l1_fix_dist: 1.5080, d3.loss_plan_l1_fix_time: 5.0208, d3.loss_plan_l1_fix_dist: 1.6990, d4.loss_plan_l1_fix_time: 5.0899, d4.loss_plan_l1_fix_dist: 1.9317, d5.loss_plan_l1_fix_time: 5.1940, d5.loss_plan_l1_fix_dist: 2.1639, d6.loss_plan_l1_fix_time: 5.3017, d6.loss_plan_l1_fix_dist: 2.4057, d0.loss_cls_all: 1.3774, d0.loss_bbox_all: 1.1954, d0.loss_cls: 1.3774, d0.loss_bbox: 1.1954, d1.loss_cls: 1.3900, d1.loss_bbox: 1.2094, d2.loss_cls: 1.3907, d2.loss_bbox: 1.2149, d3.loss_cls: 1.3899, d3.loss_bbox: 1.2189, d4.loss_cls: 1.3940, d4.loss_bbox: 1.2265, d5.loss_cls: 1.3952, d5.loss_bbox: 1.2525, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2685, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8957, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.4606, d3.loss_traj_cls: 0.0007, d3.loss_traj: 4.7378, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0106, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.0612, d0.loss_map_cls_all: 0.6903, d0.loss_map_pts_all: 4.6176, d0.loss_map_dir_all: 0.0616, d0.loss_map_cls: 0.6903, d0.loss_map_pts: 4.6176, d0.loss_map_dir: 0.0616, d1.loss_map_cls: 0.7116, d1.loss_map_pts: 4.3416, d1.loss_map_dir: 0.0609, d2.loss_map_cls: 0.7190, d2.loss_map_pts: 4.2619, d2.loss_map_dir: 0.0610, d3.loss_map_cls: 0.7234, d3.loss_map_pts: 4.2410, d3.loss_map_dir: 0.0609, d4.loss_map_cls: 0.7291, d4.loss_map_pts: 4.2358, d4.loss_map_dir: 0.0608, d5.loss_map_cls: 0.7337, d5.loss_map_pts: 4.2434, d5.loss_map_dir: 0.0608, loss: 142.6531, grad_norm: 722.1143 2026-02-24 00:51:08,593 - DriveTransformer - INFO - Epoch [1][2600/59059] lr: 1.000e-04, eta: 23 days, 15:56:14, time: 0.544, data_time: 0.026, memory: 14134, loss_cls: 1.4402, loss_bbox: 1.4170, loss_traj: 4.7189, loss_traj_cls: 0.0006, loss_map_cls: 0.7281, loss_map_pts: 4.2220, loss_map_dir: 0.0619, d0.loss_plan_l1_fix_time: 6.2496, d0.loss_plan_l1_fix_dist: 0.9463, d1.loss_plan_l1_fix_time: 5.2983, d1.loss_plan_l1_fix_dist: 1.0016, d2.loss_plan_l1_fix_time: 5.0422, d2.loss_plan_l1_fix_dist: 1.1218, d3.loss_plan_l1_fix_time: 4.9899, d3.loss_plan_l1_fix_dist: 1.2788, d4.loss_plan_l1_fix_time: 5.0315, d4.loss_plan_l1_fix_dist: 1.4458, d5.loss_plan_l1_fix_time: 5.1224, d5.loss_plan_l1_fix_dist: 1.6664, d6.loss_plan_l1_fix_time: 5.2285, d6.loss_plan_l1_fix_dist: 1.9266, d0.loss_cls_all: 1.4177, d0.loss_bbox_all: 1.3719, d0.loss_cls: 1.4177, d0.loss_bbox: 1.3719, d1.loss_cls: 1.4313, d1.loss_bbox: 1.3840, d2.loss_cls: 1.4371, d2.loss_bbox: 1.3893, d3.loss_cls: 1.4396, d3.loss_bbox: 1.3943, d4.loss_cls: 1.4412, d4.loss_bbox: 1.4085, d5.loss_cls: 1.4449, d5.loss_bbox: 1.4201, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.0285, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.5871, d2.loss_traj_cls: 0.0006, d2.loss_traj: 4.0983, d3.loss_traj_cls: 0.0006, d3.loss_traj: 4.3710, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.6008, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.6537, d0.loss_map_cls_all: 0.6892, d0.loss_map_pts_all: 4.5001, d0.loss_map_dir_all: 0.0629, d0.loss_map_cls: 0.6892, d0.loss_map_pts: 4.5001, d0.loss_map_dir: 0.0629, d1.loss_map_cls: 0.7032, d1.loss_map_pts: 4.2675, d1.loss_map_dir: 0.0622, d2.loss_map_cls: 0.7116, d2.loss_map_pts: 4.2084, d2.loss_map_dir: 0.0623, d3.loss_map_cls: 0.7168, d3.loss_map_pts: 4.1929, d3.loss_map_dir: 0.0621, d4.loss_map_cls: 0.7234, d4.loss_map_pts: 4.1920, d4.loss_map_dir: 0.0621, d5.loss_map_cls: 0.7238, d5.loss_map_pts: 4.2010, d5.loss_map_dir: 0.0620, loss: 138.5066, grad_norm: 537.3731 2026-02-24 00:51:37,358 - DriveTransformer - INFO - Epoch [1][2650/59059] lr: 1.000e-04, eta: 23 days, 15:53:18, time: 0.575, data_time: 0.034, memory: 14135, loss_cls: 1.4251, loss_bbox: 1.3719, loss_traj: 5.0525, loss_traj_cls: 0.0006, loss_map_cls: 0.7257, loss_map_pts: 4.2840, loss_map_dir: 0.0628, d0.loss_plan_l1_fix_time: 5.7959, d0.loss_plan_l1_fix_dist: 1.1011, d1.loss_plan_l1_fix_time: 4.8141, d1.loss_plan_l1_fix_dist: 1.1822, d2.loss_plan_l1_fix_time: 4.6485, d2.loss_plan_l1_fix_dist: 1.3098, d3.loss_plan_l1_fix_time: 4.6633, d3.loss_plan_l1_fix_dist: 1.5018, d4.loss_plan_l1_fix_time: 4.7453, d4.loss_plan_l1_fix_dist: 1.7238, d5.loss_plan_l1_fix_time: 4.8418, d5.loss_plan_l1_fix_dist: 1.9741, d6.loss_plan_l1_fix_time: 4.9397, d6.loss_plan_l1_fix_dist: 2.2227, d0.loss_cls_all: 1.3982, d0.loss_bbox_all: 1.3446, d0.loss_cls: 1.3982, d0.loss_bbox: 1.3446, d1.loss_cls: 1.4126, d1.loss_bbox: 1.3520, d2.loss_cls: 1.4138, d2.loss_bbox: 1.3520, d3.loss_cls: 1.4197, d3.loss_bbox: 1.3551, d4.loss_cls: 1.4215, d4.loss_bbox: 1.3685, d5.loss_cls: 1.4243, d5.loss_bbox: 1.3781, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.2135, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8153, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.3822, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.6761, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9219, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.9912, d0.loss_map_cls_all: 0.6897, d0.loss_map_pts_all: 4.6330, d0.loss_map_dir_all: 0.0638, d0.loss_map_cls: 0.6897, d0.loss_map_pts: 4.6330, d0.loss_map_dir: 0.0638, d1.loss_map_cls: 0.7044, d1.loss_map_pts: 4.3607, d1.loss_map_dir: 0.0630, d2.loss_map_cls: 0.7150, d2.loss_map_pts: 4.3038, d2.loss_map_dir: 0.0630, d3.loss_map_cls: 0.7184, d3.loss_map_pts: 4.2924, d3.loss_map_dir: 0.0630, d4.loss_map_cls: 0.7197, d4.loss_map_pts: 4.2921, d4.loss_map_dir: 0.0629, d5.loss_map_cls: 0.7241, d5.loss_map_pts: 4.2913, d5.loss_map_dir: 0.0628, loss: 139.9826, grad_norm: 460.6305 2026-02-24 00:52:05,097 - DriveTransformer - INFO - Epoch [1][2700/59059] lr: 1.000e-04, eta: 23 days, 15:28:07, time: 0.555, data_time: 0.027, memory: 14135, loss_cls: 1.4395, loss_bbox: 1.2783, loss_traj: 5.3621, loss_traj_cls: 0.0005, loss_map_cls: 0.7490, loss_map_pts: 4.2258, loss_map_dir: 0.0605, d0.loss_plan_l1_fix_time: 6.4526, d0.loss_plan_l1_fix_dist: 0.8657, d1.loss_plan_l1_fix_time: 5.1128, d1.loss_plan_l1_fix_dist: 0.9509, d2.loss_plan_l1_fix_time: 4.6808, d2.loss_plan_l1_fix_dist: 1.1117, d3.loss_plan_l1_fix_time: 4.5060, d3.loss_plan_l1_fix_dist: 1.3076, d4.loss_plan_l1_fix_time: 4.4336, d4.loss_plan_l1_fix_dist: 1.4898, d5.loss_plan_l1_fix_time: 4.4185, d5.loss_plan_l1_fix_dist: 1.6581, d6.loss_plan_l1_fix_time: 4.4506, d6.loss_plan_l1_fix_dist: 1.8528, d0.loss_cls_all: 1.4069, d0.loss_bbox_all: 1.2460, d0.loss_cls: 1.4069, d0.loss_bbox: 1.2460, d1.loss_cls: 1.4239, d1.loss_bbox: 1.2557, d2.loss_cls: 1.4249, d2.loss_bbox: 1.2574, d3.loss_cls: 1.4310, d3.loss_bbox: 1.2541, d4.loss_cls: 1.4352, d4.loss_bbox: 1.2565, d5.loss_cls: 1.4398, d5.loss_bbox: 1.2753, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1540, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.8823, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5460, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.8893, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.2035, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2787, d0.loss_map_cls_all: 0.7024, d0.loss_map_pts_all: 4.5220, d0.loss_map_dir_all: 0.0610, d0.loss_map_cls: 0.7024, d0.loss_map_pts: 4.5220, d0.loss_map_dir: 0.0610, d1.loss_map_cls: 0.7176, d1.loss_map_pts: 4.2813, d1.loss_map_dir: 0.0607, d2.loss_map_cls: 0.7294, d2.loss_map_pts: 4.2318, d2.loss_map_dir: 0.0606, d3.loss_map_cls: 0.7360, d3.loss_map_pts: 4.2221, d3.loss_map_dir: 0.0607, d4.loss_map_cls: 0.7397, d4.loss_map_pts: 4.2194, d4.loss_map_dir: 0.0606, d5.loss_map_cls: 0.7444, d5.loss_map_pts: 4.2211, d5.loss_map_dir: 0.0606, loss: 137.8404, grad_norm: 417.1716 2026-02-24 00:52:32,656 - DriveTransformer - INFO - Epoch [1][2750/59059] lr: 1.000e-04, eta: 23 days, 15:00:01, time: 0.551, data_time: 0.024, memory: 14135, loss_cls: 1.4400, loss_bbox: 1.3515, loss_traj: 5.6570, loss_traj_cls: 0.0005, loss_map_cls: 0.7375, loss_map_pts: 4.0340, loss_map_dir: 0.0614, d0.loss_plan_l1_fix_time: 6.2831, d0.loss_plan_l1_fix_dist: 0.9070, d1.loss_plan_l1_fix_time: 5.1843, d1.loss_plan_l1_fix_dist: 1.0230, d2.loss_plan_l1_fix_time: 4.8284, d2.loss_plan_l1_fix_dist: 1.1780, d3.loss_plan_l1_fix_time: 4.6800, d3.loss_plan_l1_fix_dist: 1.3360, d4.loss_plan_l1_fix_time: 4.6477, d4.loss_plan_l1_fix_dist: 1.5252, d5.loss_plan_l1_fix_time: 4.6671, d5.loss_plan_l1_fix_dist: 1.7199, d6.loss_plan_l1_fix_time: 4.7196, d6.loss_plan_l1_fix_dist: 1.9304, d0.loss_cls_all: 1.4063, d0.loss_bbox_all: 1.3221, d0.loss_cls: 1.4063, d0.loss_bbox: 1.3221, d1.loss_cls: 1.4282, d1.loss_bbox: 1.3301, d2.loss_cls: 1.4281, d2.loss_bbox: 1.3344, d3.loss_cls: 1.4318, d3.loss_bbox: 1.3407, d4.loss_cls: 1.4358, d4.loss_bbox: 1.3503, d5.loss_cls: 1.4402, d5.loss_bbox: 1.3541, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.3974, d1.loss_traj_cls: 0.0005, d1.loss_traj: 4.1257, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.8165, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.1601, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.4893, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.5654, d0.loss_map_cls_all: 0.6897, d0.loss_map_pts_all: 4.3773, d0.loss_map_dir_all: 0.0619, d0.loss_map_cls: 0.6897, d0.loss_map_pts: 4.3773, d0.loss_map_dir: 0.0619, d1.loss_map_cls: 0.7065, d1.loss_map_pts: 4.1149, d1.loss_map_dir: 0.0614, d2.loss_map_cls: 0.7166, d2.loss_map_pts: 4.0490, d2.loss_map_dir: 0.0614, d3.loss_map_cls: 0.7214, d3.loss_map_pts: 4.0283, d3.loss_map_dir: 0.0614, d4.loss_map_cls: 0.7281, d4.loss_map_pts: 4.0236, d4.loss_map_dir: 0.0614, d5.loss_map_cls: 0.7335, d5.loss_map_pts: 4.0269, d5.loss_map_dir: 0.0614, loss: 140.2131, grad_norm: 398.7948 2026-02-24 00:53:01,193 - DriveTransformer - INFO - Epoch [1][2800/59059] lr: 1.000e-04, eta: 23 days, 14:53:55, time: 0.571, data_time: 0.025, memory: 14136, loss_cls: 1.4003, loss_bbox: 1.2757, loss_traj: 5.1577, loss_traj_cls: 0.0006, loss_map_cls: 0.7102, loss_map_pts: 4.2243, loss_map_dir: 0.0633, d0.loss_plan_l1_fix_time: 5.5227, d0.loss_plan_l1_fix_dist: 0.8758, d1.loss_plan_l1_fix_time: 4.6928, d1.loss_plan_l1_fix_dist: 1.0134, d2.loss_plan_l1_fix_time: 4.5139, d2.loss_plan_l1_fix_dist: 1.1541, d3.loss_plan_l1_fix_time: 4.5045, d3.loss_plan_l1_fix_dist: 1.3208, d4.loss_plan_l1_fix_time: 4.5721, d4.loss_plan_l1_fix_dist: 1.5046, d5.loss_plan_l1_fix_time: 4.6498, d5.loss_plan_l1_fix_dist: 1.7258, d6.loss_plan_l1_fix_time: 4.7272, d6.loss_plan_l1_fix_dist: 1.9357, d0.loss_cls_all: 1.3696, d0.loss_bbox_all: 1.2526, d0.loss_cls: 1.3696, d0.loss_bbox: 1.2526, d1.loss_cls: 1.3892, d1.loss_bbox: 1.2562, d2.loss_cls: 1.3893, d2.loss_bbox: 1.2580, d3.loss_cls: 1.3958, d3.loss_bbox: 1.2645, d4.loss_cls: 1.3983, d4.loss_bbox: 1.2639, d5.loss_cls: 1.4011, d5.loss_bbox: 1.2703, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1595, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.7778, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.4097, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.7197, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.0049, d5.loss_traj_cls: 0.0006, d5.loss_traj: 5.0754, d0.loss_map_cls_all: 0.6692, d0.loss_map_pts_all: 4.4943, d0.loss_map_dir_all: 0.0636, d0.loss_map_cls: 0.6692, d0.loss_map_pts: 4.4943, d0.loss_map_dir: 0.0636, d1.loss_map_cls: 0.6824, d1.loss_map_pts: 4.2717, d1.loss_map_dir: 0.0631, d2.loss_map_cls: 0.6915, d2.loss_map_pts: 4.2249, d2.loss_map_dir: 0.0631, d3.loss_map_cls: 0.6947, d3.loss_map_pts: 4.2101, d3.loss_map_dir: 0.0631, d4.loss_map_cls: 0.7007, d4.loss_map_pts: 4.2068, d4.loss_map_dir: 0.0630, d5.loss_map_cls: 0.7055, d5.loss_map_pts: 4.2116, d5.loss_map_dir: 0.0630, loss: 135.5955, grad_norm: 390.1690 2026-02-24 00:53:29,510 - DriveTransformer - INFO - Epoch [1][2850/59059] lr: 1.000e-04, eta: 23 days, 14:42:36, time: 0.566, data_time: 0.027, memory: 14136, loss_cls: 1.4226, loss_bbox: 1.2391, loss_traj: 5.0373, loss_traj_cls: 0.0006, loss_map_cls: 0.7227, loss_map_pts: 4.1274, loss_map_dir: 0.0600, d0.loss_plan_l1_fix_time: 5.4344, d0.loss_plan_l1_fix_dist: 0.9324, d1.loss_plan_l1_fix_time: 4.3214, d1.loss_plan_l1_fix_dist: 0.9874, d2.loss_plan_l1_fix_time: 4.0196, d2.loss_plan_l1_fix_dist: 1.0969, d3.loss_plan_l1_fix_time: 3.9581, d3.loss_plan_l1_fix_dist: 1.2272, d4.loss_plan_l1_fix_time: 3.9805, d4.loss_plan_l1_fix_dist: 1.3501, d5.loss_plan_l1_fix_time: 4.0298, d5.loss_plan_l1_fix_dist: 1.4891, d6.loss_plan_l1_fix_time: 4.1009, d6.loss_plan_l1_fix_dist: 1.6360, d0.loss_cls_all: 1.3803, d0.loss_bbox_all: 1.1833, d0.loss_cls: 1.3803, d0.loss_bbox: 1.1833, d1.loss_cls: 1.4009, d1.loss_bbox: 1.1962, d2.loss_cls: 1.4099, d2.loss_bbox: 1.2024, d3.loss_cls: 1.4154, d3.loss_bbox: 1.2146, d4.loss_cls: 1.4170, d4.loss_bbox: 1.2369, d5.loss_cls: 1.4193, d5.loss_bbox: 1.2406, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7584, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4453, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1489, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5047, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.8459, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.9318, d0.loss_map_cls_all: 0.6764, d0.loss_map_pts_all: 4.5065, d0.loss_map_dir_all: 0.0602, d0.loss_map_cls: 0.6764, d0.loss_map_pts: 4.5065, d0.loss_map_dir: 0.0602, d1.loss_map_cls: 0.6927, d1.loss_map_pts: 4.2422, d1.loss_map_dir: 0.0599, d2.loss_map_cls: 0.7066, d2.loss_map_pts: 4.1700, d2.loss_map_dir: 0.0599, d3.loss_map_cls: 0.7119, d3.loss_map_pts: 4.1448, d3.loss_map_dir: 0.0600, d4.loss_map_cls: 0.7119, d4.loss_map_pts: 4.1344, d4.loss_map_dir: 0.0599, d5.loss_map_cls: 0.7192, d5.loss_map_pts: 4.1289, d5.loss_map_dir: 0.0599, loss: 129.2403, grad_norm: 378.3888 2026-02-24 00:53:57,010 - DriveTransformer - INFO - Epoch [1][2900/59059] lr: 1.000e-04, eta: 23 days, 14:15:27, time: 0.550, data_time: 0.028, memory: 14136, loss_cls: 1.4049, loss_bbox: 1.3303, loss_traj: 5.9436, loss_traj_cls: 0.0006, loss_map_cls: 0.7130, loss_map_pts: 3.9908, loss_map_dir: 0.0577, d0.loss_plan_l1_fix_time: 5.9430, d0.loss_plan_l1_fix_dist: 0.8533, d1.loss_plan_l1_fix_time: 4.8152, d1.loss_plan_l1_fix_dist: 0.9381, d2.loss_plan_l1_fix_time: 4.4034, d2.loss_plan_l1_fix_dist: 1.0867, d3.loss_plan_l1_fix_time: 4.2390, d3.loss_plan_l1_fix_dist: 1.2713, d4.loss_plan_l1_fix_time: 4.1885, d4.loss_plan_l1_fix_dist: 1.4705, d5.loss_plan_l1_fix_time: 4.2044, d5.loss_plan_l1_fix_dist: 1.6617, d6.loss_plan_l1_fix_time: 4.2701, d6.loss_plan_l1_fix_dist: 1.8899, d0.loss_cls_all: 1.3592, d0.loss_bbox_all: 1.2400, d0.loss_cls: 1.3592, d0.loss_bbox: 1.2400, d1.loss_cls: 1.3839, d1.loss_bbox: 1.2534, d2.loss_cls: 1.3906, d2.loss_bbox: 1.2633, d3.loss_cls: 1.3953, d3.loss_bbox: 1.2823, d4.loss_cls: 1.4003, d4.loss_bbox: 1.2977, d5.loss_cls: 1.4025, d5.loss_bbox: 1.3136, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.1920, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.9976, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.8732, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.2944, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.7104, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.8155, d0.loss_map_cls_all: 0.6668, d0.loss_map_pts_all: 4.3346, d0.loss_map_dir_all: 0.0580, d0.loss_map_cls: 0.6668, d0.loss_map_pts: 4.3346, d0.loss_map_dir: 0.0580, d1.loss_map_cls: 0.6849, d1.loss_map_pts: 4.0605, d1.loss_map_dir: 0.0576, d2.loss_map_cls: 0.6958, d2.loss_map_pts: 3.9984, d2.loss_map_dir: 0.0577, d3.loss_map_cls: 0.7037, d3.loss_map_pts: 3.9869, d3.loss_map_dir: 0.0576, d4.loss_map_cls: 0.7049, d4.loss_map_pts: 3.9852, d4.loss_map_dir: 0.0576, d5.loss_map_cls: 0.7093, d5.loss_map_pts: 3.9878, d5.loss_map_dir: 0.0576, loss: 136.0674, grad_norm: 369.6161 2026-02-24 00:54:24,354 - DriveTransformer - INFO - Epoch [1][2950/59059] lr: 1.000e-04, eta: 23 days, 13:46:04, time: 0.547, data_time: 0.027, memory: 14136, loss_cls: 1.4077, loss_bbox: 1.4343, loss_traj: 4.5051, loss_traj_cls: 0.0006, loss_map_cls: 0.7128, loss_map_pts: 4.0260, loss_map_dir: 0.0588, d0.loss_plan_l1_fix_time: 4.6742, d0.loss_plan_l1_fix_dist: 0.8191, d1.loss_plan_l1_fix_time: 3.9306, d1.loss_plan_l1_fix_dist: 0.8969, d2.loss_plan_l1_fix_time: 3.7508, d2.loss_plan_l1_fix_dist: 1.0363, d3.loss_plan_l1_fix_time: 3.7234, d3.loss_plan_l1_fix_dist: 1.2264, d4.loss_plan_l1_fix_time: 3.7623, d4.loss_plan_l1_fix_dist: 1.4455, d5.loss_plan_l1_fix_time: 3.8289, d5.loss_plan_l1_fix_dist: 1.6695, d6.loss_plan_l1_fix_time: 3.9244, d6.loss_plan_l1_fix_dist: 1.9427, d0.loss_cls_all: 1.3684, d0.loss_bbox_all: 1.3774, d0.loss_cls: 1.3684, d0.loss_bbox: 1.3774, d1.loss_cls: 1.3969, d1.loss_bbox: 1.3821, d2.loss_cls: 1.3991, d2.loss_bbox: 1.3899, d3.loss_cls: 1.4049, d3.loss_bbox: 1.4012, d4.loss_cls: 1.4069, d4.loss_bbox: 1.4091, d5.loss_cls: 1.4061, d5.loss_bbox: 1.4219, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2939, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.8543, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.5607, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.9356, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2980, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.3843, d0.loss_map_cls_all: 0.6700, d0.loss_map_pts_all: 4.4009, d0.loss_map_dir_all: 0.0592, d0.loss_map_cls: 0.6700, d0.loss_map_pts: 4.4009, d0.loss_map_dir: 0.0592, d1.loss_map_cls: 0.6828, d1.loss_map_pts: 4.1291, d1.loss_map_dir: 0.0589, d2.loss_map_cls: 0.6927, d2.loss_map_pts: 4.0561, d2.loss_map_dir: 0.0588, d3.loss_map_cls: 0.6989, d3.loss_map_pts: 4.0341, d3.loss_map_dir: 0.0587, d4.loss_map_cls: 0.7057, d4.loss_map_pts: 4.0302, d4.loss_map_dir: 0.0587, d5.loss_map_cls: 0.7089, d5.loss_map_pts: 4.0287, d5.loss_map_dir: 0.0588, loss: 123.9372, grad_norm: 362.7068 2026-02-24 00:54:52,261 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 00:54:52,262 - DriveTransformer - INFO - Epoch [1][3000/59059] lr: 1.000e-04, eta: 23 days, 13:28:44, time: 0.558, data_time: 0.025, memory: 14136, loss_cls: 1.4085, loss_bbox: 1.3804, loss_traj: 5.2190, loss_traj_cls: 0.0005, loss_map_cls: 0.7115, loss_map_pts: 3.9481, loss_map_dir: 0.0555, d0.loss_plan_l1_fix_time: 5.5362, d0.loss_plan_l1_fix_dist: 0.8380, d1.loss_plan_l1_fix_time: 4.4339, d1.loss_plan_l1_fix_dist: 0.9492, d2.loss_plan_l1_fix_time: 4.0954, d2.loss_plan_l1_fix_dist: 1.1206, d3.loss_plan_l1_fix_time: 3.9922, d3.loss_plan_l1_fix_dist: 1.3063, d4.loss_plan_l1_fix_time: 3.9849, d4.loss_plan_l1_fix_dist: 1.5189, d5.loss_plan_l1_fix_time: 4.0116, d5.loss_plan_l1_fix_dist: 1.7503, d6.loss_plan_l1_fix_time: 4.0693, d6.loss_plan_l1_fix_dist: 1.9600, d0.loss_cls_all: 1.3619, d0.loss_bbox_all: 1.3160, d0.loss_cls: 1.3619, d0.loss_bbox: 1.3160, d1.loss_cls: 1.3898, d1.loss_bbox: 1.3267, d2.loss_cls: 1.3919, d2.loss_bbox: 1.3353, d3.loss_cls: 1.4017, d3.loss_bbox: 1.3459, d4.loss_cls: 1.4047, d4.loss_bbox: 1.3537, d5.loss_cls: 1.4074, d5.loss_bbox: 1.3748, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8344, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4023, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1725, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5745, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9839, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.0870, d0.loss_map_cls_all: 0.6683, d0.loss_map_pts_all: 4.2868, d0.loss_map_dir_all: 0.0559, d0.loss_map_cls: 0.6683, d0.loss_map_pts: 4.2868, d0.loss_map_dir: 0.0559, d1.loss_map_cls: 0.6779, d1.loss_map_pts: 4.0530, d1.loss_map_dir: 0.0555, d2.loss_map_cls: 0.6905, d2.loss_map_pts: 3.9845, d2.loss_map_dir: 0.0555, d3.loss_map_cls: 0.6984, d3.loss_map_pts: 3.9626, d3.loss_map_dir: 0.0555, d4.loss_map_cls: 0.7034, d4.loss_map_pts: 3.9553, d4.loss_map_dir: 0.0554, d5.loss_map_cls: 0.7076, d5.loss_map_pts: 3.9513, d5.loss_map_dir: 0.0555, loss: 130.1192, grad_norm: 352.8696 2026-02-24 00:55:19,681 - DriveTransformer - INFO - Epoch [1][3050/59059] lr: 1.000e-04, eta: 23 days, 13:02:33, time: 0.548, data_time: 0.031, memory: 14136, loss_cls: 1.3643, loss_bbox: 1.1453, loss_traj: 5.7852, loss_traj_cls: 0.0006, loss_map_cls: 0.7133, loss_map_pts: 3.8435, loss_map_dir: 0.0507, d0.loss_plan_l1_fix_time: 5.2165, d0.loss_plan_l1_fix_dist: 0.9473, d1.loss_plan_l1_fix_time: 4.1901, d1.loss_plan_l1_fix_dist: 1.0447, d2.loss_plan_l1_fix_time: 3.9283, d2.loss_plan_l1_fix_dist: 1.1899, d3.loss_plan_l1_fix_time: 3.8729, d3.loss_plan_l1_fix_dist: 1.3623, d4.loss_plan_l1_fix_time: 3.8863, d4.loss_plan_l1_fix_dist: 1.5336, d5.loss_plan_l1_fix_time: 3.9189, d5.loss_plan_l1_fix_dist: 1.7454, d6.loss_plan_l1_fix_time: 3.9867, d6.loss_plan_l1_fix_dist: 1.9285, d0.loss_cls_all: 1.3080, d0.loss_bbox_all: 1.1080, d0.loss_cls: 1.3080, d0.loss_bbox: 1.1080, d1.loss_cls: 1.3338, d1.loss_bbox: 1.1088, d2.loss_cls: 1.3423, d2.loss_bbox: 1.1131, d3.loss_cls: 1.3527, d3.loss_bbox: 1.1214, d4.loss_cls: 1.3575, d4.loss_bbox: 1.1235, d5.loss_cls: 1.3624, d5.loss_bbox: 1.1269, d0.loss_traj_cls: 0.0005, d0.loss_traj: 3.0060, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.6433, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.5571, d3.loss_traj_cls: 0.0005, d3.loss_traj: 5.0393, d4.loss_traj_cls: 0.0006, d4.loss_traj: 5.4941, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.6371, d0.loss_map_cls_all: 0.6716, d0.loss_map_pts_all: 4.1472, d0.loss_map_dir_all: 0.0508, d0.loss_map_cls: 0.6716, d0.loss_map_pts: 4.1472, d0.loss_map_dir: 0.0508, d1.loss_map_cls: 0.6836, d1.loss_map_pts: 3.9124, d1.loss_map_dir: 0.0506, d2.loss_map_cls: 0.6972, d2.loss_map_pts: 3.8605, d2.loss_map_dir: 0.0507, d3.loss_map_cls: 0.7034, d3.loss_map_pts: 3.8497, d3.loss_map_dir: 0.0507, d4.loss_map_cls: 0.7071, d4.loss_map_pts: 3.8451, d4.loss_map_dir: 0.0505, d5.loss_map_cls: 0.7105, d5.loss_map_pts: 3.8427, d5.loss_map_dir: 0.0505, loss: 129.0130, grad_norm: 347.7325 2026-02-24 00:55:46,897 - DriveTransformer - INFO - Epoch [1][3100/59059] lr: 1.000e-04, eta: 23 days, 12:33:17, time: 0.544, data_time: 0.023, memory: 14136, loss_cls: 1.3911, loss_bbox: 1.3368, loss_traj: 4.4081, loss_traj_cls: 0.0005, loss_map_cls: 0.7052, loss_map_pts: 4.0125, loss_map_dir: 0.0542, d0.loss_plan_l1_fix_time: 4.7675, d0.loss_plan_l1_fix_dist: 0.8708, d1.loss_plan_l1_fix_time: 3.9149, d1.loss_plan_l1_fix_dist: 1.0071, d2.loss_plan_l1_fix_time: 3.7295, d2.loss_plan_l1_fix_dist: 1.1792, d3.loss_plan_l1_fix_time: 3.7043, d3.loss_plan_l1_fix_dist: 1.3702, d4.loss_plan_l1_fix_time: 3.7292, d4.loss_plan_l1_fix_dist: 1.5644, d5.loss_plan_l1_fix_time: 3.7798, d5.loss_plan_l1_fix_dist: 1.7701, d6.loss_plan_l1_fix_time: 3.8787, d6.loss_plan_l1_fix_dist: 1.9566, d0.loss_cls_all: 1.3396, d0.loss_bbox_all: 1.2933, d0.loss_cls: 1.3396, d0.loss_bbox: 1.2933, d1.loss_cls: 1.3655, d1.loss_bbox: 1.3019, d2.loss_cls: 1.3719, d2.loss_bbox: 1.3066, d3.loss_cls: 1.3783, d3.loss_bbox: 1.3137, d4.loss_cls: 1.3838, d4.loss_bbox: 1.3231, d5.loss_cls: 1.3872, d5.loss_bbox: 1.3310, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2759, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.7222, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4143, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.7862, d4.loss_traj_cls: 0.0006, d4.loss_traj: 4.1656, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2867, d0.loss_map_cls_all: 0.6543, d0.loss_map_pts_all: 4.3363, d0.loss_map_dir_all: 0.0547, d0.loss_map_cls: 0.6543, d0.loss_map_pts: 4.3363, d0.loss_map_dir: 0.0547, d1.loss_map_cls: 0.6742, d1.loss_map_pts: 4.0845, d1.loss_map_dir: 0.0543, d2.loss_map_cls: 0.6835, d2.loss_map_pts: 4.0322, d2.loss_map_dir: 0.0543, d3.loss_map_cls: 0.6932, d3.loss_map_pts: 4.0206, d3.loss_map_dir: 0.0542, d4.loss_map_cls: 0.6995, d4.loss_map_pts: 4.0171, d4.loss_map_dir: 0.0541, d5.loss_map_cls: 0.7019, d5.loss_map_pts: 4.0143, d5.loss_map_dir: 0.0541, loss: 122.4963, grad_norm: 342.4414 2026-02-24 00:56:15,730 - DriveTransformer - INFO - Epoch [1][3150/59059] lr: 1.000e-04, eta: 23 days, 12:35:15, time: 0.577, data_time: 0.038, memory: 14136, loss_cls: 1.4090, loss_bbox: 1.3082, loss_traj: 5.2954, loss_traj_cls: 0.0005, loss_map_cls: 0.7198, loss_map_pts: 3.9586, loss_map_dir: 0.0549, d0.loss_plan_l1_fix_time: 4.9245, d0.loss_plan_l1_fix_dist: 0.8982, d1.loss_plan_l1_fix_time: 4.1924, d1.loss_plan_l1_fix_dist: 1.0076, d2.loss_plan_l1_fix_time: 4.0783, d2.loss_plan_l1_fix_dist: 1.1687, d3.loss_plan_l1_fix_time: 4.1005, d3.loss_plan_l1_fix_dist: 1.3426, d4.loss_plan_l1_fix_time: 4.1561, d4.loss_plan_l1_fix_dist: 1.5499, d5.loss_plan_l1_fix_time: 4.2225, d5.loss_plan_l1_fix_dist: 1.7606, d6.loss_plan_l1_fix_time: 4.3182, d6.loss_plan_l1_fix_dist: 2.0025, d0.loss_cls_all: 1.3424, d0.loss_bbox_all: 1.2789, d0.loss_cls: 1.3424, d0.loss_bbox: 1.2789, d1.loss_cls: 1.3746, d1.loss_bbox: 1.2831, d2.loss_cls: 1.3796, d2.loss_bbox: 1.2848, d3.loss_cls: 1.3897, d3.loss_bbox: 1.2931, d4.loss_cls: 1.3989, d4.loss_bbox: 1.2953, d5.loss_cls: 1.4068, d5.loss_bbox: 1.2962, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.9745, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.4065, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.1519, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5587, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0035, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.1537, d0.loss_map_cls_all: 0.6714, d0.loss_map_pts_all: 4.2980, d0.loss_map_dir_all: 0.0556, d0.loss_map_cls: 0.6714, d0.loss_map_pts: 4.2980, d0.loss_map_dir: 0.0556, d1.loss_map_cls: 0.6872, d1.loss_map_pts: 4.0510, d1.loss_map_dir: 0.0552, d2.loss_map_cls: 0.6939, d2.loss_map_pts: 3.9942, d2.loss_map_dir: 0.0550, d3.loss_map_cls: 0.7058, d3.loss_map_pts: 3.9776, d3.loss_map_dir: 0.0550, d4.loss_map_cls: 0.7136, d4.loss_map_pts: 3.9703, d4.loss_map_dir: 0.0550, d5.loss_map_cls: 0.7173, d5.loss_map_pts: 3.9637, d5.loss_map_dir: 0.0550, loss: 130.1651, grad_norm: 336.9632 2026-02-24 00:56:42,980 - DriveTransformer - INFO - Epoch [1][3200/59059] lr: 1.000e-04, eta: 23 days, 12:08:00, time: 0.545, data_time: 0.030, memory: 14136, loss_cls: 1.3625, loss_bbox: 1.1384, loss_traj: 5.3296, loss_traj_cls: 0.0005, loss_map_cls: 0.7218, loss_map_pts: 3.8159, loss_map_dir: 0.0484, d0.loss_plan_l1_fix_time: 5.2076, d0.loss_plan_l1_fix_dist: 0.7198, d1.loss_plan_l1_fix_time: 4.3896, d1.loss_plan_l1_fix_dist: 0.8033, d2.loss_plan_l1_fix_time: 4.2651, d2.loss_plan_l1_fix_dist: 0.9524, d3.loss_plan_l1_fix_time: 4.2929, d3.loss_plan_l1_fix_dist: 1.0929, d4.loss_plan_l1_fix_time: 4.3498, d4.loss_plan_l1_fix_dist: 1.2610, d5.loss_plan_l1_fix_time: 4.4000, d5.loss_plan_l1_fix_dist: 1.4294, d6.loss_plan_l1_fix_time: 4.4608, d6.loss_plan_l1_fix_dist: 1.6269, d0.loss_cls_all: 1.2789, d0.loss_bbox_all: 1.1138, d0.loss_cls: 1.2789, d0.loss_bbox: 1.1138, d1.loss_cls: 1.3157, d1.loss_bbox: 1.1108, d2.loss_cls: 1.3353, d2.loss_bbox: 1.1095, d3.loss_cls: 1.3433, d3.loss_bbox: 1.1112, d4.loss_cls: 1.3512, d4.loss_bbox: 1.1210, d5.loss_cls: 1.3583, d5.loss_bbox: 1.1259, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6800, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.1321, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.0056, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.4862, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.9850, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.1666, d0.loss_map_cls_all: 0.6677, d0.loss_map_pts_all: 4.2085, d0.loss_map_dir_all: 0.0495, d0.loss_map_cls: 0.6677, d0.loss_map_pts: 4.2085, d0.loss_map_dir: 0.0495, d1.loss_map_cls: 0.6823, d1.loss_map_pts: 3.9181, d1.loss_map_dir: 0.0488, d2.loss_map_cls: 0.6965, d2.loss_map_pts: 3.8518, d2.loss_map_dir: 0.0487, d3.loss_map_cls: 0.7068, d3.loss_map_pts: 3.8324, d3.loss_map_dir: 0.0486, d4.loss_map_cls: 0.7155, d4.loss_map_pts: 3.8238, d4.loss_map_dir: 0.0485, d5.loss_map_cls: 0.7180, d5.loss_map_pts: 3.8182, d5.loss_map_dir: 0.0484, loss: 126.0530, grad_norm: 328.4554 2026-02-24 00:57:11,143 - DriveTransformer - INFO - Epoch [1][3250/59059] lr: 1.000e-04, eta: 23 days, 11:58:02, time: 0.563, data_time: 0.028, memory: 14136, loss_cls: 1.3781, loss_bbox: 1.3122, loss_traj: 5.4686, loss_traj_cls: 0.0005, loss_map_cls: 0.7275, loss_map_pts: 3.8067, loss_map_dir: 0.0493, d0.loss_plan_l1_fix_time: 5.4863, d0.loss_plan_l1_fix_dist: 0.8274, d1.loss_plan_l1_fix_time: 4.6876, d1.loss_plan_l1_fix_dist: 0.9263, d2.loss_plan_l1_fix_time: 4.5622, d2.loss_plan_l1_fix_dist: 1.0669, d3.loss_plan_l1_fix_time: 4.5773, d3.loss_plan_l1_fix_dist: 1.2339, d4.loss_plan_l1_fix_time: 4.6212, d4.loss_plan_l1_fix_dist: 1.4005, d5.loss_plan_l1_fix_time: 4.6695, d5.loss_plan_l1_fix_dist: 1.5762, d6.loss_plan_l1_fix_time: 4.7244, d6.loss_plan_l1_fix_dist: 1.7392, d0.loss_cls_all: 1.2920, d0.loss_bbox_all: 1.2967, d0.loss_cls: 1.2920, d0.loss_bbox: 1.2967, d1.loss_cls: 1.3301, d1.loss_bbox: 1.2962, d2.loss_cls: 1.3459, d2.loss_bbox: 1.2939, d3.loss_cls: 1.3551, d3.loss_bbox: 1.2982, d4.loss_cls: 1.3654, d4.loss_bbox: 1.3014, d5.loss_cls: 1.3726, d5.loss_bbox: 1.3019, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.7349, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.1616, d2.loss_traj_cls: 0.0005, d2.loss_traj: 4.0548, d3.loss_traj_cls: 0.0005, d3.loss_traj: 4.5683, d4.loss_traj_cls: 0.0005, d4.loss_traj: 5.0998, d5.loss_traj_cls: 0.0005, d5.loss_traj: 5.2930, d0.loss_map_cls_all: 0.6851, d0.loss_map_pts_all: 4.1537, d0.loss_map_dir_all: 0.0504, d0.loss_map_cls: 0.6851, d0.loss_map_pts: 4.1537, d0.loss_map_dir: 0.0504, d1.loss_map_cls: 0.7030, d1.loss_map_pts: 3.8879, d1.loss_map_dir: 0.0497, d2.loss_map_cls: 0.7133, d2.loss_map_pts: 3.8323, d2.loss_map_dir: 0.0495, d3.loss_map_cls: 0.7178, d3.loss_map_pts: 3.8126, d3.loss_map_dir: 0.0495, d4.loss_map_cls: 0.7213, d4.loss_map_pts: 3.8058, d4.loss_map_dir: 0.0494, d5.loss_map_cls: 0.7243, d5.loss_map_pts: 3.8051, d5.loss_map_dir: 0.0493, loss: 130.9446, grad_norm: 322.5892 2026-02-24 00:57:39,131 - DriveTransformer - INFO - Epoch [1][3300/59059] lr: 1.000e-04, eta: 23 days, 11:45:15, time: 0.560, data_time: 0.026, memory: 14136, loss_cls: 1.3965, loss_bbox: 1.2670, loss_traj: 4.7166, loss_traj_cls: 0.0005, loss_map_cls: 0.7273, loss_map_pts: 3.7490, loss_map_dir: 0.0439, d0.loss_plan_l1_fix_time: 4.3501, d0.loss_plan_l1_fix_dist: 0.7820, d1.loss_plan_l1_fix_time: 3.6219, d1.loss_plan_l1_fix_dist: 0.9182, d2.loss_plan_l1_fix_time: 3.5033, d2.loss_plan_l1_fix_dist: 1.0871, d3.loss_plan_l1_fix_time: 3.5194, d3.loss_plan_l1_fix_dist: 1.3029, d4.loss_plan_l1_fix_time: 3.5661, d4.loss_plan_l1_fix_dist: 1.5156, d5.loss_plan_l1_fix_time: 3.6240, d5.loss_plan_l1_fix_dist: 1.7389, d6.loss_plan_l1_fix_time: 3.6954, d6.loss_plan_l1_fix_dist: 1.9479, d0.loss_cls_all: 1.2754, d0.loss_bbox_all: 1.2477, d0.loss_cls: 1.2754, d0.loss_bbox: 1.2477, d1.loss_cls: 1.3239, d1.loss_bbox: 1.2452, d2.loss_cls: 1.3493, d2.loss_bbox: 1.2446, d3.loss_cls: 1.3676, d3.loss_bbox: 1.2509, d4.loss_cls: 1.3759, d4.loss_bbox: 1.2555, d5.loss_cls: 1.3862, d5.loss_bbox: 1.2507, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2970, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6200, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4213, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8596, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.3533, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5507, d0.loss_map_cls_all: 0.6771, d0.loss_map_pts_all: 4.2076, d0.loss_map_dir_all: 0.0456, d0.loss_map_cls: 0.6771, d0.loss_map_pts: 4.2076, d0.loss_map_dir: 0.0456, d1.loss_map_cls: 0.6940, d1.loss_map_pts: 3.8912, d1.loss_map_dir: 0.0444, d2.loss_map_cls: 0.7077, d2.loss_map_pts: 3.8081, d2.loss_map_dir: 0.0444, d3.loss_map_cls: 0.7148, d3.loss_map_pts: 3.7755, d3.loss_map_dir: 0.0443, d4.loss_map_cls: 0.7193, d4.loss_map_pts: 3.7581, d4.loss_map_dir: 0.0442, d5.loss_map_cls: 0.7243, d5.loss_map_pts: 3.7500, d5.loss_map_dir: 0.0439, loss: 118.8988, grad_norm: 318.3831 2026-02-24 00:58:07,508 - DriveTransformer - INFO - Epoch [1][3350/59059] lr: 1.000e-04, eta: 23 days, 11:39:44, time: 0.568, data_time: 0.032, memory: 14136, loss_cls: 1.3929, loss_bbox: 1.3505, loss_traj: 4.7661, loss_traj_cls: 0.0005, loss_map_cls: 0.7130, loss_map_pts: 4.0778, loss_map_dir: 0.0461, d0.loss_plan_l1_fix_time: 4.7335, d0.loss_plan_l1_fix_dist: 0.8970, d1.loss_plan_l1_fix_time: 3.9995, d1.loss_plan_l1_fix_dist: 0.9910, d2.loss_plan_l1_fix_time: 3.8709, d2.loss_plan_l1_fix_dist: 1.1053, d3.loss_plan_l1_fix_time: 3.8878, d3.loss_plan_l1_fix_dist: 1.2537, d4.loss_plan_l1_fix_time: 3.9502, d4.loss_plan_l1_fix_dist: 1.4362, d5.loss_plan_l1_fix_time: 4.0384, d5.loss_plan_l1_fix_dist: 1.6510, d6.loss_plan_l1_fix_time: 4.1432, d6.loss_plan_l1_fix_dist: 1.8607, d0.loss_cls_all: 1.2942, d0.loss_bbox_all: 1.3326, d0.loss_cls: 1.2942, d0.loss_bbox: 1.3326, d1.loss_cls: 1.3353, d1.loss_bbox: 1.3290, d2.loss_cls: 1.3629, d2.loss_bbox: 1.3334, d3.loss_cls: 1.3743, d3.loss_bbox: 1.3367, d4.loss_cls: 1.3790, d4.loss_bbox: 1.3450, d5.loss_cls: 1.3839, d5.loss_bbox: 1.3399, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3631, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6686, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.4378, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8936, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.4113, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.6046, d0.loss_map_cls_all: 0.6684, d0.loss_map_pts_all: 4.4502, d0.loss_map_dir_all: 0.0474, d0.loss_map_cls: 0.6684, d0.loss_map_pts: 4.4502, d0.loss_map_dir: 0.0474, d1.loss_map_cls: 0.6790, d1.loss_map_pts: 4.1824, d1.loss_map_dir: 0.0465, d2.loss_map_cls: 0.6888, d2.loss_map_pts: 4.1209, d2.loss_map_dir: 0.0464, d3.loss_map_cls: 0.6974, d3.loss_map_pts: 4.0936, d3.loss_map_dir: 0.0464, d4.loss_map_cls: 0.7068, d4.loss_map_pts: 4.0785, d4.loss_map_dir: 0.0464, d5.loss_map_cls: 0.7113, d5.loss_map_pts: 4.0737, d5.loss_map_dir: 0.0462, loss: 124.9166, grad_norm: 317.5355 2026-02-24 00:58:36,966 - DriveTransformer - INFO - Epoch [1][3400/59059] lr: 1.000e-04, eta: 23 days, 11:53:06, time: 0.589, data_time: 0.028, memory: 14136, loss_cls: 1.4004, loss_bbox: 1.2679, loss_traj: 4.2379, loss_traj_cls: 0.0005, loss_map_cls: 0.6935, loss_map_pts: 3.9713, loss_map_dir: 0.0452, d0.loss_plan_l1_fix_time: 4.6708, d0.loss_plan_l1_fix_dist: 0.7610, d1.loss_plan_l1_fix_time: 4.0529, d1.loss_plan_l1_fix_dist: 0.8344, d2.loss_plan_l1_fix_time: 3.9618, d2.loss_plan_l1_fix_dist: 0.9270, d3.loss_plan_l1_fix_time: 3.9928, d3.loss_plan_l1_fix_dist: 1.0498, d4.loss_plan_l1_fix_time: 4.0568, d4.loss_plan_l1_fix_dist: 1.2171, d5.loss_plan_l1_fix_time: 4.1363, d5.loss_plan_l1_fix_dist: 1.3914, d6.loss_plan_l1_fix_time: 4.2359, d6.loss_plan_l1_fix_dist: 1.5712, d0.loss_cls_all: 1.2803, d0.loss_bbox_all: 1.2535, d0.loss_cls: 1.2803, d0.loss_bbox: 1.2535, d1.loss_cls: 1.3287, d1.loss_bbox: 1.2493, d2.loss_cls: 1.3530, d2.loss_bbox: 1.2557, d3.loss_cls: 1.3720, d3.loss_bbox: 1.2620, d4.loss_cls: 1.3802, d4.loss_bbox: 1.2668, d5.loss_cls: 1.3899, d5.loss_bbox: 1.2655, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.0987, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3540, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0050, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.4247, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.8964, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.0553, d0.loss_map_cls_all: 0.6616, d0.loss_map_pts_all: 4.3517, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6616, d0.loss_map_pts: 4.3517, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6741, d1.loss_map_pts: 4.0718, d1.loss_map_dir: 0.0455, d2.loss_map_cls: 0.6801, d2.loss_map_pts: 4.0188, d2.loss_map_dir: 0.0455, d3.loss_map_cls: 0.6847, d3.loss_map_pts: 3.9984, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.6902, d4.loss_map_pts: 3.9853, d4.loss_map_dir: 0.0453, d5.loss_map_cls: 0.6929, d5.loss_map_pts: 3.9752, d5.loss_map_dir: 0.0452, loss: 119.3211, grad_norm: 313.8408 2026-02-24 00:59:05,692 - DriveTransformer - INFO - Epoch [1][3450/59059] lr: 1.000e-04, eta: 23 days, 11:53:35, time: 0.575, data_time: 0.030, memory: 14136, loss_cls: 1.3952, loss_bbox: 1.3872, loss_traj: 4.1579, loss_traj_cls: 0.0006, loss_map_cls: 0.6799, loss_map_pts: 3.8510, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 4.4784, d0.loss_plan_l1_fix_dist: 1.0073, d1.loss_plan_l1_fix_time: 4.0835, d1.loss_plan_l1_fix_dist: 1.1018, d2.loss_plan_l1_fix_time: 4.0682, d2.loss_plan_l1_fix_dist: 1.2693, d3.loss_plan_l1_fix_time: 4.1199, d3.loss_plan_l1_fix_dist: 1.4575, d4.loss_plan_l1_fix_time: 4.1808, d4.loss_plan_l1_fix_dist: 1.6331, d5.loss_plan_l1_fix_time: 4.2525, d5.loss_plan_l1_fix_dist: 1.8152, d6.loss_plan_l1_fix_time: 4.3602, d6.loss_plan_l1_fix_dist: 1.9944, d0.loss_cls_all: 1.2769, d0.loss_bbox_all: 1.3688, d0.loss_cls: 1.2769, d0.loss_bbox: 1.3688, d1.loss_cls: 1.3183, d1.loss_bbox: 1.3662, d2.loss_cls: 1.3461, d2.loss_bbox: 1.3697, d3.loss_cls: 1.3642, d3.loss_bbox: 1.3735, d4.loss_cls: 1.3754, d4.loss_bbox: 1.3753, d5.loss_cls: 1.3856, d5.loss_bbox: 1.3874, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1178, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3800, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.9274, d3.loss_traj_cls: 0.0006, d3.loss_traj: 3.3503, d4.loss_traj_cls: 0.0006, d4.loss_traj: 3.7961, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.9487, d0.loss_map_cls_all: 0.6390, d0.loss_map_pts_all: 4.3155, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6390, d0.loss_map_pts: 4.3155, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6542, d1.loss_map_pts: 4.0056, d1.loss_map_dir: 0.0450, d2.loss_map_cls: 0.6644, d2.loss_map_pts: 3.9284, d2.loss_map_dir: 0.0450, d3.loss_map_cls: 0.6677, d3.loss_map_pts: 3.8932, d3.loss_map_dir: 0.0448, d4.loss_map_cls: 0.6697, d4.loss_map_pts: 3.8737, d4.loss_map_dir: 0.0448, d5.loss_map_cls: 0.6759, d5.loss_map_pts: 3.8611, d5.loss_map_dir: 0.0448, loss: 121.9336, grad_norm: 309.4567 2026-02-24 00:59:34,753 - DriveTransformer - INFO - Epoch [1][3500/59059] lr: 1.000e-04, eta: 23 days, 11:59:39, time: 0.581, data_time: 0.026, memory: 14136, loss_cls: 1.3489, loss_bbox: 1.3069, loss_traj: 4.4907, loss_traj_cls: 0.0005, loss_map_cls: 0.6760, loss_map_pts: 3.9448, loss_map_dir: 0.0469, d0.loss_plan_l1_fix_time: 4.2588, d0.loss_plan_l1_fix_dist: 0.8358, d1.loss_plan_l1_fix_time: 3.7138, d1.loss_plan_l1_fix_dist: 0.9704, d2.loss_plan_l1_fix_time: 3.6540, d2.loss_plan_l1_fix_dist: 1.1663, d3.loss_plan_l1_fix_time: 3.6939, d3.loss_plan_l1_fix_dist: 1.3791, d4.loss_plan_l1_fix_time: 3.7428, d4.loss_plan_l1_fix_dist: 1.5842, d5.loss_plan_l1_fix_time: 3.8048, d5.loss_plan_l1_fix_dist: 1.8052, d6.loss_plan_l1_fix_time: 3.9032, d6.loss_plan_l1_fix_dist: 2.0885, d0.loss_cls_all: 1.2077, d0.loss_bbox_all: 1.2960, d0.loss_cls: 1.2077, d0.loss_bbox: 1.2960, d1.loss_cls: 1.2692, d1.loss_bbox: 1.2825, d2.loss_cls: 1.2977, d2.loss_bbox: 1.2920, d3.loss_cls: 1.3224, d3.loss_bbox: 1.2882, d4.loss_cls: 1.3292, d4.loss_bbox: 1.2879, d5.loss_cls: 1.3358, d5.loss_bbox: 1.3051, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3548, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6413, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.2299, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6370, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.1046, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.2796, d0.loss_map_cls_all: 0.6354, d0.loss_map_pts_all: 4.4008, d0.loss_map_dir_all: 0.0476, d0.loss_map_cls: 0.6354, d0.loss_map_pts: 4.4008, d0.loss_map_dir: 0.0476, d1.loss_map_cls: 0.6489, d1.loss_map_pts: 4.0823, d1.loss_map_dir: 0.0470, d2.loss_map_cls: 0.6560, d2.loss_map_pts: 4.0072, d2.loss_map_dir: 0.0470, d3.loss_map_cls: 0.6620, d3.loss_map_pts: 3.9756, d3.loss_map_dir: 0.0470, d4.loss_map_cls: 0.6643, d4.loss_map_pts: 3.9584, d4.loss_map_dir: 0.0470, d5.loss_map_cls: 0.6716, d5.loss_map_pts: 3.9454, d5.loss_map_dir: 0.0470, loss: 120.3578, grad_norm: 306.3807 2026-02-24 01:00:03,723 - DriveTransformer - INFO - Epoch [1][3550/59059] lr: 1.000e-04, eta: 23 days, 12:04:01, time: 0.579, data_time: 0.028, memory: 14136, loss_cls: 1.3603, loss_bbox: 1.2498, loss_traj: 4.6307, loss_traj_cls: 0.0005, loss_map_cls: 0.6820, loss_map_pts: 3.6957, loss_map_dir: 0.0434, d0.loss_plan_l1_fix_time: 4.6089, d0.loss_plan_l1_fix_dist: 0.7513, d1.loss_plan_l1_fix_time: 4.0387, d1.loss_plan_l1_fix_dist: 0.8523, d2.loss_plan_l1_fix_time: 3.9580, d2.loss_plan_l1_fix_dist: 0.9901, d3.loss_plan_l1_fix_time: 3.9736, d3.loss_plan_l1_fix_dist: 1.1294, d4.loss_plan_l1_fix_time: 4.0052, d4.loss_plan_l1_fix_dist: 1.3161, d5.loss_plan_l1_fix_time: 4.0654, d5.loss_plan_l1_fix_dist: 1.5308, d6.loss_plan_l1_fix_time: 4.1548, d6.loss_plan_l1_fix_dist: 1.7723, d0.loss_cls_all: 1.2500, d0.loss_bbox_all: 1.2112, d0.loss_cls: 1.2500, d0.loss_bbox: 1.2112, d1.loss_cls: 1.2715, d1.loss_bbox: 1.1997, d2.loss_cls: 1.2867, d2.loss_bbox: 1.2054, d3.loss_cls: 1.3083, d3.loss_bbox: 1.2089, d4.loss_cls: 1.3264, d4.loss_bbox: 1.2185, d5.loss_cls: 1.3421, d5.loss_bbox: 1.2374, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0780, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3801, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0093, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.6167, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.1730, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.3882, d0.loss_map_cls_all: 0.6444, d0.loss_map_pts_all: 4.1213, d0.loss_map_dir_all: 0.0439, d0.loss_map_cls: 0.6444, d0.loss_map_pts: 4.1213, d0.loss_map_dir: 0.0439, d1.loss_map_cls: 0.6521, d1.loss_map_pts: 3.8286, d1.loss_map_dir: 0.0435, d2.loss_map_cls: 0.6610, d2.loss_map_pts: 3.7568, d2.loss_map_dir: 0.0434, d3.loss_map_cls: 0.6679, d3.loss_map_pts: 3.7312, d3.loss_map_dir: 0.0434, d4.loss_map_cls: 0.6731, d4.loss_map_pts: 3.7199, d4.loss_map_dir: 0.0434, d5.loss_map_cls: 0.6797, d5.loss_map_pts: 3.7121, d5.loss_map_dir: 0.0434, loss: 117.9033, grad_norm: 303.0894 2026-02-24 01:00:33,914 - DriveTransformer - INFO - Epoch [1][3600/59059] lr: 1.000e-04, eta: 23 days, 12:29:01, time: 0.605, data_time: 0.028, memory: 14136, loss_cls: 1.3077, loss_bbox: 1.2149, loss_traj: 4.9571, loss_traj_cls: 0.0006, loss_map_cls: 0.7079, loss_map_pts: 4.0102, loss_map_dir: 0.0436, d0.loss_plan_l1_fix_time: 4.8926, d0.loss_plan_l1_fix_dist: 0.8685, d1.loss_plan_l1_fix_time: 4.2342, d1.loss_plan_l1_fix_dist: 0.9511, d2.loss_plan_l1_fix_time: 4.1564, d2.loss_plan_l1_fix_dist: 1.1228, d3.loss_plan_l1_fix_time: 4.1769, d3.loss_plan_l1_fix_dist: 1.2987, d4.loss_plan_l1_fix_time: 4.2129, d4.loss_plan_l1_fix_dist: 1.4896, d5.loss_plan_l1_fix_time: 4.2603, d5.loss_plan_l1_fix_dist: 1.7018, d6.loss_plan_l1_fix_time: 4.3319, d6.loss_plan_l1_fix_dist: 1.8898, d0.loss_cls_all: 1.1899, d0.loss_bbox_all: 1.2312, d0.loss_cls: 1.1899, d0.loss_bbox: 1.2312, d1.loss_cls: 1.2361, d1.loss_bbox: 1.1970, d2.loss_cls: 1.2525, d2.loss_bbox: 1.1882, d3.loss_cls: 1.2745, d3.loss_bbox: 1.1871, d4.loss_cls: 1.2854, d4.loss_bbox: 1.1921, d5.loss_cls: 1.2958, d5.loss_bbox: 1.2053, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.6314, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.9825, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.5106, d3.loss_traj_cls: 0.0006, d3.loss_traj: 3.9836, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.5055, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.7226, d0.loss_map_cls_all: 0.6726, d0.loss_map_pts_all: 4.4411, d0.loss_map_dir_all: 0.0443, d0.loss_map_cls: 0.6726, d0.loss_map_pts: 4.4411, d0.loss_map_dir: 0.0443, d1.loss_map_cls: 0.6804, d1.loss_map_pts: 4.1218, d1.loss_map_dir: 0.0437, d2.loss_map_cls: 0.6866, d2.loss_map_pts: 4.0502, d2.loss_map_dir: 0.0435, d3.loss_map_cls: 0.6913, d3.loss_map_pts: 4.0194, d3.loss_map_dir: 0.0435, d4.loss_map_cls: 0.6981, d4.loss_map_pts: 4.0047, d4.loss_map_dir: 0.0434, d5.loss_map_cls: 0.7037, d5.loss_map_pts: 3.9997, d5.loss_map_dir: 0.0435, loss: 125.5143, grad_norm: 297.6763 2026-02-24 01:01:02,733 - DriveTransformer - INFO - Epoch [1][3650/59059] lr: 1.000e-04, eta: 23 days, 12:29:51, time: 0.576, data_time: 0.029, memory: 14136, loss_cls: 1.3302, loss_bbox: 1.3664, loss_traj: 3.6199, loss_traj_cls: 0.0006, loss_map_cls: 0.6662, loss_map_pts: 3.8725, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 3.9552, d0.loss_plan_l1_fix_dist: 0.8001, d1.loss_plan_l1_fix_time: 3.4941, d1.loss_plan_l1_fix_dist: 0.8967, d2.loss_plan_l1_fix_time: 3.4444, d2.loss_plan_l1_fix_dist: 1.0500, d3.loss_plan_l1_fix_time: 3.4622, d3.loss_plan_l1_fix_dist: 1.2124, d4.loss_plan_l1_fix_time: 3.4989, d4.loss_plan_l1_fix_dist: 1.3931, d5.loss_plan_l1_fix_time: 3.5456, d5.loss_plan_l1_fix_dist: 1.5942, d6.loss_plan_l1_fix_time: 3.6130, d6.loss_plan_l1_fix_dist: 1.7858, d0.loss_cls_all: 1.2316, d0.loss_bbox_all: 1.3676, d0.loss_cls: 1.2316, d0.loss_bbox: 1.3676, d1.loss_cls: 1.2685, d1.loss_bbox: 1.3589, d2.loss_cls: 1.2901, d2.loss_bbox: 1.3470, d3.loss_cls: 1.3028, d3.loss_bbox: 1.3375, d4.loss_cls: 1.3089, d4.loss_bbox: 1.3402, d5.loss_cls: 1.3186, d5.loss_bbox: 1.3579, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9153, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2390, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7426, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.9381, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.2755, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.4493, d0.loss_map_cls_all: 0.6285, d0.loss_map_pts_all: 4.3383, d0.loss_map_dir_all: 0.0440, d0.loss_map_cls: 0.6285, d0.loss_map_pts: 4.3383, d0.loss_map_dir: 0.0440, d1.loss_map_cls: 0.6396, d1.loss_map_pts: 3.9874, d1.loss_map_dir: 0.0433, d2.loss_map_cls: 0.6415, d2.loss_map_pts: 3.9129, d2.loss_map_dir: 0.0432, d3.loss_map_cls: 0.6480, d3.loss_map_pts: 3.8865, d3.loss_map_dir: 0.0432, d4.loss_map_cls: 0.6529, d4.loss_map_pts: 3.8688, d4.loss_map_dir: 0.0431, d5.loss_map_cls: 0.6594, d5.loss_map_pts: 3.8593, d5.loss_map_dir: 0.0431, loss: 112.6302, grad_norm: 294.6453 2026-02-24 01:01:30,979 - DriveTransformer - INFO - Epoch [1][3700/59059] lr: 1.000e-04, eta: 23 days, 12:21:54, time: 0.565, data_time: 0.027, memory: 14136, loss_cls: 1.3064, loss_bbox: 1.3966, loss_traj: 4.6902, loss_traj_cls: 0.0006, loss_map_cls: 0.7256, loss_map_pts: 3.8780, loss_map_dir: 0.0437, d0.loss_plan_l1_fix_time: 4.7663, d0.loss_plan_l1_fix_dist: 0.8227, d1.loss_plan_l1_fix_time: 4.2755, d1.loss_plan_l1_fix_dist: 0.9495, d2.loss_plan_l1_fix_time: 4.2352, d2.loss_plan_l1_fix_dist: 1.0969, d3.loss_plan_l1_fix_time: 4.2562, d3.loss_plan_l1_fix_dist: 1.2820, d4.loss_plan_l1_fix_time: 4.2809, d4.loss_plan_l1_fix_dist: 1.4668, d5.loss_plan_l1_fix_time: 4.3021, d5.loss_plan_l1_fix_dist: 1.6580, d6.loss_plan_l1_fix_time: 4.3455, d6.loss_plan_l1_fix_dist: 1.8350, d0.loss_cls_all: 1.2237, d0.loss_bbox_all: 1.3553, d0.loss_cls: 1.2237, d0.loss_bbox: 1.3553, d1.loss_cls: 1.2555, d1.loss_bbox: 1.3534, d2.loss_cls: 1.2541, d2.loss_bbox: 1.3535, d3.loss_cls: 1.2715, d3.loss_bbox: 1.3604, d4.loss_cls: 1.2827, d4.loss_bbox: 1.3731, d5.loss_cls: 1.2952, d5.loss_bbox: 1.3886, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.8856, d1.loss_traj_cls: 0.0005, d1.loss_traj: 3.0949, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.3571, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.8589, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.2697, d5.loss_traj_cls: 0.0005, d5.loss_traj: 4.5031, d0.loss_map_cls_all: 0.6697, d0.loss_map_pts_all: 4.2986, d0.loss_map_dir_all: 0.0445, d0.loss_map_cls: 0.6697, d0.loss_map_pts: 4.2986, d0.loss_map_dir: 0.0445, d1.loss_map_cls: 0.6896, d1.loss_map_pts: 3.9815, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6978, d2.loss_map_pts: 3.9261, d2.loss_map_dir: 0.0437, d3.loss_map_cls: 0.7061, d3.loss_map_pts: 3.9095, d3.loss_map_dir: 0.0437, d4.loss_map_cls: 0.7165, d4.loss_map_pts: 3.8992, d4.loss_map_dir: 0.0437, d5.loss_map_cls: 0.7229, d5.loss_map_pts: 3.8912, d5.loss_map_dir: 0.0437, loss: 125.3165, grad_norm: 290.2955 2026-02-24 01:01:59,528 - DriveTransformer - INFO - Epoch [1][3750/59059] lr: 1.000e-04, eta: 23 days, 12:19:04, time: 0.571, data_time: 0.028, memory: 14138, loss_cls: 1.2759, loss_bbox: 1.4065, loss_traj: 3.9999, loss_traj_cls: 0.0006, loss_map_cls: 0.6868, loss_map_pts: 3.6159, loss_map_dir: 0.0461, d0.loss_plan_l1_fix_time: 4.5108, d0.loss_plan_l1_fix_dist: 0.6967, d1.loss_plan_l1_fix_time: 3.9241, d1.loss_plan_l1_fix_dist: 0.7880, d2.loss_plan_l1_fix_time: 3.8291, d2.loss_plan_l1_fix_dist: 0.9238, d3.loss_plan_l1_fix_time: 3.8240, d3.loss_plan_l1_fix_dist: 1.1031, d4.loss_plan_l1_fix_time: 3.8436, d4.loss_plan_l1_fix_dist: 1.3079, d5.loss_plan_l1_fix_time: 3.8795, d5.loss_plan_l1_fix_dist: 1.5040, d6.loss_plan_l1_fix_time: 3.9448, d6.loss_plan_l1_fix_dist: 1.7089, d0.loss_cls_all: 1.1840, d0.loss_bbox_all: 1.4068, d0.loss_cls: 1.1840, d0.loss_bbox: 1.4068, d1.loss_cls: 1.2341, d1.loss_bbox: 1.3968, d2.loss_cls: 1.2436, d2.loss_bbox: 1.3950, d3.loss_cls: 1.2514, d3.loss_bbox: 1.3960, d4.loss_cls: 1.2558, d4.loss_bbox: 1.3939, d5.loss_cls: 1.2598, d5.loss_bbox: 1.3957, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1929, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5335, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6926, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.3156, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.6715, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.8478, d0.loss_map_cls_all: 0.6574, d0.loss_map_pts_all: 4.0087, d0.loss_map_dir_all: 0.0465, d0.loss_map_cls: 0.6574, d0.loss_map_pts: 4.0087, d0.loss_map_dir: 0.0465, d1.loss_map_cls: 0.6673, d1.loss_map_pts: 3.6861, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.6703, d2.loss_map_pts: 3.6223, d2.loss_map_dir: 0.0460, d3.loss_map_cls: 0.6755, d3.loss_map_pts: 3.6013, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6816, d4.loss_map_pts: 3.5946, d4.loss_map_dir: 0.0462, d5.loss_map_cls: 0.6838, d5.loss_map_pts: 3.5971, d5.loss_map_dir: 0.0462, loss: 114.6163, grad_norm: 290.4977 2026-02-24 01:02:27,884 - DriveTransformer - INFO - Epoch [1][3800/59059] lr: 1.000e-04, eta: 23 days, 12:13:18, time: 0.567, data_time: 0.033, memory: 14138, loss_cls: 1.2553, loss_bbox: 1.3506, loss_traj: 4.0165, loss_traj_cls: 0.0006, loss_map_cls: 0.6873, loss_map_pts: 3.6707, loss_map_dir: 0.0449, d0.loss_plan_l1_fix_time: 4.0402, d0.loss_plan_l1_fix_dist: 0.6285, d1.loss_plan_l1_fix_time: 3.4837, d1.loss_plan_l1_fix_dist: 0.7039, d2.loss_plan_l1_fix_time: 3.4040, d2.loss_plan_l1_fix_dist: 0.8086, d3.loss_plan_l1_fix_time: 3.4030, d3.loss_plan_l1_fix_dist: 0.9577, d4.loss_plan_l1_fix_time: 3.4241, d4.loss_plan_l1_fix_dist: 1.1293, d5.loss_plan_l1_fix_time: 3.4563, d5.loss_plan_l1_fix_dist: 1.3233, d6.loss_plan_l1_fix_time: 3.5086, d6.loss_plan_l1_fix_dist: 1.5580, d0.loss_cls_all: 1.1489, d0.loss_bbox_all: 1.2560, d0.loss_cls: 1.1489, d0.loss_bbox: 1.2560, d1.loss_cls: 1.1735, d1.loss_bbox: 1.2524, d2.loss_cls: 1.1866, d2.loss_bbox: 1.2615, d3.loss_cls: 1.2077, d3.loss_bbox: 1.2750, d4.loss_cls: 1.2204, d4.loss_bbox: 1.2903, d5.loss_cls: 1.2352, d5.loss_bbox: 1.3130, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4282, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6082, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.9057, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1841, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.6386, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.7886, d0.loss_map_cls_all: 0.6446, d0.loss_map_pts_all: 4.0622, d0.loss_map_dir_all: 0.0453, d0.loss_map_cls: 0.6446, d0.loss_map_pts: 4.0622, d0.loss_map_dir: 0.0453, d1.loss_map_cls: 0.6542, d1.loss_map_pts: 3.7292, d1.loss_map_dir: 0.0447, d2.loss_map_cls: 0.6605, d2.loss_map_pts: 3.6653, d2.loss_map_dir: 0.0447, d3.loss_map_cls: 0.6684, d3.loss_map_pts: 3.6479, d3.loss_map_dir: 0.0447, d4.loss_map_cls: 0.6790, d4.loss_map_pts: 3.6483, d4.loss_map_dir: 0.0447, d5.loss_map_cls: 0.6826, d5.loss_map_pts: 3.6554, d5.loss_map_dir: 0.0448, loss: 110.0556, grad_norm: 287.1056 2026-02-24 01:02:57,160 - DriveTransformer - INFO - Epoch [1][3850/59059] lr: 1.000e-04, eta: 23 days, 12:21:48, time: 0.586, data_time: 0.026, memory: 14138, loss_cls: 1.2769, loss_bbox: 1.4743, loss_traj: 3.7816, loss_traj_cls: 0.0006, loss_map_cls: 0.6915, loss_map_pts: 3.9178, loss_map_dir: 0.0496, d0.loss_plan_l1_fix_time: 4.4801, d0.loss_plan_l1_fix_dist: 0.8708, d1.loss_plan_l1_fix_time: 4.0924, d1.loss_plan_l1_fix_dist: 0.9669, d2.loss_plan_l1_fix_time: 4.0415, d2.loss_plan_l1_fix_dist: 1.1391, d3.loss_plan_l1_fix_time: 4.0470, d3.loss_plan_l1_fix_dist: 1.2698, d4.loss_plan_l1_fix_time: 4.0716, d4.loss_plan_l1_fix_dist: 1.4436, d5.loss_plan_l1_fix_time: 4.1022, d5.loss_plan_l1_fix_dist: 1.6475, d6.loss_plan_l1_fix_time: 4.1536, d6.loss_plan_l1_fix_dist: 1.8815, d0.loss_cls_all: 1.2276, d0.loss_bbox_all: 1.4394, d0.loss_cls: 1.2276, d0.loss_bbox: 1.4394, d1.loss_cls: 1.2402, d1.loss_bbox: 1.4421, d2.loss_cls: 1.2560, d2.loss_bbox: 1.4434, d3.loss_cls: 1.2614, d3.loss_bbox: 1.4483, d4.loss_cls: 1.2617, d4.loss_bbox: 1.4601, d5.loss_cls: 1.2640, d5.loss_bbox: 1.4721, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1882, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3053, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6481, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.9564, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.4041, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.5937, d0.loss_map_cls_all: 0.6576, d0.loss_map_pts_all: 4.3051, d0.loss_map_dir_all: 0.0496, d0.loss_map_cls: 0.6576, d0.loss_map_pts: 4.3051, d0.loss_map_dir: 0.0496, d1.loss_map_cls: 0.6678, d1.loss_map_pts: 3.9545, d1.loss_map_dir: 0.0494, d2.loss_map_cls: 0.6700, d2.loss_map_pts: 3.8857, d2.loss_map_dir: 0.0495, d3.loss_map_cls: 0.6739, d3.loss_map_pts: 3.8725, d3.loss_map_dir: 0.0494, d4.loss_map_cls: 0.6812, d4.loss_map_pts: 3.8742, d4.loss_map_dir: 0.0495, d5.loss_map_cls: 0.6870, d5.loss_map_pts: 3.8923, d5.loss_map_dir: 0.0496, loss: 118.5132, grad_norm: 284.2012 2026-02-24 01:03:24,915 - DriveTransformer - INFO - Epoch [1][3900/59059] lr: 1.000e-04, eta: 23 days, 12:07:00, time: 0.555, data_time: 0.024, memory: 14138, loss_cls: 1.1866, loss_bbox: 1.3893, loss_traj: 3.7517, loss_traj_cls: 0.0007, loss_map_cls: 0.6966, loss_map_pts: 3.7620, loss_map_dir: 0.0482, d0.loss_plan_l1_fix_time: 3.6938, d0.loss_plan_l1_fix_dist: 0.7656, d1.loss_plan_l1_fix_time: 3.4117, d1.loss_plan_l1_fix_dist: 0.8901, d2.loss_plan_l1_fix_time: 3.3619, d2.loss_plan_l1_fix_dist: 1.0785, d3.loss_plan_l1_fix_time: 3.3561, d3.loss_plan_l1_fix_dist: 1.2521, d4.loss_plan_l1_fix_time: 3.3670, d4.loss_plan_l1_fix_dist: 1.4413, d5.loss_plan_l1_fix_time: 3.3924, d5.loss_plan_l1_fix_dist: 1.6666, d6.loss_plan_l1_fix_time: 3.4531, d6.loss_plan_l1_fix_dist: 1.9216, d0.loss_cls_all: 1.1173, d0.loss_bbox_all: 1.3574, d0.loss_cls: 1.1173, d0.loss_bbox: 1.3574, d1.loss_cls: 1.1441, d1.loss_bbox: 1.3599, d2.loss_cls: 1.1629, d2.loss_bbox: 1.3622, d3.loss_cls: 1.1677, d3.loss_bbox: 1.3629, d4.loss_cls: 1.1682, d4.loss_bbox: 1.3703, d5.loss_cls: 1.1750, d5.loss_bbox: 1.3821, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9820, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2096, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6112, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.8969, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3505, d5.loss_traj_cls: 0.0006, d5.loss_traj: 3.5508, d0.loss_map_cls_all: 0.6525, d0.loss_map_pts_all: 4.2312, d0.loss_map_dir_all: 0.0485, d0.loss_map_cls: 0.6525, d0.loss_map_pts: 4.2312, d0.loss_map_dir: 0.0485, d1.loss_map_cls: 0.6712, d1.loss_map_pts: 3.8297, d1.loss_map_dir: 0.0483, d2.loss_map_cls: 0.6740, d2.loss_map_pts: 3.7627, d2.loss_map_dir: 0.0483, d3.loss_map_cls: 0.6784, d3.loss_map_pts: 3.7448, d3.loss_map_dir: 0.0482, d4.loss_map_cls: 0.6847, d4.loss_map_pts: 3.7390, d4.loss_map_dir: 0.0482, d5.loss_map_cls: 0.6905, d5.loss_map_pts: 3.7470, d5.loss_map_dir: 0.0482, loss: 110.4231, grad_norm: 282.0516 2026-02-24 01:03:53,044 - DriveTransformer - INFO - Epoch [1][3950/59059] lr: 1.000e-04, eta: 23 days, 11:58:13, time: 0.563, data_time: 0.024, memory: 14138, loss_cls: 1.2126, loss_bbox: 1.2981, loss_traj: 4.0832, loss_traj_cls: 0.0006, loss_map_cls: 0.6729, loss_map_pts: 3.6637, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.8554, d0.loss_plan_l1_fix_dist: 0.9254, d1.loss_plan_l1_fix_time: 3.4697, d1.loss_plan_l1_fix_dist: 0.9884, d2.loss_plan_l1_fix_time: 3.4377, d2.loss_plan_l1_fix_dist: 1.0848, d3.loss_plan_l1_fix_time: 3.4546, d3.loss_plan_l1_fix_dist: 1.2053, d4.loss_plan_l1_fix_time: 3.4802, d4.loss_plan_l1_fix_dist: 1.3340, d5.loss_plan_l1_fix_time: 3.5247, d5.loss_plan_l1_fix_dist: 1.4747, d6.loss_plan_l1_fix_time: 3.5952, d6.loss_plan_l1_fix_dist: 1.6093, d0.loss_cls_all: 1.1028, d0.loss_bbox_all: 1.2366, d0.loss_cls: 1.1028, d0.loss_bbox: 1.2366, d1.loss_cls: 1.1210, d1.loss_bbox: 1.2378, d2.loss_cls: 1.1336, d2.loss_bbox: 1.2469, d3.loss_cls: 1.1623, d3.loss_bbox: 1.2474, d4.loss_cls: 1.1805, d4.loss_bbox: 1.2601, d5.loss_cls: 1.1968, d5.loss_bbox: 1.2829, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.2195, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3967, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.7625, d3.loss_traj_cls: 0.0005, d3.loss_traj: 3.1236, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.6614, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.8540, d0.loss_map_cls_all: 0.6223, d0.loss_map_pts_all: 4.1240, d0.loss_map_dir_all: 0.0408, d0.loss_map_cls: 0.6223, d0.loss_map_pts: 4.1240, d0.loss_map_dir: 0.0408, d1.loss_map_cls: 0.6348, d1.loss_map_pts: 3.7025, d1.loss_map_dir: 0.0409, d2.loss_map_cls: 0.6460, d2.loss_map_pts: 3.6323, d2.loss_map_dir: 0.0409, d3.loss_map_cls: 0.6543, d3.loss_map_pts: 3.6162, d3.loss_map_dir: 0.0412, d4.loss_map_cls: 0.6635, d4.loss_map_pts: 3.6263, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6683, d5.loss_map_pts: 3.6486, d5.loss_map_dir: 0.0411, loss: 110.4530, grad_norm: 281.1707 2026-02-24 01:04:21,132 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 01:04:21,132 - DriveTransformer - INFO - Epoch [1][4000/59059] lr: 1.000e-04, eta: 23 days, 11:48:58, time: 0.562, data_time: 0.030, memory: 14138, loss_cls: 1.1554, loss_bbox: 1.3569, loss_traj: 4.5481, loss_traj_cls: 0.0007, loss_map_cls: 0.6772, loss_map_pts: 3.4011, loss_map_dir: 0.0367, d0.loss_plan_l1_fix_time: 4.3468, d0.loss_plan_l1_fix_dist: 0.7706, d1.loss_plan_l1_fix_time: 3.8923, d1.loss_plan_l1_fix_dist: 0.8648, d2.loss_plan_l1_fix_time: 3.8669, d2.loss_plan_l1_fix_dist: 0.9707, d3.loss_plan_l1_fix_time: 3.8938, d3.loss_plan_l1_fix_dist: 1.1048, d4.loss_plan_l1_fix_time: 3.9247, d4.loss_plan_l1_fix_dist: 1.2548, d5.loss_plan_l1_fix_time: 3.9721, d5.loss_plan_l1_fix_dist: 1.4156, d6.loss_plan_l1_fix_time: 4.0392, d6.loss_plan_l1_fix_dist: 1.5869, d0.loss_cls_all: 1.0805, d0.loss_bbox_all: 1.2846, d0.loss_cls: 1.0805, d0.loss_bbox: 1.2846, d1.loss_cls: 1.1085, d1.loss_bbox: 1.2735, d2.loss_cls: 1.1178, d2.loss_bbox: 1.2826, d3.loss_cls: 1.1274, d3.loss_bbox: 1.2979, d4.loss_cls: 1.1309, d4.loss_bbox: 1.3184, d5.loss_cls: 1.1393, d5.loss_bbox: 1.3394, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.4776, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.6691, d2.loss_traj_cls: 0.0005, d2.loss_traj: 3.0407, d3.loss_traj_cls: 0.0006, d3.loss_traj: 3.3900, d4.loss_traj_cls: 0.0005, d4.loss_traj: 4.0373, d5.loss_traj_cls: 0.0006, d5.loss_traj: 4.2457, d0.loss_map_cls_all: 0.6395, d0.loss_map_pts_all: 3.9805, d0.loss_map_dir_all: 0.0366, d0.loss_map_cls: 0.6395, d0.loss_map_pts: 3.9805, d0.loss_map_dir: 0.0366, d1.loss_map_cls: 0.6478, d1.loss_map_pts: 3.5272, d1.loss_map_dir: 0.0361, d2.loss_map_cls: 0.6544, d2.loss_map_pts: 3.4193, d2.loss_map_dir: 0.0362, d3.loss_map_cls: 0.6586, d3.loss_map_pts: 3.3837, d3.loss_map_dir: 0.0364, d4.loss_map_cls: 0.6675, d4.loss_map_pts: 3.3738, d4.loss_map_dir: 0.0364, d5.loss_map_cls: 0.6731, d5.loss_map_pts: 3.3814, d5.loss_map_dir: 0.0366, loss: 113.6918, grad_norm: 278.4606 2026-02-24 01:04:49,835 - DriveTransformer - INFO - Epoch [1][4050/59059] lr: 1.000e-04, eta: 23 days, 11:48:57, time: 0.574, data_time: 0.028, memory: 14138, loss_cls: 1.1558, loss_bbox: 1.4243, loss_traj: 3.5924, loss_traj_cls: 0.0006, loss_map_cls: 0.6487, loss_map_pts: 3.5394, loss_map_dir: 0.0406, d0.loss_plan_l1_fix_time: 4.2486, d0.loss_plan_l1_fix_dist: 0.7989, d1.loss_plan_l1_fix_time: 3.8555, d1.loss_plan_l1_fix_dist: 0.8910, d2.loss_plan_l1_fix_time: 3.8385, d2.loss_plan_l1_fix_dist: 1.0101, d3.loss_plan_l1_fix_time: 3.8667, d3.loss_plan_l1_fix_dist: 1.1442, d4.loss_plan_l1_fix_time: 3.9018, d4.loss_plan_l1_fix_dist: 1.2871, d5.loss_plan_l1_fix_time: 3.9448, d5.loss_plan_l1_fix_dist: 1.4350, d6.loss_plan_l1_fix_time: 4.0058, d6.loss_plan_l1_fix_dist: 1.6008, d0.loss_cls_all: 1.1112, d0.loss_bbox_all: 1.2704, d0.loss_cls: 1.1112, d0.loss_bbox: 1.2704, d1.loss_cls: 1.1238, d1.loss_bbox: 1.2933, d2.loss_cls: 1.1271, d2.loss_bbox: 1.3216, d3.loss_cls: 1.1320, d3.loss_bbox: 1.3552, d4.loss_cls: 1.1376, d4.loss_bbox: 1.3794, d5.loss_cls: 1.1489, d5.loss_bbox: 1.4064, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.9597, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1498, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4305, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7455, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.2021, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.3460, d0.loss_map_cls_all: 0.6209, d0.loss_map_pts_all: 4.0578, d0.loss_map_dir_all: 0.0403, d0.loss_map_cls: 0.6209, d0.loss_map_pts: 4.0578, d0.loss_map_dir: 0.0403, d1.loss_map_cls: 0.6300, d1.loss_map_pts: 3.6215, d1.loss_map_dir: 0.0401, d2.loss_map_cls: 0.6312, d2.loss_map_pts: 3.5094, d2.loss_map_dir: 0.0401, d3.loss_map_cls: 0.6361, d3.loss_map_pts: 3.4740, d3.loss_map_dir: 0.0401, d4.loss_map_cls: 0.6423, d4.loss_map_pts: 3.4703, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.6450, d5.loss_map_pts: 3.4949, d5.loss_map_dir: 0.0404, loss: 109.6495, grad_norm: 276.4142 2026-02-24 01:05:17,362 - DriveTransformer - INFO - Epoch [1][4100/59059] lr: 1.000e-04, eta: 23 days, 11:32:07, time: 0.551, data_time: 0.024, memory: 14138, loss_cls: 1.2436, loss_bbox: 1.4271, loss_traj: 3.6987, loss_traj_cls: 0.0007, loss_map_cls: 0.6780, loss_map_pts: 3.5578, loss_map_dir: 0.0418, d0.loss_plan_l1_fix_time: 4.2337, d0.loss_plan_l1_fix_dist: 0.7738, d1.loss_plan_l1_fix_time: 3.6732, d1.loss_plan_l1_fix_dist: 0.8393, d2.loss_plan_l1_fix_time: 3.6222, d2.loss_plan_l1_fix_dist: 0.9571, d3.loss_plan_l1_fix_time: 3.6435, d3.loss_plan_l1_fix_dist: 1.0911, d4.loss_plan_l1_fix_time: 3.6752, d4.loss_plan_l1_fix_dist: 1.2253, d5.loss_plan_l1_fix_time: 3.7053, d5.loss_plan_l1_fix_dist: 1.3633, d6.loss_plan_l1_fix_time: 3.7476, d6.loss_plan_l1_fix_dist: 1.5212, d0.loss_cls_all: 1.1528, d0.loss_bbox_all: 1.3739, d0.loss_cls: 1.1528, d0.loss_bbox: 1.3739, d1.loss_cls: 1.1710, d1.loss_bbox: 1.3883, d2.loss_cls: 1.1901, d2.loss_bbox: 1.3971, d3.loss_cls: 1.1919, d3.loss_bbox: 1.4110, d4.loss_cls: 1.2089, d4.loss_bbox: 1.4259, d5.loss_cls: 1.2299, d5.loss_bbox: 1.4262, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.1136, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2506, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5395, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8257, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.3250, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.4883, d0.loss_map_cls_all: 0.6592, d0.loss_map_pts_all: 4.0241, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6592, d0.loss_map_pts: 4.0241, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.6697, d1.loss_map_pts: 3.6178, d1.loss_map_dir: 0.0413, d2.loss_map_cls: 0.6681, d2.loss_map_pts: 3.5274, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.6699, d3.loss_map_pts: 3.5032, d3.loss_map_dir: 0.0415, d4.loss_map_cls: 0.6721, d4.loss_map_pts: 3.5003, d4.loss_map_dir: 0.0417, d5.loss_map_cls: 0.6746, d5.loss_map_pts: 3.5179, d5.loss_map_dir: 0.0417, loss: 110.0373, grad_norm: 274.8177 2026-02-24 01:05:47,151 - DriveTransformer - INFO - Epoch [1][4150/59059] lr: 1.000e-04, eta: 23 days, 11:47:42, time: 0.596, data_time: 0.037, memory: 14138, loss_cls: 1.2399, loss_bbox: 1.5158, loss_traj: 2.9073, loss_traj_cls: 0.0007, loss_map_cls: 0.6448, loss_map_pts: 3.5615, loss_map_dir: 0.0443, d0.loss_plan_l1_fix_time: 3.8211, d0.loss_plan_l1_fix_dist: 0.8229, d1.loss_plan_l1_fix_time: 3.4300, d1.loss_plan_l1_fix_dist: 0.8735, d2.loss_plan_l1_fix_time: 3.3997, d2.loss_plan_l1_fix_dist: 0.9528, d3.loss_plan_l1_fix_time: 3.4231, d3.loss_plan_l1_fix_dist: 1.0428, d4.loss_plan_l1_fix_time: 3.4543, d4.loss_plan_l1_fix_dist: 1.1492, d5.loss_plan_l1_fix_time: 3.4797, d5.loss_plan_l1_fix_dist: 1.2746, d6.loss_plan_l1_fix_time: 3.5149, d6.loss_plan_l1_fix_dist: 1.4028, d0.loss_cls_all: 1.1820, d0.loss_bbox_all: 1.3649, d0.loss_cls: 1.1820, d0.loss_bbox: 1.3649, d1.loss_cls: 1.1951, d1.loss_bbox: 1.4164, d2.loss_cls: 1.2046, d2.loss_bbox: 1.4406, d3.loss_cls: 1.2120, d3.loss_bbox: 1.4553, d4.loss_cls: 1.2202, d4.loss_bbox: 1.4754, d5.loss_cls: 1.2268, d5.loss_bbox: 1.4995, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.7569, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9029, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1618, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3201, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6267, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7972, d0.loss_map_cls_all: 0.6324, d0.loss_map_pts_all: 4.1531, d0.loss_map_dir_all: 0.0441, d0.loss_map_cls: 0.6324, d0.loss_map_pts: 4.1531, d0.loss_map_dir: 0.0441, d1.loss_map_cls: 0.6403, d1.loss_map_pts: 3.7202, d1.loss_map_dir: 0.0439, d2.loss_map_cls: 0.6367, d2.loss_map_pts: 3.6278, d2.loss_map_dir: 0.0439, d3.loss_map_cls: 0.6372, d3.loss_map_pts: 3.5913, d3.loss_map_dir: 0.0440, d4.loss_map_cls: 0.6399, d4.loss_map_pts: 3.5735, d4.loss_map_dir: 0.0442, d5.loss_map_cls: 0.6424, d5.loss_map_pts: 3.5638, d5.loss_map_dir: 0.0442, loss: 105.1166, grad_norm: 272.7200 2026-02-24 01:06:16,319 - DriveTransformer - INFO - Epoch [1][4200/59059] lr: 1.000e-04, eta: 23 days, 11:54:13, time: 0.583, data_time: 0.032, memory: 14138, loss_cls: 1.1624, loss_bbox: 1.4434, loss_traj: 3.5100, loss_traj_cls: 0.0006, loss_map_cls: 0.7242, loss_map_pts: 3.4015, loss_map_dir: 0.0416, d0.loss_plan_l1_fix_time: 4.4934, d0.loss_plan_l1_fix_dist: 0.7167, d1.loss_plan_l1_fix_time: 3.9765, d1.loss_plan_l1_fix_dist: 0.7673, d2.loss_plan_l1_fix_time: 3.8872, d2.loss_plan_l1_fix_dist: 0.8457, d3.loss_plan_l1_fix_time: 3.8799, d3.loss_plan_l1_fix_dist: 0.9371, d4.loss_plan_l1_fix_time: 3.8892, d4.loss_plan_l1_fix_dist: 1.0344, d5.loss_plan_l1_fix_time: 3.8996, d5.loss_plan_l1_fix_dist: 1.1447, d6.loss_plan_l1_fix_time: 3.9162, d6.loss_plan_l1_fix_dist: 1.2651, d0.loss_cls_all: 1.1250, d0.loss_bbox_all: 1.3036, d0.loss_cls: 1.1250, d0.loss_bbox: 1.3036, d1.loss_cls: 1.1407, d1.loss_bbox: 1.3355, d2.loss_cls: 1.1485, d2.loss_bbox: 1.3518, d3.loss_cls: 1.1481, d3.loss_bbox: 1.3739, d4.loss_cls: 1.1486, d4.loss_bbox: 1.3959, d5.loss_cls: 1.1565, d5.loss_bbox: 1.4087, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3369, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4549, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6853, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8645, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.1506, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.3413, d0.loss_map_cls_all: 0.6870, d0.loss_map_pts_all: 3.9569, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6870, d0.loss_map_pts: 3.9569, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.7027, d1.loss_map_pts: 3.5379, d1.loss_map_dir: 0.0412, d2.loss_map_cls: 0.7026, d2.loss_map_pts: 3.4585, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.7074, d3.loss_map_pts: 3.4307, d3.loss_map_dir: 0.0415, d4.loss_map_cls: 0.7170, d4.loss_map_pts: 3.4184, d4.loss_map_dir: 0.0415, d5.loss_map_cls: 0.7189, d5.loss_map_pts: 3.4100, d5.loss_map_dir: 0.0418, loss: 109.6213, grad_norm: 270.7687 2026-02-24 01:06:45,549 - DriveTransformer - INFO - Epoch [1][4250/59059] lr: 1.000e-04, eta: 23 days, 12:01:12, time: 0.584, data_time: 0.030, memory: 14138, loss_cls: 1.1637, loss_bbox: 1.4481, loss_traj: 3.4569, loss_traj_cls: 0.0007, loss_map_cls: 0.6857, loss_map_pts: 3.3017, loss_map_dir: 0.0441, d0.loss_plan_l1_fix_time: 3.5430, d0.loss_plan_l1_fix_dist: 0.9277, d1.loss_plan_l1_fix_time: 3.2809, d1.loss_plan_l1_fix_dist: 0.9807, d2.loss_plan_l1_fix_time: 3.2756, d2.loss_plan_l1_fix_dist: 1.0626, d3.loss_plan_l1_fix_time: 3.2998, d3.loss_plan_l1_fix_dist: 1.1751, d4.loss_plan_l1_fix_time: 3.3252, d4.loss_plan_l1_fix_dist: 1.3000, d5.loss_plan_l1_fix_time: 3.3509, d5.loss_plan_l1_fix_dist: 1.4428, d6.loss_plan_l1_fix_time: 3.3869, d6.loss_plan_l1_fix_dist: 1.6069, d0.loss_cls_all: 1.0959, d0.loss_bbox_all: 1.2649, d0.loss_cls: 1.0959, d0.loss_bbox: 1.2649, d1.loss_cls: 1.1154, d1.loss_bbox: 1.3065, d2.loss_cls: 1.1185, d2.loss_bbox: 1.3375, d3.loss_cls: 1.1238, d3.loss_bbox: 1.3609, d4.loss_cls: 1.1291, d4.loss_bbox: 1.3858, d5.loss_cls: 1.1406, d5.loss_bbox: 1.4076, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.0175, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1527, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4098, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6280, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.9858, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.2169, d0.loss_map_cls_all: 0.6693, d0.loss_map_pts_all: 3.9191, d0.loss_map_dir_all: 0.0445, d0.loss_map_cls: 0.6693, d0.loss_map_pts: 3.9191, d0.loss_map_dir: 0.0445, d1.loss_map_cls: 0.6766, d1.loss_map_pts: 3.4697, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6773, d2.loss_map_pts: 3.3785, d2.loss_map_dir: 0.0439, d3.loss_map_cls: 0.6786, d3.loss_map_pts: 3.3387, d3.loss_map_dir: 0.0440, d4.loss_map_cls: 0.6836, d4.loss_map_pts: 3.3164, d4.loss_map_dir: 0.0441, d5.loss_map_cls: 0.6848, d5.loss_map_pts: 3.3050, d5.loss_map_dir: 0.0441, loss: 104.3148, grad_norm: 269.8951 2026-02-24 01:07:13,362 - DriveTransformer - INFO - Epoch [1][4300/59059] lr: 1.000e-04, eta: 23 days, 11:48:46, time: 0.556, data_time: 0.032, memory: 14138, loss_cls: 1.2326, loss_bbox: 1.4278, loss_traj: 2.8586, loss_traj_cls: 0.0006, loss_map_cls: 0.6897, loss_map_pts: 3.4385, loss_map_dir: 0.0425, d0.loss_plan_l1_fix_time: 3.3444, d0.loss_plan_l1_fix_dist: 0.6460, d1.loss_plan_l1_fix_time: 3.0751, d1.loss_plan_l1_fix_dist: 0.6695, d2.loss_plan_l1_fix_time: 3.0956, d2.loss_plan_l1_fix_dist: 0.7321, d3.loss_plan_l1_fix_time: 3.1245, d3.loss_plan_l1_fix_dist: 0.8111, d4.loss_plan_l1_fix_time: 3.1514, d4.loss_plan_l1_fix_dist: 0.9191, d5.loss_plan_l1_fix_time: 3.1815, d5.loss_plan_l1_fix_dist: 1.0466, d6.loss_plan_l1_fix_time: 3.2242, d6.loss_plan_l1_fix_dist: 1.1788, d0.loss_cls_all: 1.1507, d0.loss_bbox_all: 1.2459, d0.loss_cls: 1.1507, d0.loss_bbox: 1.2459, d1.loss_cls: 1.1682, d1.loss_bbox: 1.3000, d2.loss_cls: 1.1665, d2.loss_bbox: 1.3318, d3.loss_cls: 1.1753, d3.loss_bbox: 1.3538, d4.loss_cls: 1.1874, d4.loss_bbox: 1.3797, d5.loss_cls: 1.2081, d5.loss_bbox: 1.4008, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7842, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9416, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1446, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3723, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.5720, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7161, d0.loss_map_cls_all: 0.6767, d0.loss_map_pts_all: 4.0406, d0.loss_map_dir_all: 0.0430, d0.loss_map_cls: 0.6767, d0.loss_map_pts: 4.0406, d0.loss_map_dir: 0.0430, d1.loss_map_cls: 0.6774, d1.loss_map_pts: 3.5572, d1.loss_map_dir: 0.0421, d2.loss_map_cls: 0.6769, d2.loss_map_pts: 3.4683, d2.loss_map_dir: 0.0421, d3.loss_map_cls: 0.6774, d3.loss_map_pts: 3.4381, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.6819, d4.loss_map_pts: 3.4241, d4.loss_map_dir: 0.0422, d5.loss_map_cls: 0.6840, d5.loss_map_pts: 3.4264, d5.loss_map_dir: 0.0424, loss: 99.3321, grad_norm: 269.2395 2026-02-24 01:07:40,119 - DriveTransformer - INFO - Epoch [1][4350/59059] lr: 1.000e-04, eta: 23 days, 11:22:17, time: 0.535, data_time: 0.024, memory: 14138, loss_cls: 1.1172, loss_bbox: 1.3548, loss_traj: 3.3359, loss_traj_cls: 0.0008, loss_map_cls: 0.7209, loss_map_pts: 3.3672, loss_map_dir: 0.0425, d0.loss_plan_l1_fix_time: 4.4720, d0.loss_plan_l1_fix_dist: 0.7139, d1.loss_plan_l1_fix_time: 4.2367, d1.loss_plan_l1_fix_dist: 0.7566, d2.loss_plan_l1_fix_time: 4.2476, d2.loss_plan_l1_fix_dist: 0.8406, d3.loss_plan_l1_fix_time: 4.2786, d3.loss_plan_l1_fix_dist: 0.9245, d4.loss_plan_l1_fix_time: 4.3140, d4.loss_plan_l1_fix_dist: 1.0054, d5.loss_plan_l1_fix_time: 4.3540, d5.loss_plan_l1_fix_dist: 1.1083, d6.loss_plan_l1_fix_time: 4.4090, d6.loss_plan_l1_fix_dist: 1.2339, d0.loss_cls_all: 1.0791, d0.loss_bbox_all: 1.2276, d0.loss_cls: 1.0791, d0.loss_bbox: 1.2276, d1.loss_cls: 1.0978, d1.loss_bbox: 1.2680, d2.loss_cls: 1.0972, d2.loss_bbox: 1.2892, d3.loss_cls: 1.1020, d3.loss_bbox: 1.3076, d4.loss_cls: 1.1051, d4.loss_bbox: 1.3231, d5.loss_cls: 1.1117, d5.loss_bbox: 1.3421, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2296, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3492, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4776, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7128, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.9280, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.1096, d0.loss_map_cls_all: 0.6793, d0.loss_map_pts_all: 3.8893, d0.loss_map_dir_all: 0.0427, d0.loss_map_cls: 0.6793, d0.loss_map_pts: 3.8893, d0.loss_map_dir: 0.0427, d1.loss_map_cls: 0.6880, d1.loss_map_pts: 3.4650, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.6918, d2.loss_map_pts: 3.3928, d2.loss_map_dir: 0.0421, d3.loss_map_cls: 0.6985, d3.loss_map_pts: 3.3627, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.7044, d4.loss_map_pts: 3.3509, d4.loss_map_dir: 0.0423, d5.loss_map_cls: 0.7116, d5.loss_map_pts: 3.3536, d5.loss_map_dir: 0.0423, loss: 109.1545, grad_norm: 267.1376 2026-02-24 01:08:08,683 - DriveTransformer - INFO - Epoch [1][4400/59059] lr: 1.000e-04, eta: 23 days, 11:20:37, time: 0.571, data_time: 0.029, memory: 14138, loss_cls: 1.1601, loss_bbox: 1.4073, loss_traj: 3.3142, loss_traj_cls: 0.0008, loss_map_cls: 0.7257, loss_map_pts: 3.3521, loss_map_dir: 0.0481, d0.loss_plan_l1_fix_time: 4.0869, d0.loss_plan_l1_fix_dist: 0.7808, d1.loss_plan_l1_fix_time: 3.8853, d1.loss_plan_l1_fix_dist: 0.8407, d2.loss_plan_l1_fix_time: 3.9269, d2.loss_plan_l1_fix_dist: 0.9343, d3.loss_plan_l1_fix_time: 3.9941, d3.loss_plan_l1_fix_dist: 1.0300, d4.loss_plan_l1_fix_time: 4.0593, d4.loss_plan_l1_fix_dist: 1.1198, d5.loss_plan_l1_fix_time: 4.1396, d5.loss_plan_l1_fix_dist: 1.2371, d6.loss_plan_l1_fix_time: 4.2271, d6.loss_plan_l1_fix_dist: 1.3976, d0.loss_cls_all: 1.1188, d0.loss_bbox_all: 1.2746, d0.loss_cls: 1.1188, d0.loss_bbox: 1.2746, d1.loss_cls: 1.1458, d1.loss_bbox: 1.3095, d2.loss_cls: 1.1467, d2.loss_bbox: 1.3183, d3.loss_cls: 1.1457, d3.loss_bbox: 1.3379, d4.loss_cls: 1.1446, d4.loss_bbox: 1.3482, d5.loss_cls: 1.1476, d5.loss_bbox: 1.3732, d0.loss_traj_cls: 0.0005, d0.loss_traj: 2.3925, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4794, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5948, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.7153, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.9090, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.0606, d0.loss_map_cls_all: 0.6548, d0.loss_map_pts_all: 3.8203, d0.loss_map_dir_all: 0.0476, d0.loss_map_cls: 0.6548, d0.loss_map_pts: 3.8203, d0.loss_map_dir: 0.0476, d1.loss_map_cls: 0.6795, d1.loss_map_pts: 3.3841, d1.loss_map_dir: 0.0469, d2.loss_map_cls: 0.6891, d2.loss_map_pts: 3.3342, d2.loss_map_dir: 0.0470, d3.loss_map_cls: 0.7007, d3.loss_map_pts: 3.3222, d3.loss_map_dir: 0.0474, d4.loss_map_cls: 0.7099, d4.loss_map_pts: 3.3227, d4.loss_map_dir: 0.0477, d5.loss_map_cls: 0.7158, d5.loss_map_pts: 3.3322, d5.loss_map_dir: 0.0479, loss: 108.4995, grad_norm: 266.8288 2026-02-24 01:08:37,081 - DriveTransformer - INFO - Epoch [1][4450/59059] lr: 1.000e-04, eta: 23 days, 11:16:45, time: 0.568, data_time: 0.023, memory: 14138, loss_cls: 1.1579, loss_bbox: 1.3361, loss_traj: 3.2238, loss_traj_cls: 0.0007, loss_map_cls: 0.6991, loss_map_pts: 3.2729, loss_map_dir: 0.0449, d0.loss_plan_l1_fix_time: 3.7172, d0.loss_plan_l1_fix_dist: 0.8594, d1.loss_plan_l1_fix_time: 3.4779, d1.loss_plan_l1_fix_dist: 0.9201, d2.loss_plan_l1_fix_time: 3.5019, d2.loss_plan_l1_fix_dist: 1.0082, d3.loss_plan_l1_fix_time: 3.5565, d3.loss_plan_l1_fix_dist: 1.0815, d4.loss_plan_l1_fix_time: 3.6119, d4.loss_plan_l1_fix_dist: 1.1785, d5.loss_plan_l1_fix_time: 3.6758, d5.loss_plan_l1_fix_dist: 1.2784, d6.loss_plan_l1_fix_time: 3.7473, d6.loss_plan_l1_fix_dist: 1.3786, d0.loss_cls_all: 1.1100, d0.loss_bbox_all: 1.1707, d0.loss_cls: 1.1100, d0.loss_bbox: 1.1707, d1.loss_cls: 1.1273, d1.loss_bbox: 1.2230, d2.loss_cls: 1.1244, d2.loss_bbox: 1.2365, d3.loss_cls: 1.1258, d3.loss_bbox: 1.2550, d4.loss_cls: 1.1357, d4.loss_bbox: 1.2732, d5.loss_cls: 1.1435, d5.loss_bbox: 1.3006, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2076, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3308, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4762, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5981, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.8340, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.0163, d0.loss_map_cls_all: 0.6776, d0.loss_map_pts_all: 3.8886, d0.loss_map_dir_all: 0.0461, d0.loss_map_cls: 0.6776, d0.loss_map_pts: 3.8886, d0.loss_map_dir: 0.0461, d1.loss_map_cls: 0.6857, d1.loss_map_pts: 3.3883, d1.loss_map_dir: 0.0446, d2.loss_map_cls: 0.6854, d2.loss_map_pts: 3.3052, d2.loss_map_dir: 0.0446, d3.loss_map_cls: 0.6902, d3.loss_map_pts: 3.2714, d3.loss_map_dir: 0.0447, d4.loss_map_cls: 0.6936, d4.loss_map_pts: 3.2657, d4.loss_map_dir: 0.0448, d5.loss_map_cls: 0.6951, d5.loss_map_pts: 3.2659, d5.loss_map_dir: 0.0449, loss: 104.0954, grad_norm: 265.1434 2026-02-24 01:09:05,841 - DriveTransformer - INFO - Epoch [1][4500/59059] lr: 1.000e-04, eta: 23 days, 11:17:54, time: 0.575, data_time: 0.028, memory: 14138, loss_cls: 1.1278, loss_bbox: 1.3456, loss_traj: 3.1092, loss_traj_cls: 0.0006, loss_map_cls: 0.6726, loss_map_pts: 3.3919, loss_map_dir: 0.0457, d0.loss_plan_l1_fix_time: 4.1439, d0.loss_plan_l1_fix_dist: 0.7944, d1.loss_plan_l1_fix_time: 3.9055, d1.loss_plan_l1_fix_dist: 0.8477, d2.loss_plan_l1_fix_time: 3.9110, d2.loss_plan_l1_fix_dist: 0.9147, d3.loss_plan_l1_fix_time: 3.9449, d3.loss_plan_l1_fix_dist: 0.9765, d4.loss_plan_l1_fix_time: 3.9874, d4.loss_plan_l1_fix_dist: 1.0760, d5.loss_plan_l1_fix_time: 4.0348, d5.loss_plan_l1_fix_dist: 1.1881, d6.loss_plan_l1_fix_time: 4.0842, d6.loss_plan_l1_fix_dist: 1.2965, d0.loss_cls_all: 1.0815, d0.loss_bbox_all: 1.2110, d0.loss_cls: 1.0815, d0.loss_bbox: 1.2110, d1.loss_cls: 1.1054, d1.loss_bbox: 1.2291, d2.loss_cls: 1.0996, d2.loss_bbox: 1.2472, d3.loss_cls: 1.1037, d3.loss_bbox: 1.2615, d4.loss_cls: 1.1180, d4.loss_bbox: 1.2768, d5.loss_cls: 1.1164, d5.loss_bbox: 1.3173, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4398, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5256, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6101, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7460, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.9063, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.9777, d0.loss_map_cls_all: 0.6579, d0.loss_map_pts_all: 3.9358, d0.loss_map_dir_all: 0.0462, d0.loss_map_cls: 0.6579, d0.loss_map_pts: 3.9358, d0.loss_map_dir: 0.0462, d1.loss_map_cls: 0.6629, d1.loss_map_pts: 3.4541, d1.loss_map_dir: 0.0450, d2.loss_map_cls: 0.6631, d2.loss_map_pts: 3.3860, d2.loss_map_dir: 0.0452, d3.loss_map_cls: 0.6654, d3.loss_map_pts: 3.3736, d3.loss_map_dir: 0.0453, d4.loss_map_cls: 0.6682, d4.loss_map_pts: 3.3756, d4.loss_map_dir: 0.0455, d5.loss_map_cls: 0.6699, d5.loss_map_pts: 3.3787, d5.loss_map_dir: 0.0455, loss: 107.2714, grad_norm: 263.6033 2026-02-24 01:09:33,852 - DriveTransformer - INFO - Epoch [1][4550/59059] lr: 1.000e-04, eta: 23 days, 11:08:58, time: 0.560, data_time: 0.030, memory: 14138, loss_cls: 1.0851, loss_bbox: 1.2628, loss_traj: 3.1892, loss_traj_cls: 0.0006, loss_map_cls: 0.7484, loss_map_pts: 2.9463, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 4.1686, d0.loss_plan_l1_fix_dist: 0.7764, d1.loss_plan_l1_fix_time: 3.9977, d1.loss_plan_l1_fix_dist: 0.8374, d2.loss_plan_l1_fix_time: 4.0011, d2.loss_plan_l1_fix_dist: 0.9410, d3.loss_plan_l1_fix_time: 4.0247, d3.loss_plan_l1_fix_dist: 1.0712, d4.loss_plan_l1_fix_time: 4.0592, d4.loss_plan_l1_fix_dist: 1.2083, d5.loss_plan_l1_fix_time: 4.0946, d5.loss_plan_l1_fix_dist: 1.3668, d6.loss_plan_l1_fix_time: 4.1367, d6.loss_plan_l1_fix_dist: 1.5618, d0.loss_cls_all: 1.0270, d0.loss_bbox_all: 1.1730, d0.loss_cls: 1.0270, d0.loss_bbox: 1.1730, d1.loss_cls: 1.0481, d1.loss_bbox: 1.1924, d2.loss_cls: 1.0573, d2.loss_bbox: 1.2036, d3.loss_cls: 1.0522, d3.loss_bbox: 1.2193, d4.loss_cls: 1.0525, d4.loss_bbox: 1.2224, d5.loss_cls: 1.0658, d5.loss_bbox: 1.2476, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3826, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4855, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6278, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.8273, d4.loss_traj_cls: 0.0005, d4.loss_traj: 3.0060, d5.loss_traj_cls: 0.0005, d5.loss_traj: 3.1325, d0.loss_map_cls_all: 0.6769, d0.loss_map_pts_all: 3.6098, d0.loss_map_dir_all: 0.0443, d0.loss_map_cls: 0.6769, d0.loss_map_pts: 3.6098, d0.loss_map_dir: 0.0443, d1.loss_map_cls: 0.6937, d1.loss_map_pts: 3.0677, d1.loss_map_dir: 0.0425, d2.loss_map_cls: 0.7070, d2.loss_map_pts: 2.9598, d2.loss_map_dir: 0.0427, d3.loss_map_cls: 0.7230, d3.loss_map_pts: 2.9257, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.7163, d4.loss_map_pts: 2.9194, d4.loss_map_dir: 0.0430, d5.loss_map_cls: 0.7386, d5.loss_map_pts: 2.9310, d5.loss_map_dir: 0.0430, loss: 105.0052, grad_norm: 262.3640 2026-02-24 01:10:02,255 - DriveTransformer - INFO - Epoch [1][4600/59059] lr: 1.000e-04, eta: 23 days, 11:05:25, time: 0.568, data_time: 0.027, memory: 14138, loss_cls: 1.1088, loss_bbox: 1.2900, loss_traj: 2.8065, loss_traj_cls: 0.0006, loss_map_cls: 0.6817, loss_map_pts: 3.3518, loss_map_dir: 0.0506, d0.loss_plan_l1_fix_time: 3.4951, d0.loss_plan_l1_fix_dist: 0.7522, d1.loss_plan_l1_fix_time: 3.2964, d1.loss_plan_l1_fix_dist: 0.8101, d2.loss_plan_l1_fix_time: 3.2977, d2.loss_plan_l1_fix_dist: 0.9319, d3.loss_plan_l1_fix_time: 3.3263, d3.loss_plan_l1_fix_dist: 1.0860, d4.loss_plan_l1_fix_time: 3.3660, d4.loss_plan_l1_fix_dist: 1.2429, d5.loss_plan_l1_fix_time: 3.3988, d5.loss_plan_l1_fix_dist: 1.4054, d6.loss_plan_l1_fix_time: 3.4347, d6.loss_plan_l1_fix_dist: 1.6168, d0.loss_cls_all: 1.0766, d0.loss_bbox_all: 1.2045, d0.loss_cls: 1.0766, d0.loss_bbox: 1.2045, d1.loss_cls: 1.1033, d1.loss_bbox: 1.2093, d2.loss_cls: 1.1007, d2.loss_bbox: 1.2447, d3.loss_cls: 1.0987, d3.loss_bbox: 1.2582, d4.loss_cls: 1.1008, d4.loss_bbox: 1.2636, d5.loss_cls: 1.0991, d5.loss_bbox: 1.2792, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2608, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3300, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4281, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5169, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.7052, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7611, d0.loss_map_cls_all: 0.6554, d0.loss_map_pts_all: 3.7864, d0.loss_map_dir_all: 0.0509, d0.loss_map_cls: 0.6554, d0.loss_map_pts: 3.7864, d0.loss_map_dir: 0.0509, d1.loss_map_cls: 0.6670, d1.loss_map_pts: 3.3823, d1.loss_map_dir: 0.0498, d2.loss_map_cls: 0.6691, d2.loss_map_pts: 3.3326, d2.loss_map_dir: 0.0502, d3.loss_map_cls: 0.6731, d3.loss_map_pts: 3.3231, d3.loss_map_dir: 0.0505, d4.loss_map_cls: 0.6749, d4.loss_map_pts: 3.3244, d4.loss_map_dir: 0.0504, d5.loss_map_cls: 0.6791, d5.loss_map_pts: 3.3391, d5.loss_map_dir: 0.0505, loss: 101.3765, grad_norm: 260.1193 2026-02-24 01:10:30,832 - DriveTransformer - INFO - Epoch [1][4650/59059] lr: 1.000e-04, eta: 23 days, 11:04:06, time: 0.571, data_time: 0.028, memory: 14138, loss_cls: 1.1435, loss_bbox: 1.2870, loss_traj: 3.0398, loss_traj_cls: 0.0006, loss_map_cls: 0.6965, loss_map_pts: 3.1039, loss_map_dir: 0.0479, d0.loss_plan_l1_fix_time: 3.7767, d0.loss_plan_l1_fix_dist: 0.7583, d1.loss_plan_l1_fix_time: 3.7197, d1.loss_plan_l1_fix_dist: 0.8410, d2.loss_plan_l1_fix_time: 3.7339, d2.loss_plan_l1_fix_dist: 0.9794, d3.loss_plan_l1_fix_time: 3.7613, d3.loss_plan_l1_fix_dist: 1.1188, d4.loss_plan_l1_fix_time: 3.8001, d4.loss_plan_l1_fix_dist: 1.2928, d5.loss_plan_l1_fix_time: 3.8282, d5.loss_plan_l1_fix_dist: 1.4829, d6.loss_plan_l1_fix_time: 3.8603, d6.loss_plan_l1_fix_dist: 1.6919, d0.loss_cls_all: 1.0981, d0.loss_bbox_all: 1.2207, d0.loss_cls: 1.0981, d0.loss_bbox: 1.2207, d1.loss_cls: 1.1222, d1.loss_bbox: 1.2209, d2.loss_cls: 1.1255, d2.loss_bbox: 1.2563, d3.loss_cls: 1.1242, d3.loss_bbox: 1.2699, d4.loss_cls: 1.1173, d4.loss_bbox: 1.2714, d5.loss_cls: 1.1216, d5.loss_bbox: 1.2751, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3499, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4458, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5041, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6267, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7293, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8437, d0.loss_map_cls_all: 0.6604, d0.loss_map_pts_all: 3.6820, d0.loss_map_dir_all: 0.0482, d0.loss_map_cls: 0.6604, d0.loss_map_pts: 3.6820, d0.loss_map_dir: 0.0482, d1.loss_map_cls: 0.6725, d1.loss_map_pts: 3.2119, d1.loss_map_dir: 0.0470, d2.loss_map_cls: 0.6786, d2.loss_map_pts: 3.1388, d2.loss_map_dir: 0.0473, d3.loss_map_cls: 0.6855, d3.loss_map_pts: 3.1125, d3.loss_map_dir: 0.0474, d4.loss_map_cls: 0.6838, d4.loss_map_pts: 3.1030, d4.loss_map_dir: 0.0475, d5.loss_map_cls: 0.6905, d5.loss_map_pts: 3.1003, d5.loss_map_dir: 0.0476, loss: 104.1048, grad_norm: 262.3016 2026-02-24 01:10:58,600 - DriveTransformer - INFO - Epoch [1][4700/59059] lr: 1.000e-04, eta: 23 days, 10:52:42, time: 0.555, data_time: 0.028, memory: 14138, loss_cls: 1.1134, loss_bbox: 1.1821, loss_traj: 2.8999, loss_traj_cls: 0.0006, loss_map_cls: 0.7059, loss_map_pts: 2.9386, loss_map_dir: 0.0439, d0.loss_plan_l1_fix_time: 3.6934, d0.loss_plan_l1_fix_dist: 0.7904, d1.loss_plan_l1_fix_time: 3.4715, d1.loss_plan_l1_fix_dist: 0.8334, d2.loss_plan_l1_fix_time: 3.4569, d2.loss_plan_l1_fix_dist: 0.9103, d3.loss_plan_l1_fix_time: 3.4757, d3.loss_plan_l1_fix_dist: 1.0075, d4.loss_plan_l1_fix_time: 3.4981, d4.loss_plan_l1_fix_dist: 1.1186, d5.loss_plan_l1_fix_time: 3.5186, d5.loss_plan_l1_fix_dist: 1.2702, d6.loss_plan_l1_fix_time: 3.5397, d6.loss_plan_l1_fix_dist: 1.4285, d0.loss_cls_all: 1.0448, d0.loss_bbox_all: 1.1279, d0.loss_cls: 1.0448, d0.loss_bbox: 1.1279, d1.loss_cls: 1.0588, d1.loss_bbox: 1.1184, d2.loss_cls: 1.0752, d2.loss_bbox: 1.1315, d3.loss_cls: 1.0747, d3.loss_bbox: 1.1403, d4.loss_cls: 1.0628, d4.loss_bbox: 1.1482, d5.loss_cls: 1.0742, d5.loss_bbox: 1.1596, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4096, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4952, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5420, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6609, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7319, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8087, d0.loss_map_cls_all: 0.6861, d0.loss_map_pts_all: 3.5801, d0.loss_map_dir_all: 0.0442, d0.loss_map_cls: 0.6861, d0.loss_map_pts: 3.5801, d0.loss_map_dir: 0.0442, d1.loss_map_cls: 0.6808, d1.loss_map_pts: 3.0887, d1.loss_map_dir: 0.0429, d2.loss_map_cls: 0.6848, d2.loss_map_pts: 2.9825, d2.loss_map_dir: 0.0432, d3.loss_map_cls: 0.6903, d3.loss_map_pts: 2.9384, d3.loss_map_dir: 0.0433, d4.loss_map_cls: 0.6848, d4.loss_map_pts: 2.9253, d4.loss_map_dir: 0.0435, d5.loss_map_cls: 0.6949, d5.loss_map_pts: 2.9239, d5.loss_map_dir: 0.0437, loss: 99.0694, grad_norm: 262.8141 2026-02-24 01:11:26,943 - DriveTransformer - INFO - Epoch [1][4750/59059] lr: 1.000e-04, eta: 23 days, 10:48:39, time: 0.567, data_time: 0.026, memory: 14138, loss_cls: 1.1134, loss_bbox: 1.3359, loss_traj: 2.9455, loss_traj_cls: 0.0006, loss_map_cls: 0.6808, loss_map_pts: 2.9342, loss_map_dir: 0.0472, d0.loss_plan_l1_fix_time: 3.8399, d0.loss_plan_l1_fix_dist: 0.8228, d1.loss_plan_l1_fix_time: 3.5790, d1.loss_plan_l1_fix_dist: 0.9364, d2.loss_plan_l1_fix_time: 3.5569, d2.loss_plan_l1_fix_dist: 1.0795, d3.loss_plan_l1_fix_time: 3.5711, d3.loss_plan_l1_fix_dist: 1.2473, d4.loss_plan_l1_fix_time: 3.5935, d4.loss_plan_l1_fix_dist: 1.4190, d5.loss_plan_l1_fix_time: 3.6226, d5.loss_plan_l1_fix_dist: 1.6067, d6.loss_plan_l1_fix_time: 3.6524, d6.loss_plan_l1_fix_dist: 1.7908, d0.loss_cls_all: 1.0884, d0.loss_bbox_all: 1.2830, d0.loss_cls: 1.0884, d0.loss_bbox: 1.2830, d1.loss_cls: 1.1066, d1.loss_bbox: 1.2529, d2.loss_cls: 1.1142, d2.loss_bbox: 1.2629, d3.loss_cls: 1.1184, d3.loss_bbox: 1.2773, d4.loss_cls: 1.1265, d4.loss_bbox: 1.2919, d5.loss_cls: 1.1139, d5.loss_bbox: 1.3134, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5335, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.6056, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.6465, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.7321, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.8136, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.8700, d0.loss_map_cls_all: 0.6573, d0.loss_map_pts_all: 3.6016, d0.loss_map_dir_all: 0.0475, d0.loss_map_cls: 0.6573, d0.loss_map_pts: 3.6016, d0.loss_map_dir: 0.0475, d1.loss_map_cls: 0.6600, d1.loss_map_pts: 3.0645, d1.loss_map_dir: 0.0465, d2.loss_map_cls: 0.6636, d2.loss_map_pts: 2.9603, d2.loss_map_dir: 0.0469, d3.loss_map_cls: 0.6701, d3.loss_map_pts: 2.9296, d3.loss_map_dir: 0.0471, d4.loss_map_cls: 0.6654, d4.loss_map_pts: 2.9208, d4.loss_map_dir: 0.0471, d5.loss_map_cls: 0.6738, d5.loss_map_pts: 2.9252, d5.loss_map_dir: 0.0472, loss: 103.2818, grad_norm: 261.2036 2026-02-24 01:11:53,913 - DriveTransformer - INFO - Epoch [1][4800/59059] lr: 1.000e-04, eta: 23 days, 10:28:22, time: 0.540, data_time: 0.026, memory: 14138, loss_cls: 1.1101, loss_bbox: 1.2902, loss_traj: 2.8008, loss_traj_cls: 0.0006, loss_map_cls: 0.6850, loss_map_pts: 2.8478, loss_map_dir: 0.0433, d0.loss_plan_l1_fix_time: 3.6842, d0.loss_plan_l1_fix_dist: 0.7778, d1.loss_plan_l1_fix_time: 3.2178, d1.loss_plan_l1_fix_dist: 0.8749, d2.loss_plan_l1_fix_time: 3.1527, d2.loss_plan_l1_fix_dist: 1.0145, d3.loss_plan_l1_fix_time: 3.1559, d3.loss_plan_l1_fix_dist: 1.1635, d4.loss_plan_l1_fix_time: 3.1802, d4.loss_plan_l1_fix_dist: 1.3259, d5.loss_plan_l1_fix_time: 3.2153, d5.loss_plan_l1_fix_dist: 1.4768, d6.loss_plan_l1_fix_time: 3.2530, d6.loss_plan_l1_fix_dist: 1.6515, d0.loss_cls_all: 1.0825, d0.loss_bbox_all: 1.2343, d0.loss_cls: 1.0825, d0.loss_bbox: 1.2343, d1.loss_cls: 1.0976, d1.loss_bbox: 1.2240, d2.loss_cls: 1.0980, d2.loss_bbox: 1.2375, d3.loss_cls: 1.1006, d3.loss_bbox: 1.2529, d4.loss_cls: 1.0979, d4.loss_bbox: 1.2609, d5.loss_cls: 1.1005, d5.loss_bbox: 1.2626, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2875, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4448, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4679, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5142, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6390, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.7048, d0.loss_map_cls_all: 0.6679, d0.loss_map_pts_all: 3.5431, d0.loss_map_dir_all: 0.0435, d0.loss_map_cls: 0.6679, d0.loss_map_pts: 3.5431, d0.loss_map_dir: 0.0435, d1.loss_map_cls: 0.6745, d1.loss_map_pts: 3.0183, d1.loss_map_dir: 0.0425, d2.loss_map_cls: 0.6782, d2.loss_map_pts: 2.8919, d2.loss_map_dir: 0.0428, d3.loss_map_cls: 0.6815, d3.loss_map_pts: 2.8458, d3.loss_map_dir: 0.0429, d4.loss_map_cls: 0.6873, d4.loss_map_pts: 2.8351, d4.loss_map_dir: 0.0431, d5.loss_map_cls: 0.6854, d5.loss_map_pts: 2.8443, d5.loss_map_dir: 0.0432, loss: 97.9153, grad_norm: 260.4638 2026-02-24 01:12:22,658 - DriveTransformer - INFO - Epoch [1][4850/59059] lr: 1.000e-04, eta: 23 days, 10:28:58, time: 0.574, data_time: 0.024, memory: 14138, loss_cls: 1.1455, loss_bbox: 1.3394, loss_traj: 3.0694, loss_traj_cls: 0.0006, loss_map_cls: 0.6622, loss_map_pts: 3.2525, loss_map_dir: 0.0521, d0.loss_plan_l1_fix_time: 3.7097, d0.loss_plan_l1_fix_dist: 0.7562, d1.loss_plan_l1_fix_time: 3.5625, d1.loss_plan_l1_fix_dist: 0.8079, d2.loss_plan_l1_fix_time: 3.5753, d2.loss_plan_l1_fix_dist: 0.8950, d3.loss_plan_l1_fix_time: 3.6008, d3.loss_plan_l1_fix_dist: 1.0064, d4.loss_plan_l1_fix_time: 3.6391, d4.loss_plan_l1_fix_dist: 1.1156, d5.loss_plan_l1_fix_time: 3.6845, d5.loss_plan_l1_fix_dist: 1.2401, d6.loss_plan_l1_fix_time: 3.7344, d6.loss_plan_l1_fix_dist: 1.3907, d0.loss_cls_all: 1.1260, d0.loss_bbox_all: 1.2640, d0.loss_cls: 1.1260, d0.loss_bbox: 1.2640, d1.loss_cls: 1.1408, d1.loss_bbox: 1.2403, d2.loss_cls: 1.1498, d2.loss_bbox: 1.2552, d3.loss_cls: 1.1496, d3.loss_bbox: 1.2720, d4.loss_cls: 1.1518, d4.loss_bbox: 1.2873, d5.loss_cls: 1.1504, d5.loss_bbox: 1.3116, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3400, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4411, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5044, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.7463, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.8132, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.9776, d0.loss_map_cls_all: 0.6473, d0.loss_map_pts_all: 3.8577, d0.loss_map_dir_all: 0.0517, d0.loss_map_cls: 0.6473, d0.loss_map_pts: 3.8577, d0.loss_map_dir: 0.0517, d1.loss_map_cls: 0.6491, d1.loss_map_pts: 3.3743, d1.loss_map_dir: 0.0508, d2.loss_map_cls: 0.6528, d2.loss_map_pts: 3.2752, d2.loss_map_dir: 0.0511, d3.loss_map_cls: 0.6577, d3.loss_map_pts: 3.2373, d3.loss_map_dir: 0.0514, d4.loss_map_cls: 0.6578, d4.loss_map_pts: 3.2281, d4.loss_map_dir: 0.0517, d5.loss_map_cls: 0.6624, d5.loss_map_pts: 3.2331, d5.loss_map_dir: 0.0519, loss: 103.9528, grad_norm: 260.3208 2026-02-24 01:12:52,874 - DriveTransformer - INFO - Epoch [1][4900/59059] lr: 1.000e-04, eta: 23 days, 10:47:49, time: 0.604, data_time: 0.028, memory: 14138, loss_cls: 1.1122, loss_bbox: 1.2859, loss_traj: 2.2055, loss_traj_cls: 0.0006, loss_map_cls: 0.6719, loss_map_pts: 3.1863, loss_map_dir: 0.0523, d0.loss_plan_l1_fix_time: 3.5164, d0.loss_plan_l1_fix_dist: 0.8244, d1.loss_plan_l1_fix_time: 3.4432, d1.loss_plan_l1_fix_dist: 0.9279, d2.loss_plan_l1_fix_time: 3.4734, d2.loss_plan_l1_fix_dist: 1.0680, d3.loss_plan_l1_fix_time: 3.5051, d3.loss_plan_l1_fix_dist: 1.2367, d4.loss_plan_l1_fix_time: 3.5431, d4.loss_plan_l1_fix_dist: 1.4247, d5.loss_plan_l1_fix_time: 3.5860, d5.loss_plan_l1_fix_dist: 1.6543, d6.loss_plan_l1_fix_time: 3.6341, d6.loss_plan_l1_fix_dist: 1.8798, d0.loss_cls_all: 1.0742, d0.loss_bbox_all: 1.2240, d0.loss_cls: 1.0742, d0.loss_bbox: 1.2240, d1.loss_cls: 1.0895, d1.loss_bbox: 1.2010, d2.loss_cls: 1.0970, d2.loss_bbox: 1.2119, d3.loss_cls: 1.1021, d3.loss_bbox: 1.2151, d4.loss_cls: 1.1195, d4.loss_bbox: 1.2390, d5.loss_cls: 1.1235, d5.loss_bbox: 1.2563, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7711, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8342, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9087, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9194, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0223, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0833, d0.loss_map_cls_all: 0.6645, d0.loss_map_pts_all: 3.8500, d0.loss_map_dir_all: 0.0522, d0.loss_map_cls: 0.6645, d0.loss_map_pts: 3.8500, d0.loss_map_dir: 0.0522, d1.loss_map_cls: 0.6623, d1.loss_map_pts: 3.3529, d1.loss_map_dir: 0.0515, d2.loss_map_cls: 0.6638, d2.loss_map_pts: 3.2538, d2.loss_map_dir: 0.0517, d3.loss_map_cls: 0.6649, d3.loss_map_pts: 3.2181, d3.loss_map_dir: 0.0519, d4.loss_map_cls: 0.6672, d4.loss_map_pts: 3.1974, d4.loss_map_dir: 0.0521, d5.loss_map_cls: 0.6693, d5.loss_map_pts: 3.1863, d5.loss_map_dir: 0.0522, loss: 98.9542, grad_norm: 260.9583 2026-02-24 01:13:20,633 - DriveTransformer - INFO - Epoch [1][4950/59059] lr: 1.000e-04, eta: 23 days, 10:36:59, time: 0.555, data_time: 0.025, memory: 14138, loss_cls: 1.0196, loss_bbox: 1.2929, loss_traj: 2.6193, loss_traj_cls: 0.0006, loss_map_cls: 0.7367, loss_map_pts: 2.9789, loss_map_dir: 0.0478, d0.loss_plan_l1_fix_time: 3.4309, d0.loss_plan_l1_fix_dist: 0.6418, d1.loss_plan_l1_fix_time: 3.1650, d1.loss_plan_l1_fix_dist: 0.7428, d2.loss_plan_l1_fix_time: 3.1606, d2.loss_plan_l1_fix_dist: 0.8636, d3.loss_plan_l1_fix_time: 3.1812, d3.loss_plan_l1_fix_dist: 1.0003, d4.loss_plan_l1_fix_time: 3.2057, d4.loss_plan_l1_fix_dist: 1.1357, d5.loss_plan_l1_fix_time: 3.2354, d5.loss_plan_l1_fix_dist: 1.2948, d6.loss_plan_l1_fix_time: 3.2720, d6.loss_plan_l1_fix_dist: 1.4500, d0.loss_cls_all: 0.9978, d0.loss_bbox_all: 1.1896, d0.loss_cls: 0.9978, d0.loss_bbox: 1.1896, d1.loss_cls: 1.0140, d1.loss_bbox: 1.1749, d2.loss_cls: 1.0154, d2.loss_bbox: 1.1791, d3.loss_cls: 1.0219, d3.loss_bbox: 1.1938, d4.loss_cls: 1.0329, d4.loss_bbox: 1.2199, d5.loss_cls: 1.0295, d5.loss_bbox: 1.2535, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1788, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2577, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2845, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3500, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4456, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5285, d0.loss_map_cls_all: 0.6941, d0.loss_map_pts_all: 3.6341, d0.loss_map_dir_all: 0.0480, d0.loss_map_cls: 0.6941, d0.loss_map_pts: 3.6341, d0.loss_map_dir: 0.0480, d1.loss_map_cls: 0.7066, d1.loss_map_pts: 3.1158, d1.loss_map_dir: 0.0472, d2.loss_map_cls: 0.7149, d2.loss_map_pts: 3.0170, d2.loss_map_dir: 0.0474, d3.loss_map_cls: 0.7215, d3.loss_map_pts: 2.9878, d3.loss_map_dir: 0.0475, d4.loss_map_cls: 0.7201, d4.loss_map_pts: 2.9762, d4.loss_map_dir: 0.0477, d5.loss_map_cls: 0.7272, d5.loss_map_pts: 2.9744, d5.loss_map_dir: 0.0477, loss: 95.6851, grad_norm: 259.4218 2026-02-24 01:13:48,719 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 01:13:48,719 - DriveTransformer - INFO - Epoch [1][5000/59059] lr: 1.000e-04, eta: 23 days, 10:30:12, time: 0.562, data_time: 0.025, memory: 14138, loss_cls: 1.0881, loss_bbox: 1.4368, loss_traj: 2.6737, loss_traj_cls: 0.0005, loss_map_cls: 0.6390, loss_map_pts: 3.2235, loss_map_dir: 0.0565, d0.loss_plan_l1_fix_time: 3.8638, d0.loss_plan_l1_fix_dist: 0.7892, d1.loss_plan_l1_fix_time: 3.8033, d1.loss_plan_l1_fix_dist: 0.9095, d2.loss_plan_l1_fix_time: 3.8383, d2.loss_plan_l1_fix_dist: 1.1032, d3.loss_plan_l1_fix_time: 3.8741, d3.loss_plan_l1_fix_dist: 1.2920, d4.loss_plan_l1_fix_time: 3.9097, d4.loss_plan_l1_fix_dist: 1.5202, d5.loss_plan_l1_fix_time: 3.9491, d5.loss_plan_l1_fix_dist: 1.7601, d6.loss_plan_l1_fix_time: 3.9900, d6.loss_plan_l1_fix_dist: 2.0086, d0.loss_cls_all: 1.0475, d0.loss_bbox_all: 1.2618, d0.loss_cls: 1.0475, d0.loss_bbox: 1.2618, d1.loss_cls: 1.0629, d1.loss_bbox: 1.2520, d2.loss_cls: 1.0811, d2.loss_bbox: 1.2809, d3.loss_cls: 1.0789, d3.loss_bbox: 1.3046, d4.loss_cls: 1.0796, d4.loss_bbox: 1.3467, d5.loss_cls: 1.0788, d5.loss_bbox: 1.3912, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2004, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3410, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3934, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4601, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4869, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5698, d0.loss_map_cls_all: 0.6400, d0.loss_map_pts_all: 3.8251, d0.loss_map_dir_all: 0.0560, d0.loss_map_cls: 0.6400, d0.loss_map_pts: 3.8251, d0.loss_map_dir: 0.0560, d1.loss_map_cls: 0.6372, d1.loss_map_pts: 3.3390, d1.loss_map_dir: 0.0559, d2.loss_map_cls: 0.6376, d2.loss_map_pts: 3.2515, d2.loss_map_dir: 0.0562, d3.loss_map_cls: 0.6357, d3.loss_map_pts: 3.2280, d3.loss_map_dir: 0.0563, d4.loss_map_cls: 0.6381, d4.loss_map_pts: 3.2197, d4.loss_map_dir: 0.0563, d5.loss_map_cls: 0.6377, d5.loss_map_pts: 3.2192, d5.loss_map_dir: 0.0564, loss: 105.5264, grad_norm: 261.3781 2026-02-24 01:14:17,403 - DriveTransformer - INFO - Epoch [1][5050/59059] lr: 1.000e-04, eta: 23 days, 10:30:32, time: 0.574, data_time: 0.026, memory: 14138, loss_cls: 1.0584, loss_bbox: 1.3762, loss_traj: 2.4327, loss_traj_cls: 0.0006, loss_map_cls: 0.6895, loss_map_pts: 3.0620, loss_map_dir: 0.0477, d0.loss_plan_l1_fix_time: 4.3331, d0.loss_plan_l1_fix_dist: 0.8341, d1.loss_plan_l1_fix_time: 4.2573, d1.loss_plan_l1_fix_dist: 0.9670, d2.loss_plan_l1_fix_time: 4.2948, d2.loss_plan_l1_fix_dist: 1.1506, d3.loss_plan_l1_fix_time: 4.3405, d3.loss_plan_l1_fix_dist: 1.3489, d4.loss_plan_l1_fix_time: 4.3867, d4.loss_plan_l1_fix_dist: 1.5757, d5.loss_plan_l1_fix_time: 4.4332, d5.loss_plan_l1_fix_dist: 1.8133, d6.loss_plan_l1_fix_time: 4.4828, d6.loss_plan_l1_fix_dist: 2.0792, d0.loss_cls_all: 1.0396, d0.loss_bbox_all: 1.2286, d0.loss_cls: 1.0396, d0.loss_bbox: 1.2286, d1.loss_cls: 1.0496, d1.loss_bbox: 1.2224, d2.loss_cls: 1.0585, d2.loss_bbox: 1.2533, d3.loss_cls: 1.0622, d3.loss_bbox: 1.2609, d4.loss_cls: 1.0705, d4.loss_bbox: 1.2887, d5.loss_cls: 1.0604, d5.loss_bbox: 1.3407, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2096, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.2713, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2422, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3439, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3881, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.4058, d0.loss_map_cls_all: 0.6685, d0.loss_map_pts_all: 3.6240, d0.loss_map_dir_all: 0.0477, d0.loss_map_cls: 0.6685, d0.loss_map_pts: 3.6240, d0.loss_map_dir: 0.0477, d1.loss_map_cls: 0.6836, d1.loss_map_pts: 3.1078, d1.loss_map_dir: 0.0471, d2.loss_map_cls: 0.6842, d2.loss_map_pts: 3.0131, d2.loss_map_dir: 0.0474, d3.loss_map_cls: 0.6864, d3.loss_map_pts: 2.9989, d3.loss_map_dir: 0.0475, d4.loss_map_cls: 0.6858, d4.loss_map_pts: 3.0170, d4.loss_map_dir: 0.0477, d5.loss_map_cls: 0.6895, d5.loss_map_pts: 3.0393, d5.loss_map_dir: 0.0477, loss: 106.5551, grad_norm: 262.2212 2026-02-24 01:14:45,341 - DriveTransformer - INFO - Epoch [1][5100/59059] lr: 1.000e-04, eta: 23 days, 10:22:13, time: 0.559, data_time: 0.026, memory: 14138, loss_cls: 1.0808, loss_bbox: 1.3379, loss_traj: 2.7724, loss_traj_cls: 0.0005, loss_map_cls: 0.6533, loss_map_pts: 2.9969, loss_map_dir: 0.0448, d0.loss_plan_l1_fix_time: 4.0508, d0.loss_plan_l1_fix_dist: 0.8065, d1.loss_plan_l1_fix_time: 3.8108, d1.loss_plan_l1_fix_dist: 0.8895, d2.loss_plan_l1_fix_time: 3.7851, d2.loss_plan_l1_fix_dist: 1.0046, d3.loss_plan_l1_fix_time: 3.7970, d3.loss_plan_l1_fix_dist: 1.1511, d4.loss_plan_l1_fix_time: 3.8247, d4.loss_plan_l1_fix_dist: 1.3025, d5.loss_plan_l1_fix_time: 3.8561, d5.loss_plan_l1_fix_dist: 1.4774, d6.loss_plan_l1_fix_time: 3.8923, d6.loss_plan_l1_fix_dist: 1.6713, d0.loss_cls_all: 1.0391, d0.loss_bbox_all: 1.2646, d0.loss_cls: 1.0391, d0.loss_bbox: 1.2646, d1.loss_cls: 1.0552, d1.loss_bbox: 1.2561, d2.loss_cls: 1.0611, d2.loss_bbox: 1.2705, d3.loss_cls: 1.0616, d3.loss_bbox: 1.2663, d4.loss_cls: 1.0592, d4.loss_bbox: 1.2883, d5.loss_cls: 1.0580, d5.loss_bbox: 1.3142, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4731, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5269, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5407, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6184, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6805, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7154, d0.loss_map_cls_all: 0.6353, d0.loss_map_pts_all: 3.6903, d0.loss_map_dir_all: 0.0450, d0.loss_map_cls: 0.6353, d0.loss_map_pts: 3.6903, d0.loss_map_dir: 0.0450, d1.loss_map_cls: 0.6450, d1.loss_map_pts: 3.0961, d1.loss_map_dir: 0.0445, d2.loss_map_cls: 0.6460, d2.loss_map_pts: 2.9874, d2.loss_map_dir: 0.0447, d3.loss_map_cls: 0.6452, d3.loss_map_pts: 2.9639, d3.loss_map_dir: 0.0448, d4.loss_map_cls: 0.6512, d4.loss_map_pts: 2.9670, d4.loss_map_dir: 0.0449, d5.loss_map_cls: 0.6494, d5.loss_map_pts: 2.9838, d5.loss_map_dir: 0.0448, loss: 103.2620, grad_norm: 262.0341 2026-02-24 01:15:14,785 - DriveTransformer - INFO - Epoch [1][5150/59059] lr: 1.000e-04, eta: 23 days, 10:31:27, time: 0.589, data_time: 0.029, memory: 14138, loss_cls: 1.0999, loss_bbox: 1.3274, loss_traj: 2.4244, loss_traj_cls: 0.0006, loss_map_cls: 0.6505, loss_map_pts: 3.2491, loss_map_dir: 0.0467, d0.loss_plan_l1_fix_time: 3.3251, d0.loss_plan_l1_fix_dist: 0.7179, d1.loss_plan_l1_fix_time: 3.2032, d1.loss_plan_l1_fix_dist: 0.8001, d2.loss_plan_l1_fix_time: 3.2083, d2.loss_plan_l1_fix_dist: 0.9199, d3.loss_plan_l1_fix_time: 3.2317, d3.loss_plan_l1_fix_dist: 1.0798, d4.loss_plan_l1_fix_time: 3.2665, d4.loss_plan_l1_fix_dist: 1.2479, d5.loss_plan_l1_fix_time: 3.3069, d5.loss_plan_l1_fix_dist: 1.4388, d6.loss_plan_l1_fix_time: 3.3538, d6.loss_plan_l1_fix_dist: 1.6328, d0.loss_cls_all: 1.0851, d0.loss_bbox_all: 1.2011, d0.loss_cls: 1.0851, d0.loss_bbox: 1.2011, d1.loss_cls: 1.0945, d1.loss_bbox: 1.2137, d2.loss_cls: 1.1028, d2.loss_bbox: 1.2048, d3.loss_cls: 1.0980, d3.loss_bbox: 1.2291, d4.loss_cls: 1.0919, d4.loss_bbox: 1.2513, d5.loss_cls: 1.0882, d5.loss_bbox: 1.2762, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0098, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0721, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1150, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1567, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2442, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3316, d0.loss_map_cls_all: 0.6237, d0.loss_map_pts_all: 3.9409, d0.loss_map_dir_all: 0.0471, d0.loss_map_cls: 0.6237, d0.loss_map_pts: 3.9409, d0.loss_map_dir: 0.0471, d1.loss_map_cls: 0.6305, d1.loss_map_pts: 3.3451, d1.loss_map_dir: 0.0463, d2.loss_map_cls: 0.6387, d2.loss_map_pts: 3.2384, d2.loss_map_dir: 0.0466, d3.loss_map_cls: 0.6397, d3.loss_map_pts: 3.2211, d3.loss_map_dir: 0.0467, d4.loss_map_cls: 0.6463, d4.loss_map_pts: 3.2233, d4.loss_map_dir: 0.0468, d5.loss_map_cls: 0.6434, d5.loss_map_pts: 3.2346, d5.loss_map_dir: 0.0468, loss: 97.6042, grad_norm: 261.5131 2026-02-24 01:15:41,934 - DriveTransformer - INFO - Epoch [1][5200/59059] lr: 1.000e-04, eta: 23 days, 10:14:13, time: 0.543, data_time: 0.028, memory: 14138, loss_cls: 1.0243, loss_bbox: 1.4003, loss_traj: 2.5746, loss_traj_cls: 0.0006, loss_map_cls: 0.6825, loss_map_pts: 2.9694, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 3.7128, d0.loss_plan_l1_fix_dist: 0.7639, d1.loss_plan_l1_fix_time: 3.5458, d1.loss_plan_l1_fix_dist: 0.8678, d2.loss_plan_l1_fix_time: 3.5557, d2.loss_plan_l1_fix_dist: 1.0293, d3.loss_plan_l1_fix_time: 3.5801, d3.loss_plan_l1_fix_dist: 1.2092, d4.loss_plan_l1_fix_time: 3.6134, d4.loss_plan_l1_fix_dist: 1.3974, d5.loss_plan_l1_fix_time: 3.6532, d5.loss_plan_l1_fix_dist: 1.5800, d6.loss_plan_l1_fix_time: 3.6950, d6.loss_plan_l1_fix_dist: 1.7753, d0.loss_cls_all: 1.0144, d0.loss_bbox_all: 1.2436, d0.loss_cls: 1.0144, d0.loss_bbox: 1.2436, d1.loss_cls: 1.0253, d1.loss_bbox: 1.2439, d2.loss_cls: 1.0292, d2.loss_bbox: 1.2574, d3.loss_cls: 1.0284, d3.loss_bbox: 1.2841, d4.loss_cls: 1.0196, d4.loss_bbox: 1.3152, d5.loss_cls: 1.0183, d5.loss_bbox: 1.3565, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1175, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1725, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2104, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3121, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3298, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.4167, d0.loss_map_cls_all: 0.6641, d0.loss_map_pts_all: 3.5839, d0.loss_map_dir_all: 0.0423, d0.loss_map_cls: 0.6641, d0.loss_map_pts: 3.5839, d0.loss_map_dir: 0.0423, d1.loss_map_cls: 0.6741, d1.loss_map_pts: 3.0631, d1.loss_map_dir: 0.0420, d2.loss_map_cls: 0.6770, d2.loss_map_pts: 2.9675, d2.loss_map_dir: 0.0422, d3.loss_map_cls: 0.6791, d3.loss_map_pts: 2.9519, d3.loss_map_dir: 0.0424, d4.loss_map_cls: 0.6795, d4.loss_map_pts: 2.9520, d4.loss_map_dir: 0.0426, d5.loss_map_cls: 0.6799, d5.loss_map_pts: 2.9541, d5.loss_map_dir: 0.0425, loss: 99.3998, grad_norm: 261.6178 2026-02-24 01:16:10,322 - DriveTransformer - INFO - Epoch [1][5250/59059] lr: 1.000e-04, eta: 23 days, 10:11:20, time: 0.568, data_time: 0.027, memory: 14138, loss_cls: 1.0708, loss_bbox: 1.4348, loss_traj: 2.5458, loss_traj_cls: 0.0005, loss_map_cls: 0.6891, loss_map_pts: 3.0162, loss_map_dir: 0.0449, d0.loss_plan_l1_fix_time: 4.0215, d0.loss_plan_l1_fix_dist: 0.7166, d1.loss_plan_l1_fix_time: 3.6560, d1.loss_plan_l1_fix_dist: 0.7880, d2.loss_plan_l1_fix_time: 3.6338, d2.loss_plan_l1_fix_dist: 0.9098, d3.loss_plan_l1_fix_time: 3.6465, d3.loss_plan_l1_fix_dist: 1.0293, d4.loss_plan_l1_fix_time: 3.6707, d4.loss_plan_l1_fix_dist: 1.1677, d5.loss_plan_l1_fix_time: 3.7000, d5.loss_plan_l1_fix_dist: 1.3112, d6.loss_plan_l1_fix_time: 3.7313, d6.loss_plan_l1_fix_dist: 1.4664, d0.loss_cls_all: 1.0425, d0.loss_bbox_all: 1.2540, d0.loss_cls: 1.0425, d0.loss_bbox: 1.2540, d1.loss_cls: 1.0524, d1.loss_bbox: 1.2627, d2.loss_cls: 1.0629, d2.loss_bbox: 1.2793, d3.loss_cls: 1.0640, d3.loss_bbox: 1.3125, d4.loss_cls: 1.0542, d4.loss_bbox: 1.3535, d5.loss_cls: 1.0605, d5.loss_bbox: 1.3927, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2686, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3524, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3640, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4636, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4621, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4904, d0.loss_map_cls_all: 0.6726, d0.loss_map_pts_all: 3.7262, d0.loss_map_dir_all: 0.0444, d0.loss_map_cls: 0.6726, d0.loss_map_pts: 3.7262, d0.loss_map_dir: 0.0444, d1.loss_map_cls: 0.6781, d1.loss_map_pts: 3.1677, d1.loss_map_dir: 0.0443, d2.loss_map_cls: 0.6834, d2.loss_map_pts: 3.0520, d2.loss_map_dir: 0.0445, d3.loss_map_cls: 0.6866, d3.loss_map_pts: 3.0249, d3.loss_map_dir: 0.0448, d4.loss_map_cls: 0.6874, d4.loss_map_pts: 3.0144, d4.loss_map_dir: 0.0448, d5.loss_map_cls: 0.6883, d5.loss_map_pts: 3.0100, d5.loss_map_dir: 0.0449, loss: 100.9450, grad_norm: 262.1984 2026-02-24 01:16:38,726 - DriveTransformer - INFO - Epoch [1][5300/59059] lr: 1.000e-04, eta: 23 days, 10:08:40, time: 0.568, data_time: 0.030, memory: 14138, loss_cls: 1.1007, loss_bbox: 1.3867, loss_traj: 2.4119, loss_traj_cls: 0.0005, loss_map_cls: 0.6574, loss_map_pts: 3.0825, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 3.9773, d0.loss_plan_l1_fix_dist: 0.6210, d1.loss_plan_l1_fix_time: 3.7140, d1.loss_plan_l1_fix_dist: 0.7427, d2.loss_plan_l1_fix_time: 3.6959, d2.loss_plan_l1_fix_dist: 0.8903, d3.loss_plan_l1_fix_time: 3.7088, d3.loss_plan_l1_fix_dist: 1.0372, d4.loss_plan_l1_fix_time: 3.7297, d4.loss_plan_l1_fix_dist: 1.2036, d5.loss_plan_l1_fix_time: 3.7535, d5.loss_plan_l1_fix_dist: 1.3744, d6.loss_plan_l1_fix_time: 3.7778, d6.loss_plan_l1_fix_dist: 1.5292, d0.loss_cls_all: 1.0805, d0.loss_bbox_all: 1.1983, d0.loss_cls: 1.0805, d0.loss_bbox: 1.1983, d1.loss_cls: 1.0859, d1.loss_bbox: 1.2240, d2.loss_cls: 1.0908, d2.loss_bbox: 1.2402, d3.loss_cls: 1.0927, d3.loss_bbox: 1.2705, d4.loss_cls: 1.0982, d4.loss_bbox: 1.3129, d5.loss_cls: 1.1017, d5.loss_bbox: 1.3487, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0371, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1270, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2082, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2674, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3397, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3869, d0.loss_map_cls_all: 0.6440, d0.loss_map_pts_all: 3.6981, d0.loss_map_dir_all: 0.0455, d0.loss_map_cls: 0.6440, d0.loss_map_pts: 3.6981, d0.loss_map_dir: 0.0455, d1.loss_map_cls: 0.6503, d1.loss_map_pts: 3.1837, d1.loss_map_dir: 0.0448, d2.loss_map_cls: 0.6541, d2.loss_map_pts: 3.0889, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6557, d3.loss_map_pts: 3.0615, d3.loss_map_dir: 0.0450, d4.loss_map_cls: 0.6556, d4.loss_map_pts: 3.0619, d4.loss_map_dir: 0.0451, d5.loss_map_cls: 0.6559, d5.loss_map_pts: 3.0700, d5.loss_map_dir: 0.0451, loss: 99.9703, grad_norm: 263.2283 2026-02-24 01:17:07,203 - DriveTransformer - INFO - Epoch [1][5350/59059] lr: 1.000e-04, eta: 23 days, 10:06:52, time: 0.570, data_time: 0.026, memory: 14138, loss_cls: 1.1365, loss_bbox: 1.3525, loss_traj: 2.4676, loss_traj_cls: 0.0005, loss_map_cls: 0.6686, loss_map_pts: 3.2803, loss_map_dir: 0.0503, d0.loss_plan_l1_fix_time: 3.6430, d0.loss_plan_l1_fix_dist: 0.8078, d1.loss_plan_l1_fix_time: 3.5748, d1.loss_plan_l1_fix_dist: 0.9304, d2.loss_plan_l1_fix_time: 3.5835, d2.loss_plan_l1_fix_dist: 1.0923, d3.loss_plan_l1_fix_time: 3.5987, d3.loss_plan_l1_fix_dist: 1.2550, d4.loss_plan_l1_fix_time: 3.6261, d4.loss_plan_l1_fix_dist: 1.4352, d5.loss_plan_l1_fix_time: 3.6527, d5.loss_plan_l1_fix_dist: 1.6275, d6.loss_plan_l1_fix_time: 3.6894, d6.loss_plan_l1_fix_dist: 1.8082, d0.loss_cls_all: 1.0871, d0.loss_bbox_all: 1.2145, d0.loss_cls: 1.0871, d0.loss_bbox: 1.2145, d1.loss_cls: 1.1011, d1.loss_bbox: 1.2286, d2.loss_cls: 1.0980, d2.loss_bbox: 1.2449, d3.loss_cls: 1.1040, d3.loss_bbox: 1.2725, d4.loss_cls: 1.1150, d4.loss_bbox: 1.3025, d5.loss_cls: 1.1278, d5.loss_bbox: 1.3256, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1064, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2030, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2644, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2716, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3642, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4182, d0.loss_map_cls_all: 0.6614, d0.loss_map_pts_all: 3.8005, d0.loss_map_dir_all: 0.0505, d0.loss_map_cls: 0.6614, d0.loss_map_pts: 3.8005, d0.loss_map_dir: 0.0505, d1.loss_map_cls: 0.6664, d1.loss_map_pts: 3.3095, d1.loss_map_dir: 0.0502, d2.loss_map_cls: 0.6684, d2.loss_map_pts: 3.2431, d2.loss_map_dir: 0.0503, d3.loss_map_cls: 0.6682, d3.loss_map_pts: 3.2402, d3.loss_map_dir: 0.0503, d4.loss_map_cls: 0.6682, d4.loss_map_pts: 3.2515, d4.loss_map_dir: 0.0502, d5.loss_map_cls: 0.6688, d5.loss_map_pts: 3.2654, d5.loss_map_dir: 0.0502, loss: 102.3604, grad_norm: 263.3810 2026-02-24 01:17:35,142 - DriveTransformer - INFO - Epoch [1][5400/59059] lr: 1.000e-04, eta: 23 days, 9:59:12, time: 0.559, data_time: 0.025, memory: 14138, loss_cls: 1.0981, loss_bbox: 1.2699, loss_traj: 2.4547, loss_traj_cls: 0.0006, loss_map_cls: 0.6819, loss_map_pts: 2.6742, loss_map_dir: 0.0419, d0.loss_plan_l1_fix_time: 3.8024, d0.loss_plan_l1_fix_dist: 0.7413, d1.loss_plan_l1_fix_time: 3.6888, d1.loss_plan_l1_fix_dist: 0.8483, d2.loss_plan_l1_fix_time: 3.6917, d2.loss_plan_l1_fix_dist: 0.9896, d3.loss_plan_l1_fix_time: 3.7071, d3.loss_plan_l1_fix_dist: 1.1548, d4.loss_plan_l1_fix_time: 3.7331, d4.loss_plan_l1_fix_dist: 1.3241, d5.loss_plan_l1_fix_time: 3.7580, d5.loss_plan_l1_fix_dist: 1.5060, d6.loss_plan_l1_fix_time: 3.7952, d6.loss_plan_l1_fix_dist: 1.6847, d0.loss_cls_all: 1.0592, d0.loss_bbox_all: 1.1779, d0.loss_cls: 1.0592, d0.loss_bbox: 1.1779, d1.loss_cls: 1.0698, d1.loss_bbox: 1.1854, d2.loss_cls: 1.0704, d2.loss_bbox: 1.1890, d3.loss_cls: 1.0737, d3.loss_bbox: 1.1991, d4.loss_cls: 1.0818, d4.loss_bbox: 1.2104, d5.loss_cls: 1.0912, d5.loss_bbox: 1.2322, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0846, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.1460, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2037, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2541, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2504, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3282, d0.loss_map_cls_all: 0.6623, d0.loss_map_pts_all: 3.3732, d0.loss_map_dir_all: 0.0422, d0.loss_map_cls: 0.6623, d0.loss_map_pts: 3.3732, d0.loss_map_dir: 0.0422, d1.loss_map_cls: 0.6724, d1.loss_map_pts: 2.7844, d1.loss_map_dir: 0.0415, d2.loss_map_cls: 0.6769, d2.loss_map_pts: 2.6917, d2.loss_map_dir: 0.0418, d3.loss_map_cls: 0.6774, d3.loss_map_pts: 2.6672, d3.loss_map_dir: 0.0420, d4.loss_map_cls: 0.6817, d4.loss_map_pts: 2.6657, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.6803, d5.loss_map_pts: 2.6690, d5.loss_map_dir: 0.0420, loss: 97.0256, grad_norm: 263.7415 2026-02-24 01:18:02,820 - DriveTransformer - INFO - Epoch [1][5450/59059] lr: 1.000e-04, eta: 23 days, 9:48:50, time: 0.554, data_time: 0.025, memory: 14138, loss_cls: 1.0922, loss_bbox: 1.3049, loss_traj: 2.8147, loss_traj_cls: 0.0005, loss_map_cls: 0.7111, loss_map_pts: 2.8908, loss_map_dir: 0.0383, d0.loss_plan_l1_fix_time: 4.0971, d0.loss_plan_l1_fix_dist: 0.6580, d1.loss_plan_l1_fix_time: 3.8554, d1.loss_plan_l1_fix_dist: 0.7345, d2.loss_plan_l1_fix_time: 3.8583, d2.loss_plan_l1_fix_dist: 0.8629, d3.loss_plan_l1_fix_time: 3.8836, d3.loss_plan_l1_fix_dist: 1.0172, d4.loss_plan_l1_fix_time: 3.9085, d4.loss_plan_l1_fix_dist: 1.1747, d5.loss_plan_l1_fix_time: 3.9372, d5.loss_plan_l1_fix_dist: 1.3519, d6.loss_plan_l1_fix_time: 3.9675, d6.loss_plan_l1_fix_dist: 1.5455, d0.loss_cls_all: 1.0224, d0.loss_bbox_all: 1.1628, d0.loss_cls: 1.0224, d0.loss_bbox: 1.1628, d1.loss_cls: 1.0336, d1.loss_bbox: 1.1750, d2.loss_cls: 1.0446, d2.loss_bbox: 1.1936, d3.loss_cls: 1.0545, d3.loss_bbox: 1.2087, d4.loss_cls: 1.0702, d4.loss_bbox: 1.2357, d5.loss_cls: 1.0879, d5.loss_bbox: 1.2688, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4929, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.4864, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5190, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5703, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6009, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.7071, d0.loss_map_cls_all: 0.6834, d0.loss_map_pts_all: 3.5183, d0.loss_map_dir_all: 0.0386, d0.loss_map_cls: 0.6834, d0.loss_map_pts: 3.5183, d0.loss_map_dir: 0.0386, d1.loss_map_cls: 0.6930, d1.loss_map_pts: 2.9506, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.7005, d2.loss_map_pts: 2.8678, d2.loss_map_dir: 0.0383, d3.loss_map_cls: 0.7025, d3.loss_map_pts: 2.8542, d3.loss_map_dir: 0.0383, d4.loss_map_cls: 0.7080, d4.loss_map_pts: 2.8632, d4.loss_map_dir: 0.0383, d5.loss_map_cls: 0.7069, d5.loss_map_pts: 2.8767, d5.loss_map_dir: 0.0382, loss: 101.4224, grad_norm: 263.9885 2026-02-24 01:18:30,202 - DriveTransformer - INFO - Epoch [1][5500/59059] lr: 1.000e-04, eta: 23 days, 9:35:29, time: 0.548, data_time: 0.025, memory: 14138, loss_cls: 1.1304, loss_bbox: 1.3158, loss_traj: 2.8504, loss_traj_cls: 0.0006, loss_map_cls: 0.6795, loss_map_pts: 2.7208, loss_map_dir: 0.0373, d0.loss_plan_l1_fix_time: 4.0813, d0.loss_plan_l1_fix_dist: 0.7228, d1.loss_plan_l1_fix_time: 3.8492, d1.loss_plan_l1_fix_dist: 0.8160, d2.loss_plan_l1_fix_time: 3.8609, d2.loss_plan_l1_fix_dist: 0.9392, d3.loss_plan_l1_fix_time: 3.8930, d3.loss_plan_l1_fix_dist: 1.0768, d4.loss_plan_l1_fix_time: 3.9286, d4.loss_plan_l1_fix_dist: 1.2253, d5.loss_plan_l1_fix_time: 3.9663, d5.loss_plan_l1_fix_dist: 1.3882, d6.loss_plan_l1_fix_time: 4.0039, d6.loss_plan_l1_fix_dist: 1.5927, d0.loss_cls_all: 1.0679, d0.loss_bbox_all: 1.2041, d0.loss_cls: 1.0679, d0.loss_bbox: 1.2041, d1.loss_cls: 1.0753, d1.loss_bbox: 1.2107, d2.loss_cls: 1.0911, d2.loss_bbox: 1.2195, d3.loss_cls: 1.0954, d3.loss_bbox: 1.2336, d4.loss_cls: 1.1109, d4.loss_bbox: 1.2566, d5.loss_cls: 1.1243, d5.loss_bbox: 1.2872, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2892, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3164, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3535, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4052, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4944, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6498, d0.loss_map_cls_all: 0.6596, d0.loss_map_pts_all: 3.3964, d0.loss_map_dir_all: 0.0372, d0.loss_map_cls: 0.6596, d0.loss_map_pts: 3.3964, d0.loss_map_dir: 0.0372, d1.loss_map_cls: 0.6708, d1.loss_map_pts: 2.8098, d1.loss_map_dir: 0.0371, d2.loss_map_cls: 0.6723, d2.loss_map_pts: 2.7105, d2.loss_map_dir: 0.0371, d3.loss_map_cls: 0.6747, d3.loss_map_pts: 2.6905, d3.loss_map_dir: 0.0372, d4.loss_map_cls: 0.6760, d4.loss_map_pts: 2.6931, d4.loss_map_dir: 0.0372, d5.loss_map_cls: 0.6772, d5.loss_map_pts: 2.7044, d5.loss_map_dir: 0.0372, loss: 100.1912, grad_norm: 264.5936 2026-02-24 01:18:57,497 - DriveTransformer - INFO - Epoch [1][5550/59059] lr: 1.000e-04, eta: 23 days, 9:21:27, time: 0.546, data_time: 0.025, memory: 14138, loss_cls: 1.1363, loss_bbox: 1.3857, loss_traj: 2.4757, loss_traj_cls: 0.0005, loss_map_cls: 0.6817, loss_map_pts: 2.4438, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 4.2567, d0.loss_plan_l1_fix_dist: 0.7238, d1.loss_plan_l1_fix_time: 4.1713, d1.loss_plan_l1_fix_dist: 0.8144, d2.loss_plan_l1_fix_time: 4.1924, d2.loss_plan_l1_fix_dist: 0.9239, d3.loss_plan_l1_fix_time: 4.2205, d3.loss_plan_l1_fix_dist: 1.0467, d4.loss_plan_l1_fix_time: 4.2523, d4.loss_plan_l1_fix_dist: 1.1939, d5.loss_plan_l1_fix_time: 4.2871, d5.loss_plan_l1_fix_dist: 1.3553, d6.loss_plan_l1_fix_time: 4.3224, d6.loss_plan_l1_fix_dist: 1.5487, d0.loss_cls_all: 1.0377, d0.loss_bbox_all: 1.1510, d0.loss_cls: 1.0377, d0.loss_bbox: 1.1510, d1.loss_cls: 1.0507, d1.loss_bbox: 1.1677, d2.loss_cls: 1.0724, d2.loss_bbox: 1.1919, d3.loss_cls: 1.0824, d3.loss_bbox: 1.2242, d4.loss_cls: 1.1001, d4.loss_bbox: 1.2675, d5.loss_cls: 1.1098, d5.loss_bbox: 1.3251, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2364, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2575, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2848, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2992, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3624, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4072, d0.loss_map_cls_all: 0.6574, d0.loss_map_pts_all: 3.2643, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.6574, d0.loss_map_pts: 3.2643, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.6665, d1.loss_map_pts: 2.6170, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.6718, d2.loss_map_pts: 2.4746, d2.loss_map_dir: 0.0334, d3.loss_map_cls: 0.6745, d3.loss_map_pts: 2.4389, d3.loss_map_dir: 0.0334, d4.loss_map_cls: 0.6774, d4.loss_map_pts: 2.4337, d4.loss_map_dir: 0.0334, d5.loss_map_cls: 0.6796, d5.loss_map_pts: 2.4368, d5.loss_map_dir: 0.0334, loss: 99.1355, grad_norm: 265.7641 2026-02-24 01:19:25,111 - DriveTransformer - INFO - Epoch [1][5600/59059] lr: 1.000e-04, eta: 23 days, 9:11:01, time: 0.552, data_time: 0.025, memory: 14138, loss_cls: 1.2154, loss_bbox: 1.3393, loss_traj: 2.2247, loss_traj_cls: 0.0006, loss_map_cls: 0.6795, loss_map_pts: 2.8873, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 3.8902, d0.loss_plan_l1_fix_dist: 0.6819, d1.loss_plan_l1_fix_time: 3.7350, d1.loss_plan_l1_fix_dist: 0.7577, d2.loss_plan_l1_fix_time: 3.7354, d2.loss_plan_l1_fix_dist: 0.8649, d3.loss_plan_l1_fix_time: 3.7570, d3.loss_plan_l1_fix_dist: 0.9816, d4.loss_plan_l1_fix_time: 3.7867, d4.loss_plan_l1_fix_dist: 1.1174, d5.loss_plan_l1_fix_time: 3.8182, d5.loss_plan_l1_fix_dist: 1.2540, d6.loss_plan_l1_fix_time: 3.8507, d6.loss_plan_l1_fix_dist: 1.3887, d0.loss_cls_all: 1.1320, d0.loss_bbox_all: 1.2270, d0.loss_cls: 1.1320, d0.loss_bbox: 1.2270, d1.loss_cls: 1.1439, d1.loss_bbox: 1.2361, d2.loss_cls: 1.1623, d2.loss_bbox: 1.2466, d3.loss_cls: 1.1673, d3.loss_bbox: 1.2581, d4.loss_cls: 1.1814, d4.loss_bbox: 1.2767, d5.loss_cls: 1.1950, d5.loss_bbox: 1.2985, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0190, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0739, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0917, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1244, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1677, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1822, d0.loss_map_cls_all: 0.6560, d0.loss_map_pts_all: 3.6345, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.6560, d0.loss_map_pts: 3.6345, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.6680, d1.loss_map_pts: 3.0433, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.6710, d2.loss_map_pts: 2.9111, d2.loss_map_dir: 0.0393, d3.loss_map_cls: 0.6721, d3.loss_map_pts: 2.8766, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6776, d4.loss_map_pts: 2.8699, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.6781, d5.loss_map_pts: 2.8742, d5.loss_map_dir: 0.0395, loss: 98.3503, grad_norm: 265.3170 2026-02-24 01:19:54,195 - DriveTransformer - INFO - Epoch [1][5650/59059] lr: 1.000e-04, eta: 23 days, 9:16:04, time: 0.582, data_time: 0.028, memory: 14138, loss_cls: 1.1331, loss_bbox: 1.3067, loss_traj: 2.6757, loss_traj_cls: 0.0005, loss_map_cls: 0.6854, loss_map_pts: 2.8220, loss_map_dir: 0.0418, d0.loss_plan_l1_fix_time: 3.6759, d0.loss_plan_l1_fix_dist: 0.6589, d1.loss_plan_l1_fix_time: 3.5306, d1.loss_plan_l1_fix_dist: 0.7391, d2.loss_plan_l1_fix_time: 3.5338, d2.loss_plan_l1_fix_dist: 0.8540, d3.loss_plan_l1_fix_time: 3.5513, d3.loss_plan_l1_fix_dist: 0.9778, d4.loss_plan_l1_fix_time: 3.5777, d4.loss_plan_l1_fix_dist: 1.1042, d5.loss_plan_l1_fix_time: 3.6040, d5.loss_plan_l1_fix_dist: 1.2413, d6.loss_plan_l1_fix_time: 3.6332, d6.loss_plan_l1_fix_dist: 1.3734, d0.loss_cls_all: 1.0984, d0.loss_bbox_all: 1.1740, d0.loss_cls: 1.0984, d0.loss_bbox: 1.1740, d1.loss_cls: 1.0998, d1.loss_bbox: 1.1987, d2.loss_cls: 1.1068, d2.loss_bbox: 1.2264, d3.loss_cls: 1.1190, d3.loss_bbox: 1.2308, d4.loss_cls: 1.1204, d4.loss_bbox: 1.2521, d5.loss_cls: 1.1217, d5.loss_bbox: 1.2683, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.5376, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.5801, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5769, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.6363, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6269, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6347, d0.loss_map_cls_all: 0.6653, d0.loss_map_pts_all: 3.5509, d0.loss_map_dir_all: 0.0419, d0.loss_map_cls: 0.6653, d0.loss_map_pts: 3.5509, d0.loss_map_dir: 0.0419, d1.loss_map_cls: 0.6776, d1.loss_map_pts: 2.9753, d1.loss_map_dir: 0.0417, d2.loss_map_cls: 0.6789, d2.loss_map_pts: 2.8522, d2.loss_map_dir: 0.0417, d3.loss_map_cls: 0.6791, d3.loss_map_pts: 2.8209, d3.loss_map_dir: 0.0417, d4.loss_map_cls: 0.6847, d4.loss_map_pts: 2.8129, d4.loss_map_dir: 0.0417, d5.loss_map_cls: 0.6837, d5.loss_map_pts: 2.8133, d5.loss_map_dir: 0.0417, loss: 99.0086, grad_norm: 265.6006 2026-02-24 01:20:22,917 - DriveTransformer - INFO - Epoch [1][5700/59059] lr: 1.000e-04, eta: 23 days, 9:17:20, time: 0.574, data_time: 0.026, memory: 14138, loss_cls: 1.1284, loss_bbox: 1.3138, loss_traj: 2.3844, loss_traj_cls: 0.0005, loss_map_cls: 0.6838, loss_map_pts: 2.9267, loss_map_dir: 0.0468, d0.loss_plan_l1_fix_time: 3.8765, d0.loss_plan_l1_fix_dist: 0.7149, d1.loss_plan_l1_fix_time: 3.7339, d1.loss_plan_l1_fix_dist: 0.8291, d2.loss_plan_l1_fix_time: 3.7313, d2.loss_plan_l1_fix_dist: 0.9948, d3.loss_plan_l1_fix_time: 3.7471, d3.loss_plan_l1_fix_dist: 1.1756, d4.loss_plan_l1_fix_time: 3.7742, d4.loss_plan_l1_fix_dist: 1.3555, d5.loss_plan_l1_fix_time: 3.7988, d5.loss_plan_l1_fix_dist: 1.5468, d6.loss_plan_l1_fix_time: 3.8266, d6.loss_plan_l1_fix_dist: 1.7248, d0.loss_cls_all: 1.0645, d0.loss_bbox_all: 1.2285, d0.loss_cls: 1.0645, d0.loss_bbox: 1.2285, d1.loss_cls: 1.0824, d1.loss_bbox: 1.2330, d2.loss_cls: 1.0989, d2.loss_bbox: 1.2575, d3.loss_cls: 1.1067, d3.loss_bbox: 1.2583, d4.loss_cls: 1.1039, d4.loss_bbox: 1.2699, d5.loss_cls: 1.1053, d5.loss_bbox: 1.2850, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1927, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2538, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2855, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2587, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2603, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2782, d0.loss_map_cls_all: 0.6760, d0.loss_map_pts_all: 3.3952, d0.loss_map_dir_all: 0.0466, d0.loss_map_cls: 0.6760, d0.loss_map_pts: 3.3952, d0.loss_map_dir: 0.0466, d1.loss_map_cls: 0.6875, d1.loss_map_pts: 2.9847, d1.loss_map_dir: 0.0464, d2.loss_map_cls: 0.6855, d2.loss_map_pts: 2.9292, d2.loss_map_dir: 0.0466, d3.loss_map_cls: 0.6829, d3.loss_map_pts: 2.9250, d3.loss_map_dir: 0.0466, d4.loss_map_cls: 0.6847, d4.loss_map_pts: 2.9263, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.6839, d5.loss_map_pts: 2.9262, d5.loss_map_dir: 0.0467, loss: 99.8179, grad_norm: 265.7846 2026-02-24 01:20:50,906 - DriveTransformer - INFO - Epoch [1][5750/59059] lr: 1.000e-04, eta: 23 days, 9:11:02, time: 0.560, data_time: 0.025, memory: 14138, loss_cls: 1.1154, loss_bbox: 1.3466, loss_traj: 2.3541, loss_traj_cls: 0.0006, loss_map_cls: 0.6630, loss_map_pts: 2.7587, loss_map_dir: 0.0400, d0.loss_plan_l1_fix_time: 3.7610, d0.loss_plan_l1_fix_dist: 0.8190, d1.loss_plan_l1_fix_time: 3.6378, d1.loss_plan_l1_fix_dist: 0.8983, d2.loss_plan_l1_fix_time: 3.6356, d2.loss_plan_l1_fix_dist: 1.0153, d3.loss_plan_l1_fix_time: 3.6464, d3.loss_plan_l1_fix_dist: 1.1397, d4.loss_plan_l1_fix_time: 3.6713, d4.loss_plan_l1_fix_dist: 1.2838, d5.loss_plan_l1_fix_time: 3.6957, d5.loss_plan_l1_fix_dist: 1.4454, d6.loss_plan_l1_fix_time: 3.7244, d6.loss_plan_l1_fix_dist: 1.6160, d0.loss_cls_all: 1.0826, d0.loss_bbox_all: 1.3167, d0.loss_cls: 1.0826, d0.loss_bbox: 1.3167, d1.loss_cls: 1.0870, d1.loss_bbox: 1.3138, d2.loss_cls: 1.0945, d2.loss_bbox: 1.3215, d3.loss_cls: 1.1076, d3.loss_bbox: 1.3231, d4.loss_cls: 1.1106, d4.loss_bbox: 1.3307, d5.loss_cls: 1.1079, d5.loss_bbox: 1.3366, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1724, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.3050, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3087, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3194, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3127, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3179, d0.loss_map_cls_all: 0.6446, d0.loss_map_pts_all: 3.4505, d0.loss_map_dir_all: 0.0400, d0.loss_map_cls: 0.6446, d0.loss_map_pts: 3.4505, d0.loss_map_dir: 0.0400, d1.loss_map_cls: 0.6521, d1.loss_map_pts: 2.8811, d1.loss_map_dir: 0.0399, d2.loss_map_cls: 0.6554, d2.loss_map_pts: 2.7649, d2.loss_map_dir: 0.0400, d3.loss_map_cls: 0.6579, d3.loss_map_pts: 2.7420, d3.loss_map_dir: 0.0400, d4.loss_map_cls: 0.6574, d4.loss_map_pts: 2.7441, d4.loss_map_dir: 0.0399, d5.loss_map_cls: 0.6599, d5.loss_map_pts: 2.7516, d5.loss_map_dir: 0.0400, loss: 98.5763, grad_norm: 264.5935 2026-02-24 01:21:20,645 - DriveTransformer - INFO - Epoch [1][5800/59059] lr: 1.000e-04, eta: 23 days, 9:22:36, time: 0.595, data_time: 0.030, memory: 14138, loss_cls: 1.0840, loss_bbox: 1.1994, loss_traj: 2.1044, loss_traj_cls: 0.0006, loss_map_cls: 0.6692, loss_map_pts: 2.8083, loss_map_dir: 0.0419, d0.loss_plan_l1_fix_time: 3.8839, d0.loss_plan_l1_fix_dist: 0.7391, d1.loss_plan_l1_fix_time: 3.6843, d1.loss_plan_l1_fix_dist: 0.8293, d2.loss_plan_l1_fix_time: 3.6670, d2.loss_plan_l1_fix_dist: 0.9503, d3.loss_plan_l1_fix_time: 3.6821, d3.loss_plan_l1_fix_dist: 1.0750, d4.loss_plan_l1_fix_time: 3.7038, d4.loss_plan_l1_fix_dist: 1.2065, d5.loss_plan_l1_fix_time: 3.7290, d5.loss_plan_l1_fix_dist: 1.3484, d6.loss_plan_l1_fix_time: 3.7528, d6.loss_plan_l1_fix_dist: 1.5069, d0.loss_cls_all: 1.0636, d0.loss_bbox_all: 1.1557, d0.loss_cls: 1.0636, d0.loss_bbox: 1.1557, d1.loss_cls: 1.0690, d1.loss_bbox: 1.1607, d2.loss_cls: 1.0708, d2.loss_bbox: 1.1673, d3.loss_cls: 1.0844, d3.loss_bbox: 1.1806, d4.loss_cls: 1.0890, d4.loss_bbox: 1.1915, d5.loss_cls: 1.0826, d5.loss_bbox: 1.1897, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8948, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.9600, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9805, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9943, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0480, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1142, d0.loss_map_cls_all: 0.6452, d0.loss_map_pts_all: 3.5169, d0.loss_map_dir_all: 0.0426, d0.loss_map_cls: 0.6452, d0.loss_map_pts: 3.5169, d0.loss_map_dir: 0.0426, d1.loss_map_cls: 0.6542, d1.loss_map_pts: 2.9249, d1.loss_map_dir: 0.0421, d2.loss_map_cls: 0.6585, d2.loss_map_pts: 2.8146, d2.loss_map_dir: 0.0421, d3.loss_map_cls: 0.6632, d3.loss_map_pts: 2.7894, d3.loss_map_dir: 0.0421, d4.loss_map_cls: 0.6653, d4.loss_map_pts: 2.7904, d4.loss_map_dir: 0.0421, d5.loss_map_cls: 0.6668, d5.loss_map_pts: 2.7988, d5.loss_map_dir: 0.0419, loss: 95.4308, grad_norm: 264.6693 2026-02-24 01:21:49,017 - DriveTransformer - INFO - Epoch [1][5850/59059] lr: 1.000e-04, eta: 23 days, 9:20:12, time: 0.567, data_time: 0.029, memory: 14138, loss_cls: 1.0503, loss_bbox: 1.2074, loss_traj: 2.0967, loss_traj_cls: 0.0006, loss_map_cls: 0.6494, loss_map_pts: 2.8249, loss_map_dir: 0.0398, d0.loss_plan_l1_fix_time: 3.2399, d0.loss_plan_l1_fix_dist: 0.6427, d1.loss_plan_l1_fix_time: 3.0416, d1.loss_plan_l1_fix_dist: 0.7407, d2.loss_plan_l1_fix_time: 3.0233, d2.loss_plan_l1_fix_dist: 0.8623, d3.loss_plan_l1_fix_time: 3.0336, d3.loss_plan_l1_fix_dist: 0.9976, d4.loss_plan_l1_fix_time: 3.0537, d4.loss_plan_l1_fix_dist: 1.1460, d5.loss_plan_l1_fix_time: 3.0790, d5.loss_plan_l1_fix_dist: 1.2999, d6.loss_plan_l1_fix_time: 3.1084, d6.loss_plan_l1_fix_dist: 1.4839, d0.loss_cls_all: 1.0270, d0.loss_bbox_all: 1.1670, d0.loss_cls: 1.0270, d0.loss_bbox: 1.1670, d1.loss_cls: 1.0294, d1.loss_bbox: 1.1812, d2.loss_cls: 1.0306, d2.loss_bbox: 1.1864, d3.loss_cls: 1.0437, d3.loss_bbox: 1.1987, d4.loss_cls: 1.0479, d4.loss_bbox: 1.2027, d5.loss_cls: 1.0443, d5.loss_bbox: 1.2056, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9050, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9550, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9890, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9902, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0280, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0568, d0.loss_map_cls_all: 0.6323, d0.loss_map_pts_all: 3.4629, d0.loss_map_dir_all: 0.0401, d0.loss_map_cls: 0.6323, d0.loss_map_pts: 3.4629, d0.loss_map_dir: 0.0401, d1.loss_map_cls: 0.6420, d1.loss_map_pts: 2.8874, d1.loss_map_dir: 0.0397, d2.loss_map_cls: 0.6437, d2.loss_map_pts: 2.7952, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.6448, d3.loss_map_pts: 2.7824, d3.loss_map_dir: 0.0398, d4.loss_map_cls: 0.6456, d4.loss_map_pts: 2.7911, d4.loss_map_dir: 0.0398, d5.loss_map_cls: 0.6486, d5.loss_map_pts: 2.8043, d5.loss_map_dir: 0.0398, loss: 89.8614, grad_norm: 266.9185 2026-02-24 01:22:16,648 - DriveTransformer - INFO - Epoch [1][5900/59059] lr: 1.000e-04, eta: 23 days, 9:10:27, time: 0.553, data_time: 0.023, memory: 14138, loss_cls: 1.0786, loss_bbox: 1.2560, loss_traj: 2.3334, loss_traj_cls: 0.0006, loss_map_cls: 0.6863, loss_map_pts: 2.7392, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.7838, d0.loss_plan_l1_fix_dist: 0.7044, d1.loss_plan_l1_fix_time: 3.6437, d1.loss_plan_l1_fix_dist: 0.8113, d2.loss_plan_l1_fix_time: 3.6376, d2.loss_plan_l1_fix_dist: 0.9691, d3.loss_plan_l1_fix_time: 3.6511, d3.loss_plan_l1_fix_dist: 1.1390, d4.loss_plan_l1_fix_time: 3.6703, d4.loss_plan_l1_fix_dist: 1.3167, d5.loss_plan_l1_fix_time: 3.6952, d5.loss_plan_l1_fix_dist: 1.4868, d6.loss_plan_l1_fix_time: 3.7216, d6.loss_plan_l1_fix_dist: 1.6407, d0.loss_cls_all: 1.0529, d0.loss_bbox_all: 1.2084, d0.loss_cls: 1.0529, d0.loss_bbox: 1.2084, d1.loss_cls: 1.0539, d1.loss_bbox: 1.2160, d2.loss_cls: 1.0656, d2.loss_bbox: 1.2249, d3.loss_cls: 1.0726, d3.loss_bbox: 1.2361, d4.loss_cls: 1.0797, d4.loss_bbox: 1.2503, d5.loss_cls: 1.0853, d5.loss_bbox: 1.2644, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0816, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1434, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1756, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1944, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2528, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3071, d0.loss_map_cls_all: 0.6625, d0.loss_map_pts_all: 3.3361, d0.loss_map_dir_all: 0.0392, d0.loss_map_cls: 0.6625, d0.loss_map_pts: 3.3361, d0.loss_map_dir: 0.0392, d1.loss_map_cls: 0.6735, d1.loss_map_pts: 2.7953, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.6785, d2.loss_map_pts: 2.7248, d2.loss_map_dir: 0.0392, d3.loss_map_cls: 0.6808, d3.loss_map_pts: 2.7139, d3.loss_map_dir: 0.0394, d4.loss_map_cls: 0.6835, d4.loss_map_pts: 2.7165, d4.loss_map_dir: 0.0394, d5.loss_map_cls: 0.6851, d5.loss_map_pts: 2.7254, d5.loss_map_dir: 0.0394, loss: 96.5833, grad_norm: 267.2979 2026-02-24 01:22:44,492 - DriveTransformer - INFO - Epoch [1][5950/59059] lr: 1.000e-04, eta: 23 days, 9:02:56, time: 0.557, data_time: 0.024, memory: 14138, loss_cls: 1.1372, loss_bbox: 1.2771, loss_traj: 1.9293, loss_traj_cls: 0.0005, loss_map_cls: 0.6803, loss_map_pts: 2.9717, loss_map_dir: 0.0463, d0.loss_plan_l1_fix_time: 3.4851, d0.loss_plan_l1_fix_dist: 0.7084, d1.loss_plan_l1_fix_time: 3.3667, d1.loss_plan_l1_fix_dist: 0.8105, d2.loss_plan_l1_fix_time: 3.3688, d2.loss_plan_l1_fix_dist: 0.9480, d3.loss_plan_l1_fix_time: 3.3903, d3.loss_plan_l1_fix_dist: 1.0965, d4.loss_plan_l1_fix_time: 3.4160, d4.loss_plan_l1_fix_dist: 1.2572, d5.loss_plan_l1_fix_time: 3.4448, d5.loss_plan_l1_fix_dist: 1.4130, d6.loss_plan_l1_fix_time: 3.4723, d6.loss_plan_l1_fix_dist: 1.5375, d0.loss_cls_all: 1.1209, d0.loss_bbox_all: 1.2488, d0.loss_cls: 1.1209, d0.loss_bbox: 1.2488, d1.loss_cls: 1.1182, d1.loss_bbox: 1.2515, d2.loss_cls: 1.1340, d2.loss_bbox: 1.2586, d3.loss_cls: 1.1411, d3.loss_bbox: 1.2651, d4.loss_cls: 1.1478, d4.loss_bbox: 1.2765, d5.loss_cls: 1.1527, d5.loss_bbox: 1.2853, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7814, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8322, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8689, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8609, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8626, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9043, d0.loss_map_cls_all: 0.6647, d0.loss_map_pts_all: 3.5341, d0.loss_map_dir_all: 0.0457, d0.loss_map_cls: 0.6647, d0.loss_map_pts: 3.5341, d0.loss_map_dir: 0.0457, d1.loss_map_cls: 0.6720, d1.loss_map_pts: 3.0300, d1.loss_map_dir: 0.0458, d2.loss_map_cls: 0.6758, d2.loss_map_pts: 2.9628, d2.loss_map_dir: 0.0460, d3.loss_map_cls: 0.6768, d3.loss_map_pts: 2.9529, d3.loss_map_dir: 0.0462, d4.loss_map_cls: 0.6759, d4.loss_map_pts: 2.9563, d4.loss_map_dir: 0.0463, d5.loss_map_cls: 0.6766, d5.loss_map_pts: 2.9638, d5.loss_map_dir: 0.0463, loss: 94.6042, grad_norm: 267.9330 2026-02-24 01:23:12,252 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 01:23:12,252 - DriveTransformer - INFO - Epoch [1][6000/59059] lr: 1.000e-04, eta: 23 days, 8:55:08, time: 0.556, data_time: 0.025, memory: 14138, loss_cls: 1.0673, loss_bbox: 1.3020, loss_traj: 2.5764, loss_traj_cls: 0.0005, loss_map_cls: 0.6713, loss_map_pts: 2.5739, loss_map_dir: 0.0399, d0.loss_plan_l1_fix_time: 3.9370, d0.loss_plan_l1_fix_dist: 0.6799, d1.loss_plan_l1_fix_time: 3.7197, d1.loss_plan_l1_fix_dist: 0.7452, d2.loss_plan_l1_fix_time: 3.7167, d2.loss_plan_l1_fix_dist: 0.8303, d3.loss_plan_l1_fix_time: 3.7362, d3.loss_plan_l1_fix_dist: 0.9315, d4.loss_plan_l1_fix_time: 3.7552, d4.loss_plan_l1_fix_dist: 1.0474, d5.loss_plan_l1_fix_time: 3.7756, d5.loss_plan_l1_fix_dist: 1.1802, d6.loss_plan_l1_fix_time: 3.7951, d6.loss_plan_l1_fix_dist: 1.3471, d0.loss_cls_all: 1.0545, d0.loss_bbox_all: 1.1873, d0.loss_cls: 1.0545, d0.loss_bbox: 1.1873, d1.loss_cls: 1.0532, d1.loss_bbox: 1.1963, d2.loss_cls: 1.0600, d2.loss_bbox: 1.2017, d3.loss_cls: 1.0644, d3.loss_bbox: 1.2055, d4.loss_cls: 1.0639, d4.loss_bbox: 1.2223, d5.loss_cls: 1.0673, d5.loss_bbox: 1.2443, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.4474, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4606, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4821, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4934, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5205, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5418, d0.loss_map_cls_all: 0.6547, d0.loss_map_pts_all: 3.3054, d0.loss_map_dir_all: 0.0398, d0.loss_map_cls: 0.6547, d0.loss_map_pts: 3.3054, d0.loss_map_dir: 0.0398, d1.loss_map_cls: 0.6622, d1.loss_map_pts: 2.7028, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.6661, d2.loss_map_pts: 2.5992, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.6664, d3.loss_map_pts: 2.5816, d3.loss_map_dir: 0.0398, d4.loss_map_cls: 0.6687, d4.loss_map_pts: 2.5771, d4.loss_map_dir: 0.0399, d5.loss_map_cls: 0.6697, d5.loss_map_pts: 2.5759, d5.loss_map_dir: 0.0399, loss: 96.8083, grad_norm: 266.3974 2026-02-24 01:23:41,135 - DriveTransformer - INFO - Epoch [1][6050/59059] lr: 1.000e-04, eta: 23 days, 8:57:33, time: 0.577, data_time: 0.026, memory: 14138, loss_cls: 1.1119, loss_bbox: 1.2665, loss_traj: 2.4026, loss_traj_cls: 0.0005, loss_map_cls: 0.6684, loss_map_pts: 2.8858, loss_map_dir: 0.0482, d0.loss_plan_l1_fix_time: 4.0016, d0.loss_plan_l1_fix_dist: 0.8044, d1.loss_plan_l1_fix_time: 3.8630, d1.loss_plan_l1_fix_dist: 0.8569, d2.loss_plan_l1_fix_time: 3.8544, d2.loss_plan_l1_fix_dist: 0.9494, d3.loss_plan_l1_fix_time: 3.8682, d3.loss_plan_l1_fix_dist: 1.0439, d4.loss_plan_l1_fix_time: 3.8850, d4.loss_plan_l1_fix_dist: 1.1462, d5.loss_plan_l1_fix_time: 3.9023, d5.loss_plan_l1_fix_dist: 1.2793, d6.loss_plan_l1_fix_time: 3.9222, d6.loss_plan_l1_fix_dist: 1.4431, d0.loss_cls_all: 1.0907, d0.loss_bbox_all: 1.1926, d0.loss_cls: 1.0907, d0.loss_bbox: 1.1926, d1.loss_cls: 1.0932, d1.loss_bbox: 1.2019, d2.loss_cls: 1.0986, d2.loss_bbox: 1.2064, d3.loss_cls: 1.1001, d3.loss_bbox: 1.2108, d4.loss_cls: 1.1082, d4.loss_bbox: 1.2184, d5.loss_cls: 1.1135, d5.loss_bbox: 1.2328, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2954, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3250, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3302, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3158, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3562, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3733, d0.loss_map_cls_all: 0.6560, d0.loss_map_pts_all: 3.4803, d0.loss_map_dir_all: 0.0476, d0.loss_map_cls: 0.6560, d0.loss_map_pts: 3.4803, d0.loss_map_dir: 0.0476, d1.loss_map_cls: 0.6633, d1.loss_map_pts: 2.9546, d1.loss_map_dir: 0.0480, d2.loss_map_cls: 0.6637, d2.loss_map_pts: 2.8803, d2.loss_map_dir: 0.0481, d3.loss_map_cls: 0.6661, d3.loss_map_pts: 2.8703, d3.loss_map_dir: 0.0483, d4.loss_map_cls: 0.6641, d4.loss_map_pts: 2.8723, d4.loss_map_dir: 0.0483, d5.loss_map_cls: 0.6666, d5.loss_map_pts: 2.8788, d5.loss_map_dir: 0.0483, loss: 99.7421, grad_norm: 265.5334 2026-02-24 01:24:10,407 - DriveTransformer - INFO - Epoch [1][6100/59059] lr: 1.000e-04, eta: 23 days, 9:04:07, time: 0.585, data_time: 0.027, memory: 14138, loss_cls: 1.0445, loss_bbox: 1.2106, loss_traj: 2.1559, loss_traj_cls: 0.0005, loss_map_cls: 0.6626, loss_map_pts: 3.0420, loss_map_dir: 0.0470, d0.loss_plan_l1_fix_time: 3.2914, d0.loss_plan_l1_fix_dist: 0.6845, d1.loss_plan_l1_fix_time: 3.1651, d1.loss_plan_l1_fix_dist: 0.8063, d2.loss_plan_l1_fix_time: 3.1579, d2.loss_plan_l1_fix_dist: 0.9788, d3.loss_plan_l1_fix_time: 3.1686, d3.loss_plan_l1_fix_dist: 1.1348, d4.loss_plan_l1_fix_time: 3.1856, d4.loss_plan_l1_fix_dist: 1.2988, d5.loss_plan_l1_fix_time: 3.2042, d5.loss_plan_l1_fix_dist: 1.4721, d6.loss_plan_l1_fix_time: 3.2233, d6.loss_plan_l1_fix_dist: 1.6228, d0.loss_cls_all: 1.0304, d0.loss_bbox_all: 1.1506, d0.loss_cls: 1.0304, d0.loss_bbox: 1.1506, d1.loss_cls: 1.0368, d1.loss_bbox: 1.1592, d2.loss_cls: 1.0360, d2.loss_bbox: 1.1605, d3.loss_cls: 1.0420, d3.loss_bbox: 1.1695, d4.loss_cls: 1.0393, d4.loss_bbox: 1.1784, d5.loss_cls: 1.0396, d5.loss_bbox: 1.1854, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0119, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0180, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0389, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0449, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0583, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0858, d0.loss_map_cls_all: 0.6522, d0.loss_map_pts_all: 3.6706, d0.loss_map_dir_all: 0.0475, d0.loss_map_cls: 0.6522, d0.loss_map_pts: 3.6706, d0.loss_map_dir: 0.0475, d1.loss_map_cls: 0.6540, d1.loss_map_pts: 3.1394, d1.loss_map_dir: 0.0468, d2.loss_map_cls: 0.6574, d2.loss_map_pts: 3.0500, d2.loss_map_dir: 0.0469, d3.loss_map_cls: 0.6589, d3.loss_map_pts: 3.0251, d3.loss_map_dir: 0.0470, d4.loss_map_cls: 0.6595, d4.loss_map_pts: 3.0207, d4.loss_map_dir: 0.0470, d5.loss_map_cls: 0.6606, d5.loss_map_pts: 3.0268, d5.loss_map_dir: 0.0470, loss: 93.7544, grad_norm: 265.7476 2026-02-24 01:24:38,850 - DriveTransformer - INFO - Epoch [1][6150/59059] lr: 1.000e-04, eta: 23 days, 9:02:37, time: 0.569, data_time: 0.029, memory: 14138, loss_cls: 1.0218, loss_bbox: 1.2047, loss_traj: 2.3214, loss_traj_cls: 0.0005, loss_map_cls: 0.6782, loss_map_pts: 2.5940, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 3.9884, d0.loss_plan_l1_fix_dist: 0.7304, d1.loss_plan_l1_fix_time: 3.8780, d1.loss_plan_l1_fix_dist: 0.8061, d2.loss_plan_l1_fix_time: 3.8780, d2.loss_plan_l1_fix_dist: 0.9257, d3.loss_plan_l1_fix_time: 3.8913, d3.loss_plan_l1_fix_dist: 1.0473, d4.loss_plan_l1_fix_time: 3.9134, d4.loss_plan_l1_fix_dist: 1.1822, d5.loss_plan_l1_fix_time: 3.9393, d5.loss_plan_l1_fix_dist: 1.3282, d6.loss_plan_l1_fix_time: 3.9665, d6.loss_plan_l1_fix_dist: 1.4656, d0.loss_cls_all: 1.0063, d0.loss_bbox_all: 1.1412, d0.loss_cls: 1.0063, d0.loss_bbox: 1.1412, d1.loss_cls: 1.0084, d1.loss_bbox: 1.1525, d2.loss_cls: 1.0110, d2.loss_bbox: 1.1510, d3.loss_cls: 1.0172, d3.loss_bbox: 1.1576, d4.loss_cls: 1.0141, d4.loss_bbox: 1.1667, d5.loss_cls: 1.0124, d5.loss_bbox: 1.1846, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2105, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2452, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2603, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2840, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2977, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2742, d0.loss_map_cls_all: 0.6524, d0.loss_map_pts_all: 3.3149, d0.loss_map_dir_all: 0.0425, d0.loss_map_cls: 0.6524, d0.loss_map_pts: 3.3149, d0.loss_map_dir: 0.0425, d1.loss_map_cls: 0.6639, d1.loss_map_pts: 2.7410, d1.loss_map_dir: 0.0423, d2.loss_map_cls: 0.6684, d2.loss_map_pts: 2.6295, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.6712, d3.loss_map_pts: 2.6007, d3.loss_map_dir: 0.0427, d4.loss_map_cls: 0.6731, d4.loss_map_pts: 2.5910, d4.loss_map_dir: 0.0427, d5.loss_map_cls: 0.6746, d5.loss_map_pts: 2.5890, d5.loss_map_dir: 0.0428, loss: 96.2842, grad_norm: 264.7929 2026-02-24 01:25:07,549 - DriveTransformer - INFO - Epoch [1][6200/59059] lr: 1.000e-04, eta: 23 days, 9:03:34, time: 0.574, data_time: 0.028, memory: 14138, loss_cls: 1.0808, loss_bbox: 1.2358, loss_traj: 2.3352, loss_traj_cls: 0.0005, loss_map_cls: 0.6753, loss_map_pts: 3.0189, loss_map_dir: 0.0486, d0.loss_plan_l1_fix_time: 3.6226, d0.loss_plan_l1_fix_dist: 0.7883, d1.loss_plan_l1_fix_time: 3.6059, d1.loss_plan_l1_fix_dist: 0.8738, d2.loss_plan_l1_fix_time: 3.6191, d2.loss_plan_l1_fix_dist: 0.9803, d3.loss_plan_l1_fix_time: 3.6348, d3.loss_plan_l1_fix_dist: 1.1177, d4.loss_plan_l1_fix_time: 3.6598, d4.loss_plan_l1_fix_dist: 1.2672, d5.loss_plan_l1_fix_time: 3.6870, d5.loss_plan_l1_fix_dist: 1.4203, d6.loss_plan_l1_fix_time: 3.7152, d6.loss_plan_l1_fix_dist: 1.6161, d0.loss_cls_all: 1.0824, d0.loss_bbox_all: 1.1519, d0.loss_cls: 1.0824, d0.loss_bbox: 1.1519, d1.loss_cls: 1.0833, d1.loss_bbox: 1.1755, d2.loss_cls: 1.0845, d2.loss_bbox: 1.1760, d3.loss_cls: 1.0843, d3.loss_bbox: 1.1913, d4.loss_cls: 1.0812, d4.loss_bbox: 1.2054, d5.loss_cls: 1.0784, d5.loss_bbox: 1.2256, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1371, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1987, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2221, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2546, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2613, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2850, d0.loss_map_cls_all: 0.6628, d0.loss_map_pts_all: 3.6971, d0.loss_map_dir_all: 0.0487, d0.loss_map_cls: 0.6628, d0.loss_map_pts: 3.6971, d0.loss_map_dir: 0.0487, d1.loss_map_cls: 0.6693, d1.loss_map_pts: 3.1539, d1.loss_map_dir: 0.0484, d2.loss_map_cls: 0.6750, d2.loss_map_pts: 3.0528, d2.loss_map_dir: 0.0486, d3.loss_map_cls: 0.6742, d3.loss_map_pts: 3.0293, d3.loss_map_dir: 0.0485, d4.loss_map_cls: 0.6736, d4.loss_map_pts: 3.0203, d4.loss_map_dir: 0.0486, d5.loss_map_cls: 0.6739, d5.loss_map_pts: 3.0183, d5.loss_map_dir: 0.0486, loss: 98.9195, grad_norm: 265.0400 2026-02-24 01:25:35,375 - DriveTransformer - INFO - Epoch [1][6250/59059] lr: 1.000e-04, eta: 23 days, 8:56:15, time: 0.556, data_time: 0.030, memory: 14138, loss_cls: 1.0642, loss_bbox: 1.1973, loss_traj: 2.1410, loss_traj_cls: 0.0006, loss_map_cls: 0.6592, loss_map_pts: 2.8717, loss_map_dir: 0.0452, d0.loss_plan_l1_fix_time: 3.5431, d0.loss_plan_l1_fix_dist: 0.5616, d1.loss_plan_l1_fix_time: 3.4524, d1.loss_plan_l1_fix_dist: 0.6492, d2.loss_plan_l1_fix_time: 3.4642, d2.loss_plan_l1_fix_dist: 0.7647, d3.loss_plan_l1_fix_time: 3.4846, d3.loss_plan_l1_fix_dist: 0.8955, d4.loss_plan_l1_fix_time: 3.5066, d4.loss_plan_l1_fix_dist: 1.0324, d5.loss_plan_l1_fix_time: 3.5290, d5.loss_plan_l1_fix_dist: 1.1684, d6.loss_plan_l1_fix_time: 3.5515, d6.loss_plan_l1_fix_dist: 1.3234, d0.loss_cls_all: 1.0613, d0.loss_bbox_all: 1.1485, d0.loss_cls: 1.0613, d0.loss_bbox: 1.1485, d1.loss_cls: 1.0660, d1.loss_bbox: 1.1636, d2.loss_cls: 1.0600, d2.loss_bbox: 1.1614, d3.loss_cls: 1.0655, d3.loss_bbox: 1.1688, d4.loss_cls: 1.0620, d4.loss_bbox: 1.1764, d5.loss_cls: 1.0595, d5.loss_bbox: 1.1925, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9172, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9597, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.9996, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0504, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1009, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1185, d0.loss_map_cls_all: 0.6454, d0.loss_map_pts_all: 3.5219, d0.loss_map_dir_all: 0.0451, d0.loss_map_cls: 0.6454, d0.loss_map_pts: 3.5219, d0.loss_map_dir: 0.0451, d1.loss_map_cls: 0.6529, d1.loss_map_pts: 2.9948, d1.loss_map_dir: 0.0447, d2.loss_map_cls: 0.6548, d2.loss_map_pts: 2.9020, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6566, d3.loss_map_pts: 2.8768, d3.loss_map_dir: 0.0451, d4.loss_map_cls: 0.6563, d4.loss_map_pts: 2.8711, d4.loss_map_dir: 0.0451, d5.loss_map_cls: 0.6571, d5.loss_map_pts: 2.8706, d5.loss_map_dir: 0.0452, loss: 93.0937, grad_norm: 264.8916 2026-02-24 01:26:04,729 - DriveTransformer - INFO - Epoch [1][6300/59059] lr: 1.000e-04, eta: 23 days, 9:03:21, time: 0.587, data_time: 0.027, memory: 14138, loss_cls: 1.0978, loss_bbox: 1.2949, loss_traj: 1.8841, loss_traj_cls: 0.0006, loss_map_cls: 0.6828, loss_map_pts: 3.1976, loss_map_dir: 0.0507, d0.loss_plan_l1_fix_time: 3.4159, d0.loss_plan_l1_fix_dist: 0.7427, d1.loss_plan_l1_fix_time: 3.3105, d1.loss_plan_l1_fix_dist: 0.8031, d2.loss_plan_l1_fix_time: 3.3002, d2.loss_plan_l1_fix_dist: 0.9066, d3.loss_plan_l1_fix_time: 3.3130, d3.loss_plan_l1_fix_dist: 1.0271, d4.loss_plan_l1_fix_time: 3.3324, d4.loss_plan_l1_fix_dist: 1.1631, d5.loss_plan_l1_fix_time: 3.3548, d5.loss_plan_l1_fix_dist: 1.3134, d6.loss_plan_l1_fix_time: 3.3790, d6.loss_plan_l1_fix_dist: 1.4566, d0.loss_cls_all: 1.0885, d0.loss_bbox_all: 1.2318, d0.loss_cls: 1.0885, d0.loss_bbox: 1.2318, d1.loss_cls: 1.0906, d1.loss_bbox: 1.2403, d2.loss_cls: 1.0926, d2.loss_bbox: 1.2548, d3.loss_cls: 1.0966, d3.loss_bbox: 1.2630, d4.loss_cls: 1.0965, d4.loss_bbox: 1.2704, d5.loss_cls: 1.0998, d5.loss_bbox: 1.2808, d0.loss_traj_cls: 0.0005, d0.loss_traj: 1.6218, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.6633, d2.loss_traj_cls: 0.0007, d2.loss_traj: 1.6829, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6959, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7287, d5.loss_traj_cls: 0.0006, d5.loss_traj: 1.7595, d0.loss_map_cls_all: 0.6727, d0.loss_map_pts_all: 3.7050, d0.loss_map_dir_all: 0.0502, d0.loss_map_cls: 0.6727, d0.loss_map_pts: 3.7050, d0.loss_map_dir: 0.0502, d1.loss_map_cls: 0.6787, d1.loss_map_pts: 3.2716, d1.loss_map_dir: 0.0501, d2.loss_map_cls: 0.6827, d2.loss_map_pts: 3.2084, d2.loss_map_dir: 0.0505, d3.loss_map_cls: 0.6825, d3.loss_map_pts: 3.1973, d3.loss_map_dir: 0.0506, d4.loss_map_cls: 0.6806, d4.loss_map_pts: 3.1956, d4.loss_map_dir: 0.0507, d5.loss_map_cls: 0.6812, d5.loss_map_pts: 3.1959, d5.loss_map_dir: 0.0507, loss: 94.1911, grad_norm: 264.5886 2026-02-24 01:26:33,115 - DriveTransformer - INFO - Epoch [1][6350/59059] lr: 1.000e-04, eta: 23 days, 9:01:24, time: 0.568, data_time: 0.027, memory: 14138, loss_cls: 1.1026, loss_bbox: 1.2568, loss_traj: 2.5131, loss_traj_cls: 0.0006, loss_map_cls: 0.6780, loss_map_pts: 2.7545, loss_map_dir: 0.0483, d0.loss_plan_l1_fix_time: 3.4594, d0.loss_plan_l1_fix_dist: 0.7382, d1.loss_plan_l1_fix_time: 3.3176, d1.loss_plan_l1_fix_dist: 0.8014, d2.loss_plan_l1_fix_time: 3.3064, d2.loss_plan_l1_fix_dist: 0.9113, d3.loss_plan_l1_fix_time: 3.3208, d3.loss_plan_l1_fix_dist: 1.0286, d4.loss_plan_l1_fix_time: 3.3404, d4.loss_plan_l1_fix_dist: 1.1589, d5.loss_plan_l1_fix_time: 3.3634, d5.loss_plan_l1_fix_dist: 1.3023, d6.loss_plan_l1_fix_time: 3.3862, d6.loss_plan_l1_fix_dist: 1.4435, d0.loss_cls_all: 1.0952, d0.loss_bbox_all: 1.1866, d0.loss_cls: 1.0952, d0.loss_bbox: 1.1866, d1.loss_cls: 1.0946, d1.loss_bbox: 1.1957, d2.loss_cls: 1.1036, d2.loss_bbox: 1.2074, d3.loss_cls: 1.1014, d3.loss_bbox: 1.2122, d4.loss_cls: 1.1019, d4.loss_bbox: 1.2251, d5.loss_cls: 1.1020, d5.loss_bbox: 1.2404, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2349, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2937, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2972, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3212, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3615, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4113, d0.loss_map_cls_all: 0.6594, d0.loss_map_pts_all: 3.4393, d0.loss_map_dir_all: 0.0475, d0.loss_map_cls: 0.6594, d0.loss_map_pts: 3.4393, d0.loss_map_dir: 0.0475, d1.loss_map_cls: 0.6698, d1.loss_map_pts: 2.8794, d1.loss_map_dir: 0.0475, d2.loss_map_cls: 0.6737, d2.loss_map_pts: 2.7803, d2.loss_map_dir: 0.0478, d3.loss_map_cls: 0.6756, d3.loss_map_pts: 2.7592, d3.loss_map_dir: 0.0480, d4.loss_map_cls: 0.6754, d4.loss_map_pts: 2.7539, d4.loss_map_dir: 0.0481, d5.loss_map_cls: 0.6766, d5.loss_map_pts: 2.7523, d5.loss_map_dir: 0.0482, loss: 95.1309, grad_norm: 264.0894 2026-02-24 01:27:01,510 - DriveTransformer - INFO - Epoch [1][6400/59059] lr: 1.000e-04, eta: 23 days, 8:59:31, time: 0.568, data_time: 0.027, memory: 14138, loss_cls: 1.0855, loss_bbox: 1.2384, loss_traj: 2.5675, loss_traj_cls: 0.0005, loss_map_cls: 0.6515, loss_map_pts: 3.0465, loss_map_dir: 0.0501, d0.loss_plan_l1_fix_time: 3.8857, d0.loss_plan_l1_fix_dist: 0.6591, d1.loss_plan_l1_fix_time: 3.6801, d1.loss_plan_l1_fix_dist: 0.7194, d2.loss_plan_l1_fix_time: 3.6418, d2.loss_plan_l1_fix_dist: 0.8102, d3.loss_plan_l1_fix_time: 3.6382, d3.loss_plan_l1_fix_dist: 0.9101, d4.loss_plan_l1_fix_time: 3.6486, d4.loss_plan_l1_fix_dist: 1.0112, d5.loss_plan_l1_fix_time: 3.6638, d5.loss_plan_l1_fix_dist: 1.1288, d6.loss_plan_l1_fix_time: 3.6813, d6.loss_plan_l1_fix_dist: 1.2595, d0.loss_cls_all: 1.0828, d0.loss_bbox_all: 1.1715, d0.loss_cls: 1.0828, d0.loss_bbox: 1.1715, d1.loss_cls: 1.0795, d1.loss_bbox: 1.1805, d2.loss_cls: 1.0839, d2.loss_bbox: 1.1800, d3.loss_cls: 1.0839, d3.loss_bbox: 1.1827, d4.loss_cls: 1.0843, d4.loss_bbox: 1.1957, d5.loss_cls: 1.0826, d5.loss_bbox: 1.2124, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3393, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3744, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4042, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4349, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4949, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5285, d0.loss_map_cls_all: 0.6357, d0.loss_map_pts_all: 3.5888, d0.loss_map_dir_all: 0.0494, d0.loss_map_cls: 0.6357, d0.loss_map_pts: 3.5888, d0.loss_map_dir: 0.0494, d1.loss_map_cls: 0.6438, d1.loss_map_pts: 3.0963, d1.loss_map_dir: 0.0493, d2.loss_map_cls: 0.6474, d2.loss_map_pts: 3.0330, d2.loss_map_dir: 0.0496, d3.loss_map_cls: 0.6475, d3.loss_map_pts: 3.0270, d3.loss_map_dir: 0.0498, d4.loss_map_cls: 0.6483, d4.loss_map_pts: 3.0329, d4.loss_map_dir: 0.0499, d5.loss_map_cls: 0.6498, d5.loss_map_pts: 3.0396, d5.loss_map_dir: 0.0500, loss: 98.6931, grad_norm: 264.0976 2026-02-24 01:27:30,627 - DriveTransformer - INFO - Epoch [1][6450/59059] lr: 1.000e-04, eta: 23 days, 9:04:10, time: 0.582, data_time: 0.025, memory: 14138, loss_cls: 1.1053, loss_bbox: 1.2473, loss_traj: 2.3409, loss_traj_cls: 0.0006, loss_map_cls: 0.6564, loss_map_pts: 3.3659, loss_map_dir: 0.0541, d0.loss_plan_l1_fix_time: 3.8196, d0.loss_plan_l1_fix_dist: 0.6631, d1.loss_plan_l1_fix_time: 3.6467, d1.loss_plan_l1_fix_dist: 0.7229, d2.loss_plan_l1_fix_time: 3.6456, d2.loss_plan_l1_fix_dist: 0.8116, d3.loss_plan_l1_fix_time: 3.6651, d3.loss_plan_l1_fix_dist: 0.9150, d4.loss_plan_l1_fix_time: 3.6829, d4.loss_plan_l1_fix_dist: 1.0266, d5.loss_plan_l1_fix_time: 3.7018, d5.loss_plan_l1_fix_dist: 1.1450, d6.loss_plan_l1_fix_time: 3.7152, d6.loss_plan_l1_fix_dist: 1.2666, d0.loss_cls_all: 1.0915, d0.loss_bbox_all: 1.1973, d0.loss_cls: 1.0915, d0.loss_bbox: 1.1973, d1.loss_cls: 1.0903, d1.loss_bbox: 1.2045, d2.loss_cls: 1.1036, d2.loss_bbox: 1.2059, d3.loss_cls: 1.1014, d3.loss_bbox: 1.2112, d4.loss_cls: 1.1055, d4.loss_bbox: 1.2180, d5.loss_cls: 1.1075, d5.loss_bbox: 1.2267, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1461, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2195, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2586, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2871, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3132, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2973, d0.loss_map_cls_all: 0.6437, d0.loss_map_pts_all: 3.9117, d0.loss_map_dir_all: 0.0537, d0.loss_map_cls: 0.6437, d0.loss_map_pts: 3.9117, d0.loss_map_dir: 0.0537, d1.loss_map_cls: 0.6491, d1.loss_map_pts: 3.4097, d1.loss_map_dir: 0.0535, d2.loss_map_cls: 0.6526, d2.loss_map_pts: 3.3555, d2.loss_map_dir: 0.0538, d3.loss_map_cls: 0.6515, d3.loss_map_pts: 3.3491, d3.loss_map_dir: 0.0539, d4.loss_map_cls: 0.6514, d4.loss_map_pts: 3.3516, d4.loss_map_dir: 0.0540, d5.loss_map_cls: 0.6533, d5.loss_map_pts: 3.3587, d5.loss_map_dir: 0.0541, loss: 100.4448, grad_norm: 263.2971 2026-02-24 01:27:58,464 - DriveTransformer - INFO - Epoch [1][6500/59059] lr: 1.000e-04, eta: 23 days, 8:57:12, time: 0.557, data_time: 0.027, memory: 14138, loss_cls: 1.0780, loss_bbox: 1.1725, loss_traj: 2.2653, loss_traj_cls: 0.0005, loss_map_cls: 0.6848, loss_map_pts: 2.7599, loss_map_dir: 0.0444, d0.loss_plan_l1_fix_time: 3.8410, d0.loss_plan_l1_fix_dist: 0.7513, d1.loss_plan_l1_fix_time: 3.7833, d1.loss_plan_l1_fix_dist: 0.8132, d2.loss_plan_l1_fix_time: 3.7953, d2.loss_plan_l1_fix_dist: 0.9010, d3.loss_plan_l1_fix_time: 3.8129, d3.loss_plan_l1_fix_dist: 1.0075, d4.loss_plan_l1_fix_time: 3.8347, d4.loss_plan_l1_fix_dist: 1.1264, d5.loss_plan_l1_fix_time: 3.8560, d5.loss_plan_l1_fix_dist: 1.2409, d6.loss_plan_l1_fix_time: 3.8783, d6.loss_plan_l1_fix_dist: 1.3584, d0.loss_cls_all: 1.0592, d0.loss_bbox_all: 1.1244, d0.loss_cls: 1.0592, d0.loss_bbox: 1.1244, d1.loss_cls: 1.0589, d1.loss_bbox: 1.1228, d2.loss_cls: 1.0690, d2.loss_bbox: 1.1319, d3.loss_cls: 1.0694, d3.loss_bbox: 1.1406, d4.loss_cls: 1.0782, d4.loss_bbox: 1.1425, d5.loss_cls: 1.0808, d5.loss_bbox: 1.1491, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0380, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1026, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0755, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0819, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1232, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1939, d0.loss_map_cls_all: 0.6662, d0.loss_map_pts_all: 3.4144, d0.loss_map_dir_all: 0.0443, d0.loss_map_cls: 0.6662, d0.loss_map_pts: 3.4144, d0.loss_map_dir: 0.0443, d1.loss_map_cls: 0.6730, d1.loss_map_pts: 2.8098, d1.loss_map_dir: 0.0440, d2.loss_map_cls: 0.6767, d2.loss_map_pts: 2.7458, d2.loss_map_dir: 0.0442, d3.loss_map_cls: 0.6787, d3.loss_map_pts: 2.7421, d3.loss_map_dir: 0.0443, d4.loss_map_cls: 0.6808, d4.loss_map_pts: 2.7497, d4.loss_map_dir: 0.0443, d5.loss_map_cls: 0.6824, d5.loss_map_pts: 2.7573, d5.loss_map_dir: 0.0443, loss: 95.7015, grad_norm: 262.8210 2026-02-24 01:28:27,444 - DriveTransformer - INFO - Epoch [1][6550/59059] lr: 1.000e-04, eta: 23 days, 9:00:37, time: 0.580, data_time: 0.028, memory: 14138, loss_cls: 1.1064, loss_bbox: 1.1783, loss_traj: 2.5683, loss_traj_cls: 0.0005, loss_map_cls: 0.6468, loss_map_pts: 2.9538, loss_map_dir: 0.0518, d0.loss_plan_l1_fix_time: 3.6795, d0.loss_plan_l1_fix_dist: 0.5518, d1.loss_plan_l1_fix_time: 3.4903, d1.loss_plan_l1_fix_dist: 0.6125, d2.loss_plan_l1_fix_time: 3.4805, d2.loss_plan_l1_fix_dist: 0.7006, d3.loss_plan_l1_fix_time: 3.4914, d3.loss_plan_l1_fix_dist: 0.8035, d4.loss_plan_l1_fix_time: 3.5076, d4.loss_plan_l1_fix_dist: 0.9192, d5.loss_plan_l1_fix_time: 3.5250, d5.loss_plan_l1_fix_dist: 1.0464, d6.loss_plan_l1_fix_time: 3.5481, d6.loss_plan_l1_fix_dist: 1.1861, d0.loss_cls_all: 1.0829, d0.loss_bbox_all: 1.1145, d0.loss_cls: 1.0829, d0.loss_bbox: 1.1145, d1.loss_cls: 1.0863, d1.loss_bbox: 1.1178, d2.loss_cls: 1.0943, d2.loss_bbox: 1.1257, d3.loss_cls: 1.0985, d3.loss_bbox: 1.1381, d4.loss_cls: 1.0980, d4.loss_bbox: 1.1464, d5.loss_cls: 1.1017, d5.loss_bbox: 1.1534, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3643, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3914, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4200, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4535, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4766, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5265, d0.loss_map_cls_all: 0.6361, d0.loss_map_pts_all: 3.5909, d0.loss_map_dir_all: 0.0508, d0.loss_map_cls: 0.6361, d0.loss_map_pts: 3.5909, d0.loss_map_dir: 0.0508, d1.loss_map_cls: 0.6432, d1.loss_map_pts: 2.9986, d1.loss_map_dir: 0.0512, d2.loss_map_cls: 0.6474, d2.loss_map_pts: 2.9458, d2.loss_map_dir: 0.0516, d3.loss_map_cls: 0.6472, d3.loss_map_pts: 2.9413, d3.loss_map_dir: 0.0517, d4.loss_map_cls: 0.6464, d4.loss_map_pts: 2.9439, d4.loss_map_dir: 0.0518, d5.loss_map_cls: 0.6467, d5.loss_map_pts: 2.9472, d5.loss_map_dir: 0.0518, loss: 96.0604, grad_norm: 263.3220 2026-02-24 01:28:55,756 - DriveTransformer - INFO - Epoch [1][6600/59059] lr: 1.000e-04, eta: 23 days, 8:58:01, time: 0.566, data_time: 0.031, memory: 14138, loss_cls: 1.0480, loss_bbox: 1.1711, loss_traj: 2.2320, loss_traj_cls: 0.0005, loss_map_cls: 0.6662, loss_map_pts: 2.7658, loss_map_dir: 0.0476, d0.loss_plan_l1_fix_time: 3.3263, d0.loss_plan_l1_fix_dist: 0.6321, d1.loss_plan_l1_fix_time: 3.2087, d1.loss_plan_l1_fix_dist: 0.6828, d2.loss_plan_l1_fix_time: 3.2139, d2.loss_plan_l1_fix_dist: 0.7497, d3.loss_plan_l1_fix_time: 3.2303, d3.loss_plan_l1_fix_dist: 0.8374, d4.loss_plan_l1_fix_time: 3.2485, d4.loss_plan_l1_fix_dist: 0.9443, d5.loss_plan_l1_fix_time: 3.2684, d5.loss_plan_l1_fix_dist: 1.0717, d6.loss_plan_l1_fix_time: 3.2941, d6.loss_plan_l1_fix_dist: 1.2013, d0.loss_cls_all: 1.0442, d0.loss_bbox_all: 1.0911, d0.loss_cls: 1.0442, d0.loss_bbox: 1.0911, d1.loss_cls: 1.0431, d1.loss_bbox: 1.1005, d2.loss_cls: 1.0472, d2.loss_bbox: 1.1057, d3.loss_cls: 1.0488, d3.loss_bbox: 1.1150, d4.loss_cls: 1.0467, d4.loss_bbox: 1.1320, d5.loss_cls: 1.0459, d5.loss_bbox: 1.1435, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0707, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1136, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1238, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1637, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1893, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2025, d0.loss_map_cls_all: 0.6481, d0.loss_map_pts_all: 3.4093, d0.loss_map_dir_all: 0.0470, d0.loss_map_cls: 0.6481, d0.loss_map_pts: 3.4093, d0.loss_map_dir: 0.0470, d1.loss_map_cls: 0.6582, d1.loss_map_pts: 2.8057, d1.loss_map_dir: 0.0472, d2.loss_map_cls: 0.6645, d2.loss_map_pts: 2.7523, d2.loss_map_dir: 0.0473, d3.loss_map_cls: 0.6649, d3.loss_map_pts: 2.7447, d3.loss_map_dir: 0.0474, d4.loss_map_cls: 0.6647, d4.loss_map_pts: 2.7443, d4.loss_map_dir: 0.0475, d5.loss_map_cls: 0.6650, d5.loss_map_pts: 2.7499, d5.loss_map_dir: 0.0475, loss: 90.3662, grad_norm: 263.2432 2026-02-24 01:29:24,044 - DriveTransformer - INFO - Epoch [1][6650/59059] lr: 1.000e-04, eta: 23 days, 8:55:13, time: 0.566, data_time: 0.027, memory: 14138, loss_cls: 1.0481, loss_bbox: 1.1202, loss_traj: 2.4455, loss_traj_cls: 0.0005, loss_map_cls: 0.7026, loss_map_pts: 2.7330, loss_map_dir: 0.0436, d0.loss_plan_l1_fix_time: 3.5639, d0.loss_plan_l1_fix_dist: 0.6791, d1.loss_plan_l1_fix_time: 3.5263, d1.loss_plan_l1_fix_dist: 0.7390, d2.loss_plan_l1_fix_time: 3.5499, d2.loss_plan_l1_fix_dist: 0.8313, d3.loss_plan_l1_fix_time: 3.5710, d3.loss_plan_l1_fix_dist: 0.9272, d4.loss_plan_l1_fix_time: 3.5928, d4.loss_plan_l1_fix_dist: 1.0288, d5.loss_plan_l1_fix_time: 3.6160, d5.loss_plan_l1_fix_dist: 1.1441, d6.loss_plan_l1_fix_time: 3.6391, d6.loss_plan_l1_fix_dist: 1.2580, d0.loss_cls_all: 1.0501, d0.loss_bbox_all: 1.0607, d0.loss_cls: 1.0501, d0.loss_bbox: 1.0607, d1.loss_cls: 1.0486, d1.loss_bbox: 1.0672, d2.loss_cls: 1.0585, d2.loss_bbox: 1.0723, d3.loss_cls: 1.0536, d3.loss_bbox: 1.0770, d4.loss_cls: 1.0551, d4.loss_bbox: 1.0863, d5.loss_cls: 1.0541, d5.loss_bbox: 1.0932, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.3546, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4185, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4069, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4293, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4398, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4287, d0.loss_map_cls_all: 0.6834, d0.loss_map_pts_all: 3.3020, d0.loss_map_dir_all: 0.0430, d0.loss_map_cls: 0.6834, d0.loss_map_pts: 3.3020, d0.loss_map_dir: 0.0430, d1.loss_map_cls: 0.6933, d1.loss_map_pts: 2.7148, d1.loss_map_dir: 0.0432, d2.loss_map_cls: 0.7005, d2.loss_map_pts: 2.6811, d2.loss_map_dir: 0.0435, d3.loss_map_cls: 0.7011, d3.loss_map_pts: 2.6966, d3.loss_map_dir: 0.0435, d4.loss_map_cls: 0.7029, d4.loss_map_pts: 2.7150, d4.loss_map_dir: 0.0435, d5.loss_map_cls: 0.7003, d5.loss_map_pts: 2.7279, d5.loss_map_dir: 0.0436, loss: 94.4358, grad_norm: 263.6674 2026-02-24 01:29:52,506 - DriveTransformer - INFO - Epoch [1][6700/59059] lr: 1.000e-04, eta: 23 days, 8:54:00, time: 0.569, data_time: 0.026, memory: 14138, loss_cls: 1.0865, loss_bbox: 1.1198, loss_traj: 2.3489, loss_traj_cls: 0.0005, loss_map_cls: 0.7104, loss_map_pts: 2.6026, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 3.2960, d0.loss_plan_l1_fix_dist: 0.5516, d1.loss_plan_l1_fix_time: 3.0789, d1.loss_plan_l1_fix_dist: 0.6216, d2.loss_plan_l1_fix_time: 3.0660, d2.loss_plan_l1_fix_dist: 0.7282, d3.loss_plan_l1_fix_time: 3.0729, d3.loss_plan_l1_fix_dist: 0.8350, d4.loss_plan_l1_fix_time: 3.0841, d4.loss_plan_l1_fix_dist: 0.9497, d5.loss_plan_l1_fix_time: 3.0981, d5.loss_plan_l1_fix_dist: 1.0736, d6.loss_plan_l1_fix_time: 3.1144, d6.loss_plan_l1_fix_dist: 1.1951, d0.loss_cls_all: 1.0643, d0.loss_bbox_all: 1.0704, d0.loss_cls: 1.0643, d0.loss_bbox: 1.0704, d1.loss_cls: 1.0675, d1.loss_bbox: 1.0734, d2.loss_cls: 1.0793, d2.loss_bbox: 1.0719, d3.loss_cls: 1.0816, d3.loss_bbox: 1.0740, d4.loss_cls: 1.0829, d4.loss_bbox: 1.0841, d5.loss_cls: 1.0824, d5.loss_bbox: 1.0992, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2709, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3209, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.3115, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3199, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3217, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3309, d0.loss_map_cls_all: 0.6954, d0.loss_map_pts_all: 3.2431, d0.loss_map_dir_all: 0.0428, d0.loss_map_cls: 0.6954, d0.loss_map_pts: 3.2431, d0.loss_map_dir: 0.0428, d1.loss_map_cls: 0.7003, d1.loss_map_pts: 2.6362, d1.loss_map_dir: 0.0423, d2.loss_map_cls: 0.7069, d2.loss_map_pts: 2.5703, d2.loss_map_dir: 0.0423, d3.loss_map_cls: 0.7065, d3.loss_map_pts: 2.5746, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.7086, d4.loss_map_pts: 2.5852, d4.loss_map_dir: 0.0424, d5.loss_map_cls: 0.7081, d5.loss_map_pts: 2.5951, d5.loss_map_dir: 0.0424, loss: 89.2871, grad_norm: 262.1837 2026-02-24 01:30:21,393 - DriveTransformer - INFO - Epoch [1][6750/59059] lr: 1.000e-04, eta: 23 days, 8:56:40, time: 0.578, data_time: 0.028, memory: 14138, loss_cls: 1.0515, loss_bbox: 1.1300, loss_traj: 2.2670, loss_traj_cls: 0.0006, loss_map_cls: 0.6540, loss_map_pts: 2.6576, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.3733, d0.loss_plan_l1_fix_dist: 0.6080, d1.loss_plan_l1_fix_time: 3.2494, d1.loss_plan_l1_fix_dist: 0.6603, d2.loss_plan_l1_fix_time: 3.2452, d2.loss_plan_l1_fix_dist: 0.7494, d3.loss_plan_l1_fix_time: 3.2536, d3.loss_plan_l1_fix_dist: 0.8530, d4.loss_plan_l1_fix_time: 3.2728, d4.loss_plan_l1_fix_dist: 0.9840, d5.loss_plan_l1_fix_time: 3.2946, d5.loss_plan_l1_fix_dist: 1.1228, d6.loss_plan_l1_fix_time: 3.3211, d6.loss_plan_l1_fix_dist: 1.2630, d0.loss_cls_all: 1.0193, d0.loss_bbox_all: 1.1000, d0.loss_cls: 1.0193, d0.loss_bbox: 1.1000, d1.loss_cls: 1.0274, d1.loss_bbox: 1.1025, d2.loss_cls: 1.0367, d2.loss_bbox: 1.1046, d3.loss_cls: 1.0407, d3.loss_bbox: 1.1090, d4.loss_cls: 1.0391, d4.loss_bbox: 1.1118, d5.loss_cls: 1.0376, d5.loss_bbox: 1.1216, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1479, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1840, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1983, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2075, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2391, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2425, d0.loss_map_cls_all: 0.6176, d0.loss_map_pts_all: 3.3325, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.6176, d0.loss_map_pts: 3.3325, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.6347, d1.loss_map_pts: 2.7154, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.6404, d2.loss_map_pts: 2.6491, d2.loss_map_dir: 0.0408, d3.loss_map_cls: 0.6452, d3.loss_map_pts: 2.6390, d3.loss_map_dir: 0.0410, d4.loss_map_cls: 0.6471, d4.loss_map_pts: 2.6375, d4.loss_map_dir: 0.0410, d5.loss_map_cls: 0.6512, d5.loss_map_pts: 2.6450, d5.loss_map_dir: 0.0411, loss: 89.9357, grad_norm: 262.1991 2026-02-24 01:30:48,641 - DriveTransformer - INFO - Epoch [1][6800/59059] lr: 1.000e-04, eta: 23 days, 8:44:46, time: 0.545, data_time: 0.030, memory: 14138, loss_cls: 1.1080, loss_bbox: 1.1735, loss_traj: 2.0820, loss_traj_cls: 0.0005, loss_map_cls: 0.6863, loss_map_pts: 2.5996, loss_map_dir: 0.0355, d0.loss_plan_l1_fix_time: 3.4951, d0.loss_plan_l1_fix_dist: 0.7995, d1.loss_plan_l1_fix_time: 3.4418, d1.loss_plan_l1_fix_dist: 0.8541, d2.loss_plan_l1_fix_time: 3.4525, d2.loss_plan_l1_fix_dist: 0.9392, d3.loss_plan_l1_fix_time: 3.4682, d3.loss_plan_l1_fix_dist: 1.0338, d4.loss_plan_l1_fix_time: 3.4960, d4.loss_plan_l1_fix_dist: 1.1499, d5.loss_plan_l1_fix_time: 3.5228, d5.loss_plan_l1_fix_dist: 1.2667, d6.loss_plan_l1_fix_time: 3.5543, d6.loss_plan_l1_fix_dist: 1.3889, d0.loss_cls_all: 1.0844, d0.loss_bbox_all: 1.1311, d0.loss_cls: 1.0844, d0.loss_bbox: 1.1311, d1.loss_cls: 1.0893, d1.loss_bbox: 1.1412, d2.loss_cls: 1.0982, d2.loss_bbox: 1.1442, d3.loss_cls: 1.1013, d3.loss_bbox: 1.1502, d4.loss_cls: 1.0999, d4.loss_bbox: 1.1556, d5.loss_cls: 1.1017, d5.loss_bbox: 1.1629, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9070, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9500, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9592, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9796, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0252, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0230, d0.loss_map_cls_all: 0.6702, d0.loss_map_pts_all: 3.3270, d0.loss_map_dir_all: 0.0362, d0.loss_map_cls: 0.6702, d0.loss_map_pts: 3.3270, d0.loss_map_dir: 0.0362, d1.loss_map_cls: 0.6708, d1.loss_map_pts: 2.6360, d1.loss_map_dir: 0.0352, d2.loss_map_cls: 0.6767, d2.loss_map_pts: 2.5467, d2.loss_map_dir: 0.0354, d3.loss_map_cls: 0.6792, d3.loss_map_pts: 2.5472, d3.loss_map_dir: 0.0356, d4.loss_map_cls: 0.6811, d4.loss_map_pts: 2.5666, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.6831, d5.loss_map_pts: 2.5858, d5.loss_map_dir: 0.0355, loss: 91.5877, grad_norm: 260.4067 2026-02-24 01:31:18,015 - DriveTransformer - INFO - Epoch [1][6850/59059] lr: 1.000e-04, eta: 23 days, 8:51:27, time: 0.587, data_time: 0.030, memory: 14138, loss_cls: 1.1463, loss_bbox: 1.2228, loss_traj: 2.3012, loss_traj_cls: 0.0005, loss_map_cls: 0.6853, loss_map_pts: 3.0223, loss_map_dir: 0.0475, d0.loss_plan_l1_fix_time: 3.8809, d0.loss_plan_l1_fix_dist: 0.6324, d1.loss_plan_l1_fix_time: 3.7779, d1.loss_plan_l1_fix_dist: 0.6862, d2.loss_plan_l1_fix_time: 3.7802, d2.loss_plan_l1_fix_dist: 0.7741, d3.loss_plan_l1_fix_time: 3.7937, d3.loss_plan_l1_fix_dist: 0.8709, d4.loss_plan_l1_fix_time: 3.8127, d4.loss_plan_l1_fix_dist: 0.9774, d5.loss_plan_l1_fix_time: 3.8328, d5.loss_plan_l1_fix_dist: 1.0958, d6.loss_plan_l1_fix_time: 3.8566, d6.loss_plan_l1_fix_dist: 1.2297, d0.loss_cls_all: 1.1088, d0.loss_bbox_all: 1.2047, d0.loss_cls: 1.1088, d0.loss_bbox: 1.2047, d1.loss_cls: 1.1156, d1.loss_bbox: 1.2094, d2.loss_cls: 1.1209, d2.loss_bbox: 1.2075, d3.loss_cls: 1.1267, d3.loss_bbox: 1.2122, d4.loss_cls: 1.1278, d4.loss_bbox: 1.2093, d5.loss_cls: 1.1295, d5.loss_bbox: 1.2157, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1674, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2371, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2425, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2589, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2689, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2801, d0.loss_map_cls_all: 0.6751, d0.loss_map_pts_all: 3.5854, d0.loss_map_dir_all: 0.0467, d0.loss_map_cls: 0.6751, d0.loss_map_pts: 3.5854, d0.loss_map_dir: 0.0467, d1.loss_map_cls: 0.6816, d1.loss_map_pts: 3.0679, d1.loss_map_dir: 0.0468, d2.loss_map_cls: 0.6820, d2.loss_map_pts: 3.0073, d2.loss_map_dir: 0.0471, d3.loss_map_cls: 0.6814, d3.loss_map_pts: 3.0024, d3.loss_map_dir: 0.0475, d4.loss_map_cls: 0.6828, d4.loss_map_pts: 3.0107, d4.loss_map_dir: 0.0476, d5.loss_map_cls: 0.6837, d5.loss_map_pts: 3.0176, d5.loss_map_dir: 0.0476, loss: 98.5548, grad_norm: 260.3346 2026-02-24 01:31:45,745 - DriveTransformer - INFO - Epoch [1][6900/59059] lr: 1.000e-04, eta: 23 days, 8:44:00, time: 0.555, data_time: 0.027, memory: 14138, loss_cls: 1.1615, loss_bbox: 1.1474, loss_traj: 2.5952, loss_traj_cls: 0.0005, loss_map_cls: 0.6567, loss_map_pts: 2.8346, loss_map_dir: 0.0451, d0.loss_plan_l1_fix_time: 3.1334, d0.loss_plan_l1_fix_dist: 0.6803, d1.loss_plan_l1_fix_time: 3.0101, d1.loss_plan_l1_fix_dist: 0.7341, d2.loss_plan_l1_fix_time: 3.0122, d2.loss_plan_l1_fix_dist: 0.8096, d3.loss_plan_l1_fix_time: 3.0343, d3.loss_plan_l1_fix_dist: 0.9184, d4.loss_plan_l1_fix_time: 3.0532, d4.loss_plan_l1_fix_dist: 1.0354, d5.loss_plan_l1_fix_time: 3.0735, d5.loss_plan_l1_fix_dist: 1.1767, d6.loss_plan_l1_fix_time: 3.0940, d6.loss_plan_l1_fix_dist: 1.3295, d0.loss_cls_all: 1.1263, d0.loss_bbox_all: 1.1223, d0.loss_cls: 1.1263, d0.loss_bbox: 1.1223, d1.loss_cls: 1.1319, d1.loss_bbox: 1.1306, d2.loss_cls: 1.1346, d2.loss_bbox: 1.1306, d3.loss_cls: 1.1422, d3.loss_bbox: 1.1319, d4.loss_cls: 1.1419, d4.loss_bbox: 1.1346, d5.loss_cls: 1.1490, d5.loss_bbox: 1.1392, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3476, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4220, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4950, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5346, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5798, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.6043, d0.loss_map_cls_all: 0.6542, d0.loss_map_pts_all: 3.4903, d0.loss_map_dir_all: 0.0448, d0.loss_map_cls: 0.6542, d0.loss_map_pts: 3.4903, d0.loss_map_dir: 0.0448, d1.loss_map_cls: 0.6591, d1.loss_map_pts: 2.9001, d1.loss_map_dir: 0.0445, d2.loss_map_cls: 0.6606, d2.loss_map_pts: 2.8277, d2.loss_map_dir: 0.0449, d3.loss_map_cls: 0.6576, d3.loss_map_pts: 2.8187, d3.loss_map_dir: 0.0451, d4.loss_map_cls: 0.6579, d4.loss_map_pts: 2.8213, d4.loss_map_dir: 0.0452, d5.loss_map_cls: 0.6554, d5.loss_map_pts: 2.8286, d5.loss_map_dir: 0.0452, loss: 93.4761, grad_norm: 259.5847 2026-02-24 01:32:15,674 - DriveTransformer - INFO - Epoch [1][6950/59059] lr: 1.000e-04, eta: 23 days, 8:55:19, time: 0.599, data_time: 0.026, memory: 14138, loss_cls: 1.1540, loss_bbox: 1.2208, loss_traj: 2.1928, loss_traj_cls: 0.0006, loss_map_cls: 0.6453, loss_map_pts: 2.8381, loss_map_dir: 0.0415, d0.loss_plan_l1_fix_time: 4.1054, d0.loss_plan_l1_fix_dist: 0.9706, d1.loss_plan_l1_fix_time: 4.0338, d1.loss_plan_l1_fix_dist: 1.0176, d2.loss_plan_l1_fix_time: 4.0516, d2.loss_plan_l1_fix_dist: 1.0866, d3.loss_plan_l1_fix_time: 4.0805, d3.loss_plan_l1_fix_dist: 1.1760, d4.loss_plan_l1_fix_time: 4.1041, d4.loss_plan_l1_fix_dist: 1.2773, d5.loss_plan_l1_fix_time: 4.1291, d5.loss_plan_l1_fix_dist: 1.3893, d6.loss_plan_l1_fix_time: 4.1494, d6.loss_plan_l1_fix_dist: 1.4963, d0.loss_cls_all: 1.1273, d0.loss_bbox_all: 1.1810, d0.loss_cls: 1.1273, d0.loss_bbox: 1.1810, d1.loss_cls: 1.1319, d1.loss_bbox: 1.1895, d2.loss_cls: 1.1351, d2.loss_bbox: 1.1883, d3.loss_cls: 1.1376, d3.loss_bbox: 1.1904, d4.loss_cls: 1.1395, d4.loss_bbox: 1.1973, d5.loss_cls: 1.1521, d5.loss_bbox: 1.2065, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0192, d1.loss_traj_cls: 0.0006, d1.loss_traj: 2.0476, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.1143, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1269, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1471, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.1580, d0.loss_map_cls_all: 0.6378, d0.loss_map_pts_all: 3.4713, d0.loss_map_dir_all: 0.0420, d0.loss_map_cls: 0.6378, d0.loss_map_pts: 3.4713, d0.loss_map_dir: 0.0420, d1.loss_map_cls: 0.6467, d1.loss_map_pts: 2.8856, d1.loss_map_dir: 0.0411, d2.loss_map_cls: 0.6463, d2.loss_map_pts: 2.8186, d2.loss_map_dir: 0.0415, d3.loss_map_cls: 0.6442, d3.loss_map_pts: 2.8132, d3.loss_map_dir: 0.0415, d4.loss_map_cls: 0.6446, d4.loss_map_pts: 2.8171, d4.loss_map_dir: 0.0415, d5.loss_map_cls: 0.6437, d5.loss_map_pts: 2.8277, d5.loss_map_dir: 0.0415, loss: 99.9588, grad_norm: 260.6266 2026-02-24 01:32:43,779 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 01:32:43,779 - DriveTransformer - INFO - Epoch [1][7000/59059] lr: 1.000e-04, eta: 23 days, 8:51:05, time: 0.562, data_time: 0.032, memory: 14138, loss_cls: 1.0893, loss_bbox: 1.2042, loss_traj: 2.7717, loss_traj_cls: 0.0005, loss_map_cls: 0.7300, loss_map_pts: 2.6037, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.6412, d0.loss_plan_l1_fix_dist: 0.6398, d1.loss_plan_l1_fix_time: 3.4950, d1.loss_plan_l1_fix_dist: 0.6864, d2.loss_plan_l1_fix_time: 3.4872, d2.loss_plan_l1_fix_dist: 0.7712, d3.loss_plan_l1_fix_time: 3.5044, d3.loss_plan_l1_fix_dist: 0.8740, d4.loss_plan_l1_fix_time: 3.5229, d4.loss_plan_l1_fix_dist: 0.9983, d5.loss_plan_l1_fix_time: 3.5441, d5.loss_plan_l1_fix_dist: 1.1186, d6.loss_plan_l1_fix_time: 3.5633, d6.loss_plan_l1_fix_dist: 1.2400, d0.loss_cls_all: 1.0541, d0.loss_bbox_all: 1.1618, d0.loss_cls: 1.0541, d0.loss_bbox: 1.1618, d1.loss_cls: 1.0598, d1.loss_bbox: 1.1683, d2.loss_cls: 1.0602, d2.loss_bbox: 1.1762, d3.loss_cls: 1.0712, d3.loss_bbox: 1.1842, d4.loss_cls: 1.0738, d4.loss_bbox: 1.1896, d5.loss_cls: 1.0838, d5.loss_bbox: 1.1944, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2592, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3624, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4177, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5371, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6473, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6601, d0.loss_map_cls_all: 0.6832, d0.loss_map_pts_all: 3.1359, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.6832, d0.loss_map_pts: 3.1359, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.7001, d1.loss_map_pts: 2.5638, d1.loss_map_dir: 0.0365, d2.loss_map_cls: 0.7091, d2.loss_map_pts: 2.5146, d2.loss_map_dir: 0.0366, d3.loss_map_cls: 0.7163, d3.loss_map_pts: 2.5356, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.7166, d4.loss_map_pts: 2.5592, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.7253, d5.loss_map_pts: 2.5802, d5.loss_map_dir: 0.0368, loss: 94.3187, grad_norm: 259.8916 2026-02-24 01:33:13,068 - DriveTransformer - INFO - Epoch [1][7050/59059] lr: 1.000e-04, eta: 23 days, 8:56:50, time: 0.586, data_time: 0.026, memory: 14138, loss_cls: 1.0813, loss_bbox: 1.2447, loss_traj: 2.6370, loss_traj_cls: 0.0006, loss_map_cls: 0.6555, loss_map_pts: 3.1482, loss_map_dir: 0.0463, d0.loss_plan_l1_fix_time: 4.1249, d0.loss_plan_l1_fix_dist: 0.8005, d1.loss_plan_l1_fix_time: 3.9987, d1.loss_plan_l1_fix_dist: 0.8364, d2.loss_plan_l1_fix_time: 3.9872, d2.loss_plan_l1_fix_dist: 0.9070, d3.loss_plan_l1_fix_time: 3.9965, d3.loss_plan_l1_fix_dist: 0.9922, d4.loss_plan_l1_fix_time: 4.0128, d4.loss_plan_l1_fix_dist: 1.1026, d5.loss_plan_l1_fix_time: 4.0323, d5.loss_plan_l1_fix_dist: 1.2188, d6.loss_plan_l1_fix_time: 4.0535, d6.loss_plan_l1_fix_dist: 1.3436, d0.loss_cls_all: 1.0633, d0.loss_bbox_all: 1.2032, d0.loss_cls: 1.0633, d0.loss_bbox: 1.2032, d1.loss_cls: 1.0642, d1.loss_bbox: 1.2103, d2.loss_cls: 1.0753, d2.loss_bbox: 1.2174, d3.loss_cls: 1.0752, d3.loss_bbox: 1.2323, d4.loss_cls: 1.0795, d4.loss_bbox: 1.2371, d5.loss_cls: 1.0805, d5.loss_bbox: 1.2417, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4146, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4883, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.5117, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5931, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.6459, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.6144, d0.loss_map_cls_all: 0.6419, d0.loss_map_pts_all: 3.5763, d0.loss_map_dir_all: 0.0458, d0.loss_map_cls: 0.6419, d0.loss_map_pts: 3.5763, d0.loss_map_dir: 0.0458, d1.loss_map_cls: 0.6528, d1.loss_map_pts: 3.0926, d1.loss_map_dir: 0.0458, d2.loss_map_cls: 0.6548, d2.loss_map_pts: 3.0657, d2.loss_map_dir: 0.0462, d3.loss_map_cls: 0.6539, d3.loss_map_pts: 3.0846, d3.loss_map_dir: 0.0462, d4.loss_map_cls: 0.6533, d4.loss_map_pts: 3.1069, d4.loss_map_dir: 0.0462, d5.loss_map_cls: 0.6547, d5.loss_map_pts: 3.1251, d5.loss_map_dir: 0.0464, loss: 103.0415, grad_norm: 257.0046 2026-02-24 01:33:41,243 - DriveTransformer - INFO - Epoch [1][7100/59059] lr: 1.000e-04, eta: 23 days, 8:53:15, time: 0.563, data_time: 0.025, memory: 14138, loss_cls: 1.0646, loss_bbox: 1.1320, loss_traj: 2.7566, loss_traj_cls: 0.0005, loss_map_cls: 0.6959, loss_map_pts: 2.6470, loss_map_dir: 0.0349, d0.loss_plan_l1_fix_time: 3.4678, d0.loss_plan_l1_fix_dist: 0.6294, d1.loss_plan_l1_fix_time: 3.3215, d1.loss_plan_l1_fix_dist: 0.6720, d2.loss_plan_l1_fix_time: 3.3099, d2.loss_plan_l1_fix_dist: 0.7280, d3.loss_plan_l1_fix_time: 3.3186, d3.loss_plan_l1_fix_dist: 0.8142, d4.loss_plan_l1_fix_time: 3.3327, d4.loss_plan_l1_fix_dist: 0.9143, d5.loss_plan_l1_fix_time: 3.3484, d5.loss_plan_l1_fix_dist: 1.0284, d6.loss_plan_l1_fix_time: 3.3665, d6.loss_plan_l1_fix_dist: 1.1468, d0.loss_cls_all: 1.0586, d0.loss_bbox_all: 1.0877, d0.loss_cls: 1.0586, d0.loss_bbox: 1.0877, d1.loss_cls: 1.0533, d1.loss_bbox: 1.0957, d2.loss_cls: 1.0627, d2.loss_bbox: 1.0965, d3.loss_cls: 1.0647, d3.loss_bbox: 1.1044, d4.loss_cls: 1.0681, d4.loss_bbox: 1.1102, d5.loss_cls: 1.0697, d5.loss_bbox: 1.1193, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0187, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0981, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1913, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2960, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4592, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5991, d0.loss_map_cls_all: 0.6724, d0.loss_map_pts_all: 3.2718, d0.loss_map_dir_all: 0.0350, d0.loss_map_cls: 0.6724, d0.loss_map_pts: 3.2718, d0.loss_map_dir: 0.0350, d1.loss_map_cls: 0.6831, d1.loss_map_pts: 2.6715, d1.loss_map_dir: 0.0346, d2.loss_map_cls: 0.6858, d2.loss_map_pts: 2.6183, d2.loss_map_dir: 0.0347, d3.loss_map_cls: 0.6899, d3.loss_map_pts: 2.6178, d3.loss_map_dir: 0.0349, d4.loss_map_cls: 0.6899, d4.loss_map_pts: 2.6269, d4.loss_map_dir: 0.0349, d5.loss_map_cls: 0.6934, d5.loss_map_pts: 2.6389, d5.loss_map_dir: 0.0349, loss: 91.2804, grad_norm: 255.8292 2026-02-24 01:34:09,576 - DriveTransformer - INFO - Epoch [1][7150/59059] lr: 1.000e-04, eta: 23 days, 8:50:59, time: 0.567, data_time: 0.026, memory: 14138, loss_cls: 1.0584, loss_bbox: 1.2163, loss_traj: 2.9227, loss_traj_cls: 0.0006, loss_map_cls: 0.6855, loss_map_pts: 2.9677, loss_map_dir: 0.0433, d0.loss_plan_l1_fix_time: 3.2738, d0.loss_plan_l1_fix_dist: 0.6480, d1.loss_plan_l1_fix_time: 3.1627, d1.loss_plan_l1_fix_dist: 0.7096, d2.loss_plan_l1_fix_time: 3.1528, d2.loss_plan_l1_fix_dist: 0.7843, d3.loss_plan_l1_fix_time: 3.1581, d3.loss_plan_l1_fix_dist: 0.8692, d4.loss_plan_l1_fix_time: 3.1731, d4.loss_plan_l1_fix_dist: 0.9664, d5.loss_plan_l1_fix_time: 3.1887, d5.loss_plan_l1_fix_dist: 1.0778, d6.loss_plan_l1_fix_time: 3.2056, d6.loss_plan_l1_fix_dist: 1.1847, d0.loss_cls_all: 1.0354, d0.loss_bbox_all: 1.1997, d0.loss_cls: 1.0354, d0.loss_bbox: 1.1997, d1.loss_cls: 1.0434, d1.loss_bbox: 1.1957, d2.loss_cls: 1.0546, d2.loss_bbox: 1.2057, d3.loss_cls: 1.0582, d3.loss_bbox: 1.2057, d4.loss_cls: 1.0556, d4.loss_bbox: 1.2117, d5.loss_cls: 1.0531, d5.loss_bbox: 1.2141, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2256, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3522, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.4615, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.5497, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6741, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.8014, d0.loss_map_cls_all: 0.6715, d0.loss_map_pts_all: 3.5445, d0.loss_map_dir_all: 0.0428, d0.loss_map_cls: 0.6715, d0.loss_map_pts: 3.5445, d0.loss_map_dir: 0.0428, d1.loss_map_cls: 0.6752, d1.loss_map_pts: 2.9878, d1.loss_map_dir: 0.0429, d2.loss_map_cls: 0.6779, d2.loss_map_pts: 2.9433, d2.loss_map_dir: 0.0430, d3.loss_map_cls: 0.6800, d3.loss_map_pts: 2.9439, d3.loss_map_dir: 0.0432, d4.loss_map_cls: 0.6797, d4.loss_map_pts: 2.9489, d4.loss_map_dir: 0.0432, d5.loss_map_cls: 0.6826, d5.loss_map_pts: 2.9584, d5.loss_map_dir: 0.0434, loss: 95.1959, grad_norm: 256.2734 2026-02-24 01:34:39,383 - DriveTransformer - INFO - Epoch [1][7200/59059] lr: 1.000e-04, eta: 23 days, 9:01:11, time: 0.597, data_time: 0.026, memory: 14138, loss_cls: 1.0952, loss_bbox: 1.1763, loss_traj: 1.9910, loss_traj_cls: 0.0007, loss_map_cls: 0.6371, loss_map_pts: 3.2176, loss_map_dir: 0.0467, d0.loss_plan_l1_fix_time: 3.3872, d0.loss_plan_l1_fix_dist: 0.7132, d1.loss_plan_l1_fix_time: 3.3373, d1.loss_plan_l1_fix_dist: 0.7519, d2.loss_plan_l1_fix_time: 3.3292, d2.loss_plan_l1_fix_dist: 0.8296, d3.loss_plan_l1_fix_time: 3.3346, d3.loss_plan_l1_fix_dist: 0.9312, d4.loss_plan_l1_fix_time: 3.3483, d4.loss_plan_l1_fix_dist: 1.0334, d5.loss_plan_l1_fix_time: 3.3639, d5.loss_plan_l1_fix_dist: 1.1427, d6.loss_plan_l1_fix_time: 3.3806, d6.loss_plan_l1_fix_dist: 1.2689, d0.loss_cls_all: 1.0707, d0.loss_bbox_all: 1.1205, d0.loss_cls: 1.0707, d0.loss_bbox: 1.1205, d1.loss_cls: 1.0768, d1.loss_bbox: 1.1230, d2.loss_cls: 1.0970, d2.loss_bbox: 1.1290, d3.loss_cls: 1.0945, d3.loss_bbox: 1.1341, d4.loss_cls: 1.0949, d4.loss_bbox: 1.1508, d5.loss_cls: 1.0936, d5.loss_bbox: 1.1626, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8107, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8482, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8972, d3.loss_traj_cls: 0.0007, d3.loss_traj: 1.9574, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9299, d5.loss_traj_cls: 0.0007, d5.loss_traj: 1.9594, d0.loss_map_cls_all: 0.6117, d0.loss_map_pts_all: 3.9063, d0.loss_map_dir_all: 0.0476, d0.loss_map_cls: 0.6117, d0.loss_map_pts: 3.9063, d0.loss_map_dir: 0.0476, d1.loss_map_cls: 0.6189, d1.loss_map_pts: 3.2826, d1.loss_map_dir: 0.0464, d2.loss_map_cls: 0.6244, d2.loss_map_pts: 3.2236, d2.loss_map_dir: 0.0465, d3.loss_map_cls: 0.6300, d3.loss_map_pts: 3.2127, d3.loss_map_dir: 0.0467, d4.loss_map_cls: 0.6287, d4.loss_map_pts: 3.2132, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.6333, d5.loss_map_pts: 3.2168, d5.loss_map_dir: 0.0467, loss: 93.9101, grad_norm: 255.2296 2026-02-24 01:35:08,313 - DriveTransformer - INFO - Epoch [1][7250/59059] lr: 1.000e-04, eta: 23 days, 9:03:22, time: 0.578, data_time: 0.028, memory: 14138, loss_cls: 1.0275, loss_bbox: 1.1685, loss_traj: 2.9906, loss_traj_cls: 0.0006, loss_map_cls: 0.6670, loss_map_pts: 2.9258, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 4.1145, d0.loss_plan_l1_fix_dist: 0.5756, d1.loss_plan_l1_fix_time: 4.0066, d1.loss_plan_l1_fix_dist: 0.6435, d2.loss_plan_l1_fix_time: 4.0017, d2.loss_plan_l1_fix_dist: 0.7152, d3.loss_plan_l1_fix_time: 4.0128, d3.loss_plan_l1_fix_dist: 0.8047, d4.loss_plan_l1_fix_time: 4.0316, d4.loss_plan_l1_fix_dist: 0.8938, d5.loss_plan_l1_fix_time: 4.0528, d5.loss_plan_l1_fix_dist: 0.9847, d6.loss_plan_l1_fix_time: 4.0751, d6.loss_plan_l1_fix_dist: 1.0804, d0.loss_cls_all: 1.0098, d0.loss_bbox_all: 1.1505, d0.loss_cls: 1.0098, d0.loss_bbox: 1.1505, d1.loss_cls: 1.0129, d1.loss_bbox: 1.1454, d2.loss_cls: 1.0148, d2.loss_bbox: 1.1418, d3.loss_cls: 1.0156, d3.loss_bbox: 1.1462, d4.loss_cls: 1.0158, d4.loss_bbox: 1.1499, d5.loss_cls: 1.0177, d5.loss_bbox: 1.1534, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3440, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4066, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.5112, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.6342, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.6862, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.8561, d0.loss_map_cls_all: 0.6538, d0.loss_map_pts_all: 3.3102, d0.loss_map_dir_all: 0.0423, d0.loss_map_cls: 0.6538, d0.loss_map_pts: 3.3102, d0.loss_map_dir: 0.0423, d1.loss_map_cls: 0.6605, d1.loss_map_pts: 2.8996, d1.loss_map_dir: 0.0423, d2.loss_map_cls: 0.6630, d2.loss_map_pts: 2.8861, d2.loss_map_dir: 0.0426, d3.loss_map_cls: 0.6650, d3.loss_map_pts: 2.8980, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.6649, d4.loss_map_pts: 2.9084, d4.loss_map_dir: 0.0428, d5.loss_map_cls: 0.6658, d5.loss_map_pts: 2.9160, d5.loss_map_dir: 0.0428, loss: 99.4446, grad_norm: 254.9184 2026-02-24 01:35:37,342 - DriveTransformer - INFO - Epoch [1][7300/59059] lr: 1.000e-04, eta: 23 days, 9:06:42, time: 0.581, data_time: 0.030, memory: 14138, loss_cls: 1.0989, loss_bbox: 1.0830, loss_traj: 2.9665, loss_traj_cls: 0.0006, loss_map_cls: 0.6737, loss_map_pts: 2.6802, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 3.7485, d0.loss_plan_l1_fix_dist: 0.8078, d1.loss_plan_l1_fix_time: 3.6568, d1.loss_plan_l1_fix_dist: 0.8620, d2.loss_plan_l1_fix_time: 3.6659, d2.loss_plan_l1_fix_dist: 0.9452, d3.loss_plan_l1_fix_time: 3.6861, d3.loss_plan_l1_fix_dist: 1.0349, d4.loss_plan_l1_fix_time: 3.7103, d4.loss_plan_l1_fix_dist: 1.1456, d5.loss_plan_l1_fix_time: 3.7349, d5.loss_plan_l1_fix_dist: 1.2645, d6.loss_plan_l1_fix_time: 3.7597, d6.loss_plan_l1_fix_dist: 1.3749, d0.loss_cls_all: 1.0656, d0.loss_bbox_all: 1.0535, d0.loss_cls: 1.0656, d0.loss_bbox: 1.0535, d1.loss_cls: 1.0717, d1.loss_bbox: 1.0590, d2.loss_cls: 1.0816, d2.loss_bbox: 1.0690, d3.loss_cls: 1.0881, d3.loss_bbox: 1.0744, d4.loss_cls: 1.0850, d4.loss_bbox: 1.0755, d5.loss_cls: 1.0883, d5.loss_bbox: 1.0796, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.6137, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.6794, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.6827, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.7198, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.7413, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.8486, d0.loss_map_cls_all: 0.6681, d0.loss_map_pts_all: 3.2794, d0.loss_map_dir_all: 0.0431, d0.loss_map_cls: 0.6681, d0.loss_map_pts: 3.2794, d0.loss_map_dir: 0.0431, d1.loss_map_cls: 0.6719, d1.loss_map_pts: 2.6928, d1.loss_map_dir: 0.0425, d2.loss_map_cls: 0.6714, d2.loss_map_pts: 2.6475, d2.loss_map_dir: 0.0425, d3.loss_map_cls: 0.6718, d3.loss_map_pts: 2.6502, d3.loss_map_dir: 0.0426, d4.loss_map_cls: 0.6719, d4.loss_map_pts: 2.6589, d4.loss_map_dir: 0.0425, d5.loss_map_cls: 0.6728, d5.loss_map_pts: 2.6676, d5.loss_map_dir: 0.0424, loss: 98.1117, grad_norm: 253.6213 2026-02-24 01:36:07,101 - DriveTransformer - INFO - Epoch [1][7350/59059] lr: 1.000e-04, eta: 23 days, 9:15:55, time: 0.595, data_time: 0.026, memory: 14138, loss_cls: 1.1039, loss_bbox: 1.1140, loss_traj: 2.4738, loss_traj_cls: 0.0006, loss_map_cls: 0.6567, loss_map_pts: 2.7746, loss_map_dir: 0.0441, d0.loss_plan_l1_fix_time: 3.4954, d0.loss_plan_l1_fix_dist: 0.6709, d1.loss_plan_l1_fix_time: 3.4311, d1.loss_plan_l1_fix_dist: 0.7264, d2.loss_plan_l1_fix_time: 3.4411, d2.loss_plan_l1_fix_dist: 0.8091, d3.loss_plan_l1_fix_time: 3.4597, d3.loss_plan_l1_fix_dist: 0.8933, d4.loss_plan_l1_fix_time: 3.4804, d4.loss_plan_l1_fix_dist: 0.9893, d5.loss_plan_l1_fix_time: 3.5014, d5.loss_plan_l1_fix_dist: 1.0927, d6.loss_plan_l1_fix_time: 3.5219, d6.loss_plan_l1_fix_dist: 1.1957, d0.loss_cls_all: 1.0879, d0.loss_bbox_all: 1.0847, d0.loss_cls: 1.0879, d0.loss_bbox: 1.0847, d1.loss_cls: 1.0895, d1.loss_bbox: 1.0840, d2.loss_cls: 1.0912, d2.loss_bbox: 1.0895, d3.loss_cls: 1.0950, d3.loss_bbox: 1.0901, d4.loss_cls: 1.0978, d4.loss_bbox: 1.0923, d5.loss_cls: 1.1005, d5.loss_bbox: 1.1018, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2363, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3400, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3701, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4779, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5272, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4932, d0.loss_map_cls_all: 0.6392, d0.loss_map_pts_all: 3.4325, d0.loss_map_dir_all: 0.0443, d0.loss_map_cls: 0.6392, d0.loss_map_pts: 3.4325, d0.loss_map_dir: 0.0443, d1.loss_map_cls: 0.6517, d1.loss_map_pts: 2.8368, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6534, d2.loss_map_pts: 2.7849, d2.loss_map_dir: 0.0441, d3.loss_map_cls: 0.6544, d3.loss_map_pts: 2.7759, d3.loss_map_dir: 0.0442, d4.loss_map_cls: 0.6543, d4.loss_map_pts: 2.7727, d4.loss_map_dir: 0.0443, d5.loss_map_cls: 0.6560, d5.loss_map_pts: 2.7736, d5.loss_map_dir: 0.0442, loss: 94.2672, grad_norm: 253.6231 2026-02-24 01:36:36,485 - DriveTransformer - INFO - Epoch [1][7400/59059] lr: 1.000e-04, eta: 23 days, 9:21:50, time: 0.587, data_time: 0.027, memory: 14138, loss_cls: 1.0957, loss_bbox: 1.1554, loss_traj: 2.1613, loss_traj_cls: 0.0006, loss_map_cls: 0.6765, loss_map_pts: 2.7169, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 3.0251, d0.loss_plan_l1_fix_dist: 0.8001, d1.loss_plan_l1_fix_time: 2.9879, d1.loss_plan_l1_fix_dist: 0.8650, d2.loss_plan_l1_fix_time: 3.0012, d2.loss_plan_l1_fix_dist: 0.9510, d3.loss_plan_l1_fix_time: 3.0250, d3.loss_plan_l1_fix_dist: 1.0473, d4.loss_plan_l1_fix_time: 3.0497, d4.loss_plan_l1_fix_dist: 1.1404, d5.loss_plan_l1_fix_time: 3.0763, d5.loss_plan_l1_fix_dist: 1.2454, d6.loss_plan_l1_fix_time: 3.1020, d6.loss_plan_l1_fix_dist: 1.3548, d0.loss_cls_all: 1.0561, d0.loss_bbox_all: 1.1424, d0.loss_cls: 1.0561, d0.loss_bbox: 1.1424, d1.loss_cls: 1.0652, d1.loss_bbox: 1.1484, d2.loss_cls: 1.0667, d2.loss_bbox: 1.1508, d3.loss_cls: 1.0791, d3.loss_bbox: 1.1449, d4.loss_cls: 1.0836, d4.loss_bbox: 1.1448, d5.loss_cls: 1.0870, d5.loss_bbox: 1.1543, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9557, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0001, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0550, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0741, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1158, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1327, d0.loss_map_cls_all: 0.6478, d0.loss_map_pts_all: 3.3897, d0.loss_map_dir_all: 0.0428, d0.loss_map_cls: 0.6478, d0.loss_map_pts: 3.3897, d0.loss_map_dir: 0.0428, d1.loss_map_cls: 0.6672, d1.loss_map_pts: 2.7203, d1.loss_map_dir: 0.0424, d2.loss_map_cls: 0.6702, d2.loss_map_pts: 2.6777, d2.loss_map_dir: 0.0428, d3.loss_map_cls: 0.6712, d3.loss_map_pts: 2.6808, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.6712, d4.loss_map_pts: 2.6910, d4.loss_map_dir: 0.0429, d5.loss_map_cls: 0.6732, d5.loss_map_pts: 2.7058, d5.loss_map_dir: 0.0429, loss: 89.5820, grad_norm: 251.2938 2026-02-24 01:37:04,102 - DriveTransformer - INFO - Epoch [1][7450/59059] lr: 1.000e-04, eta: 23 days, 9:13:46, time: 0.552, data_time: 0.025, memory: 14138, loss_cls: 1.0933, loss_bbox: 1.1223, loss_traj: 2.3740, loss_traj_cls: 0.0005, loss_map_cls: 0.6732, loss_map_pts: 2.7134, loss_map_dir: 0.0413, d0.loss_plan_l1_fix_time: 3.2146, d0.loss_plan_l1_fix_dist: 0.5636, d1.loss_plan_l1_fix_time: 3.0680, d1.loss_plan_l1_fix_dist: 0.6112, d2.loss_plan_l1_fix_time: 3.0635, d2.loss_plan_l1_fix_dist: 0.6836, d3.loss_plan_l1_fix_time: 3.0759, d3.loss_plan_l1_fix_dist: 0.7873, d4.loss_plan_l1_fix_time: 3.0911, d4.loss_plan_l1_fix_dist: 0.8913, d5.loss_plan_l1_fix_time: 3.1108, d5.loss_plan_l1_fix_dist: 1.0036, d6.loss_plan_l1_fix_time: 3.1329, d6.loss_plan_l1_fix_dist: 1.1148, d0.loss_cls_all: 1.0617, d0.loss_bbox_all: 1.0838, d0.loss_cls: 1.0617, d0.loss_bbox: 1.0838, d1.loss_cls: 1.0638, d1.loss_bbox: 1.0940, d2.loss_cls: 1.0679, d2.loss_bbox: 1.0944, d3.loss_cls: 1.0740, d3.loss_bbox: 1.0988, d4.loss_cls: 1.0750, d4.loss_bbox: 1.1028, d5.loss_cls: 1.0835, d5.loss_bbox: 1.1154, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2479, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3775, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4599, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4387, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.4606, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3960, d0.loss_map_cls_all: 0.6521, d0.loss_map_pts_all: 3.3065, d0.loss_map_dir_all: 0.0418, d0.loss_map_cls: 0.6521, d0.loss_map_pts: 3.3065, d0.loss_map_dir: 0.0418, d1.loss_map_cls: 0.6594, d1.loss_map_pts: 2.7079, d1.loss_map_dir: 0.0412, d2.loss_map_cls: 0.6665, d2.loss_map_pts: 2.6624, d2.loss_map_dir: 0.0412, d3.loss_map_cls: 0.6702, d3.loss_map_pts: 2.6680, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6707, d4.loss_map_pts: 2.6833, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.6725, d5.loss_map_pts: 2.6968, d5.loss_map_dir: 0.0412, loss: 89.9387, grad_norm: 249.8174 2026-02-24 01:37:33,191 - DriveTransformer - INFO - Epoch [1][7500/59059] lr: 1.000e-04, eta: 23 days, 9:17:22, time: 0.582, data_time: 0.027, memory: 14138, loss_cls: 1.0729, loss_bbox: 1.1990, loss_traj: 2.4531, loss_traj_cls: 0.0006, loss_map_cls: 0.6497, loss_map_pts: 3.1065, loss_map_dir: 0.0430, d0.loss_plan_l1_fix_time: 3.2359, d0.loss_plan_l1_fix_dist: 0.6487, d1.loss_plan_l1_fix_time: 3.1683, d1.loss_plan_l1_fix_dist: 0.6839, d2.loss_plan_l1_fix_time: 3.1768, d2.loss_plan_l1_fix_dist: 0.7447, d3.loss_plan_l1_fix_time: 3.1946, d3.loss_plan_l1_fix_dist: 0.8241, d4.loss_plan_l1_fix_time: 3.2162, d4.loss_plan_l1_fix_dist: 0.9158, d5.loss_plan_l1_fix_time: 3.2396, d5.loss_plan_l1_fix_dist: 1.0170, d6.loss_plan_l1_fix_time: 3.2658, d6.loss_plan_l1_fix_dist: 1.1164, d0.loss_cls_all: 1.0614, d0.loss_bbox_all: 1.1689, d0.loss_cls: 1.0614, d0.loss_bbox: 1.1689, d1.loss_cls: 1.0645, d1.loss_bbox: 1.1676, d2.loss_cls: 1.0700, d2.loss_bbox: 1.1711, d3.loss_cls: 1.0708, d3.loss_bbox: 1.1777, d4.loss_cls: 1.0757, d4.loss_bbox: 1.1796, d5.loss_cls: 1.0726, d5.loss_bbox: 1.1912, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3164, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4349, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4633, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4736, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.5044, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4730, d0.loss_map_cls_all: 0.6378, d0.loss_map_pts_all: 3.6027, d0.loss_map_dir_all: 0.0437, d0.loss_map_cls: 0.6378, d0.loss_map_pts: 3.6027, d0.loss_map_dir: 0.0437, d1.loss_map_cls: 0.6397, d1.loss_map_pts: 3.0702, d1.loss_map_dir: 0.0428, d2.loss_map_cls: 0.6445, d2.loss_map_pts: 3.0434, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.6462, d3.loss_map_pts: 3.0596, d3.loss_map_dir: 0.0430, d4.loss_map_cls: 0.6465, d4.loss_map_pts: 3.0743, d4.loss_map_dir: 0.0430, d5.loss_map_cls: 0.6481, d5.loss_map_pts: 3.0878, d5.loss_map_dir: 0.0430, loss: 94.6860, grad_norm: 249.2573 2026-02-24 01:38:02,046 - DriveTransformer - INFO - Epoch [1][7550/59059] lr: 1.000e-04, eta: 23 days, 9:19:07, time: 0.577, data_time: 0.028, memory: 14138, loss_cls: 1.0622, loss_bbox: 1.1374, loss_traj: 2.3629, loss_traj_cls: 0.0006, loss_map_cls: 0.6320, loss_map_pts: 2.7534, loss_map_dir: 0.0394, d0.loss_plan_l1_fix_time: 3.4793, d0.loss_plan_l1_fix_dist: 0.7146, d1.loss_plan_l1_fix_time: 3.3590, d1.loss_plan_l1_fix_dist: 0.7427, d2.loss_plan_l1_fix_time: 3.3434, d2.loss_plan_l1_fix_dist: 0.8004, d3.loss_plan_l1_fix_time: 3.3491, d3.loss_plan_l1_fix_dist: 0.8658, d4.loss_plan_l1_fix_time: 3.3643, d4.loss_plan_l1_fix_dist: 0.9473, d5.loss_plan_l1_fix_time: 3.3809, d5.loss_plan_l1_fix_dist: 1.0376, d6.loss_plan_l1_fix_time: 3.4005, d6.loss_plan_l1_fix_dist: 1.1384, d0.loss_cls_all: 1.0513, d0.loss_bbox_all: 1.1268, d0.loss_cls: 1.0513, d0.loss_bbox: 1.1268, d1.loss_cls: 1.0589, d1.loss_bbox: 1.1257, d2.loss_cls: 1.0637, d2.loss_bbox: 1.1290, d3.loss_cls: 1.0650, d3.loss_bbox: 1.1261, d4.loss_cls: 1.0647, d4.loss_bbox: 1.1264, d5.loss_cls: 1.0644, d5.loss_bbox: 1.1330, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9816, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0221, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.0870, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1544, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1901, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.3163, d0.loss_map_cls_all: 0.6137, d0.loss_map_pts_all: 3.5204, d0.loss_map_dir_all: 0.0403, d0.loss_map_cls: 0.6137, d0.loss_map_pts: 3.5204, d0.loss_map_dir: 0.0403, d1.loss_map_cls: 0.6261, d1.loss_map_pts: 2.7848, d1.loss_map_dir: 0.0394, d2.loss_map_cls: 0.6283, d2.loss_map_pts: 2.7166, d2.loss_map_dir: 0.0395, d3.loss_map_cls: 0.6283, d3.loss_map_pts: 2.7196, d3.loss_map_dir: 0.0395, d4.loss_map_cls: 0.6299, d4.loss_map_pts: 2.7287, d4.loss_map_dir: 0.0395, d5.loss_map_cls: 0.6298, d5.loss_map_pts: 2.7412, d5.loss_map_dir: 0.0395, loss: 91.3594, grad_norm: 248.3070 2026-02-24 01:38:29,510 - DriveTransformer - INFO - Epoch [1][7600/59059] lr: 1.000e-04, eta: 23 days, 9:10:02, time: 0.549, data_time: 0.029, memory: 14138, loss_cls: 1.0237, loss_bbox: 1.1237, loss_traj: 2.2552, loss_traj_cls: 0.0005, loss_map_cls: 0.6799, loss_map_pts: 2.8170, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.2195, d0.loss_plan_l1_fix_dist: 0.5962, d1.loss_plan_l1_fix_time: 3.1328, d1.loss_plan_l1_fix_dist: 0.6584, d2.loss_plan_l1_fix_time: 3.1487, d2.loss_plan_l1_fix_dist: 0.7410, d3.loss_plan_l1_fix_time: 3.1692, d3.loss_plan_l1_fix_dist: 0.8344, d4.loss_plan_l1_fix_time: 3.1876, d4.loss_plan_l1_fix_dist: 0.9400, d5.loss_plan_l1_fix_time: 3.2055, d5.loss_plan_l1_fix_dist: 1.0556, d6.loss_plan_l1_fix_time: 3.2219, d6.loss_plan_l1_fix_dist: 1.1845, d0.loss_cls_all: 1.0166, d0.loss_bbox_all: 1.1121, d0.loss_cls: 1.0166, d0.loss_bbox: 1.1121, d1.loss_cls: 1.0173, d1.loss_bbox: 1.1135, d2.loss_cls: 1.0201, d2.loss_bbox: 1.1144, d3.loss_cls: 1.0211, d3.loss_bbox: 1.1136, d4.loss_cls: 1.0225, d4.loss_bbox: 1.1170, d5.loss_cls: 1.0242, d5.loss_bbox: 1.1178, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1194, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1120, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1315, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1559, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1919, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2034, d0.loss_map_cls_all: 0.6669, d0.loss_map_pts_all: 3.3479, d0.loss_map_dir_all: 0.0389, d0.loss_map_cls: 0.6669, d0.loss_map_pts: 3.3479, d0.loss_map_dir: 0.0389, d1.loss_map_cls: 0.6747, d1.loss_map_pts: 2.7952, d1.loss_map_dir: 0.0385, d2.loss_map_cls: 0.6741, d2.loss_map_pts: 2.7617, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.6739, d3.loss_map_pts: 2.7673, d3.loss_map_dir: 0.0392, d4.loss_map_cls: 0.6742, d4.loss_map_pts: 2.7798, d4.loss_map_dir: 0.0392, d5.loss_map_cls: 0.6759, d5.loss_map_pts: 2.7990, d5.loss_map_dir: 0.0392, loss: 89.6686, grad_norm: 247.5258 2026-02-24 01:38:58,235 - DriveTransformer - INFO - Epoch [1][7650/59059] lr: 1.000e-04, eta: 23 days, 9:10:46, time: 0.574, data_time: 0.035, memory: 14138, loss_cls: 1.0797, loss_bbox: 1.1646, loss_traj: 2.4997, loss_traj_cls: 0.0006, loss_map_cls: 0.6823, loss_map_pts: 2.9228, loss_map_dir: 0.0414, d0.loss_plan_l1_fix_time: 3.0756, d0.loss_plan_l1_fix_dist: 0.6132, d1.loss_plan_l1_fix_time: 2.9547, d1.loss_plan_l1_fix_dist: 0.6642, d2.loss_plan_l1_fix_time: 2.9505, d2.loss_plan_l1_fix_dist: 0.7345, d3.loss_plan_l1_fix_time: 2.9624, d3.loss_plan_l1_fix_dist: 0.8245, d4.loss_plan_l1_fix_time: 2.9785, d4.loss_plan_l1_fix_dist: 0.9175, d5.loss_plan_l1_fix_time: 2.9949, d5.loss_plan_l1_fix_dist: 1.0191, d6.loss_plan_l1_fix_time: 3.0090, d6.loss_plan_l1_fix_dist: 1.1251, d0.loss_cls_all: 1.0647, d0.loss_bbox_all: 1.1411, d0.loss_cls: 1.0647, d0.loss_bbox: 1.1411, d1.loss_cls: 1.0686, d1.loss_bbox: 1.1429, d2.loss_cls: 1.0729, d2.loss_bbox: 1.1438, d3.loss_cls: 1.0760, d3.loss_bbox: 1.1454, d4.loss_cls: 1.0782, d4.loss_bbox: 1.1510, d5.loss_cls: 1.0798, d5.loss_bbox: 1.1532, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2714, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2900, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2989, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3407, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3878, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4169, d0.loss_map_cls_all: 0.6669, d0.loss_map_pts_all: 3.4992, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6669, d0.loss_map_pts: 3.4992, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.6774, d1.loss_map_pts: 2.9179, d1.loss_map_dir: 0.0410, d2.loss_map_cls: 0.6760, d2.loss_map_pts: 2.8806, d2.loss_map_dir: 0.0413, d3.loss_map_cls: 0.6763, d3.loss_map_pts: 2.8859, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6776, d4.loss_map_pts: 2.8972, d4.loss_map_dir: 0.0414, d5.loss_map_cls: 0.6795, d5.loss_map_pts: 2.9102, d5.loss_map_dir: 0.0414, loss: 91.2468, grad_norm: 247.6892 2026-02-24 01:39:26,644 - DriveTransformer - INFO - Epoch [1][7700/59059] lr: 1.000e-04, eta: 23 days, 9:09:04, time: 0.568, data_time: 0.026, memory: 14138, loss_cls: 1.0360, loss_bbox: 1.0907, loss_traj: 1.8580, loss_traj_cls: 0.0005, loss_map_cls: 0.7084, loss_map_pts: 2.7662, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 3.2806, d0.loss_plan_l1_fix_dist: 0.5991, d1.loss_plan_l1_fix_time: 3.2113, d1.loss_plan_l1_fix_dist: 0.6432, d2.loss_plan_l1_fix_time: 3.2024, d2.loss_plan_l1_fix_dist: 0.7208, d3.loss_plan_l1_fix_time: 3.2144, d3.loss_plan_l1_fix_dist: 0.8197, d4.loss_plan_l1_fix_time: 3.2354, d4.loss_plan_l1_fix_dist: 0.9178, d5.loss_plan_l1_fix_time: 3.2570, d5.loss_plan_l1_fix_dist: 1.0110, d6.loss_plan_l1_fix_time: 3.2791, d6.loss_plan_l1_fix_dist: 1.0987, d0.loss_cls_all: 1.0275, d0.loss_bbox_all: 1.0850, d0.loss_cls: 1.0275, d0.loss_bbox: 1.0850, d1.loss_cls: 1.0274, d1.loss_bbox: 1.0890, d2.loss_cls: 1.0289, d2.loss_bbox: 1.0878, d3.loss_cls: 1.0354, d3.loss_bbox: 1.0852, d4.loss_cls: 1.0371, d4.loss_bbox: 1.0831, d5.loss_cls: 1.0388, d5.loss_bbox: 1.0845, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7427, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7770, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7742, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7771, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8017, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8178, d0.loss_map_cls_all: 0.6988, d0.loss_map_pts_all: 3.2329, d0.loss_map_dir_all: 0.0404, d0.loss_map_cls: 0.6988, d0.loss_map_pts: 3.2329, d0.loss_map_dir: 0.0404, d1.loss_map_cls: 0.7034, d1.loss_map_pts: 2.7444, d1.loss_map_dir: 0.0395, d2.loss_map_cls: 0.7054, d2.loss_map_pts: 2.7331, d2.loss_map_dir: 0.0396, d3.loss_map_cls: 0.7070, d3.loss_map_pts: 2.7507, d3.loss_map_dir: 0.0397, d4.loss_map_cls: 0.7062, d4.loss_map_pts: 2.7593, d4.loss_map_dir: 0.0396, d5.loss_map_cls: 0.7068, d5.loss_map_pts: 2.7620, d5.loss_map_dir: 0.0396, loss: 86.9259, grad_norm: 246.0707 2026-02-24 01:39:56,559 - DriveTransformer - INFO - Epoch [1][7750/59059] lr: 1.000e-04, eta: 23 days, 9:18:49, time: 0.598, data_time: 0.028, memory: 14138, loss_cls: 1.0778, loss_bbox: 1.2244, loss_traj: 2.0897, loss_traj_cls: 0.0006, loss_map_cls: 0.6566, loss_map_pts: 3.0850, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 4.0482, d0.loss_plan_l1_fix_dist: 0.8096, d1.loss_plan_l1_fix_time: 4.0009, d1.loss_plan_l1_fix_dist: 0.8628, d2.loss_plan_l1_fix_time: 4.0077, d2.loss_plan_l1_fix_dist: 0.9409, d3.loss_plan_l1_fix_time: 4.0227, d3.loss_plan_l1_fix_dist: 1.0288, d4.loss_plan_l1_fix_time: 4.0412, d4.loss_plan_l1_fix_dist: 1.1258, d5.loss_plan_l1_fix_time: 4.0610, d5.loss_plan_l1_fix_dist: 1.2231, d6.loss_plan_l1_fix_time: 4.0831, d6.loss_plan_l1_fix_dist: 1.3292, d0.loss_cls_all: 1.0608, d0.loss_bbox_all: 1.2214, d0.loss_cls: 1.0608, d0.loss_bbox: 1.2214, d1.loss_cls: 1.0677, d1.loss_bbox: 1.2248, d2.loss_cls: 1.0720, d2.loss_bbox: 1.2243, d3.loss_cls: 1.0748, d3.loss_bbox: 1.2233, d4.loss_cls: 1.0759, d4.loss_bbox: 1.2213, d5.loss_cls: 1.0771, d5.loss_bbox: 1.2278, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9631, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9996, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0351, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.0485, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0696, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0692, d0.loss_map_cls_all: 0.6492, d0.loss_map_pts_all: 3.5898, d0.loss_map_dir_all: 0.0406, d0.loss_map_cls: 0.6492, d0.loss_map_pts: 3.5898, d0.loss_map_dir: 0.0406, d1.loss_map_cls: 0.6538, d1.loss_map_pts: 3.0404, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.6542, d2.loss_map_pts: 3.0336, d2.loss_map_dir: 0.0397, d3.loss_map_cls: 0.6549, d3.loss_map_pts: 3.0550, d3.loss_map_dir: 0.0396, d4.loss_map_cls: 0.6529, d4.loss_map_pts: 3.0686, d4.loss_map_dir: 0.0396, d5.loss_map_cls: 0.6539, d5.loss_map_pts: 3.0775, d5.loss_map_dir: 0.0395, loss: 99.3018, grad_norm: 244.9887 2026-02-24 01:40:24,276 - DriveTransformer - INFO - Epoch [1][7800/59059] lr: 1.000e-04, eta: 23 days, 9:11:53, time: 0.554, data_time: 0.032, memory: 14138, loss_cls: 1.0477, loss_bbox: 1.0676, loss_traj: 2.2842, loss_traj_cls: 0.0006, loss_map_cls: 0.6535, loss_map_pts: 2.6810, loss_map_dir: 0.0348, d0.loss_plan_l1_fix_time: 3.5719, d0.loss_plan_l1_fix_dist: 0.7097, d1.loss_plan_l1_fix_time: 3.4324, d1.loss_plan_l1_fix_dist: 0.7621, d2.loss_plan_l1_fix_time: 3.4208, d2.loss_plan_l1_fix_dist: 0.8373, d3.loss_plan_l1_fix_time: 3.4294, d3.loss_plan_l1_fix_dist: 0.9185, d4.loss_plan_l1_fix_time: 3.4436, d4.loss_plan_l1_fix_dist: 1.0161, d5.loss_plan_l1_fix_time: 3.4628, d5.loss_plan_l1_fix_dist: 1.1232, d6.loss_plan_l1_fix_time: 3.4848, d6.loss_plan_l1_fix_dist: 1.2473, d0.loss_cls_all: 1.0395, d0.loss_bbox_all: 1.0662, d0.loss_cls: 1.0395, d0.loss_bbox: 1.0662, d1.loss_cls: 1.0423, d1.loss_bbox: 1.0680, d2.loss_cls: 1.0493, d2.loss_bbox: 1.0677, d3.loss_cls: 1.0478, d3.loss_bbox: 1.0664, d4.loss_cls: 1.0479, d4.loss_bbox: 1.0662, d5.loss_cls: 1.0465, d5.loss_bbox: 1.0651, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2088, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2199, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2453, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2393, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2315, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2442, d0.loss_map_cls_all: 0.6428, d0.loss_map_pts_all: 3.3003, d0.loss_map_dir_all: 0.0354, d0.loss_map_cls: 0.6428, d0.loss_map_pts: 3.3003, d0.loss_map_dir: 0.0354, d1.loss_map_cls: 0.6471, d1.loss_map_pts: 2.6700, d1.loss_map_dir: 0.0346, d2.loss_map_cls: 0.6468, d2.loss_map_pts: 2.6364, d2.loss_map_dir: 0.0345, d3.loss_map_cls: 0.6475, d3.loss_map_pts: 2.6431, d3.loss_map_dir: 0.0346, d4.loss_map_cls: 0.6478, d4.loss_map_pts: 2.6555, d4.loss_map_dir: 0.0348, d5.loss_map_cls: 0.6502, d5.loss_map_pts: 2.6691, d5.loss_map_dir: 0.0348, loss: 91.4433, grad_norm: 243.8896 2026-02-24 01:40:52,943 - DriveTransformer - INFO - Epoch [1][7850/59059] lr: 1.000e-04, eta: 23 days, 9:12:07, time: 0.573, data_time: 0.030, memory: 14138, loss_cls: 1.0567, loss_bbox: 1.1466, loss_traj: 2.2756, loss_traj_cls: 0.0006, loss_map_cls: 0.6776, loss_map_pts: 3.0570, loss_map_dir: 0.0393, d0.loss_plan_l1_fix_time: 3.8479, d0.loss_plan_l1_fix_dist: 0.7178, d1.loss_plan_l1_fix_time: 3.7344, d1.loss_plan_l1_fix_dist: 0.7592, d2.loss_plan_l1_fix_time: 3.7297, d2.loss_plan_l1_fix_dist: 0.8282, d3.loss_plan_l1_fix_time: 3.7396, d3.loss_plan_l1_fix_dist: 0.9094, d4.loss_plan_l1_fix_time: 3.7530, d4.loss_plan_l1_fix_dist: 1.0014, d5.loss_plan_l1_fix_time: 3.7691, d5.loss_plan_l1_fix_dist: 1.1065, d6.loss_plan_l1_fix_time: 3.7880, d6.loss_plan_l1_fix_dist: 1.2221, d0.loss_cls_all: 1.0527, d0.loss_bbox_all: 1.1404, d0.loss_cls: 1.0527, d0.loss_bbox: 1.1404, d1.loss_cls: 1.0547, d1.loss_bbox: 1.1393, d2.loss_cls: 1.0592, d2.loss_bbox: 1.1380, d3.loss_cls: 1.0552, d3.loss_bbox: 1.1400, d4.loss_cls: 1.0523, d4.loss_bbox: 1.1399, d5.loss_cls: 1.0529, d5.loss_bbox: 1.1416, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1561, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1696, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1886, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1944, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2186, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.2151, d0.loss_map_cls_all: 0.6627, d0.loss_map_pts_all: 3.3988, d0.loss_map_dir_all: 0.0388, d0.loss_map_cls: 0.6627, d0.loss_map_pts: 3.3988, d0.loss_map_dir: 0.0388, d1.loss_map_cls: 0.6769, d1.loss_map_pts: 2.9267, d1.loss_map_dir: 0.0388, d2.loss_map_cls: 0.6758, d2.loss_map_pts: 2.9294, d2.loss_map_dir: 0.0391, d3.loss_map_cls: 0.6747, d3.loss_map_pts: 2.9572, d3.loss_map_dir: 0.0392, d4.loss_map_cls: 0.6725, d4.loss_map_pts: 2.9907, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.6735, d5.loss_map_pts: 3.0248, d5.loss_map_dir: 0.0393, loss: 96.2633, grad_norm: 242.1188 2026-02-24 01:41:22,416 - DriveTransformer - INFO - Epoch [1][7900/59059] lr: 1.000e-04, eta: 23 days, 9:18:26, time: 0.590, data_time: 0.025, memory: 14138, loss_cls: 1.0270, loss_bbox: 1.1335, loss_traj: 2.4991, loss_traj_cls: 0.0006, loss_map_cls: 0.6866, loss_map_pts: 2.9485, loss_map_dir: 0.0404, d0.loss_plan_l1_fix_time: 4.0757, d0.loss_plan_l1_fix_dist: 0.6096, d1.loss_plan_l1_fix_time: 4.0375, d1.loss_plan_l1_fix_dist: 0.6788, d2.loss_plan_l1_fix_time: 4.0431, d2.loss_plan_l1_fix_dist: 0.7629, d3.loss_plan_l1_fix_time: 4.0574, d3.loss_plan_l1_fix_dist: 0.8563, d4.loss_plan_l1_fix_time: 4.0749, d4.loss_plan_l1_fix_dist: 0.9460, d5.loss_plan_l1_fix_time: 4.0925, d5.loss_plan_l1_fix_dist: 1.0413, d6.loss_plan_l1_fix_time: 4.1111, d6.loss_plan_l1_fix_dist: 1.1338, d0.loss_cls_all: 1.0193, d0.loss_bbox_all: 1.1070, d0.loss_cls: 1.0193, d0.loss_bbox: 1.1070, d1.loss_cls: 1.0245, d1.loss_bbox: 1.1087, d2.loss_cls: 1.0267, d2.loss_bbox: 1.1083, d3.loss_cls: 1.0278, d3.loss_bbox: 1.1099, d4.loss_cls: 1.0199, d4.loss_bbox: 1.1199, d5.loss_cls: 1.0231, d5.loss_bbox: 1.1264, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4353, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4334, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4473, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4566, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4704, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4654, d0.loss_map_cls_all: 0.6708, d0.loss_map_pts_all: 3.4387, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.6708, d0.loss_map_pts: 3.4387, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.6829, d1.loss_map_pts: 2.9191, d1.loss_map_dir: 0.0404, d2.loss_map_cls: 0.6854, d2.loss_map_pts: 2.8921, d2.loss_map_dir: 0.0406, d3.loss_map_cls: 0.6861, d3.loss_map_pts: 2.9013, d3.loss_map_dir: 0.0406, d4.loss_map_cls: 0.6843, d4.loss_map_pts: 2.9156, d4.loss_map_dir: 0.0405, d5.loss_map_cls: 0.6845, d5.loss_map_pts: 2.9321, d5.loss_map_dir: 0.0404, loss: 99.0030, grad_norm: 240.7367 2026-02-24 01:41:51,492 - DriveTransformer - INFO - Epoch [1][7950/59059] lr: 1.000e-04, eta: 23 days, 9:21:37, time: 0.581, data_time: 0.026, memory: 14138, loss_cls: 1.1188, loss_bbox: 1.1469, loss_traj: 2.2573, loss_traj_cls: 0.0005, loss_map_cls: 0.6797, loss_map_pts: 2.7805, loss_map_dir: 0.0392, d0.loss_plan_l1_fix_time: 3.9464, d0.loss_plan_l1_fix_dist: 0.7280, d1.loss_plan_l1_fix_time: 3.9133, d1.loss_plan_l1_fix_dist: 0.7929, d2.loss_plan_l1_fix_time: 3.9263, d2.loss_plan_l1_fix_dist: 0.8850, d3.loss_plan_l1_fix_time: 3.9447, d3.loss_plan_l1_fix_dist: 0.9897, d4.loss_plan_l1_fix_time: 3.9674, d4.loss_plan_l1_fix_dist: 1.0954, d5.loss_plan_l1_fix_time: 3.9891, d5.loss_plan_l1_fix_dist: 1.2016, d6.loss_plan_l1_fix_time: 4.0112, d6.loss_plan_l1_fix_dist: 1.3063, d0.loss_cls_all: 1.0940, d0.loss_bbox_all: 1.1344, d0.loss_cls: 1.0940, d0.loss_bbox: 1.1344, d1.loss_cls: 1.0899, d1.loss_bbox: 1.1370, d2.loss_cls: 1.0957, d2.loss_bbox: 1.1400, d3.loss_cls: 1.1115, d3.loss_bbox: 1.1395, d4.loss_cls: 1.1177, d4.loss_bbox: 1.1450, d5.loss_cls: 1.1183, d5.loss_bbox: 1.1496, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2076, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2176, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2274, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2386, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2327, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2536, d0.loss_map_cls_all: 0.6683, d0.loss_map_pts_all: 3.3079, d0.loss_map_dir_all: 0.0401, d0.loss_map_cls: 0.6683, d0.loss_map_pts: 3.3079, d0.loss_map_dir: 0.0401, d1.loss_map_cls: 0.6728, d1.loss_map_pts: 2.7504, d1.loss_map_dir: 0.0394, d2.loss_map_cls: 0.6781, d2.loss_map_pts: 2.7283, d2.loss_map_dir: 0.0394, d3.loss_map_cls: 0.6802, d3.loss_map_pts: 2.7405, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6790, d4.loss_map_pts: 2.7494, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.6795, d5.loss_map_pts: 2.7622, d5.loss_map_dir: 0.0393, loss: 97.1519, grad_norm: 238.6090 2026-02-24 01:42:20,636 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 01:42:20,637 - DriveTransformer - INFO - Epoch [1][8000/59059] lr: 1.000e-04, eta: 23 days, 9:25:18, time: 0.583, data_time: 0.033, memory: 14138, loss_cls: 1.0927, loss_bbox: 1.1798, loss_traj: 2.2857, loss_traj_cls: 0.0006, loss_map_cls: 0.6487, loss_map_pts: 2.8960, loss_map_dir: 0.0376, d0.loss_plan_l1_fix_time: 3.5243, d0.loss_plan_l1_fix_dist: 0.6339, d1.loss_plan_l1_fix_time: 3.3912, d1.loss_plan_l1_fix_dist: 0.6874, d2.loss_plan_l1_fix_time: 3.3797, d2.loss_plan_l1_fix_dist: 0.7725, d3.loss_plan_l1_fix_time: 3.3852, d3.loss_plan_l1_fix_dist: 0.8712, d4.loss_plan_l1_fix_time: 3.3968, d4.loss_plan_l1_fix_dist: 0.9820, d5.loss_plan_l1_fix_time: 3.4121, d5.loss_plan_l1_fix_dist: 1.0969, d6.loss_plan_l1_fix_time: 3.4284, d6.loss_plan_l1_fix_dist: 1.2245, d0.loss_cls_all: 1.0763, d0.loss_bbox_all: 1.1584, d0.loss_cls: 1.0763, d0.loss_bbox: 1.1584, d1.loss_cls: 1.0736, d1.loss_bbox: 1.1591, d2.loss_cls: 1.0759, d2.loss_bbox: 1.1622, d3.loss_cls: 1.0816, d3.loss_bbox: 1.1659, d4.loss_cls: 1.0915, d4.loss_bbox: 1.1699, d5.loss_cls: 1.0946, d5.loss_bbox: 1.1721, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2403, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2665, d2.loss_traj_cls: 0.0006, d2.loss_traj: 2.2818, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2883, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2912, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2902, d0.loss_map_cls_all: 0.6448, d0.loss_map_pts_all: 3.4569, d0.loss_map_dir_all: 0.0388, d0.loss_map_cls: 0.6448, d0.loss_map_pts: 3.4569, d0.loss_map_dir: 0.0388, d1.loss_map_cls: 0.6502, d1.loss_map_pts: 2.8854, d1.loss_map_dir: 0.0378, d2.loss_map_cls: 0.6488, d2.loss_map_pts: 2.8591, d2.loss_map_dir: 0.0377, d3.loss_map_cls: 0.6475, d3.loss_map_pts: 2.8701, d3.loss_map_dir: 0.0378, d4.loss_map_cls: 0.6457, d4.loss_map_pts: 2.8767, d4.loss_map_dir: 0.0376, d5.loss_map_cls: 0.6461, d5.loss_map_pts: 2.8862, d5.loss_map_dir: 0.0377, loss: 93.7898, grad_norm: 238.8606 2026-02-24 01:42:49,524 - DriveTransformer - INFO - Epoch [1][8050/59059] lr: 1.000e-04, eta: 23 days, 9:27:03, time: 0.578, data_time: 0.027, memory: 14138, loss_cls: 1.0479, loss_bbox: 1.1131, loss_traj: 2.0406, loss_traj_cls: 0.0005, loss_map_cls: 0.6708, loss_map_pts: 2.7195, loss_map_dir: 0.0406, d0.loss_plan_l1_fix_time: 3.4011, d0.loss_plan_l1_fix_dist: 0.5550, d1.loss_plan_l1_fix_time: 3.3712, d1.loss_plan_l1_fix_dist: 0.6037, d2.loss_plan_l1_fix_time: 3.3820, d2.loss_plan_l1_fix_dist: 0.6735, d3.loss_plan_l1_fix_time: 3.4000, d3.loss_plan_l1_fix_dist: 0.7543, d4.loss_plan_l1_fix_time: 3.4230, d4.loss_plan_l1_fix_dist: 0.8445, d5.loss_plan_l1_fix_time: 3.4470, d5.loss_plan_l1_fix_dist: 0.9449, d6.loss_plan_l1_fix_time: 3.4708, d6.loss_plan_l1_fix_dist: 1.0565, d0.loss_cls_all: 1.0181, d0.loss_bbox_all: 1.0930, d0.loss_cls: 1.0181, d0.loss_bbox: 1.0930, d1.loss_cls: 1.0208, d1.loss_bbox: 1.0933, d2.loss_cls: 1.0275, d2.loss_bbox: 1.0943, d3.loss_cls: 1.0383, d3.loss_bbox: 1.0935, d4.loss_cls: 1.0494, d4.loss_bbox: 1.0995, d5.loss_cls: 1.0519, d5.loss_bbox: 1.1072, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0288, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0629, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0668, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0661, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0583, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0402, d0.loss_map_cls_all: 0.6542, d0.loss_map_pts_all: 3.3008, d0.loss_map_dir_all: 0.0413, d0.loss_map_cls: 0.6542, d0.loss_map_pts: 3.3008, d0.loss_map_dir: 0.0413, d1.loss_map_cls: 0.6659, d1.loss_map_pts: 2.7535, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.6659, d2.loss_map_pts: 2.7102, d2.loss_map_dir: 0.0407, d3.loss_map_cls: 0.6658, d3.loss_map_pts: 2.7098, d3.loss_map_dir: 0.0406, d4.loss_map_cls: 0.6654, d4.loss_map_pts: 2.7155, d4.loss_map_dir: 0.0407, d5.loss_map_cls: 0.6679, d5.loss_map_pts: 2.7196, d5.loss_map_dir: 0.0407, loss: 89.3200, grad_norm: 238.4965 2026-02-24 01:43:17,830 - DriveTransformer - INFO - Epoch [1][8100/59059] lr: 1.000e-04, eta: 23 days, 9:24:32, time: 0.566, data_time: 0.028, memory: 14138, loss_cls: 1.0577, loss_bbox: 1.1594, loss_traj: 2.4419, loss_traj_cls: 0.0006, loss_map_cls: 0.6803, loss_map_pts: 2.8375, loss_map_dir: 0.0356, d0.loss_plan_l1_fix_time: 3.6838, d0.loss_plan_l1_fix_dist: 0.7421, d1.loss_plan_l1_fix_time: 3.6532, d1.loss_plan_l1_fix_dist: 0.7995, d2.loss_plan_l1_fix_time: 3.6637, d2.loss_plan_l1_fix_dist: 0.8753, d3.loss_plan_l1_fix_time: 3.6785, d3.loss_plan_l1_fix_dist: 0.9654, d4.loss_plan_l1_fix_time: 3.6947, d4.loss_plan_l1_fix_dist: 1.0545, d5.loss_plan_l1_fix_time: 3.7117, d5.loss_plan_l1_fix_dist: 1.1535, d6.loss_plan_l1_fix_time: 3.7274, d6.loss_plan_l1_fix_dist: 1.2589, d0.loss_cls_all: 1.0479, d0.loss_bbox_all: 1.1409, d0.loss_cls: 1.0479, d0.loss_bbox: 1.1409, d1.loss_cls: 1.0416, d1.loss_bbox: 1.1474, d2.loss_cls: 1.0436, d2.loss_bbox: 1.1494, d3.loss_cls: 1.0467, d3.loss_bbox: 1.1531, d4.loss_cls: 1.0589, d4.loss_bbox: 1.1556, d5.loss_cls: 1.0594, d5.loss_bbox: 1.1624, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3416, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3728, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3811, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3869, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4063, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4212, d0.loss_map_cls_all: 0.6655, d0.loss_map_pts_all: 3.2933, d0.loss_map_dir_all: 0.0362, d0.loss_map_cls: 0.6655, d0.loss_map_pts: 3.2933, d0.loss_map_dir: 0.0362, d1.loss_map_cls: 0.6769, d1.loss_map_pts: 2.8076, d1.loss_map_dir: 0.0357, d2.loss_map_cls: 0.6758, d2.loss_map_pts: 2.7850, d2.loss_map_dir: 0.0358, d3.loss_map_cls: 0.6745, d3.loss_map_pts: 2.7936, d3.loss_map_dir: 0.0358, d4.loss_map_cls: 0.6746, d4.loss_map_pts: 2.8114, d4.loss_map_dir: 0.0358, d5.loss_map_cls: 0.6765, d5.loss_map_pts: 2.8255, d5.loss_map_dir: 0.0357, loss: 96.1542, grad_norm: 237.3350 2026-02-24 01:43:46,172 - DriveTransformer - INFO - Epoch [1][8150/59059] lr: 1.000e-04, eta: 23 days, 9:22:18, time: 0.567, data_time: 0.028, memory: 14138, loss_cls: 1.0393, loss_bbox: 1.1225, loss_traj: 2.6102, loss_traj_cls: 0.0006, loss_map_cls: 0.6327, loss_map_pts: 2.6957, loss_map_dir: 0.0336, d0.loss_plan_l1_fix_time: 3.3705, d0.loss_plan_l1_fix_dist: 0.6976, d1.loss_plan_l1_fix_time: 3.3202, d1.loss_plan_l1_fix_dist: 0.7548, d2.loss_plan_l1_fix_time: 3.3381, d2.loss_plan_l1_fix_dist: 0.8463, d3.loss_plan_l1_fix_time: 3.3636, d3.loss_plan_l1_fix_dist: 0.9597, d4.loss_plan_l1_fix_time: 3.3918, d4.loss_plan_l1_fix_dist: 1.0723, d5.loss_plan_l1_fix_time: 3.4205, d5.loss_plan_l1_fix_dist: 1.1953, d6.loss_plan_l1_fix_time: 3.4469, d6.loss_plan_l1_fix_dist: 1.3256, d0.loss_cls_all: 1.0215, d0.loss_bbox_all: 1.0893, d0.loss_cls: 1.0215, d0.loss_bbox: 1.0893, d1.loss_cls: 1.0280, d1.loss_bbox: 1.0923, d2.loss_cls: 1.0323, d2.loss_bbox: 1.1020, d3.loss_cls: 1.0310, d3.loss_bbox: 1.1121, d4.loss_cls: 1.0322, d4.loss_bbox: 1.1176, d5.loss_cls: 1.0363, d5.loss_bbox: 1.1182, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2508, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3594, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4546, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.5014, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.5724, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.5887, d0.loss_map_cls_all: 0.6024, d0.loss_map_pts_all: 3.3124, d0.loss_map_dir_all: 0.0345, d0.loss_map_cls: 0.6024, d0.loss_map_pts: 3.3124, d0.loss_map_dir: 0.0345, d1.loss_map_cls: 0.6189, d1.loss_map_pts: 2.6496, d1.loss_map_dir: 0.0337, d2.loss_map_cls: 0.6227, d2.loss_map_pts: 2.6027, d2.loss_map_dir: 0.0337, d3.loss_map_cls: 0.6267, d3.loss_map_pts: 2.6099, d3.loss_map_dir: 0.0337, d4.loss_map_cls: 0.6281, d4.loss_map_pts: 2.6373, d4.loss_map_dir: 0.0338, d5.loss_map_cls: 0.6294, d5.loss_map_pts: 2.6655, d5.loss_map_dir: 0.0337, loss: 92.6497, grad_norm: 242.4910 2026-02-24 01:44:14,772 - DriveTransformer - INFO - Epoch [1][8200/59059] lr: 1.000e-04, eta: 23 days, 9:21:58, time: 0.572, data_time: 0.028, memory: 14138, loss_cls: 1.0739, loss_bbox: 1.1410, loss_traj: 2.3090, loss_traj_cls: 0.0005, loss_map_cls: 0.6457, loss_map_pts: 3.0594, loss_map_dir: 0.0417, d0.loss_plan_l1_fix_time: 3.5481, d0.loss_plan_l1_fix_dist: 0.6436, d1.loss_plan_l1_fix_time: 3.4804, d1.loss_plan_l1_fix_dist: 0.6795, d2.loss_plan_l1_fix_time: 3.4939, d2.loss_plan_l1_fix_dist: 0.7366, d3.loss_plan_l1_fix_time: 3.5140, d3.loss_plan_l1_fix_dist: 0.8119, d4.loss_plan_l1_fix_time: 3.5321, d4.loss_plan_l1_fix_dist: 0.9009, d5.loss_plan_l1_fix_time: 3.5536, d5.loss_plan_l1_fix_dist: 1.0011, d6.loss_plan_l1_fix_time: 3.5763, d6.loss_plan_l1_fix_dist: 1.1049, d0.loss_cls_all: 1.0515, d0.loss_bbox_all: 1.1160, d0.loss_cls: 1.0515, d0.loss_bbox: 1.1160, d1.loss_cls: 1.0528, d1.loss_bbox: 1.1233, d2.loss_cls: 1.0674, d2.loss_bbox: 1.1257, d3.loss_cls: 1.0705, d3.loss_bbox: 1.1321, d4.loss_cls: 1.0679, d4.loss_bbox: 1.1369, d5.loss_cls: 1.0685, d5.loss_bbox: 1.1357, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1842, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2255, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2648, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2796, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3463, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3234, d0.loss_map_cls_all: 0.6310, d0.loss_map_pts_all: 3.5936, d0.loss_map_dir_all: 0.0421, d0.loss_map_cls: 0.6310, d0.loss_map_pts: 3.5936, d0.loss_map_dir: 0.0421, d1.loss_map_cls: 0.6404, d1.loss_map_pts: 3.0763, d1.loss_map_dir: 0.0417, d2.loss_map_cls: 0.6422, d2.loss_map_pts: 3.0435, d2.loss_map_dir: 0.0418, d3.loss_map_cls: 0.6437, d3.loss_map_pts: 3.0393, d3.loss_map_dir: 0.0418, d4.loss_map_cls: 0.6431, d4.loss_map_pts: 3.0428, d4.loss_map_dir: 0.0418, d5.loss_map_cls: 0.6441, d5.loss_map_pts: 3.0492, d5.loss_map_dir: 0.0418, loss: 94.9973, grad_norm: 242.8804 2026-02-24 01:44:43,772 - DriveTransformer - INFO - Epoch [1][8250/59059] lr: 1.000e-04, eta: 23 days, 9:24:29, time: 0.580, data_time: 0.027, memory: 14138, loss_cls: 1.1014, loss_bbox: 1.1621, loss_traj: 2.2023, loss_traj_cls: 0.0006, loss_map_cls: 0.6671, loss_map_pts: 2.8453, loss_map_dir: 0.0406, d0.loss_plan_l1_fix_time: 3.4332, d0.loss_plan_l1_fix_dist: 0.7381, d1.loss_plan_l1_fix_time: 3.3721, d1.loss_plan_l1_fix_dist: 0.7831, d2.loss_plan_l1_fix_time: 3.3775, d2.loss_plan_l1_fix_dist: 0.8415, d3.loss_plan_l1_fix_time: 3.3938, d3.loss_plan_l1_fix_dist: 0.9040, d4.loss_plan_l1_fix_time: 3.4108, d4.loss_plan_l1_fix_dist: 0.9868, d5.loss_plan_l1_fix_time: 3.4299, d5.loss_plan_l1_fix_dist: 1.0774, d6.loss_plan_l1_fix_time: 3.4508, d6.loss_plan_l1_fix_dist: 1.1729, d0.loss_cls_all: 1.0816, d0.loss_bbox_all: 1.1404, d0.loss_cls: 1.0816, d0.loss_bbox: 1.1404, d1.loss_cls: 1.0869, d1.loss_bbox: 1.1475, d2.loss_cls: 1.0974, d2.loss_bbox: 1.1455, d3.loss_cls: 1.1019, d3.loss_bbox: 1.1467, d4.loss_cls: 1.0987, d4.loss_bbox: 1.1497, d5.loss_cls: 1.0995, d5.loss_bbox: 1.1550, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8559, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9281, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9712, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0147, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0454, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1867, d0.loss_map_cls_all: 0.6566, d0.loss_map_pts_all: 3.4443, d0.loss_map_dir_all: 0.0404, d0.loss_map_cls: 0.6566, d0.loss_map_pts: 3.4443, d0.loss_map_dir: 0.0404, d1.loss_map_cls: 0.6664, d1.loss_map_pts: 2.8474, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.6625, d2.loss_map_pts: 2.8255, d2.loss_map_dir: 0.0406, d3.loss_map_cls: 0.6622, d3.loss_map_pts: 2.8316, d3.loss_map_dir: 0.0407, d4.loss_map_cls: 0.6610, d4.loss_map_pts: 2.8354, d4.loss_map_dir: 0.0407, d5.loss_map_cls: 0.6636, d5.loss_map_pts: 2.8391, d5.loss_map_dir: 0.0407, loss: 92.0495, grad_norm: 241.2764 2026-02-24 01:45:12,335 - DriveTransformer - INFO - Epoch [1][8300/59059] lr: 1.000e-04, eta: 23 days, 9:23:51, time: 0.571, data_time: 0.029, memory: 14138, loss_cls: 1.0453, loss_bbox: 1.1065, loss_traj: 2.2655, loss_traj_cls: 0.0005, loss_map_cls: 0.6722, loss_map_pts: 2.5633, loss_map_dir: 0.0331, d0.loss_plan_l1_fix_time: 3.0680, d0.loss_plan_l1_fix_dist: 0.6192, d1.loss_plan_l1_fix_time: 2.9159, d1.loss_plan_l1_fix_dist: 0.6927, d2.loss_plan_l1_fix_time: 2.8997, d2.loss_plan_l1_fix_dist: 0.7866, d3.loss_plan_l1_fix_time: 2.9031, d3.loss_plan_l1_fix_dist: 0.8790, d4.loss_plan_l1_fix_time: 2.9102, d4.loss_plan_l1_fix_dist: 0.9766, d5.loss_plan_l1_fix_time: 2.9221, d5.loss_plan_l1_fix_dist: 1.0787, d6.loss_plan_l1_fix_time: 2.9374, d6.loss_plan_l1_fix_dist: 1.1945, d0.loss_cls_all: 1.0205, d0.loss_bbox_all: 1.0640, d0.loss_cls: 1.0205, d0.loss_bbox: 1.0640, d1.loss_cls: 1.0310, d1.loss_bbox: 1.0584, d2.loss_cls: 1.0349, d2.loss_bbox: 1.0560, d3.loss_cls: 1.0395, d3.loss_bbox: 1.0583, d4.loss_cls: 1.0371, d4.loss_bbox: 1.0684, d5.loss_cls: 1.0400, d5.loss_bbox: 1.0864, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0501, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1030, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1318, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1543, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1590, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2483, d0.loss_map_cls_all: 0.6627, d0.loss_map_pts_all: 3.1532, d0.loss_map_dir_all: 0.0326, d0.loss_map_cls: 0.6627, d0.loss_map_pts: 3.1532, d0.loss_map_dir: 0.0326, d1.loss_map_cls: 0.6668, d1.loss_map_pts: 2.5485, d1.loss_map_dir: 0.0325, d2.loss_map_cls: 0.6624, d2.loss_map_pts: 2.5364, d2.loss_map_dir: 0.0328, d3.loss_map_cls: 0.6642, d3.loss_map_pts: 2.5459, d3.loss_map_dir: 0.0330, d4.loss_map_cls: 0.6655, d4.loss_map_pts: 2.5503, d4.loss_map_dir: 0.0330, d5.loss_map_cls: 0.6680, d5.loss_map_pts: 2.5561, d5.loss_map_dir: 0.0331, loss: 85.9239, grad_norm: 240.4733 2026-02-24 01:45:40,863 - DriveTransformer - INFO - Epoch [1][8350/59059] lr: 1.000e-04, eta: 23 days, 9:22:59, time: 0.571, data_time: 0.032, memory: 14138, loss_cls: 1.1164, loss_bbox: 1.1032, loss_traj: 2.1110, loss_traj_cls: 0.0005, loss_map_cls: 0.6572, loss_map_pts: 2.4001, loss_map_dir: 0.0334, d0.loss_plan_l1_fix_time: 3.6061, d0.loss_plan_l1_fix_dist: 0.6740, d1.loss_plan_l1_fix_time: 3.4898, d1.loss_plan_l1_fix_dist: 0.7257, d2.loss_plan_l1_fix_time: 3.4770, d2.loss_plan_l1_fix_dist: 0.8033, d3.loss_plan_l1_fix_time: 3.4828, d3.loss_plan_l1_fix_dist: 0.8939, d4.loss_plan_l1_fix_time: 3.4953, d4.loss_plan_l1_fix_dist: 0.9842, d5.loss_plan_l1_fix_time: 3.5112, d5.loss_plan_l1_fix_dist: 1.0823, d6.loss_plan_l1_fix_time: 3.5303, d6.loss_plan_l1_fix_dist: 1.1895, d0.loss_cls_all: 1.1010, d0.loss_bbox_all: 1.0689, d0.loss_cls: 1.1010, d0.loss_bbox: 1.0689, d1.loss_cls: 1.1033, d1.loss_bbox: 1.0694, d2.loss_cls: 1.1105, d2.loss_bbox: 1.0687, d3.loss_cls: 1.1152, d3.loss_bbox: 1.0720, d4.loss_cls: 1.1114, d4.loss_bbox: 1.0824, d5.loss_cls: 1.1120, d5.loss_bbox: 1.0937, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9438, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9840, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9923, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0353, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1006, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0386, d0.loss_map_cls_all: 0.6404, d0.loss_map_pts_all: 3.2129, d0.loss_map_dir_all: 0.0341, d0.loss_map_cls: 0.6404, d0.loss_map_pts: 3.2129, d0.loss_map_dir: 0.0341, d1.loss_map_cls: 0.6522, d1.loss_map_pts: 2.5015, d1.loss_map_dir: 0.0334, d2.loss_map_cls: 0.6497, d2.loss_map_pts: 2.4300, d2.loss_map_dir: 0.0335, d3.loss_map_cls: 0.6513, d3.loss_map_pts: 2.4147, d3.loss_map_dir: 0.0335, d4.loss_map_cls: 0.6512, d4.loss_map_pts: 2.4081, d4.loss_map_dir: 0.0335, d5.loss_map_cls: 0.6530, d5.loss_map_pts: 2.4040, d5.loss_map_dir: 0.0335, loss: 89.1012, grad_norm: 239.5230 2026-02-24 01:46:10,874 - DriveTransformer - INFO - Epoch [1][8400/59059] lr: 1.000e-04, eta: 23 days, 9:32:49, time: 0.601, data_time: 0.031, memory: 14138, loss_cls: 1.0970, loss_bbox: 1.1280, loss_traj: 1.9865, loss_traj_cls: 0.0006, loss_map_cls: 0.6616, loss_map_pts: 2.9792, loss_map_dir: 0.0406, d0.loss_plan_l1_fix_time: 3.3632, d0.loss_plan_l1_fix_dist: 0.6797, d1.loss_plan_l1_fix_time: 3.3393, d1.loss_plan_l1_fix_dist: 0.7521, d2.loss_plan_l1_fix_time: 3.3519, d2.loss_plan_l1_fix_dist: 0.8437, d3.loss_plan_l1_fix_time: 3.3727, d3.loss_plan_l1_fix_dist: 0.9484, d4.loss_plan_l1_fix_time: 3.4028, d4.loss_plan_l1_fix_dist: 1.0647, d5.loss_plan_l1_fix_time: 3.4326, d5.loss_plan_l1_fix_dist: 1.1831, d6.loss_plan_l1_fix_time: 3.4619, d6.loss_plan_l1_fix_dist: 1.2953, d0.loss_cls_all: 1.0908, d0.loss_bbox_all: 1.1245, d0.loss_cls: 1.0908, d0.loss_bbox: 1.1245, d1.loss_cls: 1.0881, d1.loss_bbox: 1.1244, d2.loss_cls: 1.0902, d2.loss_bbox: 1.1237, d3.loss_cls: 1.0950, d3.loss_bbox: 1.1177, d4.loss_cls: 1.0941, d4.loss_bbox: 1.1183, d5.loss_cls: 1.0936, d5.loss_bbox: 1.1241, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8475, d1.loss_traj_cls: 0.0006, d1.loss_traj: 1.8477, d2.loss_traj_cls: 0.0006, d2.loss_traj: 1.8487, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8950, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9892, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9091, d0.loss_map_cls_all: 0.6506, d0.loss_map_pts_all: 3.4805, d0.loss_map_dir_all: 0.0411, d0.loss_map_cls: 0.6506, d0.loss_map_pts: 3.4805, d0.loss_map_dir: 0.0411, d1.loss_map_cls: 0.6588, d1.loss_map_pts: 2.9696, d1.loss_map_dir: 0.0407, d2.loss_map_cls: 0.6580, d2.loss_map_pts: 2.9433, d2.loss_map_dir: 0.0409, d3.loss_map_cls: 0.6589, d3.loss_map_pts: 2.9464, d3.loss_map_dir: 0.0409, d4.loss_map_cls: 0.6596, d4.loss_map_pts: 2.9582, d4.loss_map_dir: 0.0408, d5.loss_map_cls: 0.6601, d5.loss_map_pts: 2.9701, d5.loss_map_dir: 0.0406, loss: 91.8567, grad_norm: 239.6390 2026-02-24 01:46:40,567 - DriveTransformer - INFO - Epoch [1][8450/59059] lr: 1.000e-04, eta: 23 days, 9:39:42, time: 0.593, data_time: 0.032, memory: 14138, loss_cls: 1.0949, loss_bbox: 1.1883, loss_traj: 2.1322, loss_traj_cls: 0.0006, loss_map_cls: 0.6539, loss_map_pts: 2.9295, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.8414, d0.loss_plan_l1_fix_dist: 0.7405, d1.loss_plan_l1_fix_time: 3.7417, d1.loss_plan_l1_fix_dist: 0.7931, d2.loss_plan_l1_fix_time: 3.7381, d2.loss_plan_l1_fix_dist: 0.8628, d3.loss_plan_l1_fix_time: 3.7513, d3.loss_plan_l1_fix_dist: 0.9434, d4.loss_plan_l1_fix_time: 3.7700, d4.loss_plan_l1_fix_dist: 1.0273, d5.loss_plan_l1_fix_time: 3.7907, d5.loss_plan_l1_fix_dist: 1.1192, d6.loss_plan_l1_fix_time: 3.8126, d6.loss_plan_l1_fix_dist: 1.2146, d0.loss_cls_all: 1.0800, d0.loss_bbox_all: 1.1560, d0.loss_cls: 1.0800, d0.loss_bbox: 1.1560, d1.loss_cls: 1.0744, d1.loss_bbox: 1.1652, d2.loss_cls: 1.0776, d2.loss_bbox: 1.1624, d3.loss_cls: 1.0778, d3.loss_bbox: 1.1674, d4.loss_cls: 1.0817, d4.loss_bbox: 1.1714, d5.loss_cls: 1.0897, d5.loss_bbox: 1.1783, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9981, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0089, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0883, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1478, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1172, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1563, d0.loss_map_cls_all: 0.6355, d0.loss_map_pts_all: 3.4262, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6355, d0.loss_map_pts: 3.4262, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.6486, d1.loss_map_pts: 2.9143, d1.loss_map_dir: 0.0414, d2.loss_map_cls: 0.6485, d2.loss_map_pts: 2.8940, d2.loss_map_dir: 0.0415, d3.loss_map_cls: 0.6510, d3.loss_map_pts: 2.9002, d3.loss_map_dir: 0.0414, d4.loss_map_cls: 0.6509, d4.loss_map_pts: 2.9165, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6520, d5.loss_map_pts: 2.9246, d5.loss_map_dir: 0.0411, loss: 95.6385, grad_norm: 240.6159 2026-02-24 01:47:07,010 - DriveTransformer - INFO - Epoch [1][8500/59059] lr: 1.000e-04, eta: 23 days, 9:24:16, time: 0.529, data_time: 0.025, memory: 14138, loss_cls: 1.0521, loss_bbox: 1.1014, loss_traj: 2.2886, loss_traj_cls: 0.0005, loss_map_cls: 0.6589, loss_map_pts: 2.6434, loss_map_dir: 0.0376, d0.loss_plan_l1_fix_time: 3.5737, d0.loss_plan_l1_fix_dist: 0.6438, d1.loss_plan_l1_fix_time: 3.5097, d1.loss_plan_l1_fix_dist: 0.6961, d2.loss_plan_l1_fix_time: 3.5124, d2.loss_plan_l1_fix_dist: 0.7748, d3.loss_plan_l1_fix_time: 3.5265, d3.loss_plan_l1_fix_dist: 0.8728, d4.loss_plan_l1_fix_time: 3.5443, d4.loss_plan_l1_fix_dist: 0.9816, d5.loss_plan_l1_fix_time: 3.5628, d5.loss_plan_l1_fix_dist: 1.1018, d6.loss_plan_l1_fix_time: 3.5836, d6.loss_plan_l1_fix_dist: 1.2316, d0.loss_cls_all: 1.0114, d0.loss_bbox_all: 1.0515, d0.loss_cls: 1.0114, d0.loss_bbox: 1.0515, d1.loss_cls: 1.0150, d1.loss_bbox: 1.0597, d2.loss_cls: 1.0234, d2.loss_bbox: 1.0648, d3.loss_cls: 1.0296, d3.loss_bbox: 1.0671, d4.loss_cls: 1.0384, d4.loss_bbox: 1.0775, d5.loss_cls: 1.0443, d5.loss_bbox: 1.0857, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2141, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2176, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2455, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2989, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2782, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2912, d0.loss_map_cls_all: 0.6371, d0.loss_map_pts_all: 3.2390, d0.loss_map_dir_all: 0.0379, d0.loss_map_cls: 0.6371, d0.loss_map_pts: 3.2390, d0.loss_map_dir: 0.0379, d1.loss_map_cls: 0.6456, d1.loss_map_pts: 2.6786, d1.loss_map_dir: 0.0377, d2.loss_map_cls: 0.6508, d2.loss_map_pts: 2.6375, d2.loss_map_dir: 0.0379, d3.loss_map_cls: 0.6540, d3.loss_map_pts: 2.6359, d3.loss_map_dir: 0.0377, d4.loss_map_cls: 0.6563, d4.loss_map_pts: 2.6410, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.6575, d5.loss_map_pts: 2.6431, d5.loss_map_dir: 0.0376, loss: 91.5947, grad_norm: 239.6773 2026-02-24 01:47:37,890 - DriveTransformer - INFO - Epoch [1][8550/59059] lr: 1.000e-04, eta: 23 days, 9:39:36, time: 0.618, data_time: 0.029, memory: 14138, loss_cls: 1.0740, loss_bbox: 1.1304, loss_traj: 2.0268, loss_traj_cls: 0.0005, loss_map_cls: 0.6434, loss_map_pts: 3.3089, loss_map_dir: 0.0525, d0.loss_plan_l1_fix_time: 3.2602, d0.loss_plan_l1_fix_dist: 0.7077, d1.loss_plan_l1_fix_time: 3.2062, d1.loss_plan_l1_fix_dist: 0.7365, d2.loss_plan_l1_fix_time: 3.2097, d2.loss_plan_l1_fix_dist: 0.7891, d3.loss_plan_l1_fix_time: 3.2224, d3.loss_plan_l1_fix_dist: 0.8487, d4.loss_plan_l1_fix_time: 3.2391, d4.loss_plan_l1_fix_dist: 0.9224, d5.loss_plan_l1_fix_time: 3.2572, d5.loss_plan_l1_fix_dist: 1.0042, d6.loss_plan_l1_fix_time: 3.2771, d6.loss_plan_l1_fix_dist: 1.0917, d0.loss_cls_all: 1.0571, d0.loss_bbox_all: 1.1331, d0.loss_cls: 1.0571, d0.loss_bbox: 1.1331, d1.loss_cls: 1.0564, d1.loss_bbox: 1.1333, d2.loss_cls: 1.0588, d2.loss_bbox: 1.1341, d3.loss_cls: 1.0612, d3.loss_bbox: 1.1297, d4.loss_cls: 1.0645, d4.loss_bbox: 1.1288, d5.loss_cls: 1.0706, d5.loss_bbox: 1.1227, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9652, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0041, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0300, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0074, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0407, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0376, d0.loss_map_cls_all: 0.6298, d0.loss_map_pts_all: 3.7423, d0.loss_map_dir_all: 0.0522, d0.loss_map_cls: 0.6298, d0.loss_map_pts: 3.7423, d0.loss_map_dir: 0.0522, d1.loss_map_cls: 0.6437, d1.loss_map_pts: 3.2133, d1.loss_map_dir: 0.0524, d2.loss_map_cls: 0.6360, d2.loss_map_pts: 3.1986, d2.loss_map_dir: 0.0525, d3.loss_map_cls: 0.6397, d3.loss_map_pts: 3.2141, d3.loss_map_dir: 0.0526, d4.loss_map_cls: 0.6399, d4.loss_map_pts: 3.2334, d4.loss_map_dir: 0.0525, d5.loss_map_cls: 0.6413, d5.loss_map_pts: 3.2689, d5.loss_map_dir: 0.0525, loss: 92.8775, grad_norm: 238.5831 2026-02-24 01:48:07,336 - DriveTransformer - INFO - Epoch [1][8600/59059] lr: 1.000e-04, eta: 23 days, 9:44:56, time: 0.589, data_time: 0.035, memory: 14138, loss_cls: 1.0767, loss_bbox: 1.1551, loss_traj: 2.2550, loss_traj_cls: 0.0006, loss_map_cls: 0.6598, loss_map_pts: 2.9028, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.6672, d0.loss_plan_l1_fix_dist: 0.7622, d1.loss_plan_l1_fix_time: 3.5800, d1.loss_plan_l1_fix_dist: 0.8301, d2.loss_plan_l1_fix_time: 3.5864, d2.loss_plan_l1_fix_dist: 0.9312, d3.loss_plan_l1_fix_time: 3.5971, d3.loss_plan_l1_fix_dist: 1.0463, d4.loss_plan_l1_fix_time: 3.6107, d4.loss_plan_l1_fix_dist: 1.1741, d5.loss_plan_l1_fix_time: 3.6287, d5.loss_plan_l1_fix_dist: 1.3030, d6.loss_plan_l1_fix_time: 3.6474, d6.loss_plan_l1_fix_dist: 1.4204, d0.loss_cls_all: 1.0639, d0.loss_bbox_all: 1.1258, d0.loss_cls: 1.0639, d0.loss_bbox: 1.1258, d1.loss_cls: 1.0659, d1.loss_bbox: 1.1291, d2.loss_cls: 1.0643, d2.loss_bbox: 1.1334, d3.loss_cls: 1.0647, d3.loss_bbox: 1.1372, d4.loss_cls: 1.0695, d4.loss_bbox: 1.1407, d5.loss_cls: 1.0711, d5.loss_bbox: 1.1458, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1651, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1873, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2382, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2321, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2491, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2561, d0.loss_map_cls_all: 0.6459, d0.loss_map_pts_all: 3.4299, d0.loss_map_dir_all: 0.0419, d0.loss_map_cls: 0.6459, d0.loss_map_pts: 3.4299, d0.loss_map_dir: 0.0419, d1.loss_map_cls: 0.6532, d1.loss_map_pts: 2.8364, d1.loss_map_dir: 0.0411, d2.loss_map_cls: 0.6542, d2.loss_map_pts: 2.8218, d2.loss_map_dir: 0.0413, d3.loss_map_cls: 0.6559, d3.loss_map_pts: 2.8358, d3.loss_map_dir: 0.0412, d4.loss_map_cls: 0.6566, d4.loss_map_pts: 2.8491, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6569, d5.loss_map_pts: 2.8761, d5.loss_map_dir: 0.0412, loss: 95.5453, grad_norm: 238.2531 2026-02-24 01:48:35,549 - DriveTransformer - INFO - Epoch [1][8650/59059] lr: 1.000e-04, eta: 23 days, 9:41:46, time: 0.564, data_time: 0.029, memory: 14138, loss_cls: 1.0733, loss_bbox: 1.1872, loss_traj: 2.2518, loss_traj_cls: 0.0005, loss_map_cls: 0.6718, loss_map_pts: 2.6765, loss_map_dir: 0.0444, d0.loss_plan_l1_fix_time: 3.4457, d0.loss_plan_l1_fix_dist: 0.5764, d1.loss_plan_l1_fix_time: 3.3316, d1.loss_plan_l1_fix_dist: 0.6488, d2.loss_plan_l1_fix_time: 3.3391, d2.loss_plan_l1_fix_dist: 0.7528, d3.loss_plan_l1_fix_time: 3.3506, d3.loss_plan_l1_fix_dist: 0.8655, d4.loss_plan_l1_fix_time: 3.3644, d4.loss_plan_l1_fix_dist: 0.9944, d5.loss_plan_l1_fix_time: 3.3845, d5.loss_plan_l1_fix_dist: 1.1313, d6.loss_plan_l1_fix_time: 3.4067, d6.loss_plan_l1_fix_dist: 1.2723, d0.loss_cls_all: 1.0640, d0.loss_bbox_all: 1.1382, d0.loss_cls: 1.0640, d0.loss_bbox: 1.1382, d1.loss_cls: 1.0675, d1.loss_bbox: 1.1543, d2.loss_cls: 1.0705, d2.loss_bbox: 1.1584, d3.loss_cls: 1.0723, d3.loss_bbox: 1.1645, d4.loss_cls: 1.0714, d4.loss_bbox: 1.1687, d5.loss_cls: 1.0702, d5.loss_bbox: 1.1733, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0530, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0836, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0962, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1649, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2056, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2311, d0.loss_map_cls_all: 0.6661, d0.loss_map_pts_all: 3.2814, d0.loss_map_dir_all: 0.0447, d0.loss_map_cls: 0.6661, d0.loss_map_pts: 3.2814, d0.loss_map_dir: 0.0447, d1.loss_map_cls: 0.6724, d1.loss_map_pts: 2.7141, d1.loss_map_dir: 0.0447, d2.loss_map_cls: 0.6716, d2.loss_map_pts: 2.6783, d2.loss_map_dir: 0.0448, d3.loss_map_cls: 0.6722, d3.loss_map_pts: 2.6696, d3.loss_map_dir: 0.0446, d4.loss_map_cls: 0.6697, d4.loss_map_pts: 2.6697, d4.loss_map_dir: 0.0445, d5.loss_map_cls: 0.6698, d5.loss_map_pts: 2.6733, d5.loss_map_dir: 0.0443, loss: 91.1504, grad_norm: 238.0173 2026-02-24 01:49:05,318 - DriveTransformer - INFO - Epoch [1][8700/59059] lr: 1.000e-04, eta: 23 days, 9:49:10, time: 0.595, data_time: 0.029, memory: 14138, loss_cls: 1.0701, loss_bbox: 1.0944, loss_traj: 2.2417, loss_traj_cls: 0.0005, loss_map_cls: 0.6553, loss_map_pts: 2.8569, loss_map_dir: 0.0457, d0.loss_plan_l1_fix_time: 3.6146, d0.loss_plan_l1_fix_dist: 0.7070, d1.loss_plan_l1_fix_time: 3.5948, d1.loss_plan_l1_fix_dist: 0.7651, d2.loss_plan_l1_fix_time: 3.6138, d2.loss_plan_l1_fix_dist: 0.8501, d3.loss_plan_l1_fix_time: 3.6340, d3.loss_plan_l1_fix_dist: 0.9469, d4.loss_plan_l1_fix_time: 3.6537, d4.loss_plan_l1_fix_dist: 1.0508, d5.loss_plan_l1_fix_time: 3.6751, d5.loss_plan_l1_fix_dist: 1.1624, d6.loss_plan_l1_fix_time: 3.6982, d6.loss_plan_l1_fix_dist: 1.2819, d0.loss_cls_all: 1.0451, d0.loss_bbox_all: 1.0869, d0.loss_cls: 1.0451, d0.loss_bbox: 1.0869, d1.loss_cls: 1.0475, d1.loss_bbox: 1.0879, d2.loss_cls: 1.0537, d2.loss_bbox: 1.0882, d3.loss_cls: 1.0582, d3.loss_bbox: 1.0890, d4.loss_cls: 1.0623, d4.loss_bbox: 1.0895, d5.loss_cls: 1.0638, d5.loss_bbox: 1.0847, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1049, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1466, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1645, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2070, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2336, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2454, d0.loss_map_cls_all: 0.6392, d0.loss_map_pts_all: 3.3818, d0.loss_map_dir_all: 0.0459, d0.loss_map_cls: 0.6392, d0.loss_map_pts: 3.3818, d0.loss_map_dir: 0.0459, d1.loss_map_cls: 0.6525, d1.loss_map_pts: 2.8476, d1.loss_map_dir: 0.0460, d2.loss_map_cls: 0.6518, d2.loss_map_pts: 2.8254, d2.loss_map_dir: 0.0460, d3.loss_map_cls: 0.6526, d3.loss_map_pts: 2.8313, d3.loss_map_dir: 0.0459, d4.loss_map_cls: 0.6534, d4.loss_map_pts: 2.8428, d4.loss_map_dir: 0.0459, d5.loss_map_cls: 0.6544, d5.loss_map_pts: 2.8484, d5.loss_map_dir: 0.0457, loss: 94.1304, grad_norm: 238.0371 2026-02-24 01:49:33,166 - DriveTransformer - INFO - Epoch [1][8750/59059] lr: 1.000e-04, eta: 23 days, 9:43:35, time: 0.557, data_time: 0.030, memory: 14138, loss_cls: 1.0400, loss_bbox: 1.1004, loss_traj: 2.4892, loss_traj_cls: 0.0006, loss_map_cls: 0.6840, loss_map_pts: 2.7074, loss_map_dir: 0.0440, d0.loss_plan_l1_fix_time: 3.6211, d0.loss_plan_l1_fix_dist: 0.7234, d1.loss_plan_l1_fix_time: 3.6379, d1.loss_plan_l1_fix_dist: 0.7748, d2.loss_plan_l1_fix_time: 3.6659, d2.loss_plan_l1_fix_dist: 0.8622, d3.loss_plan_l1_fix_time: 3.6906, d3.loss_plan_l1_fix_dist: 0.9546, d4.loss_plan_l1_fix_time: 3.7136, d4.loss_plan_l1_fix_dist: 1.0465, d5.loss_plan_l1_fix_time: 3.7360, d5.loss_plan_l1_fix_dist: 1.1412, d6.loss_plan_l1_fix_time: 3.7587, d6.loss_plan_l1_fix_dist: 1.2418, d0.loss_cls_all: 1.0238, d0.loss_bbox_all: 1.0701, d0.loss_cls: 1.0238, d0.loss_bbox: 1.0701, d1.loss_cls: 1.0275, d1.loss_bbox: 1.0772, d2.loss_cls: 1.0338, d2.loss_bbox: 1.0788, d3.loss_cls: 1.0360, d3.loss_bbox: 1.0844, d4.loss_cls: 1.0338, d4.loss_bbox: 1.0915, d5.loss_cls: 1.0358, d5.loss_bbox: 1.0970, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3922, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4044, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4225, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.4487, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.4631, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4764, d0.loss_map_cls_all: 0.6661, d0.loss_map_pts_all: 3.3272, d0.loss_map_dir_all: 0.0444, d0.loss_map_cls: 0.6661, d0.loss_map_pts: 3.3272, d0.loss_map_dir: 0.0444, d1.loss_map_cls: 0.6792, d1.loss_map_pts: 2.7313, d1.loss_map_dir: 0.0442, d2.loss_map_cls: 0.6746, d2.loss_map_pts: 2.7009, d2.loss_map_dir: 0.0443, d3.loss_map_cls: 0.6777, d3.loss_map_pts: 2.6966, d3.loss_map_dir: 0.0443, d4.loss_map_cls: 0.6797, d4.loss_map_pts: 2.7006, d4.loss_map_dir: 0.0441, d5.loss_map_cls: 0.6825, d5.loss_map_pts: 2.7023, d5.loss_map_dir: 0.0441, loss: 95.2501, grad_norm: 237.8773 2026-02-24 01:50:02,460 - DriveTransformer - INFO - Epoch [1][8800/59059] lr: 1.000e-04, eta: 23 days, 9:47:44, time: 0.586, data_time: 0.027, memory: 14138, loss_cls: 1.0447, loss_bbox: 1.0808, loss_traj: 2.3420, loss_traj_cls: 0.0006, loss_map_cls: 0.6487, loss_map_pts: 2.8850, loss_map_dir: 0.0464, d0.loss_plan_l1_fix_time: 4.0047, d0.loss_plan_l1_fix_dist: 0.7355, d1.loss_plan_l1_fix_time: 4.0118, d1.loss_plan_l1_fix_dist: 0.7927, d2.loss_plan_l1_fix_time: 4.0358, d2.loss_plan_l1_fix_dist: 0.8734, d3.loss_plan_l1_fix_time: 4.0626, d3.loss_plan_l1_fix_dist: 0.9744, d4.loss_plan_l1_fix_time: 4.0907, d4.loss_plan_l1_fix_dist: 1.0766, d5.loss_plan_l1_fix_time: 4.1153, d5.loss_plan_l1_fix_dist: 1.1811, d6.loss_plan_l1_fix_time: 4.1379, d6.loss_plan_l1_fix_dist: 1.2780, d0.loss_cls_all: 1.0337, d0.loss_bbox_all: 1.0834, d0.loss_cls: 1.0337, d0.loss_bbox: 1.0834, d1.loss_cls: 1.0336, d1.loss_bbox: 1.0854, d2.loss_cls: 1.0379, d2.loss_bbox: 1.0812, d3.loss_cls: 1.0369, d3.loss_bbox: 1.0821, d4.loss_cls: 1.0397, d4.loss_bbox: 1.0806, d5.loss_cls: 1.0415, d5.loss_bbox: 1.0821, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0783, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1477, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2030, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.2607, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.2834, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3168, d0.loss_map_cls_all: 0.6310, d0.loss_map_pts_all: 3.4569, d0.loss_map_dir_all: 0.0473, d0.loss_map_cls: 0.6310, d0.loss_map_pts: 3.4569, d0.loss_map_dir: 0.0473, d1.loss_map_cls: 0.6387, d1.loss_map_pts: 2.9147, d1.loss_map_dir: 0.0465, d2.loss_map_cls: 0.6386, d2.loss_map_pts: 2.8946, d2.loss_map_dir: 0.0466, d3.loss_map_cls: 0.6410, d3.loss_map_pts: 2.8890, d3.loss_map_dir: 0.0465, d4.loss_map_cls: 0.6441, d4.loss_map_pts: 2.8841, d4.loss_map_dir: 0.0465, d5.loss_map_cls: 0.6460, d5.loss_map_pts: 2.8837, d5.loss_map_dir: 0.0464, loss: 97.7241, grad_norm: 238.6909 2026-02-24 01:50:31,119 - DriveTransformer - INFO - Epoch [1][8850/59059] lr: 1.000e-04, eta: 23 days, 9:47:35, time: 0.573, data_time: 0.026, memory: 14138, loss_cls: 1.0181, loss_bbox: 1.1017, loss_traj: 2.3901, loss_traj_cls: 0.0005, loss_map_cls: 0.6538, loss_map_pts: 2.6015, loss_map_dir: 0.0439, d0.loss_plan_l1_fix_time: 3.6157, d0.loss_plan_l1_fix_dist: 0.7163, d1.loss_plan_l1_fix_time: 3.5013, d1.loss_plan_l1_fix_dist: 0.7726, d2.loss_plan_l1_fix_time: 3.5036, d2.loss_plan_l1_fix_dist: 0.8482, d3.loss_plan_l1_fix_time: 3.5171, d3.loss_plan_l1_fix_dist: 0.9394, d4.loss_plan_l1_fix_time: 3.5341, d4.loss_plan_l1_fix_dist: 1.0376, d5.loss_plan_l1_fix_time: 3.5516, d5.loss_plan_l1_fix_dist: 1.1436, d6.loss_plan_l1_fix_time: 3.5694, d6.loss_plan_l1_fix_dist: 1.2562, d0.loss_cls_all: 1.0115, d0.loss_bbox_all: 1.1145, d0.loss_cls: 1.0115, d0.loss_bbox: 1.1145, d1.loss_cls: 1.0157, d1.loss_bbox: 1.1135, d2.loss_cls: 1.0160, d2.loss_bbox: 1.1155, d3.loss_cls: 1.0197, d3.loss_bbox: 1.1105, d4.loss_cls: 1.0169, d4.loss_bbox: 1.1094, d5.loss_cls: 1.0197, d5.loss_bbox: 1.1030, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1688, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2494, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2745, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3085, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3510, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3691, d0.loss_map_cls_all: 0.6461, d0.loss_map_pts_all: 3.1616, d0.loss_map_dir_all: 0.0440, d0.loss_map_cls: 0.6461, d0.loss_map_pts: 3.1616, d0.loss_map_dir: 0.0440, d1.loss_map_cls: 0.6540, d1.loss_map_pts: 2.6415, d1.loss_map_dir: 0.0440, d2.loss_map_cls: 0.6481, d2.loss_map_pts: 2.6132, d2.loss_map_dir: 0.0441, d3.loss_map_cls: 0.6506, d3.loss_map_pts: 2.6061, d3.loss_map_dir: 0.0441, d4.loss_map_cls: 0.6495, d4.loss_map_pts: 2.6011, d4.loss_map_dir: 0.0440, d5.loss_map_cls: 0.6506, d5.loss_map_pts: 2.6012, d5.loss_map_dir: 0.0439, loss: 92.1721, grad_norm: 238.4591 2026-02-24 01:51:01,358 - DriveTransformer - INFO - Epoch [1][8900/59059] lr: 1.000e-04, eta: 23 days, 9:57:54, time: 0.605, data_time: 0.027, memory: 14138, loss_cls: 1.0289, loss_bbox: 1.1773, loss_traj: 2.4426, loss_traj_cls: 0.0005, loss_map_cls: 0.6603, loss_map_pts: 3.0182, loss_map_dir: 0.0535, d0.loss_plan_l1_fix_time: 3.6406, d0.loss_plan_l1_fix_dist: 0.8538, d1.loss_plan_l1_fix_time: 3.5751, d1.loss_plan_l1_fix_dist: 0.9017, d2.loss_plan_l1_fix_time: 3.5765, d2.loss_plan_l1_fix_dist: 0.9737, d3.loss_plan_l1_fix_time: 3.5882, d3.loss_plan_l1_fix_dist: 1.0616, d4.loss_plan_l1_fix_time: 3.6046, d4.loss_plan_l1_fix_dist: 1.1698, d5.loss_plan_l1_fix_time: 3.6215, d5.loss_plan_l1_fix_dist: 1.2972, d6.loss_plan_l1_fix_time: 3.6399, d6.loss_plan_l1_fix_dist: 1.4370, d0.loss_cls_all: 1.0293, d0.loss_bbox_all: 1.1708, d0.loss_cls: 1.0293, d0.loss_bbox: 1.1708, d1.loss_cls: 1.0314, d1.loss_bbox: 1.1747, d2.loss_cls: 1.0323, d2.loss_bbox: 1.1785, d3.loss_cls: 1.0301, d3.loss_bbox: 1.1802, d4.loss_cls: 1.0316, d4.loss_bbox: 1.1791, d5.loss_cls: 1.0323, d5.loss_bbox: 1.1759, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2091, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2837, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3194, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.3456, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3923, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4110, d0.loss_map_cls_all: 0.6503, d0.loss_map_pts_all: 3.5523, d0.loss_map_dir_all: 0.0539, d0.loss_map_cls: 0.6503, d0.loss_map_pts: 3.5523, d0.loss_map_dir: 0.0539, d1.loss_map_cls: 0.6566, d1.loss_map_pts: 3.0452, d1.loss_map_dir: 0.0536, d2.loss_map_cls: 0.6597, d2.loss_map_pts: 3.0192, d2.loss_map_dir: 0.0537, d3.loss_map_cls: 0.6602, d3.loss_map_pts: 3.0170, d3.loss_map_dir: 0.0536, d4.loss_map_cls: 0.6584, d4.loss_map_pts: 3.0163, d4.loss_map_dir: 0.0536, d5.loss_map_cls: 0.6579, d5.loss_map_pts: 3.0176, d5.loss_map_dir: 0.0535, loss: 97.9222, grad_norm: 238.9289 2026-02-24 01:51:29,261 - DriveTransformer - INFO - Epoch [1][8950/59059] lr: 1.000e-04, eta: 23 days, 9:52:46, time: 0.558, data_time: 0.030, memory: 14138, loss_cls: 1.0269, loss_bbox: 1.1339, loss_traj: 2.2440, loss_traj_cls: 0.0006, loss_map_cls: 0.6581, loss_map_pts: 2.7444, loss_map_dir: 0.0460, d0.loss_plan_l1_fix_time: 3.5796, d0.loss_plan_l1_fix_dist: 0.7754, d1.loss_plan_l1_fix_time: 3.5067, d1.loss_plan_l1_fix_dist: 0.8347, d2.loss_plan_l1_fix_time: 3.5157, d2.loss_plan_l1_fix_dist: 0.9154, d3.loss_plan_l1_fix_time: 3.5305, d3.loss_plan_l1_fix_dist: 1.0181, d4.loss_plan_l1_fix_time: 3.5484, d4.loss_plan_l1_fix_dist: 1.1268, d5.loss_plan_l1_fix_time: 3.5690, d5.loss_plan_l1_fix_dist: 1.2499, d6.loss_plan_l1_fix_time: 3.5907, d6.loss_plan_l1_fix_dist: 1.3735, d0.loss_cls_all: 1.0258, d0.loss_bbox_all: 1.1324, d0.loss_cls: 1.0258, d0.loss_bbox: 1.1324, d1.loss_cls: 1.0311, d1.loss_bbox: 1.1341, d2.loss_cls: 1.0303, d2.loss_bbox: 1.1396, d3.loss_cls: 1.0332, d3.loss_bbox: 1.1353, d4.loss_cls: 1.0310, d4.loss_bbox: 1.1347, d5.loss_cls: 1.0269, d5.loss_bbox: 1.1346, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0264, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0807, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1271, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1589, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1781, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2100, d0.loss_map_cls_all: 0.6446, d0.loss_map_pts_all: 3.3501, d0.loss_map_dir_all: 0.0465, d0.loss_map_cls: 0.6446, d0.loss_map_pts: 3.3501, d0.loss_map_dir: 0.0465, d1.loss_map_cls: 0.6571, d1.loss_map_pts: 2.7822, d1.loss_map_dir: 0.0462, d2.loss_map_cls: 0.6546, d2.loss_map_pts: 2.7457, d2.loss_map_dir: 0.0462, d3.loss_map_cls: 0.6564, d3.loss_map_pts: 2.7431, d3.loss_map_dir: 0.0462, d4.loss_map_cls: 0.6571, d4.loss_map_pts: 2.7432, d4.loss_map_dir: 0.0461, d5.loss_map_cls: 0.6574, d5.loss_map_pts: 2.7436, d5.loss_map_dir: 0.0461, loss: 93.2734, grad_norm: 238.4842 2026-02-24 01:51:56,712 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 01:51:56,712 - DriveTransformer - INFO - Epoch [1][9000/59059] lr: 1.000e-04, eta: 23 days, 9:44:37, time: 0.549, data_time: 0.027, memory: 14138, loss_cls: 1.0460, loss_bbox: 1.0782, loss_traj: 2.0461, loss_traj_cls: 0.0006, loss_map_cls: 0.6298, loss_map_pts: 2.3691, loss_map_dir: 0.0395, d0.loss_plan_l1_fix_time: 3.4403, d0.loss_plan_l1_fix_dist: 0.5948, d1.loss_plan_l1_fix_time: 3.3078, d1.loss_plan_l1_fix_dist: 0.6591, d2.loss_plan_l1_fix_time: 3.2976, d2.loss_plan_l1_fix_dist: 0.7490, d3.loss_plan_l1_fix_time: 3.3057, d3.loss_plan_l1_fix_dist: 0.8510, d4.loss_plan_l1_fix_time: 3.3206, d4.loss_plan_l1_fix_dist: 0.9429, d5.loss_plan_l1_fix_time: 3.3401, d5.loss_plan_l1_fix_dist: 1.0287, d6.loss_plan_l1_fix_time: 3.3619, d6.loss_plan_l1_fix_dist: 1.1104, d0.loss_cls_all: 1.0231, d0.loss_bbox_all: 1.0746, d0.loss_cls: 1.0231, d0.loss_bbox: 1.0746, d1.loss_cls: 1.0316, d1.loss_bbox: 1.0753, d2.loss_cls: 1.0424, d2.loss_bbox: 1.0775, d3.loss_cls: 1.0459, d3.loss_bbox: 1.0732, d4.loss_cls: 1.0458, d4.loss_bbox: 1.0721, d5.loss_cls: 1.0434, d5.loss_bbox: 1.0700, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9461, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9794, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9955, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0251, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.0237, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0166, d0.loss_map_cls_all: 0.6119, d0.loss_map_pts_all: 3.0573, d0.loss_map_dir_all: 0.0406, d0.loss_map_cls: 0.6119, d0.loss_map_pts: 3.0573, d0.loss_map_dir: 0.0406, d1.loss_map_cls: 0.6278, d1.loss_map_pts: 2.4037, d1.loss_map_dir: 0.0396, d2.loss_map_cls: 0.6225, d2.loss_map_pts: 2.3644, d2.loss_map_dir: 0.0395, d3.loss_map_cls: 0.6254, d3.loss_map_pts: 2.3591, d3.loss_map_dir: 0.0395, d4.loss_map_cls: 0.6277, d4.loss_map_pts: 2.3607, d4.loss_map_dir: 0.0395, d5.loss_map_cls: 0.6283, d5.loss_map_pts: 2.3639, d5.loss_map_dir: 0.0395, loss: 85.8818, grad_norm: 239.2220 2026-02-24 01:52:24,189 - DriveTransformer - INFO - Epoch [1][9050/59059] lr: 1.000e-04, eta: 23 days, 9:36:47, time: 0.550, data_time: 0.026, memory: 14138, loss_cls: 1.0121, loss_bbox: 1.1495, loss_traj: 2.2780, loss_traj_cls: 0.0005, loss_map_cls: 0.6524, loss_map_pts: 2.5727, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 3.7774, d0.loss_plan_l1_fix_dist: 0.6803, d1.loss_plan_l1_fix_time: 3.6120, d1.loss_plan_l1_fix_dist: 0.7380, d2.loss_plan_l1_fix_time: 3.5957, d2.loss_plan_l1_fix_dist: 0.8200, d3.loss_plan_l1_fix_time: 3.5962, d3.loss_plan_l1_fix_dist: 0.9143, d4.loss_plan_l1_fix_time: 3.6038, d4.loss_plan_l1_fix_dist: 1.0104, d5.loss_plan_l1_fix_time: 3.6172, d5.loss_plan_l1_fix_dist: 1.1096, d6.loss_plan_l1_fix_time: 3.6332, d6.loss_plan_l1_fix_dist: 1.2179, d0.loss_cls_all: 1.0157, d0.loss_bbox_all: 1.1031, d0.loss_cls: 1.0157, d0.loss_bbox: 1.1031, d1.loss_cls: 1.0206, d1.loss_bbox: 1.1159, d2.loss_cls: 1.0215, d2.loss_bbox: 1.1275, d3.loss_cls: 1.0193, d3.loss_bbox: 1.1371, d4.loss_cls: 1.0165, d4.loss_bbox: 1.1380, d5.loss_cls: 1.0136, d5.loss_bbox: 1.1375, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1493, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2032, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2198, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2449, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.2472, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2528, d0.loss_map_cls_all: 0.6328, d0.loss_map_pts_all: 3.1695, d0.loss_map_dir_all: 0.0433, d0.loss_map_cls: 0.6328, d0.loss_map_pts: 3.1695, d0.loss_map_dir: 0.0433, d1.loss_map_cls: 0.6472, d1.loss_map_pts: 2.5940, d1.loss_map_dir: 0.0429, d2.loss_map_cls: 0.6422, d2.loss_map_pts: 2.5647, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.6453, d3.loss_map_pts: 2.5634, d3.loss_map_dir: 0.0429, d4.loss_map_cls: 0.6486, d4.loss_map_pts: 2.5641, d4.loss_map_dir: 0.0428, d5.loss_map_cls: 0.6501, d5.loss_map_pts: 2.5661, d5.loss_map_dir: 0.0426, loss: 91.9298, grad_norm: 239.0477 2026-02-24 01:52:51,898 - DriveTransformer - INFO - Epoch [1][9100/59059] lr: 1.000e-04, eta: 23 days, 9:30:31, time: 0.554, data_time: 0.027, memory: 14138, loss_cls: 1.0246, loss_bbox: 1.1019, loss_traj: 2.3436, loss_traj_cls: 0.0005, loss_map_cls: 0.6444, loss_map_pts: 2.4093, loss_map_dir: 0.0368, d0.loss_plan_l1_fix_time: 3.8663, d0.loss_plan_l1_fix_dist: 0.6131, d1.loss_plan_l1_fix_time: 3.7969, d1.loss_plan_l1_fix_dist: 0.6577, d2.loss_plan_l1_fix_time: 3.8029, d2.loss_plan_l1_fix_dist: 0.7248, d3.loss_plan_l1_fix_time: 3.8168, d3.loss_plan_l1_fix_dist: 0.8016, d4.loss_plan_l1_fix_time: 3.8339, d4.loss_plan_l1_fix_dist: 0.8904, d5.loss_plan_l1_fix_time: 3.8516, d5.loss_plan_l1_fix_dist: 0.9923, d6.loss_plan_l1_fix_time: 3.8712, d6.loss_plan_l1_fix_dist: 1.1032, d0.loss_cls_all: 1.0259, d0.loss_bbox_all: 1.0787, d0.loss_cls: 1.0259, d0.loss_bbox: 1.0787, d1.loss_cls: 1.0258, d1.loss_bbox: 1.0802, d2.loss_cls: 1.0255, d2.loss_bbox: 1.0860, d3.loss_cls: 1.0284, d3.loss_bbox: 1.0880, d4.loss_cls: 1.0278, d4.loss_bbox: 1.0897, d5.loss_cls: 1.0249, d5.loss_bbox: 1.0914, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2225, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2648, d2.loss_traj_cls: 0.0004, d2.loss_traj: 2.2619, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3021, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3053, d5.loss_traj_cls: 0.0004, d5.loss_traj: 2.3179, d0.loss_map_cls_all: 0.6214, d0.loss_map_pts_all: 3.1321, d0.loss_map_dir_all: 0.0381, d0.loss_map_cls: 0.6214, d0.loss_map_pts: 3.1321, d0.loss_map_dir: 0.0381, d1.loss_map_cls: 0.6339, d1.loss_map_pts: 2.4519, d1.loss_map_dir: 0.0369, d2.loss_map_cls: 0.6310, d2.loss_map_pts: 2.4130, d2.loss_map_dir: 0.0368, d3.loss_map_cls: 0.6376, d3.loss_map_pts: 2.4037, d3.loss_map_dir: 0.0368, d4.loss_map_cls: 0.6396, d4.loss_map_pts: 2.3997, d4.loss_map_dir: 0.0368, d5.loss_map_cls: 0.6407, d5.loss_map_pts: 2.4051, d5.loss_map_dir: 0.0368, loss: 91.6617, grad_norm: 239.0791 2026-02-24 01:53:21,786 - DriveTransformer - INFO - Epoch [1][9150/59059] lr: 1.000e-04, eta: 23 days, 9:38:22, time: 0.598, data_time: 0.028, memory: 14138, loss_cls: 1.0134, loss_bbox: 1.0743, loss_traj: 2.2783, loss_traj_cls: 0.0005, loss_map_cls: 0.6697, loss_map_pts: 2.6618, loss_map_dir: 0.0408, d0.loss_plan_l1_fix_time: 3.5218, d0.loss_plan_l1_fix_dist: 0.5821, d1.loss_plan_l1_fix_time: 3.4468, d1.loss_plan_l1_fix_dist: 0.6380, d2.loss_plan_l1_fix_time: 3.4492, d2.loss_plan_l1_fix_dist: 0.7229, d3.loss_plan_l1_fix_time: 3.4630, d3.loss_plan_l1_fix_dist: 0.8123, d4.loss_plan_l1_fix_time: 3.4809, d4.loss_plan_l1_fix_dist: 0.9157, d5.loss_plan_l1_fix_time: 3.5001, d5.loss_plan_l1_fix_dist: 1.0223, d6.loss_plan_l1_fix_time: 3.5209, d6.loss_plan_l1_fix_dist: 1.1256, d0.loss_cls_all: 1.0028, d0.loss_bbox_all: 1.0826, d0.loss_cls: 1.0028, d0.loss_bbox: 1.0826, d1.loss_cls: 1.0104, d1.loss_bbox: 1.0775, d2.loss_cls: 1.0146, d2.loss_bbox: 1.0752, d3.loss_cls: 1.0212, d3.loss_bbox: 1.0727, d4.loss_cls: 1.0172, d4.loss_bbox: 1.0741, d5.loss_cls: 1.0161, d5.loss_bbox: 1.0727, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1519, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1789, d2.loss_traj_cls: 0.0004, d2.loss_traj: 2.2095, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2321, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.2680, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2719, d0.loss_map_cls_all: 0.6516, d0.loss_map_pts_all: 3.3082, d0.loss_map_dir_all: 0.0412, d0.loss_map_cls: 0.6516, d0.loss_map_pts: 3.3082, d0.loss_map_dir: 0.0412, d1.loss_map_cls: 0.6666, d1.loss_map_pts: 2.7077, d1.loss_map_dir: 0.0409, d2.loss_map_cls: 0.6641, d2.loss_map_pts: 2.6686, d2.loss_map_dir: 0.0410, d3.loss_map_cls: 0.6658, d3.loss_map_pts: 2.6623, d3.loss_map_dir: 0.0410, d4.loss_map_cls: 0.6657, d4.loss_map_pts: 2.6588, d4.loss_map_dir: 0.0409, d5.loss_map_cls: 0.6668, d5.loss_map_pts: 2.6616, d5.loss_map_dir: 0.0408, loss: 90.7729, grad_norm: 239.1738 2026-02-24 01:53:51,011 - DriveTransformer - INFO - Epoch [1][9200/59059] lr: 1.000e-04, eta: 23 days, 9:41:52, time: 0.584, data_time: 0.027, memory: 14138, loss_cls: 1.0022, loss_bbox: 1.1001, loss_traj: 2.1456, loss_traj_cls: 0.0005, loss_map_cls: 0.6627, loss_map_pts: 3.0340, loss_map_dir: 0.0485, d0.loss_plan_l1_fix_time: 4.1649, d0.loss_plan_l1_fix_dist: 0.7513, d1.loss_plan_l1_fix_time: 4.0492, d1.loss_plan_l1_fix_dist: 0.7963, d2.loss_plan_l1_fix_time: 4.0430, d2.loss_plan_l1_fix_dist: 0.8607, d3.loss_plan_l1_fix_time: 4.0513, d3.loss_plan_l1_fix_dist: 0.9424, d4.loss_plan_l1_fix_time: 4.0639, d4.loss_plan_l1_fix_dist: 1.0272, d5.loss_plan_l1_fix_time: 4.0773, d5.loss_plan_l1_fix_dist: 1.1139, d6.loss_plan_l1_fix_time: 4.0917, d6.loss_plan_l1_fix_dist: 1.2014, d0.loss_cls_all: 0.9895, d0.loss_bbox_all: 1.0929, d0.loss_cls: 0.9895, d0.loss_bbox: 1.0929, d1.loss_cls: 0.9955, d1.loss_bbox: 1.0888, d2.loss_cls: 0.9942, d2.loss_bbox: 1.0875, d3.loss_cls: 1.0005, d3.loss_bbox: 1.0867, d4.loss_cls: 1.0012, d4.loss_bbox: 1.0926, d5.loss_cls: 1.0022, d5.loss_bbox: 1.0931, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0297, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0755, d2.loss_traj_cls: 0.0004, d2.loss_traj: 2.0896, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1009, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1362, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1414, d0.loss_map_cls_all: 0.6495, d0.loss_map_pts_all: 3.4660, d0.loss_map_dir_all: 0.0485, d0.loss_map_cls: 0.6495, d0.loss_map_pts: 3.4660, d0.loss_map_dir: 0.0485, d1.loss_map_cls: 0.6528, d1.loss_map_pts: 3.0596, d1.loss_map_dir: 0.0485, d2.loss_map_cls: 0.6498, d2.loss_map_pts: 3.0396, d2.loss_map_dir: 0.0485, d3.loss_map_cls: 0.6519, d3.loss_map_pts: 3.0362, d3.loss_map_dir: 0.0486, d4.loss_map_cls: 0.6565, d4.loss_map_pts: 3.0342, d4.loss_map_dir: 0.0486, d5.loss_map_cls: 0.6597, d5.loss_map_pts: 3.0340, d5.loss_map_dir: 0.0484, loss: 97.4563, grad_norm: 239.2082 2026-02-24 01:54:20,801 - DriveTransformer - INFO - Epoch [1][9250/59059] lr: 1.000e-04, eta: 23 days, 9:48:56, time: 0.596, data_time: 0.030, memory: 14138, loss_cls: 1.0369, loss_bbox: 1.1120, loss_traj: 1.9358, loss_traj_cls: 0.0006, loss_map_cls: 0.6454, loss_map_pts: 3.0524, loss_map_dir: 0.0483, d0.loss_plan_l1_fix_time: 3.4811, d0.loss_plan_l1_fix_dist: 0.5954, d1.loss_plan_l1_fix_time: 3.4582, d1.loss_plan_l1_fix_dist: 0.6475, d2.loss_plan_l1_fix_time: 3.4738, d2.loss_plan_l1_fix_dist: 0.7218, d3.loss_plan_l1_fix_time: 3.4946, d3.loss_plan_l1_fix_dist: 0.8117, d4.loss_plan_l1_fix_time: 3.5177, d4.loss_plan_l1_fix_dist: 0.9110, d5.loss_plan_l1_fix_time: 3.5391, d5.loss_plan_l1_fix_dist: 1.0136, d6.loss_plan_l1_fix_time: 3.5598, d6.loss_plan_l1_fix_dist: 1.1164, d0.loss_cls_all: 1.0263, d0.loss_bbox_all: 1.1341, d0.loss_cls: 1.0263, d0.loss_bbox: 1.1341, d1.loss_cls: 1.0305, d1.loss_bbox: 1.1257, d2.loss_cls: 1.0332, d2.loss_bbox: 1.1202, d3.loss_cls: 1.0333, d3.loss_bbox: 1.1171, d4.loss_cls: 1.0331, d4.loss_bbox: 1.1136, d5.loss_cls: 1.0338, d5.loss_bbox: 1.1083, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8807, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8877, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8934, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9060, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9125, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9297, d0.loss_map_cls_all: 0.6215, d0.loss_map_pts_all: 3.5189, d0.loss_map_dir_all: 0.0479, d0.loss_map_cls: 0.6215, d0.loss_map_pts: 3.5189, d0.loss_map_dir: 0.0479, d1.loss_map_cls: 0.6331, d1.loss_map_pts: 3.0897, d1.loss_map_dir: 0.0485, d2.loss_map_cls: 0.6305, d2.loss_map_pts: 3.0647, d2.loss_map_dir: 0.0486, d3.loss_map_cls: 0.6342, d3.loss_map_pts: 3.0576, d3.loss_map_dir: 0.0485, d4.loss_map_cls: 0.6393, d4.loss_map_pts: 3.0548, d4.loss_map_dir: 0.0484, d5.loss_map_cls: 0.6422, d5.loss_map_pts: 3.0544, d5.loss_map_dir: 0.0484, loss: 91.7751, grad_norm: 238.8942 2026-02-24 01:54:49,232 - DriveTransformer - INFO - Epoch [1][9300/59059] lr: 1.000e-04, eta: 23 days, 9:47:18, time: 0.569, data_time: 0.028, memory: 14138, loss_cls: 1.0654, loss_bbox: 1.1214, loss_traj: 2.1913, loss_traj_cls: 0.0006, loss_map_cls: 0.6412, loss_map_pts: 2.7061, loss_map_dir: 0.0402, d0.loss_plan_l1_fix_time: 3.3832, d0.loss_plan_l1_fix_dist: 0.7207, d1.loss_plan_l1_fix_time: 3.2916, d1.loss_plan_l1_fix_dist: 0.7661, d2.loss_plan_l1_fix_time: 3.2942, d2.loss_plan_l1_fix_dist: 0.8322, d3.loss_plan_l1_fix_time: 3.3041, d3.loss_plan_l1_fix_dist: 0.9037, d4.loss_plan_l1_fix_time: 3.3179, d4.loss_plan_l1_fix_dist: 0.9859, d5.loss_plan_l1_fix_time: 3.3357, d5.loss_plan_l1_fix_dist: 1.0801, d6.loss_plan_l1_fix_time: 3.3532, d6.loss_plan_l1_fix_dist: 1.1770, d0.loss_cls_all: 1.0615, d0.loss_bbox_all: 1.0999, d0.loss_cls: 1.0615, d0.loss_bbox: 1.0999, d1.loss_cls: 1.0753, d1.loss_bbox: 1.1014, d2.loss_cls: 1.0731, d2.loss_bbox: 1.1083, d3.loss_cls: 1.0768, d3.loss_bbox: 1.1066, d4.loss_cls: 1.0739, d4.loss_bbox: 1.1087, d5.loss_cls: 1.0743, d5.loss_bbox: 1.1089, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1029, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1231, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1425, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.1543, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1691, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1727, d0.loss_map_cls_all: 0.6268, d0.loss_map_pts_all: 3.3519, d0.loss_map_dir_all: 0.0409, d0.loss_map_cls: 0.6268, d0.loss_map_pts: 3.3519, d0.loss_map_dir: 0.0409, d1.loss_map_cls: 0.6341, d1.loss_map_pts: 2.7467, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.6300, d2.loss_map_pts: 2.7042, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6343, d3.loss_map_pts: 2.6989, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.6360, d4.loss_map_pts: 2.6995, d4.loss_map_dir: 0.0401, d5.loss_map_cls: 0.6383, d5.loss_map_pts: 2.7006, d5.loss_map_dir: 0.0401, loss: 90.5724, grad_norm: 238.3464 2026-02-24 01:55:18,627 - DriveTransformer - INFO - Epoch [1][9350/59059] lr: 1.000e-04, eta: 23 days, 9:51:45, time: 0.588, data_time: 0.030, memory: 14138, loss_cls: 0.9994, loss_bbox: 1.0511, loss_traj: 2.2013, loss_traj_cls: 0.0006, loss_map_cls: 0.6665, loss_map_pts: 2.6507, loss_map_dir: 0.0438, d0.loss_plan_l1_fix_time: 3.4732, d0.loss_plan_l1_fix_dist: 0.6257, d1.loss_plan_l1_fix_time: 3.3998, d1.loss_plan_l1_fix_dist: 0.6631, d2.loss_plan_l1_fix_time: 3.4098, d2.loss_plan_l1_fix_dist: 0.7156, d3.loss_plan_l1_fix_time: 3.4288, d3.loss_plan_l1_fix_dist: 0.7808, d4.loss_plan_l1_fix_time: 3.4500, d4.loss_plan_l1_fix_dist: 0.8619, d5.loss_plan_l1_fix_time: 3.4721, d5.loss_plan_l1_fix_dist: 0.9443, d6.loss_plan_l1_fix_time: 3.4949, d6.loss_plan_l1_fix_dist: 1.0316, d0.loss_cls_all: 0.9941, d0.loss_bbox_all: 1.0603, d0.loss_cls: 0.9941, d0.loss_bbox: 1.0603, d1.loss_cls: 0.9985, d1.loss_bbox: 1.0540, d2.loss_cls: 1.0022, d2.loss_bbox: 1.0485, d3.loss_cls: 0.9987, d3.loss_bbox: 1.0445, d4.loss_cls: 0.9964, d4.loss_bbox: 1.0434, d5.loss_cls: 0.9979, d5.loss_bbox: 1.0420, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1548, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1723, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1867, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1922, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1928, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1972, d0.loss_map_cls_all: 0.6444, d0.loss_map_pts_all: 3.2210, d0.loss_map_dir_all: 0.0438, d0.loss_map_cls: 0.6444, d0.loss_map_pts: 3.2210, d0.loss_map_dir: 0.0438, d1.loss_map_cls: 0.6600, d1.loss_map_pts: 2.6880, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6594, d2.loss_map_pts: 2.6527, d2.loss_map_dir: 0.0440, d3.loss_map_cls: 0.6638, d3.loss_map_pts: 2.6476, d3.loss_map_dir: 0.0440, d4.loss_map_cls: 0.6635, d4.loss_map_pts: 2.6479, d4.loss_map_dir: 0.0440, d5.loss_map_cls: 0.6639, d5.loss_map_pts: 2.6482, d5.loss_map_dir: 0.0438, loss: 89.4324, grad_norm: 237.1323 2026-02-24 01:55:47,040 - DriveTransformer - INFO - Epoch [1][9400/59059] lr: 1.000e-04, eta: 23 days, 9:50:00, time: 0.568, data_time: 0.027, memory: 14138, loss_cls: 1.0295, loss_bbox: 1.0501, loss_traj: 1.9105, loss_traj_cls: 0.0006, loss_map_cls: 0.6494, loss_map_pts: 2.6207, loss_map_dir: 0.0457, d0.loss_plan_l1_fix_time: 3.2320, d0.loss_plan_l1_fix_dist: 0.5310, d1.loss_plan_l1_fix_time: 3.1210, d1.loss_plan_l1_fix_dist: 0.5668, d2.loss_plan_l1_fix_time: 3.1202, d2.loss_plan_l1_fix_dist: 0.6149, d3.loss_plan_l1_fix_time: 3.1332, d3.loss_plan_l1_fix_dist: 0.6805, d4.loss_plan_l1_fix_time: 3.1498, d4.loss_plan_l1_fix_dist: 0.7494, d5.loss_plan_l1_fix_time: 3.1687, d5.loss_plan_l1_fix_dist: 0.8149, d6.loss_plan_l1_fix_time: 3.1892, d6.loss_plan_l1_fix_dist: 0.8833, d0.loss_cls_all: 1.0054, d0.loss_bbox_all: 1.0658, d0.loss_cls: 1.0054, d0.loss_bbox: 1.0658, d1.loss_cls: 1.0145, d1.loss_bbox: 1.0604, d2.loss_cls: 1.0211, d2.loss_bbox: 1.0558, d3.loss_cls: 1.0264, d3.loss_bbox: 1.0480, d4.loss_cls: 1.0253, d4.loss_bbox: 1.0446, d5.loss_cls: 1.0258, d5.loss_bbox: 1.0426, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8807, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9036, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8968, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.8981, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9059, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9005, d0.loss_map_cls_all: 0.6378, d0.loss_map_pts_all: 3.1606, d0.loss_map_dir_all: 0.0458, d0.loss_map_cls: 0.6378, d0.loss_map_pts: 3.1606, d0.loss_map_dir: 0.0458, d1.loss_map_cls: 0.6493, d1.loss_map_pts: 2.6462, d1.loss_map_dir: 0.0458, d2.loss_map_cls: 0.6444, d2.loss_map_pts: 2.6192, d2.loss_map_dir: 0.0459, d3.loss_map_cls: 0.6466, d3.loss_map_pts: 2.6153, d3.loss_map_dir: 0.0458, d4.loss_map_cls: 0.6465, d4.loss_map_pts: 2.6144, d4.loss_map_dir: 0.0458, d5.loss_map_cls: 0.6466, d5.loss_map_pts: 2.6195, d5.loss_map_dir: 0.0457, loss: 84.4227, grad_norm: 236.4980 2026-02-24 01:56:15,792 - DriveTransformer - INFO - Epoch [1][9450/59059] lr: 1.000e-04, eta: 23 days, 9:50:22, time: 0.575, data_time: 0.027, memory: 14138, loss_cls: 1.0714, loss_bbox: 1.1237, loss_traj: 2.1629, loss_traj_cls: 0.0005, loss_map_cls: 0.6237, loss_map_pts: 2.7670, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 3.8436, d0.loss_plan_l1_fix_dist: 0.7433, d1.loss_plan_l1_fix_time: 3.8151, d1.loss_plan_l1_fix_dist: 0.7747, d2.loss_plan_l1_fix_time: 3.8271, d2.loss_plan_l1_fix_dist: 0.8263, d3.loss_plan_l1_fix_time: 3.8407, d3.loss_plan_l1_fix_dist: 0.8867, d4.loss_plan_l1_fix_time: 3.8580, d4.loss_plan_l1_fix_dist: 0.9578, d5.loss_plan_l1_fix_time: 3.8743, d5.loss_plan_l1_fix_dist: 1.0354, d6.loss_plan_l1_fix_time: 3.8929, d6.loss_plan_l1_fix_dist: 1.1135, d0.loss_cls_all: 1.0418, d0.loss_bbox_all: 1.1379, d0.loss_cls: 1.0418, d0.loss_bbox: 1.1379, d1.loss_cls: 1.0499, d1.loss_bbox: 1.1320, d2.loss_cls: 1.0506, d2.loss_bbox: 1.1239, d3.loss_cls: 1.0566, d3.loss_bbox: 1.1137, d4.loss_cls: 1.0656, d4.loss_bbox: 1.1108, d5.loss_cls: 1.0666, d5.loss_bbox: 1.1154, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0683, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0945, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1121, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1358, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.1598, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1511, d0.loss_map_cls_all: 0.6136, d0.loss_map_pts_all: 3.3762, d0.loss_map_dir_all: 0.0456, d0.loss_map_cls: 0.6136, d0.loss_map_pts: 3.3762, d0.loss_map_dir: 0.0456, d1.loss_map_cls: 0.6229, d1.loss_map_pts: 2.8036, d1.loss_map_dir: 0.0455, d2.loss_map_cls: 0.6163, d2.loss_map_pts: 2.7685, d2.loss_map_dir: 0.0454, d3.loss_map_cls: 0.6194, d3.loss_map_pts: 2.7613, d3.loss_map_dir: 0.0454, d4.loss_map_cls: 0.6206, d4.loss_map_pts: 2.7610, d4.loss_map_dir: 0.0454, d5.loss_map_cls: 0.6214, d5.loss_map_pts: 2.7661, d5.loss_map_dir: 0.0453, loss: 94.3122, grad_norm: 234.0609 2026-02-24 01:56:43,806 - DriveTransformer - INFO - Epoch [1][9500/59059] lr: 1.000e-04, eta: 23 days, 9:46:09, time: 0.560, data_time: 0.030, memory: 14138, loss_cls: 1.0203, loss_bbox: 1.0690, loss_traj: 1.8152, loss_traj_cls: 0.0005, loss_map_cls: 0.6480, loss_map_pts: 2.3944, loss_map_dir: 0.0379, d0.loss_plan_l1_fix_time: 3.4316, d0.loss_plan_l1_fix_dist: 0.7041, d1.loss_plan_l1_fix_time: 3.3655, d1.loss_plan_l1_fix_dist: 0.7260, d2.loss_plan_l1_fix_time: 3.3764, d2.loss_plan_l1_fix_dist: 0.7691, d3.loss_plan_l1_fix_time: 3.3913, d3.loss_plan_l1_fix_dist: 0.8216, d4.loss_plan_l1_fix_time: 3.4083, d4.loss_plan_l1_fix_dist: 0.8803, d5.loss_plan_l1_fix_time: 3.4258, d5.loss_plan_l1_fix_dist: 0.9510, d6.loss_plan_l1_fix_time: 3.4449, d6.loss_plan_l1_fix_dist: 1.0240, d0.loss_cls_all: 1.0078, d0.loss_bbox_all: 1.0700, d0.loss_cls: 1.0078, d0.loss_bbox: 1.0700, d1.loss_cls: 1.0138, d1.loss_bbox: 1.0684, d2.loss_cls: 1.0144, d2.loss_bbox: 1.0668, d3.loss_cls: 1.0174, d3.loss_bbox: 1.0601, d4.loss_cls: 1.0161, d4.loss_bbox: 1.0634, d5.loss_cls: 1.0179, d5.loss_bbox: 1.0652, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7472, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7693, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7608, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7729, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.7827, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7805, d0.loss_map_cls_all: 0.6404, d0.loss_map_pts_all: 3.0476, d0.loss_map_dir_all: 0.0382, d0.loss_map_cls: 0.6404, d0.loss_map_pts: 3.0476, d0.loss_map_dir: 0.0382, d1.loss_map_cls: 0.6438, d1.loss_map_pts: 2.4371, d1.loss_map_dir: 0.0382, d2.loss_map_cls: 0.6379, d2.loss_map_pts: 2.3990, d2.loss_map_dir: 0.0382, d3.loss_map_cls: 0.6406, d3.loss_map_pts: 2.3986, d3.loss_map_dir: 0.0381, d4.loss_map_cls: 0.6432, d4.loss_map_pts: 2.3976, d4.loss_map_dir: 0.0380, d5.loss_map_cls: 0.6462, d5.loss_map_pts: 2.3947, d5.loss_map_dir: 0.0380, loss: 84.7622, grad_norm: 233.3617 2026-02-24 01:57:12,980 - DriveTransformer - INFO - Epoch [1][9550/59059] lr: 1.000e-04, eta: 23 days, 9:49:09, time: 0.583, data_time: 0.029, memory: 14138, loss_cls: 1.0736, loss_bbox: 1.1043, loss_traj: 1.9820, loss_traj_cls: 0.0005, loss_map_cls: 0.6574, loss_map_pts: 2.6937, loss_map_dir: 0.0392, d0.loss_plan_l1_fix_time: 3.8919, d0.loss_plan_l1_fix_dist: 0.6564, d1.loss_plan_l1_fix_time: 3.8054, d1.loss_plan_l1_fix_dist: 0.6939, d2.loss_plan_l1_fix_time: 3.8094, d2.loss_plan_l1_fix_dist: 0.7400, d3.loss_plan_l1_fix_time: 3.8218, d3.loss_plan_l1_fix_dist: 0.7932, d4.loss_plan_l1_fix_time: 3.8364, d4.loss_plan_l1_fix_dist: 0.8580, d5.loss_plan_l1_fix_time: 3.8523, d5.loss_plan_l1_fix_dist: 0.9248, d6.loss_plan_l1_fix_time: 3.8693, d6.loss_plan_l1_fix_dist: 0.9934, d0.loss_cls_all: 1.0483, d0.loss_bbox_all: 1.1294, d0.loss_cls: 1.0483, d0.loss_bbox: 1.1294, d1.loss_cls: 1.0621, d1.loss_bbox: 1.1160, d2.loss_cls: 1.0538, d2.loss_bbox: 1.1138, d3.loss_cls: 1.0579, d3.loss_bbox: 1.1094, d4.loss_cls: 1.0656, d4.loss_bbox: 1.1003, d5.loss_cls: 1.0698, d5.loss_bbox: 1.1008, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9211, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9531, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9660, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9722, d4.loss_traj_cls: 0.0007, d4.loss_traj: 1.9871, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9847, d0.loss_map_cls_all: 0.6524, d0.loss_map_pts_all: 3.2404, d0.loss_map_dir_all: 0.0393, d0.loss_map_cls: 0.6524, d0.loss_map_pts: 3.2404, d0.loss_map_dir: 0.0393, d1.loss_map_cls: 0.6577, d1.loss_map_pts: 2.7135, d1.loss_map_dir: 0.0395, d2.loss_map_cls: 0.6534, d2.loss_map_pts: 2.6888, d2.loss_map_dir: 0.0396, d3.loss_map_cls: 0.6555, d3.loss_map_pts: 2.6862, d3.loss_map_dir: 0.0396, d4.loss_map_cls: 0.6559, d4.loss_map_pts: 2.6877, d4.loss_map_dir: 0.0394, d5.loss_map_cls: 0.6564, d5.loss_map_pts: 2.6895, d5.loss_map_dir: 0.0393, loss: 91.8956, grad_norm: 231.6648 2026-02-24 01:57:41,262 - DriveTransformer - INFO - Epoch [1][9600/59059] lr: 1.000e-04, eta: 23 days, 9:46:53, time: 0.567, data_time: 0.029, memory: 14138, loss_cls: 1.0372, loss_bbox: 1.0825, loss_traj: 2.3640, loss_traj_cls: 0.0005, loss_map_cls: 0.6482, loss_map_pts: 2.4279, loss_map_dir: 0.0391, d0.loss_plan_l1_fix_time: 3.1944, d0.loss_plan_l1_fix_dist: 0.5459, d1.loss_plan_l1_fix_time: 3.1104, d1.loss_plan_l1_fix_dist: 0.5655, d2.loss_plan_l1_fix_time: 3.1216, d2.loss_plan_l1_fix_dist: 0.6098, d3.loss_plan_l1_fix_time: 3.1406, d3.loss_plan_l1_fix_dist: 0.6690, d4.loss_plan_l1_fix_time: 3.1601, d4.loss_plan_l1_fix_dist: 0.7363, d5.loss_plan_l1_fix_time: 3.1797, d5.loss_plan_l1_fix_dist: 0.8146, d6.loss_plan_l1_fix_time: 3.1990, d6.loss_plan_l1_fix_dist: 0.9043, d0.loss_cls_all: 1.0190, d0.loss_bbox_all: 1.0962, d0.loss_cls: 1.0190, d0.loss_bbox: 1.0962, d1.loss_cls: 1.0318, d1.loss_bbox: 1.0798, d2.loss_cls: 1.0335, d2.loss_bbox: 1.0679, d3.loss_cls: 1.0393, d3.loss_bbox: 1.0590, d4.loss_cls: 1.0370, d4.loss_bbox: 1.0669, d5.loss_cls: 1.0371, d5.loss_bbox: 1.0744, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2663, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2961, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3073, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3353, d4.loss_traj_cls: 0.0007, d4.loss_traj: 2.3566, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3574, d0.loss_map_cls_all: 0.6393, d0.loss_map_pts_all: 3.1267, d0.loss_map_dir_all: 0.0396, d0.loss_map_cls: 0.6393, d0.loss_map_pts: 3.1267, d0.loss_map_dir: 0.0396, d1.loss_map_cls: 0.6479, d1.loss_map_pts: 2.4610, d1.loss_map_dir: 0.0394, d2.loss_map_cls: 0.6419, d2.loss_map_pts: 2.4233, d2.loss_map_dir: 0.0394, d3.loss_map_cls: 0.6450, d3.loss_map_pts: 2.4173, d3.loss_map_dir: 0.0393, d4.loss_map_cls: 0.6438, d4.loss_map_pts: 2.4202, d4.loss_map_dir: 0.0393, d5.loss_map_cls: 0.6455, d5.loss_map_pts: 2.4226, d5.loss_map_dir: 0.0392, loss: 86.4059, grad_norm: 228.9543 2026-02-24 01:58:09,042 - DriveTransformer - INFO - Epoch [1][9650/59059] lr: 1.000e-04, eta: 23 days, 9:41:03, time: 0.555, data_time: 0.026, memory: 14138, loss_cls: 1.0814, loss_bbox: 1.0636, loss_traj: 1.7163, loss_traj_cls: 0.0005, loss_map_cls: 0.6617, loss_map_pts: 2.8889, loss_map_dir: 0.0434, d0.loss_plan_l1_fix_time: 2.9743, d0.loss_plan_l1_fix_dist: 0.6698, d1.loss_plan_l1_fix_time: 2.8530, d1.loss_plan_l1_fix_dist: 0.7053, d2.loss_plan_l1_fix_time: 2.8534, d2.loss_plan_l1_fix_dist: 0.7562, d3.loss_plan_l1_fix_time: 2.8672, d3.loss_plan_l1_fix_dist: 0.8170, d4.loss_plan_l1_fix_time: 2.8816, d4.loss_plan_l1_fix_dist: 0.8788, d5.loss_plan_l1_fix_time: 2.8975, d5.loss_plan_l1_fix_dist: 0.9502, d6.loss_plan_l1_fix_time: 2.9132, d6.loss_plan_l1_fix_dist: 1.0289, d0.loss_cls_all: 1.0534, d0.loss_bbox_all: 1.0896, d0.loss_cls: 1.0534, d0.loss_bbox: 1.0896, d1.loss_cls: 1.0663, d1.loss_bbox: 1.0726, d2.loss_cls: 1.0730, d2.loss_bbox: 1.0616, d3.loss_cls: 1.0773, d3.loss_bbox: 1.0553, d4.loss_cls: 1.0786, d4.loss_bbox: 1.0608, d5.loss_cls: 1.0826, d5.loss_bbox: 1.0600, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.6464, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.6665, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.6725, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.6767, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.6799, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.6964, d0.loss_map_cls_all: 0.6420, d0.loss_map_pts_all: 3.4119, d0.loss_map_dir_all: 0.0430, d0.loss_map_cls: 0.6420, d0.loss_map_pts: 3.4119, d0.loss_map_dir: 0.0430, d1.loss_map_cls: 0.6478, d1.loss_map_pts: 2.9018, d1.loss_map_dir: 0.0435, d2.loss_map_cls: 0.6475, d2.loss_map_pts: 2.8809, d2.loss_map_dir: 0.0437, d3.loss_map_cls: 0.6555, d3.loss_map_pts: 2.8791, d3.loss_map_dir: 0.0437, d4.loss_map_cls: 0.6570, d4.loss_map_pts: 2.8817, d4.loss_map_dir: 0.0436, d5.loss_map_cls: 0.6586, d5.loss_map_pts: 2.8830, d5.loss_map_dir: 0.0435, loss: 84.6224, grad_norm: 227.7437 2026-02-24 01:58:37,076 - DriveTransformer - INFO - Epoch [1][9700/59059] lr: 1.000e-04, eta: 23 days, 9:37:04, time: 0.561, data_time: 0.028, memory: 14138, loss_cls: 1.0359, loss_bbox: 1.0655, loss_traj: 2.4787, loss_traj_cls: 0.0006, loss_map_cls: 0.6527, loss_map_pts: 2.4665, loss_map_dir: 0.0377, d0.loss_plan_l1_fix_time: 3.5996, d0.loss_plan_l1_fix_dist: 0.6360, d1.loss_plan_l1_fix_time: 3.5070, d1.loss_plan_l1_fix_dist: 0.6629, d2.loss_plan_l1_fix_time: 3.5015, d2.loss_plan_l1_fix_dist: 0.7017, d3.loss_plan_l1_fix_time: 3.5097, d3.loss_plan_l1_fix_dist: 0.7444, d4.loss_plan_l1_fix_time: 3.5240, d4.loss_plan_l1_fix_dist: 0.7939, d5.loss_plan_l1_fix_time: 3.5402, d5.loss_plan_l1_fix_dist: 0.8458, d6.loss_plan_l1_fix_time: 3.5584, d6.loss_plan_l1_fix_dist: 0.8955, d0.loss_cls_all: 1.0176, d0.loss_bbox_all: 1.0716, d0.loss_cls: 1.0176, d0.loss_bbox: 1.0716, d1.loss_cls: 1.0154, d1.loss_bbox: 1.0591, d2.loss_cls: 1.0219, d2.loss_bbox: 1.0479, d3.loss_cls: 1.0283, d3.loss_bbox: 1.0436, d4.loss_cls: 1.0290, d4.loss_bbox: 1.0487, d5.loss_cls: 1.0332, d5.loss_bbox: 1.0551, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.4619, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.4752, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.4762, d3.loss_traj_cls: 0.0006, d3.loss_traj: 2.4918, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.4914, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.4878, d0.loss_map_cls_all: 0.6370, d0.loss_map_pts_all: 3.0826, d0.loss_map_dir_all: 0.0371, d0.loss_map_cls: 0.6370, d0.loss_map_pts: 3.0826, d0.loss_map_dir: 0.0371, d1.loss_map_cls: 0.6449, d1.loss_map_pts: 2.5298, d1.loss_map_dir: 0.0376, d2.loss_map_cls: 0.6421, d2.loss_map_pts: 2.4827, d2.loss_map_dir: 0.0378, d3.loss_map_cls: 0.6462, d3.loss_map_pts: 2.4758, d3.loss_map_dir: 0.0377, d4.loss_map_cls: 0.6478, d4.loss_map_pts: 2.4695, d4.loss_map_dir: 0.0377, d5.loss_map_cls: 0.6494, d5.loss_map_pts: 2.4674, d5.loss_map_dir: 0.0377, loss: 90.5636, grad_norm: 226.6929 2026-02-24 01:59:06,331 - DriveTransformer - INFO - Epoch [1][9750/59059] lr: 1.000e-04, eta: 23 days, 9:40:30, time: 0.585, data_time: 0.030, memory: 14138, loss_cls: 1.0453, loss_bbox: 1.0472, loss_traj: 1.5745, loss_traj_cls: 0.0005, loss_map_cls: 0.6382, loss_map_pts: 2.6387, loss_map_dir: 0.0403, d0.loss_plan_l1_fix_time: 3.4269, d0.loss_plan_l1_fix_dist: 0.6877, d1.loss_plan_l1_fix_time: 3.2906, d1.loss_plan_l1_fix_dist: 0.7308, d2.loss_plan_l1_fix_time: 3.2710, d2.loss_plan_l1_fix_dist: 0.7929, d3.loss_plan_l1_fix_time: 3.2755, d3.loss_plan_l1_fix_dist: 0.8655, d4.loss_plan_l1_fix_time: 3.2889, d4.loss_plan_l1_fix_dist: 0.9509, d5.loss_plan_l1_fix_time: 3.3052, d5.loss_plan_l1_fix_dist: 1.0429, d6.loss_plan_l1_fix_time: 3.3245, d6.loss_plan_l1_fix_dist: 1.1320, d0.loss_cls_all: 1.0184, d0.loss_bbox_all: 1.0404, d0.loss_cls: 1.0184, d0.loss_bbox: 1.0404, d1.loss_cls: 1.0304, d1.loss_bbox: 1.0304, d2.loss_cls: 1.0313, d2.loss_bbox: 1.0270, d3.loss_cls: 1.0401, d3.loss_bbox: 1.0197, d4.loss_cls: 1.0458, d4.loss_bbox: 1.0286, d5.loss_cls: 1.0447, d5.loss_bbox: 1.0352, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.5416, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.5407, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.5495, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.5795, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.5842, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.5773, d0.loss_map_cls_all: 0.6290, d0.loss_map_pts_all: 3.3656, d0.loss_map_dir_all: 0.0404, d0.loss_map_cls: 0.6290, d0.loss_map_pts: 3.3656, d0.loss_map_dir: 0.0404, d1.loss_map_cls: 0.6304, d1.loss_map_pts: 2.6827, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.6280, d2.loss_map_pts: 2.6287, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6305, d3.loss_map_pts: 2.6263, d3.loss_map_dir: 0.0403, d4.loss_map_cls: 0.6333, d4.loss_map_pts: 2.6288, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.6350, d5.loss_map_pts: 2.6359, d5.loss_map_dir: 0.0402, loss: 84.8274, grad_norm: 227.8540 2026-02-24 01:59:34,921 - DriveTransformer - INFO - Epoch [1][9800/59059] lr: 1.000e-04, eta: 23 days, 9:39:54, time: 0.572, data_time: 0.026, memory: 14139, loss_cls: 1.0421, loss_bbox: 1.0687, loss_traj: 2.2774, loss_traj_cls: 0.0005, loss_map_cls: 0.6280, loss_map_pts: 2.5661, loss_map_dir: 0.0379, d0.loss_plan_l1_fix_time: 3.3621, d0.loss_plan_l1_fix_dist: 0.8014, d1.loss_plan_l1_fix_time: 3.2878, d1.loss_plan_l1_fix_dist: 0.8340, d2.loss_plan_l1_fix_time: 3.2881, d2.loss_plan_l1_fix_dist: 0.8880, d3.loss_plan_l1_fix_time: 3.3015, d3.loss_plan_l1_fix_dist: 0.9548, d4.loss_plan_l1_fix_time: 3.3193, d4.loss_plan_l1_fix_dist: 1.0341, d5.loss_plan_l1_fix_time: 3.3369, d5.loss_plan_l1_fix_dist: 1.1239, d6.loss_plan_l1_fix_time: 3.3552, d6.loss_plan_l1_fix_dist: 1.2256, d0.loss_cls_all: 1.0092, d0.loss_bbox_all: 1.0849, d0.loss_cls: 1.0092, d0.loss_bbox: 1.0849, d1.loss_cls: 1.0270, d1.loss_bbox: 1.0657, d2.loss_cls: 1.0285, d2.loss_bbox: 1.0617, d3.loss_cls: 1.0323, d3.loss_bbox: 1.0617, d4.loss_cls: 1.0404, d4.loss_bbox: 1.0629, d5.loss_cls: 1.0401, d5.loss_bbox: 1.0630, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1938, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2078, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2285, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2592, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2613, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2553, d0.loss_map_cls_all: 0.6172, d0.loss_map_pts_all: 3.3232, d0.loss_map_dir_all: 0.0384, d0.loss_map_cls: 0.6172, d0.loss_map_pts: 3.3232, d0.loss_map_dir: 0.0384, d1.loss_map_cls: 0.6247, d1.loss_map_pts: 2.6228, d1.loss_map_dir: 0.0380, d2.loss_map_cls: 0.6202, d2.loss_map_pts: 2.5708, d2.loss_map_dir: 0.0380, d3.loss_map_cls: 0.6236, d3.loss_map_pts: 2.5640, d3.loss_map_dir: 0.0379, d4.loss_map_cls: 0.6230, d4.loss_map_pts: 2.5647, d4.loss_map_dir: 0.0378, d5.loss_map_cls: 0.6261, d5.loss_map_pts: 2.5658, d5.loss_map_dir: 0.0379, loss: 89.9665, grad_norm: 227.0334 2026-02-24 02:00:02,852 - DriveTransformer - INFO - Epoch [1][9850/59059] lr: 1.000e-04, eta: 23 days, 9:35:22, time: 0.559, data_time: 0.030, memory: 14139, loss_cls: 1.0306, loss_bbox: 1.0773, loss_traj: 2.2674, loss_traj_cls: 0.0005, loss_map_cls: 0.6406, loss_map_pts: 2.8354, loss_map_dir: 0.0471, d0.loss_plan_l1_fix_time: 3.2917, d0.loss_plan_l1_fix_dist: 0.7125, d1.loss_plan_l1_fix_time: 3.2251, d1.loss_plan_l1_fix_dist: 0.7410, d2.loss_plan_l1_fix_time: 3.2292, d2.loss_plan_l1_fix_dist: 0.7816, d3.loss_plan_l1_fix_time: 3.2401, d3.loss_plan_l1_fix_dist: 0.8338, d4.loss_plan_l1_fix_time: 3.2560, d4.loss_plan_l1_fix_dist: 0.8962, d5.loss_plan_l1_fix_time: 3.2729, d5.loss_plan_l1_fix_dist: 0.9614, d6.loss_plan_l1_fix_time: 3.2923, d6.loss_plan_l1_fix_dist: 1.0320, d0.loss_cls_all: 0.9998, d0.loss_bbox_all: 1.0546, d0.loss_cls: 0.9998, d0.loss_bbox: 1.0546, d1.loss_cls: 1.0134, d1.loss_bbox: 1.0391, d2.loss_cls: 1.0201, d2.loss_bbox: 1.0328, d3.loss_cls: 1.0272, d3.loss_bbox: 1.0374, d4.loss_cls: 1.0287, d4.loss_bbox: 1.0480, d5.loss_cls: 1.0306, d5.loss_bbox: 1.0612, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1919, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2136, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2074, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2090, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2176, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2478, d0.loss_map_cls_all: 0.6339, d0.loss_map_pts_all: 3.3297, d0.loss_map_dir_all: 0.0468, d0.loss_map_cls: 0.6339, d0.loss_map_pts: 3.3297, d0.loss_map_dir: 0.0468, d1.loss_map_cls: 0.6366, d1.loss_map_pts: 2.8323, d1.loss_map_dir: 0.0471, d2.loss_map_cls: 0.6325, d2.loss_map_pts: 2.8132, d2.loss_map_dir: 0.0471, d3.loss_map_cls: 0.6340, d3.loss_map_pts: 2.8190, d3.loss_map_dir: 0.0471, d4.loss_map_cls: 0.6365, d4.loss_map_pts: 2.8219, d4.loss_map_dir: 0.0471, d5.loss_map_cls: 0.6387, d5.loss_map_pts: 2.8301, d5.loss_map_dir: 0.0471, loss: 89.9530, grad_norm: 225.8002 2026-02-24 02:00:31,013 - DriveTransformer - INFO - Epoch [1][9900/59059] lr: 1.000e-04, eta: 23 days, 9:32:14, time: 0.563, data_time: 0.028, memory: 14139, loss_cls: 1.0571, loss_bbox: 1.0905, loss_traj: 1.8091, loss_traj_cls: 0.0005, loss_map_cls: 0.6332, loss_map_pts: 2.6432, loss_map_dir: 0.0433, d0.loss_plan_l1_fix_time: 2.8766, d0.loss_plan_l1_fix_dist: 0.5702, d1.loss_plan_l1_fix_time: 2.8032, d1.loss_plan_l1_fix_dist: 0.6108, d2.loss_plan_l1_fix_time: 2.8044, d2.loss_plan_l1_fix_dist: 0.6718, d3.loss_plan_l1_fix_time: 2.8134, d3.loss_plan_l1_fix_dist: 0.7375, d4.loss_plan_l1_fix_time: 2.8283, d4.loss_plan_l1_fix_dist: 0.8083, d5.loss_plan_l1_fix_time: 2.8442, d5.loss_plan_l1_fix_dist: 0.8920, d6.loss_plan_l1_fix_time: 2.8627, d6.loss_plan_l1_fix_dist: 0.9858, d0.loss_cls_all: 1.0267, d0.loss_bbox_all: 1.0891, d0.loss_cls: 1.0267, d0.loss_bbox: 1.0891, d1.loss_cls: 1.0428, d1.loss_bbox: 1.0744, d2.loss_cls: 1.0505, d2.loss_bbox: 1.0671, d3.loss_cls: 1.0607, d3.loss_bbox: 1.0629, d4.loss_cls: 1.0588, d4.loss_bbox: 1.0698, d5.loss_cls: 1.0579, d5.loss_bbox: 1.0767, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.7550, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.7726, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.7719, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.7794, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.7861, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.7935, d0.loss_map_cls_all: 0.6192, d0.loss_map_pts_all: 3.2176, d0.loss_map_dir_all: 0.0435, d0.loss_map_cls: 0.6192, d0.loss_map_pts: 3.2176, d0.loss_map_dir: 0.0435, d1.loss_map_cls: 0.6250, d1.loss_map_pts: 2.6609, d1.loss_map_dir: 0.0435, d2.loss_map_cls: 0.6205, d2.loss_map_pts: 2.6294, d2.loss_map_dir: 0.0434, d3.loss_map_cls: 0.6247, d3.loss_map_pts: 2.6290, d3.loss_map_dir: 0.0434, d4.loss_map_cls: 0.6256, d4.loss_map_pts: 2.6313, d4.loss_map_dir: 0.0434, d5.loss_map_cls: 0.6286, d5.loss_map_pts: 2.6369, d5.loss_map_dir: 0.0434, loss: 82.1904, grad_norm: 225.3029 2026-02-24 02:00:58,890 - DriveTransformer - INFO - Epoch [1][9950/59059] lr: 1.000e-04, eta: 23 days, 9:27:28, time: 0.558, data_time: 0.027, memory: 14139, loss_cls: 0.9901, loss_bbox: 1.0042, loss_traj: 2.0979, loss_traj_cls: 0.0005, loss_map_cls: 0.6671, loss_map_pts: 2.6818, loss_map_dir: 0.0453, d0.loss_plan_l1_fix_time: 3.8795, d0.loss_plan_l1_fix_dist: 0.5868, d1.loss_plan_l1_fix_time: 3.8007, d1.loss_plan_l1_fix_dist: 0.6302, d2.loss_plan_l1_fix_time: 3.8065, d2.loss_plan_l1_fix_dist: 0.6921, d3.loss_plan_l1_fix_time: 3.8198, d3.loss_plan_l1_fix_dist: 0.7597, d4.loss_plan_l1_fix_time: 3.8344, d4.loss_plan_l1_fix_dist: 0.8388, d5.loss_plan_l1_fix_time: 3.8521, d5.loss_plan_l1_fix_dist: 0.9289, d6.loss_plan_l1_fix_time: 3.8702, d6.loss_plan_l1_fix_dist: 1.0186, d0.loss_cls_all: 0.9717, d0.loss_bbox_all: 1.0139, d0.loss_cls: 0.9717, d0.loss_bbox: 1.0139, d1.loss_cls: 0.9726, d1.loss_bbox: 0.9883, d2.loss_cls: 0.9814, d2.loss_bbox: 0.9814, d3.loss_cls: 0.9845, d3.loss_bbox: 0.9784, d4.loss_cls: 0.9855, d4.loss_bbox: 0.9843, d5.loss_cls: 0.9873, d5.loss_bbox: 0.9896, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0719, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0886, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0713, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0758, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0863, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0826, d0.loss_map_cls_all: 0.6497, d0.loss_map_pts_all: 3.2758, d0.loss_map_dir_all: 0.0458, d0.loss_map_cls: 0.6497, d0.loss_map_pts: 3.2758, d0.loss_map_dir: 0.0458, d1.loss_map_cls: 0.6505, d1.loss_map_pts: 2.7132, d1.loss_map_dir: 0.0453, d2.loss_map_cls: 0.6490, d2.loss_map_pts: 2.6811, d2.loss_map_dir: 0.0454, d3.loss_map_cls: 0.6550, d3.loss_map_pts: 2.6770, d3.loss_map_dir: 0.0454, d4.loss_map_cls: 0.6580, d4.loss_map_pts: 2.6764, d4.loss_map_dir: 0.0454, d5.loss_map_cls: 0.6618, d5.loss_map_pts: 2.6775, d5.loss_map_dir: 0.0453, loss: 90.9580, grad_norm: 225.0724 2026-02-24 02:01:29,345 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 02:01:29,345 - DriveTransformer - INFO - Epoch [1][10000/59059] lr: 1.000e-04, eta: 23 days, 9:37:55, time: 0.609, data_time: 0.029, memory: 14139, loss_cls: 0.9970, loss_bbox: 1.0600, loss_traj: 2.2662, loss_traj_cls: 0.0005, loss_map_cls: 0.6720, loss_map_pts: 2.6905, loss_map_dir: 0.0475, d0.loss_plan_l1_fix_time: 3.7661, d0.loss_plan_l1_fix_dist: 0.7167, d1.loss_plan_l1_fix_time: 3.7200, d1.loss_plan_l1_fix_dist: 0.7499, d2.loss_plan_l1_fix_time: 3.7349, d2.loss_plan_l1_fix_dist: 0.7971, d3.loss_plan_l1_fix_time: 3.7576, d3.loss_plan_l1_fix_dist: 0.8493, d4.loss_plan_l1_fix_time: 3.7802, d4.loss_plan_l1_fix_dist: 0.9091, d5.loss_plan_l1_fix_time: 3.8052, d5.loss_plan_l1_fix_dist: 0.9707, d6.loss_plan_l1_fix_time: 3.8272, d6.loss_plan_l1_fix_dist: 1.0360, d0.loss_cls_all: 0.9792, d0.loss_bbox_all: 1.0573, d0.loss_cls: 0.9792, d0.loss_bbox: 1.0573, d1.loss_cls: 0.9831, d1.loss_bbox: 1.0365, d2.loss_cls: 0.9900, d2.loss_bbox: 1.0393, d3.loss_cls: 0.9894, d3.loss_bbox: 1.0409, d4.loss_cls: 0.9938, d4.loss_bbox: 1.0455, d5.loss_cls: 0.9955, d5.loss_bbox: 1.0487, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2210, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2597, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2515, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2546, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2690, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2752, d0.loss_map_cls_all: 0.6653, d0.loss_map_pts_all: 3.2832, d0.loss_map_dir_all: 0.0477, d0.loss_map_cls: 0.6653, d0.loss_map_pts: 3.2832, d0.loss_map_dir: 0.0477, d1.loss_map_cls: 0.6677, d1.loss_map_pts: 2.7354, d1.loss_map_dir: 0.0476, d2.loss_map_cls: 0.6613, d2.loss_map_pts: 2.6996, d2.loss_map_dir: 0.0475, d3.loss_map_cls: 0.6644, d3.loss_map_pts: 2.6919, d3.loss_map_dir: 0.0476, d4.loss_map_cls: 0.6677, d4.loss_map_pts: 2.6898, d4.loss_map_dir: 0.0475, d5.loss_map_cls: 0.6691, d5.loss_map_pts: 2.6895, d5.loss_map_dir: 0.0475, loss: 92.9900, grad_norm: 223.5308 2026-02-24 02:01:56,836 - DriveTransformer - INFO - Epoch [1][10050/59059] lr: 1.000e-04, eta: 23 days, 9:30:51, time: 0.550, data_time: 0.026, memory: 14139, loss_cls: 1.0267, loss_bbox: 1.0791, loss_traj: 2.0705, loss_traj_cls: 0.0005, loss_map_cls: 0.6449, loss_map_pts: 2.7858, loss_map_dir: 0.0465, d0.loss_plan_l1_fix_time: 3.0910, d0.loss_plan_l1_fix_dist: 0.6535, d1.loss_plan_l1_fix_time: 2.9967, d1.loss_plan_l1_fix_dist: 0.6987, d2.loss_plan_l1_fix_time: 2.9984, d2.loss_plan_l1_fix_dist: 0.7699, d3.loss_plan_l1_fix_time: 3.0127, d3.loss_plan_l1_fix_dist: 0.8510, d4.loss_plan_l1_fix_time: 3.0302, d4.loss_plan_l1_fix_dist: 0.9315, d5.loss_plan_l1_fix_time: 3.0499, d5.loss_plan_l1_fix_dist: 1.0116, d6.loss_plan_l1_fix_time: 3.0696, d6.loss_plan_l1_fix_dist: 1.0928, d0.loss_cls_all: 1.0040, d0.loss_bbox_all: 1.0572, d0.loss_cls: 1.0040, d0.loss_bbox: 1.0572, d1.loss_cls: 1.0133, d1.loss_bbox: 1.0430, d2.loss_cls: 1.0174, d2.loss_bbox: 1.0478, d3.loss_cls: 1.0244, d3.loss_bbox: 1.0503, d4.loss_cls: 1.0250, d4.loss_bbox: 1.0594, d5.loss_cls: 1.0246, d5.loss_bbox: 1.0684, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0058, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0245, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0413, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0505, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0698, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0633, d0.loss_map_cls_all: 0.6441, d0.loss_map_pts_all: 3.2794, d0.loss_map_dir_all: 0.0463, d0.loss_map_cls: 0.6441, d0.loss_map_pts: 3.2794, d0.loss_map_dir: 0.0463, d1.loss_map_cls: 0.6442, d1.loss_map_pts: 2.7903, d1.loss_map_dir: 0.0467, d2.loss_map_cls: 0.6371, d2.loss_map_pts: 2.7729, d2.loss_map_dir: 0.0468, d3.loss_map_cls: 0.6394, d3.loss_map_pts: 2.7699, d3.loss_map_dir: 0.0467, d4.loss_map_cls: 0.6395, d4.loss_map_pts: 2.7720, d4.loss_map_dir: 0.0467, d5.loss_map_cls: 0.6413, d5.loss_map_pts: 2.7768, d5.loss_map_dir: 0.0466, loss: 86.9223, grad_norm: 222.8361 2026-02-24 02:02:25,164 - DriveTransformer - INFO - Epoch [1][10100/59059] lr: 1.000e-04, eta: 23 days, 9:28:46, time: 0.567, data_time: 0.026, memory: 14139, loss_cls: 1.0152, loss_bbox: 1.0904, loss_traj: 1.9944, loss_traj_cls: 0.0005, loss_map_cls: 0.6232, loss_map_pts: 2.6263, loss_map_dir: 0.0369, d0.loss_plan_l1_fix_time: 3.3785, d0.loss_plan_l1_fix_dist: 0.7204, d1.loss_plan_l1_fix_time: 3.2857, d1.loss_plan_l1_fix_dist: 0.7725, d2.loss_plan_l1_fix_time: 3.2885, d2.loss_plan_l1_fix_dist: 0.8417, d3.loss_plan_l1_fix_time: 3.3018, d3.loss_plan_l1_fix_dist: 0.9146, d4.loss_plan_l1_fix_time: 3.3195, d4.loss_plan_l1_fix_dist: 0.9875, d5.loss_plan_l1_fix_time: 3.3384, d5.loss_plan_l1_fix_dist: 1.0676, d6.loss_plan_l1_fix_time: 3.3586, d6.loss_plan_l1_fix_dist: 1.1504, d0.loss_cls_all: 0.9940, d0.loss_bbox_all: 1.1040, d0.loss_cls: 0.9940, d0.loss_bbox: 1.1040, d1.loss_cls: 1.0047, d1.loss_bbox: 1.0819, d2.loss_cls: 1.0069, d2.loss_bbox: 1.0783, d3.loss_cls: 1.0125, d3.loss_bbox: 1.0758, d4.loss_cls: 1.0124, d4.loss_bbox: 1.0782, d5.loss_cls: 1.0126, d5.loss_bbox: 1.0827, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9218, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9441, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9718, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9877, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9965, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9962, d0.loss_map_cls_all: 0.6243, d0.loss_map_pts_all: 3.1569, d0.loss_map_dir_all: 0.0380, d0.loss_map_cls: 0.6243, d0.loss_map_pts: 3.1569, d0.loss_map_dir: 0.0380, d1.loss_map_cls: 0.6208, d1.loss_map_pts: 2.5925, d1.loss_map_dir: 0.0370, d2.loss_map_cls: 0.6116, d2.loss_map_pts: 2.5950, d2.loss_map_dir: 0.0370, d3.loss_map_cls: 0.6156, d3.loss_map_pts: 2.6046, d3.loss_map_dir: 0.0370, d4.loss_map_cls: 0.6139, d4.loss_map_pts: 2.6122, d4.loss_map_dir: 0.0370, d5.loss_map_cls: 0.6179, d5.loss_map_pts: 2.6174, d5.loss_map_dir: 0.0369, loss: 87.5005, grad_norm: 223.0430 2026-02-24 02:02:53,352 - DriveTransformer - INFO - Epoch [1][10150/59059] lr: 1.000e-04, eta: 23 days, 9:25:53, time: 0.564, data_time: 0.030, memory: 14139, loss_cls: 1.0502, loss_bbox: 1.0552, loss_traj: 2.1558, loss_traj_cls: 0.0005, loss_map_cls: 0.6589, loss_map_pts: 2.6133, loss_map_dir: 0.0400, d0.loss_plan_l1_fix_time: 3.2427, d0.loss_plan_l1_fix_dist: 0.6055, d1.loss_plan_l1_fix_time: 3.1415, d1.loss_plan_l1_fix_dist: 0.6425, d2.loss_plan_l1_fix_time: 3.1397, d2.loss_plan_l1_fix_dist: 0.6914, d3.loss_plan_l1_fix_time: 3.1497, d3.loss_plan_l1_fix_dist: 0.7468, d4.loss_plan_l1_fix_time: 3.1637, d4.loss_plan_l1_fix_dist: 0.8080, d5.loss_plan_l1_fix_time: 3.1788, d5.loss_plan_l1_fix_dist: 0.8802, d6.loss_plan_l1_fix_time: 3.1960, d6.loss_plan_l1_fix_dist: 0.9615, d0.loss_cls_all: 1.0208, d0.loss_bbox_all: 1.0516, d0.loss_cls: 1.0208, d0.loss_bbox: 1.0516, d1.loss_cls: 1.0405, d1.loss_bbox: 1.0317, d2.loss_cls: 1.0475, d2.loss_bbox: 1.0256, d3.loss_cls: 1.0514, d3.loss_bbox: 1.0282, d4.loss_cls: 1.0575, d4.loss_bbox: 1.0353, d5.loss_cls: 1.0621, d5.loss_bbox: 1.0416, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.1538, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1517, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1517, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1514, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1637, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1587, d0.loss_map_cls_all: 0.6528, d0.loss_map_pts_all: 3.1937, d0.loss_map_dir_all: 0.0401, d0.loss_map_cls: 0.6528, d0.loss_map_pts: 3.1937, d0.loss_map_dir: 0.0401, d1.loss_map_cls: 0.6529, d1.loss_map_pts: 2.6344, d1.loss_map_dir: 0.0400, d2.loss_map_cls: 0.6470, d2.loss_map_pts: 2.6145, d2.loss_map_dir: 0.0402, d3.loss_map_cls: 0.6533, d3.loss_map_pts: 2.6122, d3.loss_map_dir: 0.0403, d4.loss_map_cls: 0.6514, d4.loss_map_pts: 2.6113, d4.loss_map_dir: 0.0402, d5.loss_map_cls: 0.6530, d5.loss_map_pts: 2.6106, d5.loss_map_dir: 0.0402, loss: 86.9367, grad_norm: 221.9582 2026-02-24 02:03:21,307 - DriveTransformer - INFO - Epoch [1][10200/59059] lr: 1.000e-04, eta: 23 days, 9:21:41, time: 0.559, data_time: 0.027, memory: 14139, loss_cls: 0.9927, loss_bbox: 1.0789, loss_traj: 1.9400, loss_traj_cls: 0.0005, loss_map_cls: 0.6530, loss_map_pts: 2.5491, loss_map_dir: 0.0386, d0.loss_plan_l1_fix_time: 3.6014, d0.loss_plan_l1_fix_dist: 0.6159, d1.loss_plan_l1_fix_time: 3.5300, d1.loss_plan_l1_fix_dist: 0.6614, d2.loss_plan_l1_fix_time: 3.5326, d2.loss_plan_l1_fix_dist: 0.7233, d3.loss_plan_l1_fix_time: 3.5440, d3.loss_plan_l1_fix_dist: 0.7929, d4.loss_plan_l1_fix_time: 3.5594, d4.loss_plan_l1_fix_dist: 0.8709, d5.loss_plan_l1_fix_time: 3.5750, d5.loss_plan_l1_fix_dist: 0.9569, d6.loss_plan_l1_fix_time: 3.5920, d6.loss_plan_l1_fix_dist: 1.0477, d0.loss_cls_all: 0.9626, d0.loss_bbox_all: 1.0207, d0.loss_cls: 0.9626, d0.loss_bbox: 1.0207, d1.loss_cls: 0.9817, d1.loss_bbox: 1.0211, d2.loss_cls: 0.9889, d2.loss_bbox: 1.0253, d3.loss_cls: 0.9909, d3.loss_bbox: 1.0320, d4.loss_cls: 0.9977, d4.loss_bbox: 1.0430, d5.loss_cls: 0.9973, d5.loss_bbox: 1.0606, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.8855, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9087, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9168, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9212, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9255, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9281, d0.loss_map_cls_all: 0.6465, d0.loss_map_pts_all: 3.2094, d0.loss_map_dir_all: 0.0395, d0.loss_map_cls: 0.6465, d0.loss_map_pts: 3.2094, d0.loss_map_dir: 0.0395, d1.loss_map_cls: 0.6425, d1.loss_map_pts: 2.5664, d1.loss_map_dir: 0.0387, d2.loss_map_cls: 0.6409, d2.loss_map_pts: 2.5430, d2.loss_map_dir: 0.0387, d3.loss_map_cls: 0.6458, d3.loss_map_pts: 2.5455, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.6455, d4.loss_map_pts: 2.5453, d4.loss_map_dir: 0.0387, d5.loss_map_cls: 0.6479, d5.loss_map_pts: 2.5468, d5.loss_map_dir: 0.0386, loss: 87.4044, grad_norm: 221.6363 2026-02-24 02:03:49,455 - DriveTransformer - INFO - Epoch [1][10250/59059] lr: 1.000e-04, eta: 23 days, 9:18:37, time: 0.563, data_time: 0.028, memory: 14139, loss_cls: 1.0553, loss_bbox: 1.0757, loss_traj: 2.2685, loss_traj_cls: 0.0005, loss_map_cls: 0.6567, loss_map_pts: 2.5169, loss_map_dir: 0.0355, d0.loss_plan_l1_fix_time: 3.2799, d0.loss_plan_l1_fix_dist: 0.8327, d1.loss_plan_l1_fix_time: 3.2329, d1.loss_plan_l1_fix_dist: 0.8696, d2.loss_plan_l1_fix_time: 3.2484, d2.loss_plan_l1_fix_dist: 0.9226, d3.loss_plan_l1_fix_time: 3.2669, d3.loss_plan_l1_fix_dist: 0.9828, d4.loss_plan_l1_fix_time: 3.2869, d4.loss_plan_l1_fix_dist: 1.0482, d5.loss_plan_l1_fix_time: 3.3086, d5.loss_plan_l1_fix_dist: 1.1188, d6.loss_plan_l1_fix_time: 3.3306, d6.loss_plan_l1_fix_dist: 1.1876, d0.loss_cls_all: 1.0117, d0.loss_bbox_all: 1.0948, d0.loss_cls: 1.0117, d0.loss_bbox: 1.0948, d1.loss_cls: 1.0356, d1.loss_bbox: 1.0784, d2.loss_cls: 1.0489, d2.loss_bbox: 1.0636, d3.loss_cls: 1.0574, d3.loss_bbox: 1.0553, d4.loss_cls: 1.0659, d4.loss_bbox: 1.0567, d5.loss_cls: 1.0675, d5.loss_bbox: 1.0652, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2381, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2591, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2418, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2472, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2507, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2516, d0.loss_map_cls_all: 0.6511, d0.loss_map_pts_all: 3.1558, d0.loss_map_dir_all: 0.0364, d0.loss_map_cls: 0.6511, d0.loss_map_pts: 3.1558, d0.loss_map_dir: 0.0364, d1.loss_map_cls: 0.6485, d1.loss_map_pts: 2.5451, d1.loss_map_dir: 0.0358, d2.loss_map_cls: 0.6452, d2.loss_map_pts: 2.5146, d2.loss_map_dir: 0.0357, d3.loss_map_cls: 0.6499, d3.loss_map_pts: 2.5139, d3.loss_map_dir: 0.0356, d4.loss_map_cls: 0.6522, d4.loss_map_pts: 2.5132, d4.loss_map_dir: 0.0356, d5.loss_map_cls: 0.6529, d5.loss_map_pts: 2.5164, d5.loss_map_dir: 0.0356, loss: 89.5411, grad_norm: 221.9154 2026-02-24 02:04:17,607 - DriveTransformer - INFO - Epoch [1][10300/59059] lr: 1.000e-04, eta: 23 days, 9:15:39, time: 0.563, data_time: 0.030, memory: 14139, loss_cls: 1.0047, loss_bbox: 1.0788, loss_traj: 1.8757, loss_traj_cls: 0.0005, loss_map_cls: 0.6382, loss_map_pts: 2.8843, loss_map_dir: 0.0399, d0.loss_plan_l1_fix_time: 3.3117, d0.loss_plan_l1_fix_dist: 0.6964, d1.loss_plan_l1_fix_time: 3.2500, d1.loss_plan_l1_fix_dist: 0.7354, d2.loss_plan_l1_fix_time: 3.2639, d2.loss_plan_l1_fix_dist: 0.7981, d3.loss_plan_l1_fix_time: 3.2828, d3.loss_plan_l1_fix_dist: 0.8664, d4.loss_plan_l1_fix_time: 3.3016, d4.loss_plan_l1_fix_dist: 0.9333, d5.loss_plan_l1_fix_time: 3.3231, d5.loss_plan_l1_fix_dist: 0.9991, d6.loss_plan_l1_fix_time: 3.3453, d6.loss_plan_l1_fix_dist: 1.0689, d0.loss_cls_all: 0.9738, d0.loss_bbox_all: 1.0948, d0.loss_cls: 0.9738, d0.loss_bbox: 1.0948, d1.loss_cls: 0.9994, d1.loss_bbox: 1.0676, d2.loss_cls: 1.0010, d2.loss_bbox: 1.0575, d3.loss_cls: 1.0102, d3.loss_bbox: 1.0522, d4.loss_cls: 1.0157, d4.loss_bbox: 1.0596, d5.loss_cls: 1.0183, d5.loss_bbox: 1.0697, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8100, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8489, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.8589, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.8629, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.8691, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.8609, d0.loss_map_cls_all: 0.6389, d0.loss_map_pts_all: 3.4809, d0.loss_map_dir_all: 0.0407, d0.loss_map_cls: 0.6389, d0.loss_map_pts: 3.4809, d0.loss_map_dir: 0.0407, d1.loss_map_cls: 0.6350, d1.loss_map_pts: 2.9143, d1.loss_map_dir: 0.0403, d2.loss_map_cls: 0.6297, d2.loss_map_pts: 2.8803, d2.loss_map_dir: 0.0403, d3.loss_map_cls: 0.6329, d3.loss_map_pts: 2.8739, d3.loss_map_dir: 0.0402, d4.loss_map_cls: 0.6341, d4.loss_map_pts: 2.8720, d4.loss_map_dir: 0.0400, d5.loss_map_cls: 0.6364, d5.loss_map_pts: 2.8745, d5.loss_map_dir: 0.0400, loss: 88.4052, grad_norm: 221.5223 2026-02-24 02:04:45,615 - DriveTransformer - INFO - Epoch [1][10350/59059] lr: 1.000e-04, eta: 23 days, 9:11:48, time: 0.560, data_time: 0.027, memory: 14139, loss_cls: 1.0622, loss_bbox: 1.0397, loss_traj: 2.3949, loss_traj_cls: 0.0005, loss_map_cls: 0.6390, loss_map_pts: 2.5684, loss_map_dir: 0.0361, d0.loss_plan_l1_fix_time: 4.0397, d0.loss_plan_l1_fix_dist: 0.6411, d1.loss_plan_l1_fix_time: 3.9527, d1.loss_plan_l1_fix_dist: 0.6841, d2.loss_plan_l1_fix_time: 3.9581, d2.loss_plan_l1_fix_dist: 0.7397, d3.loss_plan_l1_fix_time: 3.9714, d3.loss_plan_l1_fix_dist: 0.8087, d4.loss_plan_l1_fix_time: 3.9864, d4.loss_plan_l1_fix_dist: 0.8844, d5.loss_plan_l1_fix_time: 4.0048, d5.loss_plan_l1_fix_dist: 0.9701, d6.loss_plan_l1_fix_time: 4.0242, d6.loss_plan_l1_fix_dist: 1.0664, d0.loss_cls_all: 1.0135, d0.loss_bbox_all: 1.0028, d0.loss_cls: 1.0135, d0.loss_bbox: 1.0028, d1.loss_cls: 1.0291, d1.loss_bbox: 1.0028, d2.loss_cls: 1.0341, d2.loss_bbox: 1.0091, d3.loss_cls: 1.0411, d3.loss_bbox: 1.0160, d4.loss_cls: 1.0474, d4.loss_bbox: 1.0262, d5.loss_cls: 1.0494, d5.loss_bbox: 1.0350, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.3560, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3753, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3672, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3721, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3690, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3725, d0.loss_map_cls_all: 0.6263, d0.loss_map_pts_all: 3.1987, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.6263, d0.loss_map_pts: 3.1987, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.6211, d1.loss_map_pts: 2.5875, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.6199, d2.loss_map_pts: 2.5576, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.6263, d3.loss_map_pts: 2.5539, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.6275, d4.loss_map_pts: 2.5526, d4.loss_map_dir: 0.0361, d5.loss_map_cls: 0.6323, d5.loss_map_pts: 2.5575, d5.loss_map_dir: 0.0361, loss: 93.8515, grad_norm: 221.9275 2026-02-24 02:05:14,432 - DriveTransformer - INFO - Epoch [1][10400/59059] lr: 1.000e-04, eta: 23 days, 9:12:36, time: 0.576, data_time: 0.027, memory: 14139, loss_cls: 1.0134, loss_bbox: 1.0741, loss_traj: 2.3459, loss_traj_cls: 0.0005, loss_map_cls: 0.6545, loss_map_pts: 2.7330, loss_map_dir: 0.0397, d0.loss_plan_l1_fix_time: 4.0739, d0.loss_plan_l1_fix_dist: 0.6691, d1.loss_plan_l1_fix_time: 4.0410, d1.loss_plan_l1_fix_dist: 0.6934, d2.loss_plan_l1_fix_time: 4.0488, d2.loss_plan_l1_fix_dist: 0.7228, d3.loss_plan_l1_fix_time: 4.0633, d3.loss_plan_l1_fix_dist: 0.7662, d4.loss_plan_l1_fix_time: 4.0807, d4.loss_plan_l1_fix_dist: 0.8256, d5.loss_plan_l1_fix_time: 4.0991, d5.loss_plan_l1_fix_dist: 0.8935, d6.loss_plan_l1_fix_time: 4.1196, d6.loss_plan_l1_fix_dist: 0.9656, d0.loss_cls_all: 0.9727, d0.loss_bbox_all: 1.0629, d0.loss_cls: 0.9727, d0.loss_bbox: 1.0629, d1.loss_cls: 0.9835, d1.loss_bbox: 1.0545, d2.loss_cls: 0.9909, d2.loss_bbox: 1.0523, d3.loss_cls: 0.9945, d3.loss_bbox: 1.0544, d4.loss_cls: 1.0014, d4.loss_bbox: 1.0571, d5.loss_cls: 1.0052, d5.loss_bbox: 1.0588, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2997, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.3155, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.3092, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3200, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.3374, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3343, d0.loss_map_cls_all: 0.6462, d0.loss_map_pts_all: 3.2860, d0.loss_map_dir_all: 0.0397, d0.loss_map_cls: 0.6462, d0.loss_map_pts: 3.2860, d0.loss_map_dir: 0.0397, d1.loss_map_cls: 0.6470, d1.loss_map_pts: 2.7428, d1.loss_map_dir: 0.0398, d2.loss_map_cls: 0.6447, d2.loss_map_pts: 2.7195, d2.loss_map_dir: 0.0398, d3.loss_map_cls: 0.6489, d3.loss_map_pts: 2.7168, d3.loss_map_dir: 0.0398, d4.loss_map_cls: 0.6484, d4.loss_map_pts: 2.7177, d4.loss_map_dir: 0.0398, d5.loss_map_cls: 0.6507, d5.loss_map_pts: 2.7234, d5.loss_map_dir: 0.0398, loss: 95.1693, grad_norm: 220.8978 2026-02-24 02:05:43,477 - DriveTransformer - INFO - Epoch [1][10450/59059] lr: 1.000e-04, eta: 23 days, 9:14:41, time: 0.581, data_time: 0.030, memory: 14139, loss_cls: 1.0221, loss_bbox: 0.9981, loss_traj: 2.2380, loss_traj_cls: 0.0005, loss_map_cls: 0.6357, loss_map_pts: 2.6674, loss_map_dir: 0.0410, d0.loss_plan_l1_fix_time: 3.4812, d0.loss_plan_l1_fix_dist: 0.6151, d1.loss_plan_l1_fix_time: 3.4168, d1.loss_plan_l1_fix_dist: 0.6438, d2.loss_plan_l1_fix_time: 3.4311, d2.loss_plan_l1_fix_dist: 0.6877, d3.loss_plan_l1_fix_time: 3.4545, d3.loss_plan_l1_fix_dist: 0.7368, d4.loss_plan_l1_fix_time: 3.4791, d4.loss_plan_l1_fix_dist: 0.7950, d5.loss_plan_l1_fix_time: 3.5036, d5.loss_plan_l1_fix_dist: 0.8602, d6.loss_plan_l1_fix_time: 3.5290, d6.loss_plan_l1_fix_dist: 0.9297, d0.loss_cls_all: 0.9834, d0.loss_bbox_all: 0.9729, d0.loss_cls: 0.9834, d0.loss_bbox: 0.9729, d1.loss_cls: 1.0088, d1.loss_bbox: 0.9641, d2.loss_cls: 1.0065, d2.loss_bbox: 0.9668, d3.loss_cls: 1.0143, d3.loss_bbox: 0.9681, d4.loss_cls: 1.0198, d4.loss_bbox: 0.9728, d5.loss_cls: 1.0233, d5.loss_bbox: 0.9844, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2225, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2207, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2163, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2134, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2345, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2364, d0.loss_map_cls_all: 0.6273, d0.loss_map_pts_all: 3.2911, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6273, d0.loss_map_pts: 3.2911, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.6321, d1.loss_map_pts: 2.7030, d1.loss_map_dir: 0.0412, d2.loss_map_cls: 0.6280, d2.loss_map_pts: 2.6728, d2.loss_map_dir: 0.0412, d3.loss_map_cls: 0.6305, d3.loss_map_pts: 2.6682, d3.loss_map_dir: 0.0411, d4.loss_map_cls: 0.6325, d4.loss_map_pts: 2.6654, d4.loss_map_dir: 0.0411, d5.loss_map_cls: 0.6343, d5.loss_map_pts: 2.6663, d5.loss_map_dir: 0.0411, loss: 89.0130, grad_norm: 221.9742 2026-02-24 02:06:11,117 - DriveTransformer - INFO - Epoch [1][10500/59059] lr: 1.000e-04, eta: 23 days, 9:08:51, time: 0.553, data_time: 0.026, memory: 14139, loss_cls: 1.0844, loss_bbox: 1.0699, loss_traj: 2.0805, loss_traj_cls: 0.0005, loss_map_cls: 0.6745, loss_map_pts: 3.0218, loss_map_dir: 0.0415, d0.loss_plan_l1_fix_time: 4.0218, d0.loss_plan_l1_fix_dist: 0.6602, d1.loss_plan_l1_fix_time: 3.9982, d1.loss_plan_l1_fix_dist: 0.6856, d2.loss_plan_l1_fix_time: 4.0113, d2.loss_plan_l1_fix_dist: 0.7238, d3.loss_plan_l1_fix_time: 4.0304, d3.loss_plan_l1_fix_dist: 0.7624, d4.loss_plan_l1_fix_time: 4.0518, d4.loss_plan_l1_fix_dist: 0.8071, d5.loss_plan_l1_fix_time: 4.0730, d5.loss_plan_l1_fix_dist: 0.8594, d6.loss_plan_l1_fix_time: 4.0952, d6.loss_plan_l1_fix_dist: 0.9203, d0.loss_cls_all: 1.0033, d0.loss_bbox_all: 1.0716, d0.loss_cls: 1.0033, d0.loss_bbox: 1.0716, d1.loss_cls: 1.0230, d1.loss_bbox: 1.0551, d2.loss_cls: 1.0325, d2.loss_bbox: 1.0451, d3.loss_cls: 1.0480, d3.loss_bbox: 1.0427, d4.loss_cls: 1.0590, d4.loss_bbox: 1.0473, d5.loss_cls: 1.0640, d5.loss_bbox: 1.0555, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0477, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0646, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0622, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0571, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0608, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0737, d0.loss_map_cls_all: 0.6693, d0.loss_map_pts_all: 3.5716, d0.loss_map_dir_all: 0.0417, d0.loss_map_cls: 0.6693, d0.loss_map_pts: 3.5716, d0.loss_map_dir: 0.0417, d1.loss_map_cls: 0.6729, d1.loss_map_pts: 3.0517, d1.loss_map_dir: 0.0418, d2.loss_map_cls: 0.6676, d2.loss_map_pts: 3.0271, d2.loss_map_dir: 0.0417, d3.loss_map_cls: 0.6682, d3.loss_map_pts: 3.0218, d3.loss_map_dir: 0.0416, d4.loss_map_cls: 0.6702, d4.loss_map_pts: 3.0183, d4.loss_map_dir: 0.0415, d5.loss_map_cls: 0.6706, d5.loss_map_pts: 3.0208, d5.loss_map_dir: 0.0415, loss: 95.9273, grad_norm: 221.1587 2026-02-24 02:06:38,723 - DriveTransformer - INFO - Epoch [1][10550/59059] lr: 1.000e-04, eta: 23 days, 9:02:53, time: 0.552, data_time: 0.029, memory: 14139, loss_cls: 1.0905, loss_bbox: 1.0461, loss_traj: 2.1035, loss_traj_cls: 0.0005, loss_map_cls: 0.6379, loss_map_pts: 2.7820, loss_map_dir: 0.0438, d0.loss_plan_l1_fix_time: 3.4679, d0.loss_plan_l1_fix_dist: 0.6237, d1.loss_plan_l1_fix_time: 3.4098, d1.loss_plan_l1_fix_dist: 0.6442, d2.loss_plan_l1_fix_time: 3.4213, d2.loss_plan_l1_fix_dist: 0.6769, d3.loss_plan_l1_fix_time: 3.4405, d3.loss_plan_l1_fix_dist: 0.7217, d4.loss_plan_l1_fix_time: 3.4616, d4.loss_plan_l1_fix_dist: 0.7648, d5.loss_plan_l1_fix_time: 3.4822, d5.loss_plan_l1_fix_dist: 0.8118, d6.loss_plan_l1_fix_time: 3.5027, d6.loss_plan_l1_fix_dist: 0.8683, d0.loss_cls_all: 1.0229, d0.loss_bbox_all: 1.0286, d0.loss_cls: 1.0229, d0.loss_bbox: 1.0286, d1.loss_cls: 1.0425, d1.loss_bbox: 1.0244, d2.loss_cls: 1.0531, d2.loss_bbox: 1.0240, d3.loss_cls: 1.0629, d3.loss_bbox: 1.0267, d4.loss_cls: 1.0735, d4.loss_bbox: 1.0339, d5.loss_cls: 1.0787, d5.loss_bbox: 1.0371, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0925, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1071, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0971, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1122, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1277, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1078, d0.loss_map_cls_all: 0.6292, d0.loss_map_pts_all: 3.4558, d0.loss_map_dir_all: 0.0437, d0.loss_map_cls: 0.6292, d0.loss_map_pts: 3.4558, d0.loss_map_dir: 0.0437, d1.loss_map_cls: 0.6337, d1.loss_map_pts: 2.8264, d1.loss_map_dir: 0.0438, d2.loss_map_cls: 0.6295, d2.loss_map_pts: 2.7884, d2.loss_map_dir: 0.0440, d3.loss_map_cls: 0.6317, d3.loss_map_pts: 2.7782, d3.loss_map_dir: 0.0439, d4.loss_map_cls: 0.6326, d4.loss_map_pts: 2.7752, d4.loss_map_dir: 0.0438, d5.loss_map_cls: 0.6342, d5.loss_map_pts: 2.7771, d5.loss_map_dir: 0.0438, loss: 89.7924, grad_norm: 213.1594 2026-02-24 02:07:07,554 - DriveTransformer - INFO - Epoch [1][10600/59059] lr: 1.000e-04, eta: 23 days, 9:03:47, time: 0.577, data_time: 0.029, memory: 14139, loss_cls: 1.0458, loss_bbox: 1.0383, loss_traj: 2.0402, loss_traj_cls: 0.0005, loss_map_cls: 0.6680, loss_map_pts: 3.0479, loss_map_dir: 0.0426, d0.loss_plan_l1_fix_time: 3.4639, d0.loss_plan_l1_fix_dist: 0.5845, d1.loss_plan_l1_fix_time: 3.4186, d1.loss_plan_l1_fix_dist: 0.5991, d2.loss_plan_l1_fix_time: 3.4294, d2.loss_plan_l1_fix_dist: 0.6325, d3.loss_plan_l1_fix_time: 3.4492, d3.loss_plan_l1_fix_dist: 0.6731, d4.loss_plan_l1_fix_time: 3.4701, d4.loss_plan_l1_fix_dist: 0.7257, d5.loss_plan_l1_fix_time: 3.4910, d5.loss_plan_l1_fix_dist: 0.7809, d6.loss_plan_l1_fix_time: 3.5121, d6.loss_plan_l1_fix_dist: 0.8361, d0.loss_cls_all: 1.0112, d0.loss_bbox_all: 1.0475, d0.loss_cls: 1.0112, d0.loss_bbox: 1.0475, d1.loss_cls: 1.0256, d1.loss_bbox: 1.0286, d2.loss_cls: 1.0378, d2.loss_bbox: 1.0253, d3.loss_cls: 1.0438, d3.loss_bbox: 1.0216, d4.loss_cls: 1.0460, d4.loss_bbox: 1.0296, d5.loss_cls: 1.0449, d5.loss_bbox: 1.0347, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9647, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0068, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0193, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0294, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0550, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0642, d0.loss_map_cls_all: 0.6797, d0.loss_map_pts_all: 3.5981, d0.loss_map_dir_all: 0.0434, d0.loss_map_cls: 0.6797, d0.loss_map_pts: 3.5981, d0.loss_map_dir: 0.0434, d1.loss_map_cls: 0.6709, d1.loss_map_pts: 3.0525, d1.loss_map_dir: 0.0430, d2.loss_map_cls: 0.6632, d2.loss_map_pts: 3.0416, d2.loss_map_dir: 0.0430, d3.loss_map_cls: 0.6619, d3.loss_map_pts: 3.0409, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.6634, d4.loss_map_pts: 3.0435, d4.loss_map_dir: 0.0428, d5.loss_map_cls: 0.6647, d5.loss_map_pts: 3.0437, d5.loss_map_dir: 0.0427, loss: 90.9500, grad_norm: 211.7329 2026-02-24 02:07:36,088 - DriveTransformer - INFO - Epoch [1][10650/59059] lr: 1.000e-04, eta: 23 days, 9:03:00, time: 0.571, data_time: 0.029, memory: 14139, loss_cls: 1.0658, loss_bbox: 0.9970, loss_traj: 1.9951, loss_traj_cls: 0.0005, loss_map_cls: 0.6556, loss_map_pts: 2.6611, loss_map_dir: 0.0411, d0.loss_plan_l1_fix_time: 3.8161, d0.loss_plan_l1_fix_dist: 0.5169, d1.loss_plan_l1_fix_time: 3.7566, d1.loss_plan_l1_fix_dist: 0.5465, d2.loss_plan_l1_fix_time: 3.7698, d2.loss_plan_l1_fix_dist: 0.5885, d3.loss_plan_l1_fix_time: 3.7860, d3.loss_plan_l1_fix_dist: 0.6348, d4.loss_plan_l1_fix_time: 3.8046, d4.loss_plan_l1_fix_dist: 0.6849, d5.loss_plan_l1_fix_time: 3.8257, d5.loss_plan_l1_fix_dist: 0.7431, d6.loss_plan_l1_fix_time: 3.8464, d6.loss_plan_l1_fix_dist: 0.8132, d0.loss_cls_all: 1.0101, d0.loss_bbox_all: 0.9753, d0.loss_cls: 1.0101, d0.loss_bbox: 0.9753, d1.loss_cls: 1.0182, d1.loss_bbox: 0.9716, d2.loss_cls: 1.0357, d2.loss_bbox: 0.9757, d3.loss_cls: 1.0422, d3.loss_bbox: 0.9815, d4.loss_cls: 1.0431, d4.loss_bbox: 0.9856, d5.loss_cls: 1.0492, d5.loss_bbox: 0.9871, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8752, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9258, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9573, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9928, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0440, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0473, d0.loss_map_cls_all: 0.6623, d0.loss_map_pts_all: 3.1409, d0.loss_map_dir_all: 0.0422, d0.loss_map_cls: 0.6623, d0.loss_map_pts: 3.1409, d0.loss_map_dir: 0.0422, d1.loss_map_cls: 0.6557, d1.loss_map_pts: 2.6396, d1.loss_map_dir: 0.0414, d2.loss_map_cls: 0.6480, d2.loss_map_pts: 2.6463, d2.loss_map_dir: 0.0415, d3.loss_map_cls: 0.6485, d3.loss_map_pts: 2.6504, d3.loss_map_dir: 0.0414, d4.loss_map_cls: 0.6502, d4.loss_map_pts: 2.6521, d4.loss_map_dir: 0.0413, d5.loss_map_cls: 0.6530, d5.loss_map_pts: 2.6527, d5.loss_map_dir: 0.0413, loss: 88.8496, grad_norm: 209.8575 2026-02-24 02:08:04,571 - DriveTransformer - INFO - Epoch [1][10700/59059] lr: 1.000e-04, eta: 23 days, 9:01:58, time: 0.570, data_time: 0.034, memory: 14139, loss_cls: 1.0466, loss_bbox: 1.0620, loss_traj: 2.2133, loss_traj_cls: 0.0005, loss_map_cls: 0.6369, loss_map_pts: 2.4475, loss_map_dir: 0.0387, d0.loss_plan_l1_fix_time: 3.3555, d0.loss_plan_l1_fix_dist: 0.7253, d1.loss_plan_l1_fix_time: 3.2609, d1.loss_plan_l1_fix_dist: 0.7502, d2.loss_plan_l1_fix_time: 3.2713, d2.loss_plan_l1_fix_dist: 0.7828, d3.loss_plan_l1_fix_time: 3.2847, d3.loss_plan_l1_fix_dist: 0.8128, d4.loss_plan_l1_fix_time: 3.3009, d4.loss_plan_l1_fix_dist: 0.8465, d5.loss_plan_l1_fix_time: 3.3205, d5.loss_plan_l1_fix_dist: 0.8905, d6.loss_plan_l1_fix_time: 3.3408, d6.loss_plan_l1_fix_dist: 0.9484, d0.loss_cls_all: 1.0015, d0.loss_bbox_all: 1.0746, d0.loss_cls: 1.0015, d0.loss_bbox: 1.0746, d1.loss_cls: 1.0142, d1.loss_bbox: 1.0557, d2.loss_cls: 1.0263, d2.loss_bbox: 1.0457, d3.loss_cls: 1.0390, d3.loss_bbox: 1.0405, d4.loss_cls: 1.0357, d4.loss_bbox: 1.0451, d5.loss_cls: 1.0368, d5.loss_bbox: 1.0487, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.1552, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1512, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1570, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1572, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.1679, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1632, d0.loss_map_cls_all: 0.6405, d0.loss_map_pts_all: 3.1514, d0.loss_map_dir_all: 0.0399, d0.loss_map_cls: 0.6405, d0.loss_map_pts: 3.1514, d0.loss_map_dir: 0.0399, d1.loss_map_cls: 0.6311, d1.loss_map_pts: 2.4803, d1.loss_map_dir: 0.0390, d2.loss_map_cls: 0.6278, d2.loss_map_pts: 2.4588, d2.loss_map_dir: 0.0389, d3.loss_map_cls: 0.6299, d3.loss_map_pts: 2.4559, d3.loss_map_dir: 0.0388, d4.loss_map_cls: 0.6298, d4.loss_map_pts: 2.4528, d4.loss_map_dir: 0.0388, d5.loss_map_cls: 0.6322, d5.loss_map_pts: 2.4492, d5.loss_map_dir: 0.0388, loss: 87.1365, grad_norm: 209.1919 2026-02-24 02:08:33,437 - DriveTransformer - INFO - Epoch [1][10750/59059] lr: 1.000e-04, eta: 23 days, 9:03:02, time: 0.577, data_time: 0.030, memory: 14139, loss_cls: 1.0336, loss_bbox: 1.0052, loss_traj: 2.0100, loss_traj_cls: 0.0005, loss_map_cls: 0.6525, loss_map_pts: 2.6443, loss_map_dir: 0.0424, d0.loss_plan_l1_fix_time: 3.7889, d0.loss_plan_l1_fix_dist: 0.6723, d1.loss_plan_l1_fix_time: 3.6716, d1.loss_plan_l1_fix_dist: 0.7104, d2.loss_plan_l1_fix_time: 3.6607, d2.loss_plan_l1_fix_dist: 0.7498, d3.loss_plan_l1_fix_time: 3.6674, d3.loss_plan_l1_fix_dist: 0.7866, d4.loss_plan_l1_fix_time: 3.6810, d4.loss_plan_l1_fix_dist: 0.8305, d5.loss_plan_l1_fix_time: 3.6975, d5.loss_plan_l1_fix_dist: 0.8709, d6.loss_plan_l1_fix_time: 3.7148, d6.loss_plan_l1_fix_dist: 0.9110, d0.loss_cls_all: 0.9864, d0.loss_bbox_all: 1.0241, d0.loss_cls: 0.9864, d0.loss_bbox: 1.0241, d1.loss_cls: 1.0009, d1.loss_bbox: 1.0055, d2.loss_cls: 1.0109, d2.loss_bbox: 0.9997, d3.loss_cls: 1.0226, d3.loss_bbox: 0.9994, d4.loss_cls: 1.0266, d4.loss_bbox: 1.0022, d5.loss_cls: 1.0336, d5.loss_bbox: 1.0034, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9014, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9434, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9540, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9686, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9868, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9645, d0.loss_map_cls_all: 0.6520, d0.loss_map_pts_all: 3.3340, d0.loss_map_dir_all: 0.0433, d0.loss_map_cls: 0.6520, d0.loss_map_pts: 3.3340, d0.loss_map_dir: 0.0433, d1.loss_map_cls: 0.6477, d1.loss_map_pts: 2.7031, d1.loss_map_dir: 0.0428, d2.loss_map_cls: 0.6486, d2.loss_map_pts: 2.6643, d2.loss_map_dir: 0.0427, d3.loss_map_cls: 0.6477, d3.loss_map_pts: 2.6530, d3.loss_map_dir: 0.0426, d4.loss_map_cls: 0.6485, d4.loss_map_pts: 2.6459, d4.loss_map_dir: 0.0425, d5.loss_map_cls: 0.6504, d5.loss_map_pts: 2.6434, d5.loss_map_dir: 0.0424, loss: 89.4734, grad_norm: 207.5258 2026-02-24 02:09:02,560 - DriveTransformer - INFO - Epoch [1][10800/59059] lr: 1.000e-04, eta: 23 days, 9:05:44, time: 0.583, data_time: 0.033, memory: 14139, loss_cls: 1.0407, loss_bbox: 1.0275, loss_traj: 2.2890, loss_traj_cls: 0.0005, loss_map_cls: 0.6573, loss_map_pts: 2.5885, loss_map_dir: 0.0410, d0.loss_plan_l1_fix_time: 3.4773, d0.loss_plan_l1_fix_dist: 0.6756, d1.loss_plan_l1_fix_time: 3.3328, d1.loss_plan_l1_fix_dist: 0.6902, d2.loss_plan_l1_fix_time: 3.3180, d2.loss_plan_l1_fix_dist: 0.7203, d3.loss_plan_l1_fix_time: 3.3202, d3.loss_plan_l1_fix_dist: 0.7624, d4.loss_plan_l1_fix_time: 3.3268, d4.loss_plan_l1_fix_dist: 0.8116, d5.loss_plan_l1_fix_time: 3.3375, d5.loss_plan_l1_fix_dist: 0.8715, d6.loss_plan_l1_fix_time: 3.3517, d6.loss_plan_l1_fix_dist: 0.9479, d0.loss_cls_all: 0.9901, d0.loss_bbox_all: 1.0353, d0.loss_cls: 0.9901, d0.loss_bbox: 1.0353, d1.loss_cls: 0.9996, d1.loss_bbox: 1.0288, d2.loss_cls: 1.0107, d2.loss_bbox: 1.0286, d3.loss_cls: 1.0248, d3.loss_bbox: 1.0252, d4.loss_cls: 1.0293, d4.loss_bbox: 1.0239, d5.loss_cls: 1.0346, d5.loss_bbox: 1.0223, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.2008, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1864, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1996, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2250, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.2225, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2410, d0.loss_map_cls_all: 0.6652, d0.loss_map_pts_all: 3.2484, d0.loss_map_dir_all: 0.0416, d0.loss_map_cls: 0.6652, d0.loss_map_pts: 3.2484, d0.loss_map_dir: 0.0416, d1.loss_map_cls: 0.6550, d1.loss_map_pts: 2.6361, d1.loss_map_dir: 0.0415, d2.loss_map_cls: 0.6514, d2.loss_map_pts: 2.6008, d2.loss_map_dir: 0.0414, d3.loss_map_cls: 0.6507, d3.loss_map_pts: 2.5921, d3.loss_map_dir: 0.0413, d4.loss_map_cls: 0.6520, d4.loss_map_pts: 2.5876, d4.loss_map_dir: 0.0411, d5.loss_map_cls: 0.6534, d5.loss_map_pts: 2.5880, d5.loss_map_dir: 0.0411, loss: 88.5290, grad_norm: 204.1257 2026-02-24 02:09:31,719 - DriveTransformer - INFO - Epoch [1][10850/59059] lr: 1.000e-04, eta: 23 days, 9:08:05, time: 0.582, data_time: 0.028, memory: 14139, loss_cls: 1.0681, loss_bbox: 1.0225, loss_traj: 1.9943, loss_traj_cls: 0.0005, loss_map_cls: 0.6485, loss_map_pts: 2.6655, loss_map_dir: 0.0407, d0.loss_plan_l1_fix_time: 3.9444, d0.loss_plan_l1_fix_dist: 0.7339, d1.loss_plan_l1_fix_time: 3.8635, d1.loss_plan_l1_fix_dist: 0.7539, d2.loss_plan_l1_fix_time: 3.8668, d2.loss_plan_l1_fix_dist: 0.7879, d3.loss_plan_l1_fix_time: 3.8814, d3.loss_plan_l1_fix_dist: 0.8254, d4.loss_plan_l1_fix_time: 3.8977, d4.loss_plan_l1_fix_dist: 0.8677, d5.loss_plan_l1_fix_time: 3.9139, d5.loss_plan_l1_fix_dist: 0.9140, d6.loss_plan_l1_fix_time: 3.9331, d6.loss_plan_l1_fix_dist: 0.9601, d0.loss_cls_all: 1.0209, d0.loss_bbox_all: 1.0179, d0.loss_cls: 1.0209, d0.loss_bbox: 1.0179, d1.loss_cls: 1.0455, d1.loss_bbox: 1.0117, d2.loss_cls: 1.0484, d2.loss_bbox: 1.0037, d3.loss_cls: 1.0543, d3.loss_bbox: 1.0033, d4.loss_cls: 1.0638, d4.loss_bbox: 1.0054, d5.loss_cls: 1.0684, d5.loss_bbox: 1.0092, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9613, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9640, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9712, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9735, d4.loss_traj_cls: 0.0005, d4.loss_traj: 1.9943, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9976, d0.loss_map_cls_all: 0.6359, d0.loss_map_pts_all: 3.2938, d0.loss_map_dir_all: 0.0414, d0.loss_map_cls: 0.6359, d0.loss_map_pts: 3.2938, d0.loss_map_dir: 0.0414, d1.loss_map_cls: 0.6331, d1.loss_map_pts: 2.7049, d1.loss_map_dir: 0.0411, d2.loss_map_cls: 0.6345, d2.loss_map_pts: 2.6754, d2.loss_map_dir: 0.0411, d3.loss_map_cls: 0.6392, d3.loss_map_pts: 2.6689, d3.loss_map_dir: 0.0410, d4.loss_map_cls: 0.6402, d4.loss_map_pts: 2.6665, d4.loss_map_dir: 0.0409, d5.loss_map_cls: 0.6433, d5.loss_map_pts: 2.6663, d5.loss_map_dir: 0.0408, loss: 91.5591, grad_norm: 202.9253 2026-02-24 02:10:00,734 - DriveTransformer - INFO - Epoch [1][10900/59059] lr: 1.000e-04, eta: 23 days, 9:09:54, time: 0.580, data_time: 0.033, memory: 14139, loss_cls: 0.9890, loss_bbox: 1.0251, loss_traj: 2.0605, loss_traj_cls: 0.0004, loss_map_cls: 0.6707, loss_map_pts: 2.8219, loss_map_dir: 0.0392, d0.loss_plan_l1_fix_time: 3.3931, d0.loss_plan_l1_fix_dist: 0.6628, d1.loss_plan_l1_fix_time: 3.2825, d1.loss_plan_l1_fix_dist: 0.6802, d2.loss_plan_l1_fix_time: 3.2784, d2.loss_plan_l1_fix_dist: 0.7121, d3.loss_plan_l1_fix_time: 3.2920, d3.loss_plan_l1_fix_dist: 0.7591, d4.loss_plan_l1_fix_time: 3.3118, d4.loss_plan_l1_fix_dist: 0.8148, d5.loss_plan_l1_fix_time: 3.3318, d5.loss_plan_l1_fix_dist: 0.8690, d6.loss_plan_l1_fix_time: 3.3537, d6.loss_plan_l1_fix_dist: 0.9208, d0.loss_cls_all: 0.9590, d0.loss_bbox_all: 1.0153, d0.loss_cls: 0.9590, d0.loss_bbox: 1.0153, d1.loss_cls: 0.9781, d1.loss_bbox: 0.9970, d2.loss_cls: 0.9799, d2.loss_bbox: 0.9979, d3.loss_cls: 0.9863, d3.loss_bbox: 1.0051, d4.loss_cls: 0.9889, d4.loss_bbox: 1.0110, d5.loss_cls: 0.9918, d5.loss_bbox: 1.0157, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.0112, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.0310, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0391, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0351, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.0386, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0476, d0.loss_map_cls_all: 0.6367, d0.loss_map_pts_all: 3.3946, d0.loss_map_dir_all: 0.0397, d0.loss_map_cls: 0.6367, d0.loss_map_pts: 3.3946, d0.loss_map_dir: 0.0397, d1.loss_map_cls: 0.6372, d1.loss_map_pts: 2.8118, d1.loss_map_dir: 0.0395, d2.loss_map_cls: 0.6474, d2.loss_map_pts: 2.7940, d2.loss_map_dir: 0.0394, d3.loss_map_cls: 0.6597, d3.loss_map_pts: 2.7937, d3.loss_map_dir: 0.0392, d4.loss_map_cls: 0.6580, d4.loss_map_pts: 2.7966, d4.loss_map_dir: 0.0392, d5.loss_map_cls: 0.6638, d5.loss_map_pts: 2.8063, d5.loss_map_dir: 0.0392, loss: 87.9822, grad_norm: 202.0537 2026-02-24 02:10:30,629 - DriveTransformer - INFO - Epoch [1][10950/59059] lr: 1.000e-04, eta: 23 days, 9:16:26, time: 0.598, data_time: 0.034, memory: 14139, loss_cls: 1.0196, loss_bbox: 1.0117, loss_traj: 2.0228, loss_traj_cls: 0.0005, loss_map_cls: 0.6114, loss_map_pts: 3.0254, loss_map_dir: 0.0459, d0.loss_plan_l1_fix_time: 3.0226, d0.loss_plan_l1_fix_dist: 0.5917, d1.loss_plan_l1_fix_time: 3.0398, d1.loss_plan_l1_fix_dist: 0.6219, d2.loss_plan_l1_fix_time: 3.0631, d2.loss_plan_l1_fix_dist: 0.6594, d3.loss_plan_l1_fix_time: 3.0930, d3.loss_plan_l1_fix_dist: 0.7096, d4.loss_plan_l1_fix_time: 3.1224, d4.loss_plan_l1_fix_dist: 0.7652, d5.loss_plan_l1_fix_time: 3.1486, d5.loss_plan_l1_fix_dist: 0.8286, d6.loss_plan_l1_fix_time: 3.1748, d6.loss_plan_l1_fix_dist: 0.9029, d0.loss_cls_all: 0.9838, d0.loss_bbox_all: 1.0257, d0.loss_cls: 0.9838, d0.loss_bbox: 1.0257, d1.loss_cls: 0.9910, d1.loss_bbox: 1.0056, d2.loss_cls: 1.0056, d2.loss_bbox: 1.0011, d3.loss_cls: 1.0131, d3.loss_bbox: 1.0049, d4.loss_cls: 1.0127, d4.loss_bbox: 1.0108, d5.loss_cls: 1.0152, d5.loss_bbox: 1.0091, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9862, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9605, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9743, d3.loss_traj_cls: 0.0006, d3.loss_traj: 1.9844, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9941, d5.loss_traj_cls: 0.0006, d5.loss_traj: 2.0122, d0.loss_map_cls_all: 0.6099, d0.loss_map_pts_all: 3.5722, d0.loss_map_dir_all: 0.0465, d0.loss_map_cls: 0.6099, d0.loss_map_pts: 3.5722, d0.loss_map_dir: 0.0465, d1.loss_map_cls: 0.6050, d1.loss_map_pts: 3.0205, d1.loss_map_dir: 0.0463, d2.loss_map_cls: 0.6023, d2.loss_map_pts: 3.0023, d2.loss_map_dir: 0.0462, d3.loss_map_cls: 0.6057, d3.loss_map_pts: 3.0033, d3.loss_map_dir: 0.0461, d4.loss_map_cls: 0.6064, d4.loss_map_pts: 3.0067, d4.loss_map_dir: 0.0460, d5.loss_map_cls: 0.6084, d5.loss_map_pts: 3.0145, d5.loss_map_dir: 0.0459, loss: 87.2469, grad_norm: 202.2858 2026-02-24 02:10:59,135 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-24 02:10:59,135 - DriveTransformer - INFO - Epoch [1][11000/59059] lr: 1.000e-04, eta: 23 days, 9:15:27, time: 0.570, data_time: 0.027, memory: 14139, loss_cls: 1.0504, loss_bbox: 1.0684, loss_traj: 1.9604, loss_traj_cls: 0.0005, loss_map_cls: 0.6365, loss_map_pts: 2.6344, loss_map_dir: 0.0397, d0.loss_plan_l1_fix_time: 3.5716, d0.loss_plan_l1_fix_dist: 0.6776, d1.loss_plan_l1_fix_time: 3.4932, d1.loss_plan_l1_fix_dist: 0.6984, d2.loss_plan_l1_fix_time: 3.5014, d2.loss_plan_l1_fix_dist: 0.7307, d3.loss_plan_l1_fix_time: 3.5129, d3.loss_plan_l1_fix_dist: 0.7704, d4.loss_plan_l1_fix_time: 3.5275, d4.loss_plan_l1_fix_dist: 0.8157, d5.loss_plan_l1_fix_time: 3.5456, d5.loss_plan_l1_fix_dist: 0.8730, d6.loss_plan_l1_fix_time: 3.5651, d6.loss_plan_l1_fix_dist: 0.9477, d0.loss_cls_all: 0.9882, d0.loss_bbox_all: 1.1149, d0.loss_cls: 0.9882, d0.loss_bbox: 1.1149, d1.loss_cls: 1.0174, d1.loss_bbox: 1.0870, d2.loss_cls: 1.0326, d2.loss_bbox: 1.0816, d3.loss_cls: 1.0421, d3.loss_bbox: 1.0692, d4.loss_cls: 1.0470, d4.loss_bbox: 1.0663, d5.loss_cls: 1.0499, d5.loss_bbox: 1.0580, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9541, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9533, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9481, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9473, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9492, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9601, d0.loss_map_cls_all: 0.6298, d0.loss_map_pts_all: 3.2767, d0.loss_map_dir_all: 0.0403, d0.loss_map_cls: 0.6298, d0.loss_map_pts: 3.2767, d0.loss_map_dir: 0.0403, d1.loss_map_cls: 0.6189, d1.loss_map_pts: 2.6764, d1.loss_map_dir: 0.0401, d2.loss_map_cls: 0.6177, d2.loss_map_pts: 2.6444, d2.loss_map_dir: 0.0399, d3.loss_map_cls: 0.6246, d3.loss_map_pts: 2.6397, d3.loss_map_dir: 0.0399, d4.loss_map_cls: 0.6289, d4.loss_map_pts: 2.6359, d4.loss_map_dir: 0.0398, d5.loss_map_cls: 0.6318, d5.loss_map_pts: 2.6361, d5.loss_map_dir: 0.0397, loss: 88.5411, grad_norm: 200.6722 2026-02-24 02:11:28,221 - DriveTransformer - INFO - Epoch [1][11050/59059] lr: 1.000e-04, eta: 23 days, 9:17:36, time: 0.582, data_time: 0.029, memory: 14139, loss_cls: 1.0379, loss_bbox: 1.0287, loss_traj: 2.3421, loss_traj_cls: 0.0005, loss_map_cls: 0.6363, loss_map_pts: 2.9426, loss_map_dir: 0.0427, d0.loss_plan_l1_fix_time: 3.2245, d0.loss_plan_l1_fix_dist: 0.6269, d1.loss_plan_l1_fix_time: 3.1896, d1.loss_plan_l1_fix_dist: 0.6494, d2.loss_plan_l1_fix_time: 3.2042, d2.loss_plan_l1_fix_dist: 0.6852, d3.loss_plan_l1_fix_time: 3.2201, d3.loss_plan_l1_fix_dist: 0.7310, d4.loss_plan_l1_fix_time: 3.2393, d4.loss_plan_l1_fix_dist: 0.7848, d5.loss_plan_l1_fix_time: 3.2611, d5.loss_plan_l1_fix_dist: 0.8441, d6.loss_plan_l1_fix_time: 3.2856, d6.loss_plan_l1_fix_dist: 0.8980, d0.loss_cls_all: 1.0064, d0.loss_bbox_all: 1.0320, d0.loss_cls: 1.0064, d0.loss_bbox: 1.0320, d1.loss_cls: 1.0252, d1.loss_bbox: 1.0058, d2.loss_cls: 1.0264, d2.loss_bbox: 1.0121, d3.loss_cls: 1.0318, d3.loss_bbox: 1.0171, d4.loss_cls: 1.0364, d4.loss_bbox: 1.0223, d5.loss_cls: 1.0371, d5.loss_bbox: 1.0220, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2485, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2867, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2941, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.3110, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.3220, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.3423, d0.loss_map_cls_all: 0.6274, d0.loss_map_pts_all: 3.5372, d0.loss_map_dir_all: 0.0429, d0.loss_map_cls: 0.6274, d0.loss_map_pts: 3.5372, d0.loss_map_dir: 0.0429, d1.loss_map_cls: 0.6165, d1.loss_map_pts: 2.9570, d1.loss_map_dir: 0.0429, d2.loss_map_cls: 0.6162, d2.loss_map_pts: 2.9356, d2.loss_map_dir: 0.0429, d3.loss_map_cls: 0.6241, d3.loss_map_pts: 2.9314, d3.loss_map_dir: 0.0428, d4.loss_map_cls: 0.6264, d4.loss_map_pts: 2.9311, d4.loss_map_dir: 0.0427, d5.loss_map_cls: 0.6312, d5.loss_map_pts: 2.9371, d5.loss_map_dir: 0.0427, loss: 90.4303, grad_norm: 199.2041 2026-02-24 02:11:57,629 - DriveTransformer - INFO - Epoch [1][11100/59059] lr: 1.000e-04, eta: 23 days, 9:21:21, time: 0.588, data_time: 0.028, memory: 14139, loss_cls: 1.0254, loss_bbox: 0.9951, loss_traj: 1.9838, loss_traj_cls: 0.0005, loss_map_cls: 0.6248, loss_map_pts: 3.1011, loss_map_dir: 0.0458, d0.loss_plan_l1_fix_time: 3.1550, d0.loss_plan_l1_fix_dist: 0.7388, d1.loss_plan_l1_fix_time: 3.0943, d1.loss_plan_l1_fix_dist: 0.7650, d2.loss_plan_l1_fix_time: 3.1058, d2.loss_plan_l1_fix_dist: 0.8093, d3.loss_plan_l1_fix_time: 3.1221, d3.loss_plan_l1_fix_dist: 0.8652, d4.loss_plan_l1_fix_time: 3.1424, d4.loss_plan_l1_fix_dist: 0.9298, d5.loss_plan_l1_fix_time: 3.1648, d5.loss_plan_l1_fix_dist: 1.0004, d6.loss_plan_l1_fix_time: 3.1894, d6.loss_plan_l1_fix_dist: 1.0745, d0.loss_cls_all: 0.9937, d0.loss_bbox_all: 0.9910, d0.loss_cls: 0.9937, d0.loss_bbox: 0.9910, d1.loss_cls: 1.0071, d1.loss_bbox: 0.9695, d2.loss_cls: 1.0129, d2.loss_bbox: 0.9736, d3.loss_cls: 1.0179, d3.loss_bbox: 0.9888, d4.loss_cls: 1.0206, d4.loss_bbox: 0.9941, d5.loss_cls: 1.0265, d5.loss_bbox: 0.9918, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.8474, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.8778, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9125, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9428, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9802, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9720, d0.loss_map_cls_all: 0.6079, d0.loss_map_pts_all: 3.6193, d0.loss_map_dir_all: 0.0462, d0.loss_map_cls: 0.6079, d0.loss_map_pts: 3.6193, d0.loss_map_dir: 0.0462, d1.loss_map_cls: 0.6014, d1.loss_map_pts: 3.1207, d1.loss_map_dir: 0.0461, d2.loss_map_cls: 0.6028, d2.loss_map_pts: 3.1081, d2.loss_map_dir: 0.0460, d3.loss_map_cls: 0.6132, d3.loss_map_pts: 3.1024, d3.loss_map_dir: 0.0459, d4.loss_map_cls: 0.6164, d4.loss_map_pts: 3.1015, d4.loss_map_dir: 0.0459, d5.loss_map_cls: 0.6216, d5.loss_map_pts: 3.1011, d5.loss_map_dir: 0.0459, loss: 88.8073, grad_norm: 197.4791 2026-02-24 02:12:25,746 - DriveTransformer - INFO - Epoch [1][11150/59059] lr: 1.000e-04, eta: 23 days, 9:18:18, time: 0.562, data_time: 0.027, memory: 14139, loss_cls: 0.9996, loss_bbox: 0.9903, loss_traj: 2.0040, loss_traj_cls: 0.0005, loss_map_cls: 0.6271, loss_map_pts: 2.7404, loss_map_dir: 0.0401, d0.loss_plan_l1_fix_time: 2.8326, d0.loss_plan_l1_fix_dist: 0.5834, d1.loss_plan_l1_fix_time: 2.7547, d1.loss_plan_l1_fix_dist: 0.6057, d2.loss_plan_l1_fix_time: 2.7612, d2.loss_plan_l1_fix_dist: 0.6482, d3.loss_plan_l1_fix_time: 2.7739, d3.loss_plan_l1_fix_dist: 0.6902, d4.loss_plan_l1_fix_time: 2.7890, d4.loss_plan_l1_fix_dist: 0.7383, d5.loss_plan_l1_fix_time: 2.8078, d5.loss_plan_l1_fix_dist: 0.7965, d6.loss_plan_l1_fix_time: 2.8276, d6.loss_plan_l1_fix_dist: 0.8696, d0.loss_cls_all: 0.9691, d0.loss_bbox_all: 1.0119, d0.loss_cls: 0.9691, d0.loss_bbox: 1.0119, d1.loss_cls: 0.9823, d1.loss_bbox: 0.9785, d2.loss_cls: 0.9959, d2.loss_bbox: 0.9722, d3.loss_cls: 0.9991, d3.loss_bbox: 0.9752, d4.loss_cls: 1.0004, d4.loss_bbox: 0.9802, d5.loss_cls: 0.9989, d5.loss_bbox: 0.9862, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9536, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9658, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9985, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9859, d4.loss_traj_cls: 0.0006, d4.loss_traj: 1.9787, d5.loss_traj_cls: 0.0005, d5.loss_traj: 1.9759, d0.loss_map_cls_all: 0.6287, d0.loss_map_pts_all: 3.3698, d0.loss_map_dir_all: 0.0407, d0.loss_map_cls: 0.6287, d0.loss_map_pts: 3.3698, d0.loss_map_dir: 0.0407, d1.loss_map_cls: 0.6167, d1.loss_map_pts: 2.7769, d1.loss_map_dir: 0.0405, d2.loss_map_cls: 0.6142, d2.loss_map_pts: 2.7567, d2.loss_map_dir: 0.0404, d3.loss_map_cls: 0.6184, d3.loss_map_pts: 2.7504, d3.loss_map_dir: 0.0403, d4.loss_map_cls: 0.6218, d4.loss_map_pts: 2.7439, d4.loss_map_dir: 0.0403, d5.loss_map_cls: 0.6236, d5.loss_map_pts: 2.7410, d5.loss_map_dir: 0.0402, loss: 82.7166, grad_norm: 196.3669 2026-02-24 02:12:53,526 - DriveTransformer - INFO - Epoch [1][11200/59059] lr: 1.000e-04, eta: 23 days, 9:13:30, time: 0.556, data_time: 0.027, memory: 14139, loss_cls: 1.0191, loss_bbox: 1.0186, loss_traj: 2.2765, loss_traj_cls: 0.0005, loss_map_cls: 0.6311, loss_map_pts: 2.3970, loss_map_dir: 0.0363, d0.loss_plan_l1_fix_time: 3.2299, d0.loss_plan_l1_fix_dist: 0.6237, d1.loss_plan_l1_fix_time: 3.2167, d1.loss_plan_l1_fix_dist: 0.6513, d2.loss_plan_l1_fix_time: 3.2399, d2.loss_plan_l1_fix_dist: 0.6921, d3.loss_plan_l1_fix_time: 3.2662, d3.loss_plan_l1_fix_dist: 0.7374, d4.loss_plan_l1_fix_time: 3.2900, d4.loss_plan_l1_fix_dist: 0.7885, d5.loss_plan_l1_fix_time: 3.3124, d5.loss_plan_l1_fix_dist: 0.8432, d6.loss_plan_l1_fix_time: 3.3332, d6.loss_plan_l1_fix_dist: 0.9029, d0.loss_cls_all: 0.9703, d0.loss_bbox_all: 1.0355, d0.loss_cls: 0.9703, d0.loss_bbox: 1.0355, d1.loss_cls: 0.9947, d1.loss_bbox: 1.0138, d2.loss_cls: 1.0088, d2.loss_bbox: 1.0044, d3.loss_cls: 1.0221, d3.loss_bbox: 1.0004, d4.loss_cls: 1.0238, d4.loss_bbox: 1.0024, d5.loss_cls: 1.0201, d5.loss_bbox: 1.0081, d0.loss_traj_cls: 0.0003, d0.loss_traj: 2.2256, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.2576, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.2539, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.2513, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.2549, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.2599, d0.loss_map_cls_all: 0.6392, d0.loss_map_pts_all: 3.0453, d0.loss_map_dir_all: 0.0368, d0.loss_map_cls: 0.6392, d0.loss_map_pts: 3.0453, d0.loss_map_dir: 0.0368, d1.loss_map_cls: 0.6204, d1.loss_map_pts: 2.4301, d1.loss_map_dir: 0.0364, d2.loss_map_cls: 0.6131, d2.loss_map_pts: 2.4162, d2.loss_map_dir: 0.0364, d3.loss_map_cls: 0.6193, d3.loss_map_pts: 2.4101, d3.loss_map_dir: 0.0363, d4.loss_map_cls: 0.6260, d4.loss_map_pts: 2.4009, d4.loss_map_dir: 0.0363, d5.loss_map_cls: 0.6277, d5.loss_map_pts: 2.3986, d5.loss_map_dir: 0.0363, loss: 85.9094, grad_norm: 194.1594 2026-02-24 02:13:21,848 - DriveTransformer - INFO - Epoch [1][11250/59059] lr: 1.000e-04, eta: 23 days, 9:11:35, time: 0.566, data_time: 0.029, memory: 14139, loss_cls: 1.0226, loss_bbox: 0.9886, loss_traj: 2.1791, loss_traj_cls: 0.0005, loss_map_cls: 0.6293, loss_map_pts: 2.5657, loss_map_dir: 0.0420, d0.loss_plan_l1_fix_time: 3.1357, d0.loss_plan_l1_fix_dist: 0.5978, d1.loss_plan_l1_fix_time: 3.0538, d1.loss_plan_l1_fix_dist: 0.6470, d2.loss_plan_l1_fix_time: 3.0589, d2.loss_plan_l1_fix_dist: 0.7057, d3.loss_plan_l1_fix_time: 3.0731, d3.loss_plan_l1_fix_dist: 0.7788, d4.loss_plan_l1_fix_time: 3.0888, d4.loss_plan_l1_fix_dist: 0.8622, d5.loss_plan_l1_fix_time: 3.1063, d5.loss_plan_l1_fix_dist: 0.9491, d6.loss_plan_l1_fix_time: 3.1262, d6.loss_plan_l1_fix_dist: 1.0226, d0.loss_cls_all: 0.9893, d0.loss_bbox_all: 0.9927, d0.loss_cls: 0.9893, d0.loss_bbox: 0.9927, d1.loss_cls: 1.0118, d1.loss_bbox: 0.9720, d2.loss_cls: 1.0192, d2.loss_bbox: 0.9755, d3.loss_cls: 1.0217, d3.loss_bbox: 0.9777, d4.loss_cls: 1.0253, d4.loss_bbox: 0.9791, d5.loss_cls: 1.0227, d5.loss_bbox: 0.9811, d0.loss_traj_cls: 0.0004, d0.loss_traj: 2.0924, d1.loss_traj_cls: 0.0005, d1.loss_traj: 2.1395, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.1236, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.1532, d4.loss_traj_cls: 0.0005, d4.loss_traj: 2.1730, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.1817, d0.loss_map_cls_all: 0.6281, d0.loss_map_pts_all: 3.2170, d0.loss_map_dir_all: 0.0423, d0.loss_map_cls: 0.6281, d0.loss_map_pts: 3.2170, d0.loss_map_dir: 0.0423, d1.loss_map_cls: 0.6196, d1.loss_map_pts: 2.6222, d1.loss_map_dir: 0.0422, d2.loss_map_cls: 0.6152, d2.loss_map_pts: 2.5996, d2.loss_map_dir: 0.0422, d3.loss_map_cls: 0.6212, d3.loss_map_pts: 2.5860, d3.loss_map_dir: 0.0423, d4.loss_map_cls: 0.6235, d4.loss_map_pts: 2.5742, d4.loss_map_dir: 0.0422, d5.loss_map_cls: 0.6253, d5.loss_map_pts: 2.5695, d5.loss_map_dir: 0.0421, loss: 85.4920, grad_norm: 193.7814 2026-02-24 02:13:50,550 - DriveTransformer - INFO - Epoch [1][11300/59059] lr: 1.000e-04, eta: 23 days, 9:11:39, time: 0.574, data_time: 0.027, memory: 14139, loss_cls: 0.9887, loss_bbox: 1.0118, loss_traj: 2.0134, loss_traj_cls: 0.0005, loss_map_cls: 0.6191, loss_map_pts: 2.3974, loss_map_dir: 0.0360, d0.loss_plan_l1_fix_time: 3.4875, d0.loss_plan_l1_fix_dist: 0.5462, d1.loss_plan_l1_fix_time: 3.4360, d1.loss_plan_l1_fix_dist: 0.5879, d2.loss_plan_l1_fix_time: 3.4444, d2.loss_plan_l1_fix_dist: 0.6481, d3.loss_plan_l1_fix_time: 3.4615, d3.loss_plan_l1_fix_dist: 0.7158, d4.loss_plan_l1_fix_time: 3.4813, d4.loss_plan_l1_fix_dist: 0.7903, d5.loss_plan_l1_fix_time: 3.5024, d5.loss_plan_l1_fix_dist: 0.8714, d6.loss_plan_l1_fix_time: 3.5270, d6.loss_plan_l1_fix_dist: 0.9557, d0.loss_cls_all: 0.9550, d0.loss_bbox_all: 1.0049, d0.loss_cls: 0.9550, d0.loss_bbox: 1.0049, d1.loss_cls: 0.9732, d1.loss_bbox: 0.9908, d2.loss_cls: 0.9806, d2.loss_bbox: 0.9948, d3.loss_cls: 0.9857, d3.loss_bbox: 0.9969, d4.loss_cls: 0.9873, d4.loss_bbox: 1.0032, d5.loss_cls: 0.9861, d5.loss_bbox: 1.0048, d0.loss_traj_cls: 0.0003, d0.loss_traj: 1.9766, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9980, d2.loss_traj_cls: 0.0005, d2.loss_traj: 2.0033, d3.loss_traj_cls: 0.0005, d3.loss_traj: 2.0022, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0301, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0201, d0.loss_map_cls_all: 0.6217, d0.loss_map_pts_all: 3.0308, d0.loss_map_dir_all: 0.0361, d0.loss_map_cls: 0.6217, d0.loss_map_pts: 3.0308, d0.loss_map_dir: 0.0361, d1.loss_map_cls: 0.6103, d1.loss_map_pts: 2.4270, d1.loss_map_dir: 0.0363, d2.loss_map_cls: 0.6053, d2.loss_map_pts: 2.4121, d2.loss_map_dir: 0.0363, d3.loss_map_cls: 0.6118, d3.loss_map_pts: 2.4017, d3.loss_map_dir: 0.0362, d4.loss_map_cls: 0.6136, d4.loss_map_pts: 2.3979, d4.loss_map_dir: 0.0362, d5.loss_map_cls: 0.6155, d5.loss_map_pts: 2.3960, d5.loss_map_dir: 0.0360, loss: 85.0279, grad_norm: 191.9441 2026-02-24 02:14:19,271 - DriveTransformer - INFO - Epoch [1][11350/59059] lr: 1.000e-04, eta: 23 days, 9:11:48, time: 0.574, data_time: 0.027, memory: 14139, loss_cls: 1.0344, loss_bbox: 1.0151, loss_traj: 2.0189, loss_traj_cls: 0.0005, loss_map_cls: 0.6457, loss_map_pts: 2.7054, loss_map_dir: 0.0412, d0.loss_plan_l1_fix_time: 3.5005, d0.loss_plan_l1_fix_dist: 0.6732, d1.loss_plan_l1_fix_time: 3.4232, d1.loss_plan_l1_fix_dist: 0.7202, d2.loss_plan_l1_fix_time: 3.4271, d2.loss_plan_l1_fix_dist: 0.7942, d3.loss_plan_l1_fix_time: 3.4405, d3.loss_plan_l1_fix_dist: 0.8764, d4.loss_plan_l1_fix_time: 3.4569, d4.loss_plan_l1_fix_dist: 0.9673, d5.loss_plan_l1_fix_time: 3.4762, d5.loss_plan_l1_fix_dist: 1.0652, d6.loss_plan_l1_fix_time: 3.4982, d6.loss_plan_l1_fix_dist: 1.1759, d0.loss_cls_all: 1.0036, d0.loss_bbox_all: 1.0079, d0.loss_cls: 1.0036, d0.loss_bbox: 1.0079, d1.loss_cls: 1.0149, d1.loss_bbox: 0.9822, d2.loss_cls: 1.0263, d2.loss_bbox: 0.9852, d3.loss_cls: 1.0289, d3.loss_bbox: 0.9926, d4.loss_cls: 1.0290, d4.loss_bbox: 1.0020, d5.loss_cls: 1.0304, d5.loss_bbox: 1.0092, d0.loss_traj_cls: 0.0004, d0.loss_traj: 1.9353, d1.loss_traj_cls: 0.0005, d1.loss_traj: 1.9558, d2.loss_traj_cls: 0.0005, d2.loss_traj: 1.9657, d3.loss_traj_cls: 0.0005, d3.loss_traj: 1.9722, d4.loss_traj_cls: 0.0006, d4.loss_traj: 2.0005, d5.loss_traj_cls: 0.0005, d5.loss_traj: 2.0122, d0.loss_map_cls_all: 0.6402, d0.loss_map_pts_all: 3.3177, d0.loss_map_dir_all: 0.0412, d0.loss_map_cls: 0.6402, d0.loss_map_pts: 3.3177, d0.loss_map_dir: 0.0412, d1.loss_map_cls: 0.6347, d1.loss_map_pts: 2.7303, d1.loss_map_dir: 0.0414, d2.loss_map_cls: 0.6339, d2.loss_map_pts: 2.7132, d2.loss_map_dir: 0.0413, d3.loss_map_cls: 0.6385, d3.loss_map_pts: 2.7073, d3.loss_map_dir: 0.0412, d4.loss_map_cls: 0.6397, d4.loss_map_pts: 2.7045, d4.loss_map_dir: 0.0412, d5.loss_map_cls: 0.6416, d5.loss_map_pts: 2.7034, d5.loss_map_dir: 0.0411, loss: 88.8760, grad_norm: 192.0747