2026-02-26 12:00:24,367 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} 2026-02-26 12:00:24,508 - 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_cro2026-02-26 12:00:24,526 - DriveTransformer - INFO - Model: DriveTransformer( (pts_bbox_head): DriveTransformerlHead( (loss_cls): FocalLoss() (loss_bbox): L1Loss() (loss_traj): L1Loss() (loss_traj_cls): FocalLoss() (loss_map_cls): FocalLoss() (loss_map_pts): PtsL1Loss() (loss_map_dir): PtsDirCosLoss() (loss_plan_reg_fix_dist): L1Loss() (loss_plan_reg_fix_time): L1Loss() (loss_plan_cls): FocalLoss() (agent_query): Embedding(900, 512) (agent_reference_points): Embedding(900, 3) (agent_cls_embedding): Sequential( (0): Linear(in_features=9, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (agent_ref_embedding): Sequential( (0): Linear(in_features=768, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (mode_embedding): Embedding(6, 512) (map_query): Embedding(100, 512) (map_reference_points): Embedding(100, 2) (map_cls_embedding): Sequential( (0): Linear(in_features=6, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (map_ref_embedding): Sequential( (0): Linear(in_features=512, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (ego_lcf_encoder): Sequential( (0): Linear(in_features=141, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (ego_traj_ref_fix_time_embedding): Sequential( (0): Linear(in_features=1920, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (ego_traj_ref_fix_dist_embedding): Sequential( (0): Linear(in_features=640, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (featurized_pe): MLN( (reduce): Sequential( (0): Linear(in_features=512, out_features=512, bias=True) (1): SiLU(inplace=True) ) (gamma): Linear(in_features=512, out_features=512, bias=True) (beta): Linear(in_features=512, out_features=512, bias=True) (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) ) (spatial_alignment): MLN( (reduce): Sequential( (0): Linear(in_features=8, out_features=512, bias=True) (1): SiLU(inplace=True) ) (gamma): Linear(in_features=512, out_features=512, bias=True) (beta): Linear(in_features=512, out_features=512, bias=True) (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) ) (time_embedding): Sequential( (0): Linear(in_features=512, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (img_position_encoder): Sequential( (0): Linear(in_features=192, out_features=512, bias=True) (1): SiLU(inplace=True) (2): Linear(in_features=512, out_features=512, bias=True) (3): SiLU(inplace=True) (4): Linear(in_features=512, out_features=512, bias=True) ) (ego_pose_pe): MLN( (reduce): Sequential( (0): Linear(in_features=180, out_features=512, bias=True) (1): SiLU(inplace=True) ) (gamma): Linear(in_features=512, out_features=512, bias=True) (beta): Linear(in_features=512, out_features=512, bias=True) (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) ) (ego_pose_memory): MLN( (reduce): Sequential( (0): Linear(in_features=180, out_features=512, bias=True) (1): SiLU(inplace=True) ) (gamma): Linear(in_features=512, out_features=512, bias=True) (beta): Linear(in_features=512, out_features=512, bias=True) (ln): LayerNorm((512,), eps=1e-05, elementwise_affine=False) ) (agent_prep_decoder): DriveTransformerPreDecoder( (layers): ModuleList( (0): DriveTransformerPreDecoderLayer( (attentions): ModuleList( (0-1): 2 x AttentionLayer( (w_q): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_k): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_v): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (proj): Linear(in_features=512, out_features=512, bias=True) (postnorm): Identity() ) ) (ffns): ModuleList( (0): SwiGLULayer( (swiglu): SwiGLU( (w12): Linear(in_features=512, out_features=2736, bias=True) (w3): Linear(in_features=1368, out_features=512, bias=True) ) (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (dropout): Dropout(p=0.1, inplace=False) (postnorm): Identity() ) ) ) ) ) (map_prep_decoder): DriveTransformerPreDecoder( (layers): ModuleList( (0): DriveTransformerPreDecoderLayer( (attentions): ModuleList( (0-1): 2 x AttentionLayer( (w_q): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_k): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_v): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (proj): Linear(in_features=512, out_features=512, bias=True) (postnorm): Identity() ) ) (ffns): ModuleList( (0): SwiGLULayer( (swiglu): SwiGLU( (w12): Linear(in_features=512, out_features=2736, bias=True) (w3): Linear(in_features=1368, out_features=512, bias=True) ) (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (dropout): Dropout(p=0.1, inplace=False) (postnorm): Identity() ) ) ) ) ) (transformer): DriveTransformerWrapper( (decoder): DriveTransformerDecoder( (layers): ModuleList( (0-5): 6 x DriveTransformerDecoderLayer( (task_self_attentions): ModuleList( (0): AttentionLayer( (w_q): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_k): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_v): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (proj): Linear(in_features=512, out_features=512, bias=True) (postnorm): Identity() ) ) (temporal_cross_attention_layers): ModuleList( (0-2): 3 x AttentionLayer( (w_q): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_k): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_v): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (proj): Linear(in_features=512, out_features=512, bias=True) (postnorm): Identity() ) ) (sensor_cross_attentions): ModuleList( (0): AttentionLayer( (w_k): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (w_v): Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) (proj): Linear(in_features=512, out_features=512, bias=True) (postnorm): Identity() ) ) (cross_w_q): ModuleList( (0-2): 3 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) ) ) (ffns): ModuleList( (0): ModuleList( (0-2): 3 x SwiGLULayer( (swiglu): SwiGLU( (w12): Linear(in_features=512, out_features=2736, bias=True) (w3): Linear(in_features=1368, out_features=512, bias=True) ) (prenorm): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (dropout): Dropout(p=0.1, inplace=False) (postnorm): Identity() ) ) ) ) ) ) ) (cls_branches): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=9, bias=False) ) ) (reg_branches): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=10, bias=True) ) ) (traj_branches): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=12, bias=True) ) ) (traj_cls_branches): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (6): Linear(in_features=512, out_features=1, bias=False) ) ) (map_cls_branches): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=6, bias=False) ) ) (map_reg_branches): ModuleList( (0-5): 6 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=2, bias=True) ) (6): Linear(in_features=512, out_features=40, bias=True) ) (ego_traj_branches_fix_dist): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=20, bias=True) ) ) (ego_traj_branches_fix_time): ModuleList( (0-6): 7 x Sequential( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): Linear(in_features=512, out_features=512, bias=True) (2): SiLU(inplace=True) (3): Linear(in_features=512, out_features=512, bias=True) (4): SiLU(inplace=True) (5): Linear(in_features=512, out_features=60, bias=True) ) ) ) (img_backbone): ResNet( (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) (layer1): ResLayer( (0): Bottleneck( (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (1): Bottleneck( (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (2): Bottleneck( (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} ) (layer2): ResLayer( (0): Bottleneck( (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (1): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (2): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (3): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} ) (layer3): ResLayer( (0): Bottleneck( (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (1): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (2): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (3): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (4): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (5): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} ) (layer4): ResLayer( (0): Bottleneck( (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (1): Bottleneck( (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} (2): Bottleneck( (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): BatchNorm2d(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): BatchNorm2d(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) init_cfg={'type': 'Constant', 'val': 0, 'override': {'name': 'norm3'}} ) ) init_cfg={'type': 'Pretrained', 'checkpoint': './ckpts/resnet50-19c8e357.pth'} (img_neck): FPN( (lateral_convs): ModuleList( (0): ConvModule( (conv): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1)) ) ) (fpn_convs): ModuleList( (0): ConvModule( (conv): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) ) ) init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} (grid_mask): GridMask() ) 2026-02-26 12:00:24,734 - DriveTransformer - INFO - Start running, host: humble@ysh-4090, work_dir: /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu 2026-02-26 12:00:24,734 - DriveTransformer - INFO - Hooks will be executed in the following order: before_run: (VERY_HIGH ) CosineAnnealingLrUpdaterHook (ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook (NORMAL ) CheckpointHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_train_epoch: (VERY_HIGH ) CosineAnnealingLrUpdaterHook (LOW ) IterTimerHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_train_iter: (VERY_HIGH ) CosineAnnealingLrUpdaterHook (LOW ) IterTimerHook -------------------- after_train_iter: (ABOVE_NORMAL) GradientCumulativeFp16OptimizerHook (NORMAL ) CheckpointHook (LOW ) IterTimerHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- after_train_epoch: (NORMAL ) CheckpointHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_val_epoch: (LOW ) IterTimerHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- before_val_iter: (LOW ) IterTimerHook -------------------- after_val_iter: (LOW ) IterTimerHook -------------------- after_val_epoch: (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- after_run: (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook -------------------- 2026-02-26 12:00:24,734 - DriveTransformer - INFO - workflow: [('train', 1)], max: 24 epochs 2026-02-26 12:00:24,736 - DriveTransformer - INFO - Checkpoints will be saved to /home/Humble/Humble/EndtoEnd/Bench2DriveZoo/work_dirs/drivetransformer_goalpoint_1gpu by HardDiskBackend. 2026-02-26 12:00:33,179 - DriveTransformer - WARNING - GradientCumulativeOptimizerHook may slightly decrease performance if the model has BatchNorm layers. 2026-02-26 12:01:10,550 - DriveTransformer - INFO - Epoch [1][50/39528] lr: 1.441e-05, eta: 10 days, 0:50:55, time: 0.914, data_time: 0.163, memory: 18742, loss_cls: 765.4914, loss_bbox: 1.6526, loss_traj: 5.4215, loss_traj_cls: 0.0805, loss_map_cls: 10.7144, loss_map_pts: 5.5695, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 11.6801, d0.loss_plan_l1_fix_dist: 3.3227, d1.loss_plan_l1_fix_time: 12.0399, d1.loss_plan_l1_fix_dist: 4.3396, d2.loss_plan_l1_fix_time: 12.4710, d2.loss_plan_l1_fix_dist: 5.8791, d3.loss_plan_l1_fix_time: 13.0067, d3.loss_plan_l1_fix_dist: 7.7400, d4.loss_plan_l1_fix_time: 13.5054, d4.loss_plan_l1_fix_dist: 10.2270, d5.loss_plan_l1_fix_time: 14.0609, d5.loss_plan_l1_fix_dist: 12.8650, d6.loss_plan_l1_fix_time: 14.5860, d6.loss_plan_l1_fix_dist: 15.3839, d0.loss_cls_all: 526.0704, d0.loss_bbox_all: 1.6224, d0.loss_cls: 526.0704, d0.loss_bbox: 1.6224, d1.loss_cls: 587.8533, d1.loss_bbox: 1.5851, d2.loss_cls: 583.5279, d2.loss_bbox: 1.6720, d3.loss_cls: 660.5994, d3.loss_bbox: 1.6638, d4.loss_cls: 623.1714, d4.loss_bbox: 1.5681, d5.loss_cls: 690.4974, d5.loss_bbox: 1.6673, d0.loss_traj_cls: 0.0746, d0.loss_traj: 5.3930, d1.loss_traj_cls: 0.0630, d1.loss_traj: 5.4374, d2.loss_traj_cls: 0.0642, d2.loss_traj: 5.5116, d3.loss_traj_cls: 0.1034, d3.loss_traj: 5.4621, d4.loss_traj_cls: 0.0494, d4.loss_traj: 5.3748, d5.loss_traj_cls: 0.0496, d5.loss_traj: 5.4128, d0.loss_map_cls_all: 8.1191, d0.loss_map_pts_all: 5.2849, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.1191, d0.loss_map_pts: 5.2849, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.3746, d1.loss_map_pts: 5.3051, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.0830, d2.loss_map_pts: 5.3385, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.9807, d3.loss_map_pts: 5.3786, d3.loss_map_dir: 0.0950, d4.loss_map_cls: 10.9712, d4.loss_map_pts: 5.4438, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.9088, d5.loss_map_pts: 5.5091, d5.loss_map_dir: 0.0949, loss: 5285.0857, grad_norm: inf 2026-02-26 12:01:46,425 - DriveTransformer - INFO - Epoch [1][100/39528] lr: 1.891e-05, eta: 8 days, 22:56:41, time: 0.717, data_time: 0.030, memory: 18742, loss_cls: 801.1824, loss_bbox: 1.6245, loss_traj: 6.7263, loss_traj_cls: 0.0913, loss_map_cls: 12.0767, loss_map_pts: 5.4557, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 13.6995, d0.loss_plan_l1_fix_dist: 3.3016, d1.loss_plan_l1_fix_time: 14.0050, d1.loss_plan_l1_fix_dist: 4.3949, d2.loss_plan_l1_fix_time: 14.3598, d2.loss_plan_l1_fix_dist: 6.1355, d3.loss_plan_l1_fix_time: 14.8062, d3.loss_plan_l1_fix_dist: 7.9968, d4.loss_plan_l1_fix_time: 15.2075, d4.loss_plan_l1_fix_dist: 10.6437, d5.loss_plan_l1_fix_time: 15.6786, d5.loss_plan_l1_fix_dist: 13.4256, d6.loss_plan_l1_fix_time: 16.1345, d6.loss_plan_l1_fix_dist: 16.0505, d0.loss_cls_all: 535.9379, d0.loss_bbox_all: 1.6059, d0.loss_cls: 535.9379, d0.loss_bbox: 1.6059, d1.loss_cls: 599.2132, d1.loss_bbox: 1.5675, d2.loss_cls: 599.6856, d2.loss_bbox: 1.6493, d3.loss_cls: 682.7777, d3.loss_bbox: 1.6523, d4.loss_cls: 652.6119, d4.loss_bbox: 1.5497, d5.loss_cls: 730.0784, d5.loss_bbox: 1.6436, d0.loss_traj_cls: 0.0750, d0.loss_traj: 6.6826, d1.loss_traj_cls: 0.0609, d1.loss_traj: 6.7408, d2.loss_traj_cls: 0.0632, d2.loss_traj: 6.8328, d3.loss_traj_cls: 0.1048, d3.loss_traj: 6.7782, d4.loss_traj_cls: 0.0534, d4.loss_traj: 6.6898, d5.loss_traj_cls: 0.0563, d5.loss_traj: 6.7205, d0.loss_map_cls_all: 8.9345, d0.loss_map_pts_all: 5.2281, d0.loss_map_dir_all: 0.0957, d0.loss_map_cls: 8.9345, d0.loss_map_pts: 5.2281, d0.loss_map_dir: 0.0957, d1.loss_map_cls: 8.3175, d1.loss_map_pts: 5.2484, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 9.0981, d2.loss_map_pts: 5.2709, d2.loss_map_dir: 0.0952, d3.loss_map_cls: 12.2637, d3.loss_map_pts: 5.3037, d3.loss_map_dir: 0.0953, d4.loss_map_cls: 12.3236, d4.loss_map_pts: 5.3632, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 12.2570, d5.loss_map_pts: 5.4132, d5.loss_map_dir: 0.0952, loss: 5491.3194, grad_norm: inf 2026-02-26 12:02:24,505 - DriveTransformer - INFO - Epoch [1][150/39528] lr: 2.341e-05, eta: 8 days, 18:10:12, time: 0.762, data_time: 0.029, memory: 18742, loss_cls: 658.1236, loss_bbox: 1.6819, loss_traj: 5.9607, loss_traj_cls: 0.0915, loss_map_cls: 12.3225, loss_map_pts: 5.7188, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 12.4242, d0.loss_plan_l1_fix_dist: 3.3145, d1.loss_plan_l1_fix_time: 12.7271, d1.loss_plan_l1_fix_dist: 4.3634, d2.loss_plan_l1_fix_time: 13.0966, d2.loss_plan_l1_fix_dist: 6.0572, d3.loss_plan_l1_fix_time: 13.5725, d3.loss_plan_l1_fix_dist: 7.9555, d4.loss_plan_l1_fix_time: 14.0106, d4.loss_plan_l1_fix_dist: 10.5612, d5.loss_plan_l1_fix_time: 14.5110, d5.loss_plan_l1_fix_dist: 13.3124, d6.loss_plan_l1_fix_time: 14.9835, d6.loss_plan_l1_fix_dist: 15.9030, d0.loss_cls_all: 455.1223, d0.loss_bbox_all: 1.6352, d0.loss_cls: 455.1223, d0.loss_bbox: 1.6352, d1.loss_cls: 495.4338, d1.loss_bbox: 1.6103, d2.loss_cls: 500.2631, d2.loss_bbox: 1.6869, d3.loss_cls: 570.4701, d3.loss_bbox: 1.6762, d4.loss_cls: 534.8765, d4.loss_bbox: 1.6060, d5.loss_cls: 596.2380, d5.loss_bbox: 1.6914, d0.loss_traj_cls: 0.0747, d0.loss_traj: 5.9430, d1.loss_traj_cls: 0.0648, d1.loss_traj: 5.9989, d2.loss_traj_cls: 0.0647, d2.loss_traj: 6.0705, d3.loss_traj_cls: 0.1126, d3.loss_traj: 6.0122, d4.loss_traj_cls: 0.0535, d4.loss_traj: 5.9304, d5.loss_traj_cls: 0.0557, d5.loss_traj: 5.9721, d0.loss_map_cls_all: 9.4106, d0.loss_map_pts_all: 5.3464, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 9.4106, d0.loss_map_pts: 5.3464, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 8.6733, d1.loss_map_pts: 5.3772, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 9.3782, d2.loss_map_pts: 5.4285, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 12.4900, d3.loss_map_pts: 5.4790, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 12.5535, d4.loss_map_pts: 5.5599, d4.loss_map_dir: 0.0951, d5.loss_map_cls: 12.5340, d5.loss_map_pts: 5.6425, d5.loss_map_dir: 0.0950, loss: 4609.5038, grad_norm: inf 2026-02-26 12:03:02,285 - DriveTransformer - INFO - Epoch [1][200/39528] lr: 2.791e-05, eta: 8 days, 15:23:25, time: 0.756, data_time: 0.032, memory: 18742, loss_cls: 692.3915, loss_bbox: 1.7076, loss_traj: 5.3087, loss_traj_cls: 0.1032, loss_map_cls: 8.4470, loss_map_pts: 5.6586, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 9.6767, d0.loss_plan_l1_fix_dist: 3.3180, d1.loss_plan_l1_fix_time: 10.1223, d1.loss_plan_l1_fix_dist: 4.3449, d2.loss_plan_l1_fix_time: 10.6207, d2.loss_plan_l1_fix_dist: 6.1040, d3.loss_plan_l1_fix_time: 11.2203, d3.loss_plan_l1_fix_dist: 7.9613, d4.loss_plan_l1_fix_time: 11.7561, d4.loss_plan_l1_fix_dist: 10.5844, d5.loss_plan_l1_fix_time: 12.3599, d5.loss_plan_l1_fix_dist: 13.3080, d6.loss_plan_l1_fix_time: 12.9340, d6.loss_plan_l1_fix_dist: 15.8994, d0.loss_cls_all: 466.0882, d0.loss_bbox_all: 1.6489, d0.loss_cls: 466.0882, d0.loss_bbox: 1.6489, d1.loss_cls: 509.9849, d1.loss_bbox: 1.6219, d2.loss_cls: 512.1124, d2.loss_bbox: 1.6956, d3.loss_cls: 590.2557, d3.loss_bbox: 1.6969, d4.loss_cls: 552.6955, d4.loss_bbox: 1.6476, d5.loss_cls: 627.9205, d5.loss_bbox: 1.7145, d0.loss_traj_cls: 0.0749, d0.loss_traj: 5.2833, d1.loss_traj_cls: 0.0624, d1.loss_traj: 5.3204, d2.loss_traj_cls: 0.0674, d2.loss_traj: 5.4194, d3.loss_traj_cls: 0.1151, d3.loss_traj: 5.3850, d4.loss_traj_cls: 0.0566, d4.loss_traj: 5.2511, d5.loss_traj_cls: 0.0621, d5.loss_traj: 5.3087, d0.loss_map_cls_all: 6.2922, d0.loss_map_pts_all: 5.2547, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 6.2922, d0.loss_map_pts: 5.2547, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 5.7508, d1.loss_map_pts: 5.3031, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 6.2950, d2.loss_map_pts: 5.3551, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 8.4904, d3.loss_map_pts: 5.4033, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 8.4606, d4.loss_map_pts: 5.4942, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 8.5846, d5.loss_map_pts: 5.5753, d5.loss_map_dir: 0.0948, loss: 4711.6185, grad_norm: inf 2026-02-26 12:03:39,939 - DriveTransformer - INFO - Epoch [1][250/39528] lr: 3.241e-05, eta: 8 days, 13:34:56, time: 0.753, data_time: 0.032, memory: 18742, loss_cls: 607.7589, loss_bbox: 1.6260, loss_traj: 5.8898, loss_traj_cls: 0.0984, loss_map_cls: 8.8537, loss_map_pts: 5.5939, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.1997, d0.loss_plan_l1_fix_dist: 3.2853, d1.loss_plan_l1_fix_time: 11.5687, d1.loss_plan_l1_fix_dist: 4.2703, d2.loss_plan_l1_fix_time: 12.0002, d2.loss_plan_l1_fix_dist: 5.8471, d3.loss_plan_l1_fix_time: 12.5281, d3.loss_plan_l1_fix_dist: 7.5833, d4.loss_plan_l1_fix_time: 12.9973, d4.loss_plan_l1_fix_dist: 10.1809, d5.loss_plan_l1_fix_time: 13.5297, d5.loss_plan_l1_fix_dist: 12.8848, d6.loss_plan_l1_fix_time: 14.0310, d6.loss_plan_l1_fix_dist: 15.4001, d0.loss_cls_all: 421.3768, d0.loss_bbox_all: 1.5972, d0.loss_cls: 421.3768, d0.loss_bbox: 1.5972, d1.loss_cls: 454.5432, d1.loss_bbox: 1.5432, d2.loss_cls: 457.9544, d2.loss_bbox: 1.6219, d3.loss_cls: 525.3955, d3.loss_bbox: 1.6257, d4.loss_cls: 493.5736, d4.loss_bbox: 1.5431, d5.loss_cls: 552.4852, d5.loss_bbox: 1.6335, d0.loss_traj_cls: 0.0748, d0.loss_traj: 5.8681, d1.loss_traj_cls: 0.0602, d1.loss_traj: 5.9196, d2.loss_traj_cls: 0.0640, d2.loss_traj: 6.0099, d3.loss_traj_cls: 0.1087, d3.loss_traj: 5.9579, d4.loss_traj_cls: 0.0542, d4.loss_traj: 5.8456, d5.loss_traj_cls: 0.0590, d5.loss_traj: 5.8911, d0.loss_map_cls_all: 6.5892, d0.loss_map_pts_all: 5.2564, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 6.5892, d0.loss_map_pts: 5.2564, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 6.1364, d1.loss_map_pts: 5.2925, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 6.6147, d2.loss_map_pts: 5.3371, d2.loss_map_dir: 0.0948, d3.loss_map_cls: 8.8679, d3.loss_map_pts: 5.3793, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 8.8946, d4.loss_map_pts: 5.4596, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 9.0356, d5.loss_map_pts: 5.5306, d5.loss_map_dir: 0.0946, loss: 4241.9057, grad_norm: inf 2026-02-26 12:04:17,014 - DriveTransformer - INFO - Epoch [1][300/39528] lr: 3.691e-05, eta: 8 days, 11:51:51, time: 0.741, data_time: 0.030, memory: 18742, loss_cls: 665.0782, loss_bbox: 1.6791, loss_traj: 7.1554, loss_traj_cls: 0.0964, loss_map_cls: 9.8720, loss_map_pts: 5.3528, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.2042, d0.loss_plan_l1_fix_dist: 3.3882, d1.loss_plan_l1_fix_time: 12.5688, d1.loss_plan_l1_fix_dist: 4.3820, d2.loss_plan_l1_fix_time: 12.9851, d2.loss_plan_l1_fix_dist: 6.1406, d3.loss_plan_l1_fix_time: 13.5047, d3.loss_plan_l1_fix_dist: 7.9780, d4.loss_plan_l1_fix_time: 13.9638, d4.loss_plan_l1_fix_dist: 10.7142, d5.loss_plan_l1_fix_time: 14.4865, d5.loss_plan_l1_fix_dist: 13.5458, d6.loss_plan_l1_fix_time: 14.9836, d6.loss_plan_l1_fix_dist: 16.1848, d0.loss_cls_all: 457.2619, d0.loss_bbox_all: 1.6751, d0.loss_cls: 457.2619, d0.loss_bbox: 1.6751, d1.loss_cls: 500.4034, d1.loss_bbox: 1.6332, d2.loss_cls: 501.8246, d2.loss_bbox: 1.7207, d3.loss_cls: 572.8057, d3.loss_bbox: 1.7017, d4.loss_cls: 540.9746, d4.loss_bbox: 1.6035, d5.loss_cls: 607.1481, d5.loss_bbox: 1.6941, d0.loss_traj_cls: 0.0736, d0.loss_traj: 7.1298, d1.loss_traj_cls: 0.0590, d1.loss_traj: 7.1948, d2.loss_traj_cls: 0.0612, d2.loss_traj: 7.2841, d3.loss_traj_cls: 0.1073, d3.loss_traj: 7.2187, d4.loss_traj_cls: 0.0521, d4.loss_traj: 7.1189, d5.loss_traj_cls: 0.0585, d5.loss_traj: 7.1501, d0.loss_map_cls_all: 7.5615, d0.loss_map_pts_all: 5.0502, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.5615, d0.loss_map_pts: 5.0502, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 7.0152, d1.loss_map_pts: 5.0815, d1.loss_map_dir: 0.0948, d2.loss_map_cls: 7.4976, d2.loss_map_pts: 5.1204, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 10.0608, d3.loss_map_pts: 5.1578, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 9.9877, d4.loss_map_pts: 5.2319, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 10.1044, d5.loss_map_pts: 5.2953, d5.loss_map_dir: 0.0946, loss: 4635.6892, grad_norm: inf 2026-02-26 12:04:52,176 - DriveTransformer - INFO - Epoch [1][350/39528] lr: 4.141e-05, eta: 8 days, 9:11:42, time: 0.703, data_time: 0.031, memory: 18742, loss_cls: 673.1211, loss_bbox: 1.6380, loss_traj: 6.2528, loss_traj_cls: 0.0970, loss_map_cls: 10.6595, loss_map_pts: 5.7996, loss_map_dir: 0.0952, d0.loss_plan_l1_fix_time: 11.7812, d0.loss_plan_l1_fix_dist: 3.2684, d1.loss_plan_l1_fix_time: 12.1331, d1.loss_plan_l1_fix_dist: 4.2585, d2.loss_plan_l1_fix_time: 12.5280, d2.loss_plan_l1_fix_dist: 6.0340, d3.loss_plan_l1_fix_time: 13.0318, d3.loss_plan_l1_fix_dist: 7.9005, d4.loss_plan_l1_fix_time: 13.4842, d4.loss_plan_l1_fix_dist: 10.5421, d5.loss_plan_l1_fix_time: 13.9951, d5.loss_plan_l1_fix_dist: 13.2784, d6.loss_plan_l1_fix_time: 14.4747, d6.loss_plan_l1_fix_dist: 15.8732, d0.loss_cls_all: 460.5377, d0.loss_bbox_all: 1.5998, d0.loss_cls: 460.5377, d0.loss_bbox: 1.5998, d1.loss_cls: 506.8471, d1.loss_bbox: 1.5605, d2.loss_cls: 509.0205, d2.loss_bbox: 1.6554, d3.loss_cls: 578.6152, d3.loss_bbox: 1.6497, d4.loss_cls: 546.0408, d4.loss_bbox: 1.5671, d5.loss_cls: 609.5215, d5.loss_bbox: 1.6542, d0.loss_traj_cls: 0.0741, d0.loss_traj: 6.2271, d1.loss_traj_cls: 0.0612, d1.loss_traj: 6.2789, d2.loss_traj_cls: 0.0616, d2.loss_traj: 6.3710, d3.loss_traj_cls: 0.1088, d3.loss_traj: 6.3129, d4.loss_traj_cls: 0.0519, d4.loss_traj: 6.2078, d5.loss_traj_cls: 0.0568, d5.loss_traj: 6.2503, d0.loss_map_cls_all: 7.9883, d0.loss_map_pts_all: 5.5520, d0.loss_map_dir_all: 0.0954, d0.loss_map_cls: 7.9883, d0.loss_map_pts: 5.5520, d0.loss_map_dir: 0.0954, d1.loss_map_cls: 7.4590, d1.loss_map_pts: 5.5736, d1.loss_map_dir: 0.0952, d2.loss_map_cls: 8.1353, d2.loss_map_pts: 5.6045, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 10.8708, d3.loss_map_pts: 5.6407, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 10.8228, d4.loss_map_pts: 5.6995, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 10.7797, d5.loss_map_pts: 5.7557, d5.loss_map_dir: 0.0951, loss: 4674.8047, grad_norm: inf 2026-02-26 12:05:30,763 - DriveTransformer - INFO - Epoch [1][400/39528] lr: 4.591e-05, eta: 8 days, 9:26:51, time: 0.772, data_time: 0.032, memory: 18742, loss_cls: 583.0376, loss_bbox: 1.6945, loss_traj: 5.2644, loss_traj_cls: 0.0937, loss_map_cls: 7.6275, loss_map_pts: 5.5826, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 12.1575, d0.loss_plan_l1_fix_dist: 3.3865, d1.loss_plan_l1_fix_time: 12.4790, d1.loss_plan_l1_fix_dist: 4.4035, d2.loss_plan_l1_fix_time: 12.8563, d2.loss_plan_l1_fix_dist: 6.1912, d3.loss_plan_l1_fix_time: 13.3360, d3.loss_plan_l1_fix_dist: 8.0577, d4.loss_plan_l1_fix_time: 13.7587, d4.loss_plan_l1_fix_dist: 10.6807, d5.loss_plan_l1_fix_time: 14.2441, d5.loss_plan_l1_fix_dist: 13.4494, d6.loss_plan_l1_fix_time: 14.7108, d6.loss_plan_l1_fix_dist: 16.0823, d0.loss_cls_all: 402.6884, d0.loss_bbox_all: 1.6326, d0.loss_cls: 402.6884, d0.loss_bbox: 1.6326, d1.loss_cls: 436.6731, d1.loss_bbox: 1.5973, d2.loss_cls: 442.8400, d2.loss_bbox: 1.6820, d3.loss_cls: 502.0290, d3.loss_bbox: 1.6677, d4.loss_cls: 468.5607, d4.loss_bbox: 1.6162, d5.loss_cls: 530.1911, d5.loss_bbox: 1.6978, d0.loss_traj_cls: 0.0741, d0.loss_traj: 5.2466, d1.loss_traj_cls: 0.0606, d1.loss_traj: 5.3013, d2.loss_traj_cls: 0.0623, d2.loss_traj: 5.3716, d3.loss_traj_cls: 0.1071, d3.loss_traj: 5.3278, d4.loss_traj_cls: 0.0517, d4.loss_traj: 5.2340, d5.loss_traj_cls: 0.0567, d5.loss_traj: 5.2730, d0.loss_map_cls_all: 5.9572, d0.loss_map_pts_all: 5.1835, d0.loss_map_dir_all: 0.0946, d0.loss_map_cls: 5.9572, d0.loss_map_pts: 5.1835, d0.loss_map_dir: 0.0946, d1.loss_map_cls: 5.5615, d1.loss_map_pts: 5.2156, d1.loss_map_dir: 0.0944, d2.loss_map_cls: 6.0201, d2.loss_map_pts: 5.2676, d2.loss_map_dir: 0.0943, d3.loss_map_cls: 7.9721, d3.loss_map_pts: 5.3183, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 7.8077, d4.loss_map_pts: 5.4039, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 7.7872, d5.loss_map_pts: 5.4947, d5.loss_map_dir: 0.0945, loss: 4073.3429, grad_norm: inf 2026-02-26 12:06:09,347 - DriveTransformer - INFO - Epoch [1][450/39528] lr: 5.041e-05, eta: 8 days, 9:38:10, time: 0.772, data_time: 0.029, memory: 18742, loss_cls: 704.7121, loss_bbox: 1.6716, loss_traj: 4.9313, loss_traj_cls: 0.0941, loss_map_cls: 9.6845, loss_map_pts: 5.4581, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 10.8355, d0.loss_plan_l1_fix_dist: 3.4812, d1.loss_plan_l1_fix_time: 11.2339, d1.loss_plan_l1_fix_dist: 4.4474, d2.loss_plan_l1_fix_time: 11.6912, d2.loss_plan_l1_fix_dist: 6.1352, d3.loss_plan_l1_fix_time: 12.2563, d3.loss_plan_l1_fix_dist: 8.0306, d4.loss_plan_l1_fix_time: 12.7658, d4.loss_plan_l1_fix_dist: 10.7150, d5.loss_plan_l1_fix_time: 13.3261, d5.loss_plan_l1_fix_dist: 13.5314, d6.loss_plan_l1_fix_time: 13.8560, d6.loss_plan_l1_fix_dist: 16.1728, d0.loss_cls_all: 487.9115, d0.loss_bbox_all: 1.5986, d0.loss_cls: 487.9115, d0.loss_bbox: 1.5986, d1.loss_cls: 532.5919, d1.loss_bbox: 1.5569, d2.loss_cls: 539.1841, d2.loss_bbox: 1.6311, d3.loss_cls: 610.1850, d3.loss_bbox: 1.6188, d4.loss_cls: 570.9152, d4.loss_bbox: 1.5612, d5.loss_cls: 636.7374, d5.loss_bbox: 1.6714, d0.loss_traj_cls: 0.0739, d0.loss_traj: 4.9140, d1.loss_traj_cls: 0.0624, d1.loss_traj: 4.9497, d2.loss_traj_cls: 0.0638, d2.loss_traj: 5.0228, d3.loss_traj_cls: 0.1109, d3.loss_traj: 4.9807, d4.loss_traj_cls: 0.0532, d4.loss_traj: 4.8712, d5.loss_traj_cls: 0.0568, d5.loss_traj: 4.9248, d0.loss_map_cls_all: 7.2038, d0.loss_map_pts_all: 5.1295, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.2038, d0.loss_map_pts: 5.1295, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.8208, d1.loss_map_pts: 5.1622, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 7.3166, d2.loss_map_pts: 5.2017, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.9759, d3.loss_map_pts: 5.2441, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 9.8203, d4.loss_map_pts: 5.3135, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 9.8080, d5.loss_map_pts: 5.3826, d5.loss_map_dir: 0.0944, loss: 4877.2563, grad_norm: inf 2026-02-26 12:06:43,583 - DriveTransformer - INFO - Epoch [1][500/39528] lr: 5.491e-05, eta: 8 days, 7:29:55, time: 0.685, data_time: 0.028, memory: 18742, loss_cls: 648.4834, loss_bbox: 1.6500, loss_traj: 7.0770, loss_traj_cls: 0.0876, loss_map_cls: 13.7228, loss_map_pts: 5.5361, loss_map_dir: 0.0953, d0.loss_plan_l1_fix_time: 12.9995, d0.loss_plan_l1_fix_dist: 3.2266, d1.loss_plan_l1_fix_time: 13.3090, d1.loss_plan_l1_fix_dist: 4.2516, d2.loss_plan_l1_fix_time: 13.6746, d2.loss_plan_l1_fix_dist: 5.9462, d3.loss_plan_l1_fix_time: 14.1530, d3.loss_plan_l1_fix_dist: 7.7761, d4.loss_plan_l1_fix_time: 14.5750, d4.loss_plan_l1_fix_dist: 10.3194, d5.loss_plan_l1_fix_time: 15.0669, d5.loss_plan_l1_fix_dist: 12.9471, d6.loss_plan_l1_fix_time: 15.5351, d6.loss_plan_l1_fix_dist: 15.4710, d0.loss_cls_all: 441.2465, d0.loss_bbox_all: 1.6267, d0.loss_cls: 441.2465, d0.loss_bbox: 1.6267, d1.loss_cls: 489.6315, d1.loss_bbox: 1.5881, d2.loss_cls: 496.1643, d2.loss_bbox: 1.6799, d3.loss_cls: 554.9889, d3.loss_bbox: 1.6595, d4.loss_cls: 526.7295, d4.loss_bbox: 1.5631, d5.loss_cls: 586.9652, d5.loss_bbox: 1.6676, d0.loss_traj_cls: 0.0741, d0.loss_traj: 7.0461, d1.loss_traj_cls: 0.0605, d1.loss_traj: 7.1178, d2.loss_traj_cls: 0.0604, d2.loss_traj: 7.1948, d3.loss_traj_cls: 0.1073, d3.loss_traj: 7.1241, d4.loss_traj_cls: 0.0522, d4.loss_traj: 7.0417, d5.loss_traj_cls: 0.0542, d5.loss_traj: 7.0754, d0.loss_map_cls_all: 10.2160, d0.loss_map_pts_all: 5.3486, d0.loss_map_dir_all: 0.0957, d0.loss_map_cls: 10.2160, d0.loss_map_pts: 5.3486, d0.loss_map_dir: 0.0957, d1.loss_map_cls: 9.5436, d1.loss_map_pts: 5.3646, d1.loss_map_dir: 0.0956, d2.loss_map_cls: 10.3214, d2.loss_map_pts: 5.3817, d2.loss_map_dir: 0.0953, d3.loss_map_cls: 13.9199, d3.loss_map_pts: 5.4002, d3.loss_map_dir: 0.0954, d4.loss_map_cls: 13.8796, d4.loss_map_pts: 5.4465, d4.loss_map_dir: 0.0952, d5.loss_map_cls: 13.8833, d5.loss_map_pts: 5.4962, d5.loss_map_dir: 0.0952, loss: 4547.7298, grad_norm: inf 2026-02-26 12:07:20,814 - DriveTransformer - INFO - Epoch [1][550/39528] lr: 5.941e-05, eta: 8 days, 7:10:44, time: 0.745, data_time: 0.030, memory: 18742, loss_cls: 646.5521, loss_bbox: 1.6934, loss_traj: 5.7952, loss_traj_cls: 0.0846, loss_map_cls: 8.5927, loss_map_pts: 5.6950, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 11.3135, d0.loss_plan_l1_fix_dist: 3.3116, d1.loss_plan_l1_fix_time: 11.6702, d1.loss_plan_l1_fix_dist: 4.3797, d2.loss_plan_l1_fix_time: 12.0987, d2.loss_plan_l1_fix_dist: 5.9824, d3.loss_plan_l1_fix_time: 12.6301, d3.loss_plan_l1_fix_dist: 7.8319, d4.loss_plan_l1_fix_time: 13.1139, d4.loss_plan_l1_fix_dist: 10.4510, d5.loss_plan_l1_fix_time: 13.6562, d5.loss_plan_l1_fix_dist: 13.2282, d6.loss_plan_l1_fix_time: 14.1620, d6.loss_plan_l1_fix_dist: 15.8715, d0.loss_cls_all: 450.2106, d0.loss_bbox_all: 1.6396, d0.loss_cls: 450.2106, d0.loss_bbox: 1.6396, d1.loss_cls: 489.5858, d1.loss_bbox: 1.5973, d2.loss_cls: 498.5675, d2.loss_bbox: 1.6679, d3.loss_cls: 556.5122, d3.loss_bbox: 1.6636, d4.loss_cls: 524.5436, d4.loss_bbox: 1.5862, d5.loss_cls: 584.5491, d5.loss_bbox: 1.6979, d0.loss_traj_cls: 0.0739, d0.loss_traj: 5.7768, d1.loss_traj_cls: 0.0617, d1.loss_traj: 5.8302, d2.loss_traj_cls: 0.0599, d2.loss_traj: 5.8995, d3.loss_traj_cls: 0.1044, d3.loss_traj: 5.8463, d4.loss_traj_cls: 0.0494, d4.loss_traj: 5.7616, d5.loss_traj_cls: 0.0511, d5.loss_traj: 5.7991, d0.loss_map_cls_all: 6.7883, d0.loss_map_pts_all: 5.3674, d0.loss_map_dir_all: 0.0945, d0.loss_map_cls: 6.7883, d0.loss_map_pts: 5.3674, d0.loss_map_dir: 0.0945, d1.loss_map_cls: 6.4467, d1.loss_map_pts: 5.4033, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 6.9144, d2.loss_map_pts: 5.4469, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 9.0334, d3.loss_map_pts: 5.4877, d3.loss_map_dir: 0.0945, d4.loss_map_cls: 8.8789, d4.loss_map_pts: 5.5657, d4.loss_map_dir: 0.0944, d5.loss_map_cls: 8.8118, d5.loss_map_pts: 5.6301, d5.loss_map_dir: 0.0944, loss: 4511.7855, grad_norm: inf 2026-02-26 12:07:56,719 - DriveTransformer - INFO - Epoch [1][600/39528] lr: 6.391e-05, eta: 8 days, 6:19:59, time: 0.718, data_time: 0.031, memory: 18742, loss_cls: 706.9887, loss_bbox: 1.6558, loss_traj: 6.1753, loss_traj_cls: 0.1010, loss_map_cls: 13.0873, loss_map_pts: 5.3188, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.9823, d0.loss_plan_l1_fix_dist: 3.3205, d1.loss_plan_l1_fix_time: 12.3439, d1.loss_plan_l1_fix_dist: 4.3495, d2.loss_plan_l1_fix_time: 12.7608, d2.loss_plan_l1_fix_dist: 6.2157, d3.loss_plan_l1_fix_time: 13.2797, d3.loss_plan_l1_fix_dist: 8.1873, d4.loss_plan_l1_fix_time: 13.7411, d4.loss_plan_l1_fix_dist: 10.9879, d5.loss_plan_l1_fix_time: 14.2682, d5.loss_plan_l1_fix_dist: 13.8777, d6.loss_plan_l1_fix_time: 14.7614, d6.loss_plan_l1_fix_dist: 16.5942, d0.loss_cls_all: 490.0606, d0.loss_bbox_all: 1.5992, d0.loss_cls: 490.0606, d0.loss_bbox: 1.5992, d1.loss_cls: 527.3297, d1.loss_bbox: 1.5580, d2.loss_cls: 533.5077, d2.loss_bbox: 1.6521, d3.loss_cls: 605.7778, d3.loss_bbox: 1.6445, d4.loss_cls: 568.2416, d4.loss_bbox: 1.5773, d5.loss_cls: 638.3680, d5.loss_bbox: 1.6635, d0.loss_traj_cls: 0.0741, d0.loss_traj: 6.1514, d1.loss_traj_cls: 0.0650, d1.loss_traj: 6.2117, d2.loss_traj_cls: 0.0665, d2.loss_traj: 6.2786, d3.loss_traj_cls: 0.1166, d3.loss_traj: 6.2308, d4.loss_traj_cls: 0.0566, d4.loss_traj: 6.1409, d5.loss_traj_cls: 0.0604, d5.loss_traj: 6.1881, d0.loss_map_cls_all: 9.9565, d0.loss_map_pts_all: 5.0640, d0.loss_map_dir_all: 0.0950, d0.loss_map_cls: 9.9565, d0.loss_map_pts: 5.0640, d0.loss_map_dir: 0.0950, d1.loss_map_cls: 9.2223, d1.loss_map_pts: 5.0906, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 9.9012, d2.loss_map_pts: 5.1211, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 13.2546, d3.loss_map_pts: 5.1515, d3.loss_map_dir: 0.0948, d4.loss_map_cls: 13.2471, d4.loss_map_pts: 5.2120, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 13.2418, d5.loss_map_pts: 5.2655, d5.loss_map_dir: 0.0947, loss: 4907.7852, grad_norm: inf 2026-02-26 12:08:33,031 - DriveTransformer - INFO - Epoch [1][650/39528] lr: 6.841e-05, eta: 8 days, 5:46:45, time: 0.726, data_time: 0.032, memory: 18742, loss_cls: 647.7143, loss_bbox: 1.6710, loss_traj: 6.3881, loss_traj_cls: 0.0946, loss_map_cls: 12.4366, loss_map_pts: 5.4679, loss_map_dir: 0.0951, d0.loss_plan_l1_fix_time: 12.6558, d0.loss_plan_l1_fix_dist: 3.3399, d1.loss_plan_l1_fix_time: 12.9996, d1.loss_plan_l1_fix_dist: 4.3497, d2.loss_plan_l1_fix_time: 13.4022, d2.loss_plan_l1_fix_dist: 6.0161, d3.loss_plan_l1_fix_time: 13.8987, d3.loss_plan_l1_fix_dist: 7.7848, d4.loss_plan_l1_fix_time: 14.3342, d4.loss_plan_l1_fix_dist: 10.3532, d5.loss_plan_l1_fix_time: 14.8296, d5.loss_plan_l1_fix_dist: 13.0227, d6.loss_plan_l1_fix_time: 15.3017, d6.loss_plan_l1_fix_dist: 15.5398, d0.loss_cls_all: 445.7474, d0.loss_bbox_all: 1.6481, d0.loss_cls: 445.7474, d0.loss_bbox: 1.6481, d1.loss_cls: 492.0319, d1.loss_bbox: 1.6063, d2.loss_cls: 492.5334, d2.loss_bbox: 1.6850, d3.loss_cls: 558.9790, d3.loss_bbox: 1.6675, d4.loss_cls: 525.4466, d4.loss_bbox: 1.5923, d5.loss_cls: 589.3679, d5.loss_bbox: 1.6819, d0.loss_traj_cls: 0.0754, d0.loss_traj: 6.3589, d1.loss_traj_cls: 0.0591, d1.loss_traj: 6.4123, d2.loss_traj_cls: 0.0629, d2.loss_traj: 6.5050, d3.loss_traj_cls: 0.1085, d3.loss_traj: 6.4563, d4.loss_traj_cls: 0.0537, d4.loss_traj: 6.3455, d5.loss_traj_cls: 0.0584, d5.loss_traj: 6.3893, d0.loss_map_cls_all: 9.2928, d0.loss_map_pts_all: 5.1852, d0.loss_map_dir_all: 0.0953, d0.loss_map_cls: 9.2928, d0.loss_map_pts: 5.1852, d0.loss_map_dir: 0.0953, d1.loss_map_cls: 8.6647, d1.loss_map_pts: 5.2129, d1.loss_map_dir: 0.0953, d2.loss_map_cls: 9.2941, d2.loss_map_pts: 5.2506, d2.loss_map_dir: 0.0950, d3.loss_map_cls: 12.4936, d3.loss_map_pts: 5.2891, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 12.4865, d4.loss_map_pts: 5.3560, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 12.6998, d5.loss_map_pts: 5.4179, d5.loss_map_dir: 0.0951, loss: 4543.7510, grad_norm: inf 2026-02-26 12:09:09,108 - DriveTransformer - INFO - Epoch [1][700/39528] lr: 7.291e-05, eta: 8 days, 5:12:40, time: 0.721, data_time: 0.030, memory: 18742, loss_cls: 667.9465, loss_bbox: 1.6024, loss_traj: 6.9691, loss_traj_cls: 0.0913, loss_map_cls: 12.8058, loss_map_pts: 5.7416, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 13.0044, d0.loss_plan_l1_fix_dist: 3.3780, d1.loss_plan_l1_fix_time: 13.3275, d1.loss_plan_l1_fix_dist: 4.4337, d2.loss_plan_l1_fix_time: 13.6984, d2.loss_plan_l1_fix_dist: 6.2370, d3.loss_plan_l1_fix_time: 14.1639, d3.loss_plan_l1_fix_dist: 8.1594, d4.loss_plan_l1_fix_time: 14.5786, d4.loss_plan_l1_fix_dist: 10.9149, d5.loss_plan_l1_fix_time: 15.0488, d5.loss_plan_l1_fix_dist: 13.7569, d6.loss_plan_l1_fix_time: 15.4994, d6.loss_plan_l1_fix_dist: 16.4193, d0.loss_cls_all: 464.7471, d0.loss_bbox_all: 1.5826, d0.loss_cls: 464.7471, d0.loss_bbox: 1.5826, d1.loss_cls: 511.1522, d1.loss_bbox: 1.5393, d2.loss_cls: 510.5141, d2.loss_bbox: 1.6287, d3.loss_cls: 577.2896, d3.loss_bbox: 1.6114, d4.loss_cls: 541.1786, d4.loss_bbox: 1.5286, d5.loss_cls: 607.3203, d5.loss_bbox: 1.6145, d0.loss_traj_cls: 0.0738, d0.loss_traj: 6.9574, d1.loss_traj_cls: 0.0600, d1.loss_traj: 7.0107, d2.loss_traj_cls: 0.0608, d2.loss_traj: 7.0972, d3.loss_traj_cls: 0.1073, d3.loss_traj: 7.0299, d4.loss_traj_cls: 0.0509, d4.loss_traj: 6.9400, d5.loss_traj_cls: 0.0551, d5.loss_traj: 6.9675, d0.loss_map_cls_all: 9.5825, d0.loss_map_pts_all: 5.4918, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 9.5825, d0.loss_map_pts: 5.4918, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 8.9048, d1.loss_map_pts: 5.5143, d1.loss_map_dir: 0.0949, d2.loss_map_cls: 9.6375, d2.loss_map_pts: 5.5421, d2.loss_map_dir: 0.0946, d3.loss_map_cls: 13.0878, d3.loss_map_pts: 5.5758, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 12.9639, d4.loss_map_pts: 5.6351, d4.loss_map_dir: 0.0945, d5.loss_map_cls: 12.9957, d5.loss_map_pts: 5.6920, d5.loss_map_dir: 0.0946, loss: 4704.6797, grad_norm: inf 2026-02-26 12:09:47,320 - DriveTransformer - INFO - Epoch [1][750/39528] lr: 7.741e-05, eta: 8 days, 5:28:08, time: 0.764, data_time: 0.033, memory: 18742, loss_cls: 673.8481, loss_bbox: 1.6836, loss_traj: 5.6328, loss_traj_cls: 0.0993, loss_map_cls: 11.2466, loss_map_pts: 5.5845, loss_map_dir: 0.0946, d0.loss_plan_l1_fix_time: 11.4658, d0.loss_plan_l1_fix_dist: 3.3272, d1.loss_plan_l1_fix_time: 11.8537, d1.loss_plan_l1_fix_dist: 4.3393, d2.loss_plan_l1_fix_time: 12.2940, d2.loss_plan_l1_fix_dist: 6.0322, d3.loss_plan_l1_fix_time: 12.8325, d3.loss_plan_l1_fix_dist: 7.8938, d4.loss_plan_l1_fix_time: 13.3141, d4.loss_plan_l1_fix_dist: 10.5883, d5.loss_plan_l1_fix_time: 13.8592, d5.loss_plan_l1_fix_dist: 13.3819, d6.loss_plan_l1_fix_time: 14.3793, d6.loss_plan_l1_fix_dist: 16.0160, d0.loss_cls_all: 458.8747, d0.loss_bbox_all: 1.6245, d0.loss_cls: 458.8747, d0.loss_bbox: 1.6245, d1.loss_cls: 505.9637, d1.loss_bbox: 1.5936, d2.loss_cls: 506.3889, d2.loss_bbox: 1.6640, d3.loss_cls: 578.0331, d3.loss_bbox: 1.6544, d4.loss_cls: 544.7307, d4.loss_bbox: 1.5922, d5.loss_cls: 610.5817, d5.loss_bbox: 1.6856, d0.loss_traj_cls: 0.0731, d0.loss_traj: 5.6002, d1.loss_traj_cls: 0.0609, d1.loss_traj: 5.6539, d2.loss_traj_cls: 0.0626, d2.loss_traj: 5.7380, d3.loss_traj_cls: 0.1119, d3.loss_traj: 5.6877, d4.loss_traj_cls: 0.0540, d4.loss_traj: 5.5720, d5.loss_traj_cls: 0.0592, d5.loss_traj: 5.6196, d0.loss_map_cls_all: 8.3430, d0.loss_map_pts_all: 5.2634, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.3430, d0.loss_map_pts: 5.2634, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.7409, d1.loss_map_pts: 5.2950, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 8.4588, d2.loss_map_pts: 5.3346, d2.loss_map_dir: 0.0947, d3.loss_map_cls: 11.5069, d3.loss_map_pts: 5.3778, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 11.3764, d4.loss_map_pts: 5.4565, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 11.4457, d5.loss_map_pts: 5.5258, d5.loss_map_dir: 0.0947, loss: 4664.3412, grad_norm: inf 2026-02-26 12:10:24,627 - DriveTransformer - INFO - Epoch [1][800/39528] lr: 8.191e-05, eta: 8 days, 5:25:09, time: 0.748, data_time: 0.033, memory: 18742, loss_cls: 608.1146, loss_bbox: 1.6667, loss_traj: 5.4549, loss_traj_cls: 0.1027, loss_map_cls: 10.7395, loss_map_pts: 5.6216, loss_map_dir: 0.0944, d0.loss_plan_l1_fix_time: 13.6165, d0.loss_plan_l1_fix_dist: 3.4658, d1.loss_plan_l1_fix_time: 13.9393, d1.loss_plan_l1_fix_dist: 4.4959, d2.loss_plan_l1_fix_time: 14.3108, d2.loss_plan_l1_fix_dist: 6.3111, d3.loss_plan_l1_fix_time: 14.7807, d3.loss_plan_l1_fix_dist: 8.2200, d4.loss_plan_l1_fix_time: 15.1957, d4.loss_plan_l1_fix_dist: 11.0094, d5.loss_plan_l1_fix_time: 15.6836, d5.loss_plan_l1_fix_dist: 13.8697, d6.loss_plan_l1_fix_time: 16.1567, d6.loss_plan_l1_fix_dist: 16.5539, d0.loss_cls_all: 420.0294, d0.loss_bbox_all: 1.5916, d0.loss_cls: 420.0294, d0.loss_bbox: 1.5916, d1.loss_cls: 454.7071, d1.loss_bbox: 1.5608, d2.loss_cls: 454.8526, d2.loss_bbox: 1.6364, d3.loss_cls: 521.9671, d3.loss_bbox: 1.6353, d4.loss_cls: 488.7438, d4.loss_bbox: 1.6055, d5.loss_cls: 557.6325, d5.loss_bbox: 1.6680, d0.loss_traj_cls: 0.0730, d0.loss_traj: 5.4390, d1.loss_traj_cls: 0.0587, d1.loss_traj: 5.4850, d2.loss_traj_cls: 0.0632, d2.loss_traj: 5.5750, d3.loss_traj_cls: 0.1127, d3.loss_traj: 5.5231, d4.loss_traj_cls: 0.0553, d4.loss_traj: 5.4061, d5.loss_traj_cls: 0.0631, d5.loss_traj: 5.4479, d0.loss_map_cls_all: 8.1523, d0.loss_map_pts_all: 5.3300, d0.loss_map_dir_all: 0.0947, d0.loss_map_cls: 8.1523, d0.loss_map_pts: 5.3300, d0.loss_map_dir: 0.0947, d1.loss_map_cls: 7.4997, d1.loss_map_pts: 5.3584, d1.loss_map_dir: 0.0945, d2.loss_map_cls: 8.0211, d2.loss_map_pts: 5.3979, d2.loss_map_dir: 0.0944, d3.loss_map_cls: 10.8853, d3.loss_map_pts: 5.4335, d3.loss_map_dir: 0.0944, d4.loss_map_cls: 10.7638, d4.loss_map_pts: 5.5020, d4.loss_map_dir: 0.0943, d5.loss_map_cls: 10.9401, d5.loss_map_pts: 5.5656, d5.loss_map_dir: 0.0944, loss: 4264.9503, grad_norm: inf 2026-02-26 12:11:00,976 - DriveTransformer - INFO - Epoch [1][850/39528] lr: 8.641e-05, eta: 8 days, 5:01:57, time: 0.725, data_time: 0.030, memory: 18742, loss_cls: 620.8403, loss_bbox: 1.6828, loss_traj: 5.0516, loss_traj_cls: 0.0933, loss_map_cls: 9.9206, loss_map_pts: 5.2252, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 11.5544, d0.loss_plan_l1_fix_dist: 3.3848, d1.loss_plan_l1_fix_time: 11.9329, d1.loss_plan_l1_fix_dist: 4.4213, d2.loss_plan_l1_fix_time: 12.3734, d2.loss_plan_l1_fix_dist: 6.0805, d3.loss_plan_l1_fix_time: 12.9125, d3.loss_plan_l1_fix_dist: 7.9354, d4.loss_plan_l1_fix_time: 13.3885, d4.loss_plan_l1_fix_dist: 10.5474, d5.loss_plan_l1_fix_time: 13.9275, d5.loss_plan_l1_fix_dist: 13.2571, d6.loss_plan_l1_fix_time: 14.4324, d6.loss_plan_l1_fix_dist: 15.8244, d0.loss_cls_all: 419.4658, d0.loss_bbox_all: 1.6223, d0.loss_cls: 419.4658, d0.loss_bbox: 1.6223, d1.loss_cls: 464.2115, d1.loss_bbox: 1.5878, d2.loss_cls: 465.3743, d2.loss_bbox: 1.6753, d3.loss_cls: 529.2134, d3.loss_bbox: 1.6709, d4.loss_cls: 500.5231, d4.loss_bbox: 1.6110, d5.loss_cls: 561.2464, d5.loss_bbox: 1.6898, d0.loss_traj_cls: 0.0740, d0.loss_traj: 5.0375, d1.loss_traj_cls: 0.0603, d1.loss_traj: 5.0761, d2.loss_traj_cls: 0.0630, d2.loss_traj: 5.1560, d3.loss_traj_cls: 0.1102, d3.loss_traj: 5.1108, d4.loss_traj_cls: 0.0547, d4.loss_traj: 5.0001, d5.loss_traj_cls: 0.0573, d5.loss_traj: 5.0467, d0.loss_map_cls_all: 7.5712, d0.loss_map_pts_all: 4.9617, d0.loss_map_dir_all: 0.0951, d0.loss_map_cls: 7.5712, d0.loss_map_pts: 4.9617, d0.loss_map_dir: 0.0951, d1.loss_map_cls: 7.1508, d1.loss_map_pts: 4.9841, d1.loss_map_dir: 0.0950, d2.loss_map_cls: 7.6497, d2.loss_map_pts: 5.0160, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.1487, d3.loss_map_pts: 5.0503, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 9.9839, d4.loss_map_pts: 5.1149, d4.loss_map_dir: 0.0948, d5.loss_map_cls: 10.0916, d5.loss_map_pts: 5.1727, d5.loss_map_dir: 0.0948, loss: 4292.8001, grad_norm: inf 2026-02-26 12:11:37,789 - DriveTransformer - INFO - Epoch [1][900/39528] lr: 9.091e-05, eta: 8 days, 4:50:44, time: 0.736, data_time: 0.033, memory: 18742, loss_cls: 666.3874, loss_bbox: 1.6906, loss_traj: 5.3977, loss_traj_cls: 0.0873, loss_map_cls: 10.3745, loss_map_pts: 5.5749, loss_map_dir: 0.0949, d0.loss_plan_l1_fix_time: 11.0645, d0.loss_plan_l1_fix_dist: 3.4051, d1.loss_plan_l1_fix_time: 11.4678, d1.loss_plan_l1_fix_dist: 4.4278, d2.loss_plan_l1_fix_time: 11.9266, d2.loss_plan_l1_fix_dist: 6.1301, d3.loss_plan_l1_fix_time: 12.4722, d3.loss_plan_l1_fix_dist: 7.9294, d4.loss_plan_l1_fix_time: 12.9645, d4.loss_plan_l1_fix_dist: 10.5263, d5.loss_plan_l1_fix_time: 13.5227, d5.loss_plan_l1_fix_dist: 13.2787, d6.loss_plan_l1_fix_time: 14.0512, d6.loss_plan_l1_fix_dist: 15.8574, d0.loss_cls_all: 455.6788, d0.loss_bbox_all: 1.6361, d0.loss_cls: 455.6788, d0.loss_bbox: 1.6361, d1.loss_cls: 506.1214, d1.loss_bbox: 1.5958, d2.loss_cls: 507.9320, d2.loss_bbox: 1.6742, d3.loss_cls: 578.6376, d3.loss_bbox: 1.6650, d4.loss_cls: 541.4050, d4.loss_bbox: 1.5992, d5.loss_cls: 604.3815, d5.loss_bbox: 1.6980, d0.loss_traj_cls: 0.0747, d0.loss_traj: 5.3722, d1.loss_traj_cls: 0.0608, d1.loss_traj: 5.4246, d2.loss_traj_cls: 0.0621, d2.loss_traj: 5.5175, d3.loss_traj_cls: 0.1053, d3.loss_traj: 5.4636, d4.loss_traj_cls: 0.0508, d4.loss_traj: 5.3459, d5.loss_traj_cls: 0.0538, d5.loss_traj: 5.3874, d0.loss_map_cls_all: 7.7114, d0.loss_map_pts_all: 5.2597, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 7.7114, d0.loss_map_pts: 5.2597, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.1334, d1.loss_map_pts: 5.2882, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 7.7375, d2.loss_map_pts: 5.3281, d2.loss_map_dir: 0.0949, d3.loss_map_cls: 10.4255, d3.loss_map_pts: 5.3717, d3.loss_map_dir: 0.0949, d4.loss_map_cls: 10.4287, d4.loss_map_pts: 5.4456, d4.loss_map_dir: 0.0949, d5.loss_map_cls: 10.5788, d5.loss_map_pts: 5.5143, d5.loss_map_dir: 0.0949, loss: 4632.7490, grad_norm: inf 2026-02-26 12:12:12,670 - DriveTransformer - INFO - Epoch [1][950/39528] lr: 9.541e-05, eta: 8 days, 4:08:28, time: 0.698, data_time: 0.030, memory: 18742, loss_cls: 684.0338, loss_bbox: 1.6499, loss_traj: 5.8801, loss_traj_cls: 0.0945, loss_map_cls: 10.9048, loss_map_pts: 5.2393, loss_map_dir: 0.0950, d0.loss_plan_l1_fix_time: 12.8412, d0.loss_plan_l1_fix_dist: 3.2161, d1.loss_plan_l1_fix_time: 13.1494, d1.loss_plan_l1_fix_dist: 4.3089, d2.loss_plan_l1_fix_time: 13.5142, d2.loss_plan_l1_fix_dist: 6.0591, d3.loss_plan_l1_fix_time: 13.9808, d3.loss_plan_l1_fix_dist: 7.9366, d4.loss_plan_l1_fix_time: 14.3965, d4.loss_plan_l1_fix_dist: 10.5595, d5.loss_plan_l1_fix_time: 14.8828, d5.loss_plan_l1_fix_dist: 13.2854, d6.loss_plan_l1_fix_time: 15.3535, d6.loss_plan_l1_fix_dist: 15.8585, d0.loss_cls_all: 473.7187, d0.loss_bbox_all: 1.6239, d0.loss_cls: 473.7187, d0.loss_bbox: 1.6239, d1.loss_cls: 513.1382, d1.loss_bbox: 1.5875, d2.loss_cls: 520.5604, d2.loss_bbox: 1.6748, d3.loss_cls: 594.5362, d3.loss_bbox: 1.6578, d4.loss_cls: 554.3754, d4.loss_bbox: 1.5806, d5.loss_cls: 622.0882, d5.loss_bbox: 1.6669, d0.loss_traj_cls: 0.0754, d0.loss_traj: 5.8579, d1.loss_traj_cls: 0.0621, d1.loss_traj: 5.9070, d2.loss_traj_cls: 0.0641, d2.loss_traj: 5.9842, d3.loss_traj_cls: 0.1118, d3.loss_traj: 5.9326, d4.loss_traj_cls: 0.0547, d4.loss_traj: 5.8529, d5.loss_traj_cls: 0.0588, d5.loss_traj: 5.8902, d0.loss_map_cls_all: 8.1875, d0.loss_map_pts_all: 4.9870, d0.loss_map_dir_all: 0.0952, d0.loss_map_cls: 8.1875, d0.loss_map_pts: 4.9870, d0.loss_map_dir: 0.0952, d1.loss_map_cls: 7.7025, d1.loss_map_pts: 5.0087, d1.loss_map_dir: 0.0951, d2.loss_map_cls: 8.2463, d2.loss_map_pts: 5.0438, d2.loss_map_dir: 0.0951, d3.loss_map_cls: 11.0691, d3.loss_map_pts: 5.0823, d3.loss_map_dir: 0.0951, d4.loss_map_cls: 11.0554, d4.loss_map_pts: 5.1394, d4.loss_map_dir: 0.0950, d5.loss_map_cls: 11.1258, d5.loss_map_pts: 5.1873, d5.loss_map_dir: 0.0949, loss: 4768.3179, grad_norm: inf 2026-02-26 12:12:49,286 - DriveTransformer - INFO - Exp name: drivetransformer_goalpoint_1gpu.py 2026-02-26 12:12:49,286 - DriveTransformer - INFO - Epoch [1][1000/39528] lr: 9.991e-05, eta: 8 days, 3:57:49, time: 0.732, data_time: 0.031, memory: 18742, loss_cls: 721.0938, loss_bbox: 1.6791, loss_traj: 5.4591, loss_traj_cls: 0.0934, loss_map_cls: 9.7593, loss_map_pts: 5.3589, loss_map_dir: 0.0945, d0.loss_plan_l1_fix_time: 12.8332, d0.loss_plan_l1_fix_dist: 3.3264, d1.loss_plan_l1_fix_time: 13.1324, d1.loss_plan_l1_fix_dist: 4.4145, d2.loss_plan_l1_fix_time: 13.4871, d2.loss_plan_l1_fix_dist: 6.0714, d3.loss_plan_l1_fix_time: 13.9422, d3.loss_plan_l1_fix_dist: 7.8809, d4.loss_plan_l1_fix_time: 14.3377, d4.loss_plan_l1_fix_dist: 10.4387, d5.loss_plan_l1_fix_time: 14.8085, d5.loss_plan_l1_fix_dist: 13.1393, d6.loss_plan_l1_fix_time: 15.2626, d6.loss_plan_l1_fix_dist: 15.6912, d0.loss_cls_all: 492.7942, d0.loss_bbox_all: 1.6165, d0.loss_cls: 492.7942, d0.loss_bbox: 1.6165, d1.loss_cls: 546.7348, d1.loss_bbox: 1.5823, d2.loss_cls: 542.1060, d2.loss_bbox: 1.6618, d3.loss_cls: 616.9660, d3.loss_bbox: 1.6559, d4.loss_cls: 583.0324, d4.loss_bbox: 1.6007, d5.loss_cls: 654.0646, d5.loss_bbox: 1.6833, d0.loss_traj_cls: 0.0738, d0.loss_traj: 5.4460, d1.loss_traj_cls: 0.0611, d1.loss_traj: 5.4898, d2.loss_traj_cls: 0.0636, d2.loss_traj: 5.5604, d3.loss_traj_cls: 0.1066, d3.loss_traj: 5.5162, d4.loss_traj_cls: 0.0529, d4.loss_traj: 5.4228, d5.loss_traj_cls: 0.0572, d5.loss_traj: 5.4581, d0.loss_map_cls_all: 7.2452, d0.loss_map_pts_all: 5.0285, d0.loss_map_dir_all: 0.0948, d0.loss_map_cls: 7.2452, d0.loss_map_pts: 5.0285, d0.loss_map_dir: 0.0948, d1.loss_map_cls: 6.7936, d1.loss_map_pts: 5.0581, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 7.3864, d2.loss_map_pts: 5.0991, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.8967, d3.loss_map_pts: 5.1404, d3.loss_map_dir: 0.0946, d4.loss_map_cls: 9.8438, d4.loss_map_pts: 5.2151, d4.loss_map_dir: 0.0946, d5.loss_map_cls: 9.8746, d5.loss_map_pts: 5.2886, d5.loss_map_dir: 0.0945, loss: 4970.3288, grad_norm: inf 2026-02-26 12:13:26,779 - DriveTransformer - INFO - Epoch [1][1050/39528] lr: 1.000e-04, eta: 8 days, 4:01:24, time: 0.750, data_time: 0.034, memory: 18742, loss_cls: 622.7136, loss_bbox: 1.6844, loss_traj: 5.6764, loss_traj_cls: 0.0903, loss_map_cls: 9.1549, loss_map_pts: 5.5331, loss_map_dir: 0.0947, d0.loss_plan_l1_fix_time: 12.5658, d0.loss_plan_l1_fix_dist: 3.4335, d1.loss_plan_l1_fix_time: 12.8848, d1.loss_plan_l1_fix_dist: 4.4804, d2.loss_plan_l1_fix_time: 13.2674, d2.loss_plan_l1_fix_dist: 6.1356, d3.loss_plan_l1_fix_time: 13.7486, d3.loss_plan_l1_fix_dist: 7.9757, d4.loss_plan_l1_fix_time: 14.1947, d4.loss_plan_l1_fix_dist: 10.6058, d5.loss_plan_l1_fix_time: 14.7046, d5.loss_plan_l1_fix_dist: 13.3267, d6.loss_plan_l1_fix_time: 15.1850, d6.loss_plan_l1_fix_dist: 15.9267, d0.loss_cls_all: 421.7236, d0.loss_bbox_all: 1.6087, d0.loss_cls: 421.7236, d0.loss_bbox: 1.6087, d1.loss_cls: 468.9223, d1.loss_bbox: 1.5776, d2.loss_cls: 471.0390, d2.loss_bbox: 1.6610, d3.loss_cls: 527.7199, d3.loss_bbox: 1.6524, d4.loss_cls: 500.7674, d4.loss_bbox: 1.5977, d5.loss_cls: 562.6908, d5.loss_bbox: 1.6877, d0.loss_traj_cls: 0.0727, d0.loss_traj: 5.6659, d1.loss_traj_cls: 0.0605, d1.loss_traj: 5.7106, d2.loss_traj_cls: 0.0603, d2.loss_traj: 5.7855, d3.loss_traj_cls: 0.1056, d3.loss_traj: 5.7338, d4.loss_traj_cls: 0.0508, d4.loss_traj: 5.6267, d5.loss_traj_cls: 0.0538, d5.loss_traj: 5.6694, d0.loss_map_cls_all: 6.8675, d0.loss_map_pts_all: 5.2229, d0.loss_map_dir_all: 0.0947, d0.loss_map_cls: 6.8675, d0.loss_map_pts: 5.2229, d0.loss_map_dir: 0.0947, d1.loss_map_cls: 6.3211, d1.loss_map_pts: 5.2511, d1.loss_map_dir: 0.0946, d2.loss_map_cls: 6.8859, d2.loss_map_pts: 5.2910, d2.loss_map_dir: 0.0945, d3.loss_map_cls: 9.3128, d3.loss_map_pts: 5.3319, d3.loss_map_dir: 0.0947, d4.loss_map_cls: 9.3181, d4.loss_map_pts: 5.4026, d4.loss_map_dir: 0.0947, d5.loss_map_cls: 9.3186, d5.loss_map_pts: 5.4708, d5.loss_map_dir: 0.0947, loss: 4316.7058, grad_norm: inf _v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.1.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_q.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.temporal_cross_attention_layers.2.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_k.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.w_v.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.sensor_cross_attentions.0.proj.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.cross_w_q.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.0.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.1.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.weight - torch.Size([2736, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w12.bias - torch.Size([2736]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.weight - torch.Size([512, 1368]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.swiglu.w3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.transformer.decoder.layers.5.ffns.0.2.prenorm.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.0.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.0.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.0.5.weight - torch.Size([9, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.1.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.1.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.1.5.weight - torch.Size([9, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.2.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.2.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.2.5.weight - torch.Size([9, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.3.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.3.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.3.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.3.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.3.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.3.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.3.5.weight - torch.Size([9, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.4.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.4.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.4.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.4.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.4.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.4.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.4.5.weight - torch.Size([9, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.5.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.5.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.5.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.5.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.5.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.5.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.5.5.weight - torch.Size([9, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.6.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.6.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.6.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.6.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.6.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.6.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.cls_branches.6.5.weight - torch.Size([9, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.0.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.0.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.0.5.weight - torch.Size([10, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.0.5.bias - torch.Size([10]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.1.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.1.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.1.5.weight - torch.Size([10, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.1.5.bias - torch.Size([10]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.2.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.2.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.2.5.weight - torch.Size([10, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.2.5.bias - torch.Size([10]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.3.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.3.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.3.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.3.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.3.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.3.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.3.5.weight - torch.Size([10, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.3.5.bias - torch.Size([10]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.4.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.4.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.4.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.4.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.4.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.4.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.4.5.weight - torch.Size([10, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.4.5.bias - torch.Size([10]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.5.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.5.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.5.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.5.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.5.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.5.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.5.5.weight - torch.Size([10, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.5.5.bias - torch.Size([10]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.6.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.6.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.6.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.6.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.6.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.6.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.6.5.weight - torch.Size([10, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.reg_branches.6.5.bias - torch.Size([10]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.0.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.0.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.0.5.weight - torch.Size([12, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.0.5.bias - torch.Size([12]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.1.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.1.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.1.5.weight - torch.Size([12, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.1.5.bias - torch.Size([12]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.2.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.2.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.2.5.weight - torch.Size([12, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.2.5.bias - torch.Size([12]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.3.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.3.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.3.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.3.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.3.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.3.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.3.5.weight - torch.Size([12, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.3.5.bias - torch.Size([12]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.4.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.4.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.4.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.4.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.4.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.4.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.4.5.weight - torch.Size([12, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.4.5.bias - torch.Size([12]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.5.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.5.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.5.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.5.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.5.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.5.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.5.5.weight - torch.Size([12, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.5.5.bias - torch.Size([12]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.6.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.6.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.6.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.6.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.6.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.6.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.6.5.weight - torch.Size([12, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_branches.6.5.bias - torch.Size([12]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.0.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.0.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.0.5.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.0.5.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.0.6.weight - torch.Size([1, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.1.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.1.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.1.5.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.1.5.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.1.6.weight - torch.Size([1, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.2.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.2.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.2.5.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.2.5.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.2.6.weight - torch.Size([1, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.3.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.3.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.3.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.3.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.3.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.3.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.3.5.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.3.5.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.3.6.weight - torch.Size([1, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.4.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.4.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.4.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.4.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.4.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.4.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.4.5.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.4.5.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.4.6.weight - torch.Size([1, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.5.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.5.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.5.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.5.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.5.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.5.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.5.5.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.5.5.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.5.6.weight - torch.Size([1, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.6.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.6.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.6.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.6.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.6.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.6.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.6.5.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.6.5.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.traj_cls_branches.6.6.weight - torch.Size([1, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.0.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.0.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.0.5.weight - torch.Size([6, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.1.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.1.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.1.5.weight - torch.Size([6, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.2.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.2.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.2.5.weight - torch.Size([6, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.3.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.3.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.3.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.3.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.3.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.3.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.3.5.weight - torch.Size([6, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.4.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.4.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.4.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.4.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.4.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.4.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.4.5.weight - torch.Size([6, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.5.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.5.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.5.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.5.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.5.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.5.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.5.5.weight - torch.Size([6, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.6.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.6.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.6.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.6.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.6.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.6.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_cls_branches.6.5.weight - torch.Size([6, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.0.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.0.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.0.5.weight - torch.Size([2, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.0.5.bias - torch.Size([2]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.1.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.1.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.1.5.weight - torch.Size([2, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.1.5.bias - torch.Size([2]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.2.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.2.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.2.5.weight - torch.Size([2, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.2.5.bias - torch.Size([2]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.3.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.3.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.3.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.3.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.3.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.3.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.3.5.weight - torch.Size([2, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.3.5.bias - torch.Size([2]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.4.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.4.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.4.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.4.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.4.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.4.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.4.5.weight - torch.Size([2, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.4.5.bias - torch.Size([2]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.5.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.5.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.5.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.5.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.5.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.5.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.5.5.weight - torch.Size([2, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.5.5.bias - torch.Size([2]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.6.weight - torch.Size([40, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.map_reg_branches.6.bias - torch.Size([40]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.0.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.0.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.0.5.weight - torch.Size([20, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.0.5.bias - torch.Size([20]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.1.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.1.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.1.5.weight - torch.Size([20, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.1.5.bias - torch.Size([20]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.2.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.2.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.2.5.weight - torch.Size([20, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.2.5.bias - torch.Size([20]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.3.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.3.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.3.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.3.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.3.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.3.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.3.5.weight - torch.Size([20, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.3.5.bias - torch.Size([20]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.4.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.4.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.4.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.4.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.4.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.4.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.4.5.weight - torch.Size([20, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.4.5.bias - torch.Size([20]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.5.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.5.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.5.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.5.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.5.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.5.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.5.5.weight - torch.Size([20, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.5.5.bias - torch.Size([20]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.6.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.6.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.6.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.6.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.6.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.6.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.6.5.weight - torch.Size([20, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_dist.6.5.bias - torch.Size([20]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.0.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.0.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.0.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.0.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.0.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.0.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.0.5.weight - torch.Size([60, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.0.5.bias - torch.Size([60]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.1.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.1.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.1.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.1.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.1.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.1.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.1.5.weight - torch.Size([60, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.1.5.bias - torch.Size([60]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.2.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.2.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.2.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.2.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.2.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.2.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.2.5.weight - torch.Size([60, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.2.5.bias - torch.Size([60]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.3.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.3.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.3.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.3.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.3.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.3.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.3.5.weight - torch.Size([60, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.3.5.bias - torch.Size([60]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.4.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.4.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.4.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.4.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.4.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.4.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.4.5.weight - torch.Size([60, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.4.5.bias - torch.Size([60]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.5.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.5.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.5.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.5.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.5.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.5.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.5.5.weight - torch.Size([60, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.5.5.bias - torch.Size([60]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.6.0.weight - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.6.0.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.6.1.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.6.1.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.6.3.weight - torch.Size([512, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.6.3.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.6.5.weight - torch.Size([60, 512]): The value is the same before and after calling `init_weights` of DriveTransformer pts_bbox_head.ego_traj_branches_fix_time.6.5.bias - torch.Size([60]): The value is the same before and after calling `init_weights` of DriveTransformer img_backbone.conv1.weight - torch.Size([64, 3, 7, 7]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.bn1.weight - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.bn1.bias - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.conv1.weight - torch.Size([64, 64, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.bn1.weight - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.bn1.bias - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.conv2.weight - torch.Size([64, 64, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.bn2.weight - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.bn2.bias - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.conv3.weight - torch.Size([256, 64, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.bn3.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.bn3.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.downsample.0.weight - torch.Size([256, 64, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.downsample.1.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.0.downsample.1.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.1.conv1.weight - torch.Size([64, 256, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.1.bn1.weight - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.1.bn1.bias - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.1.conv2.weight - torch.Size([64, 64, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.1.bn2.weight - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.1.bn2.bias - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.1.conv3.weight - torch.Size([256, 64, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.1.bn3.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.1.bn3.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.2.conv1.weight - torch.Size([64, 256, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.2.bn1.weight - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.2.bn1.bias - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.2.conv2.weight - torch.Size([64, 64, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.2.bn2.weight - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.2.bn2.bias - torch.Size([64]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.2.conv3.weight - torch.Size([256, 64, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.2.bn3.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer1.2.bn3.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.conv1.weight - torch.Size([128, 256, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.bn1.weight - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.bn1.bias - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.conv2.weight - torch.Size([128, 128, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.bn2.weight - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.bn2.bias - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.conv3.weight - torch.Size([512, 128, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.bn3.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.bn3.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.downsample.0.weight - torch.Size([512, 256, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.downsample.1.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.0.downsample.1.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.1.conv1.weight - torch.Size([128, 512, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.1.bn1.weight - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.1.bn1.bias - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.1.conv2.weight - torch.Size([128, 128, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.1.bn2.weight - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.1.bn2.bias - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.1.conv3.weight - torch.Size([512, 128, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.1.bn3.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.1.bn3.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.2.conv1.weight - torch.Size([128, 512, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.2.bn1.weight - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.2.bn1.bias - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.2.conv2.weight - torch.Size([128, 128, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.2.bn2.weight - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.2.bn2.bias - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.2.conv3.weight - torch.Size([512, 128, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.2.bn3.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.2.bn3.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.3.conv1.weight - torch.Size([128, 512, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.3.bn1.weight - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.3.bn1.bias - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.3.conv2.weight - torch.Size([128, 128, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.3.bn2.weight - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.3.bn2.bias - torch.Size([128]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.3.conv3.weight - torch.Size([512, 128, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.3.bn3.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer2.3.bn3.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.conv1.weight - torch.Size([256, 512, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.bn1.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.bn1.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.conv2.weight - torch.Size([256, 256, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.bn2.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.bn2.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.conv3.weight - torch.Size([1024, 256, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.bn3.weight - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.bn3.bias - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.downsample.0.weight - torch.Size([1024, 512, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.downsample.1.weight - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.0.downsample.1.bias - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.1.conv1.weight - torch.Size([256, 1024, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.1.bn1.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.1.bn1.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.1.conv2.weight - torch.Size([256, 256, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.1.bn2.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.1.bn2.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.1.conv3.weight - torch.Size([1024, 256, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.1.bn3.weight - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.1.bn3.bias - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.2.conv1.weight - torch.Size([256, 1024, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.2.bn1.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.2.bn1.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.2.conv2.weight - torch.Size([256, 256, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.2.bn2.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.2.bn2.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.2.conv3.weight - torch.Size([1024, 256, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.2.bn3.weight - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.2.bn3.bias - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.3.conv1.weight - torch.Size([256, 1024, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.3.bn1.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.3.bn1.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.3.conv2.weight - torch.Size([256, 256, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.3.bn2.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.3.bn2.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.3.conv3.weight - torch.Size([1024, 256, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.3.bn3.weight - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.3.bn3.bias - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.4.conv1.weight - torch.Size([256, 1024, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.4.bn1.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.4.bn1.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.4.conv2.weight - torch.Size([256, 256, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.4.bn2.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.4.bn2.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.4.conv3.weight - torch.Size([1024, 256, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.4.bn3.weight - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.4.bn3.bias - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.5.conv1.weight - torch.Size([256, 1024, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.5.bn1.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.5.bn1.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.5.conv2.weight - torch.Size([256, 256, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.5.bn2.weight - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.5.bn2.bias - torch.Size([256]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.5.conv3.weight - torch.Size([1024, 256, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.5.bn3.weight - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer3.5.bn3.bias - torch.Size([1024]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.conv1.weight - torch.Size([512, 1024, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.bn1.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.bn1.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.conv2.weight - torch.Size([512, 512, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.bn2.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.bn2.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.conv3.weight - torch.Size([2048, 512, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.bn3.weight - torch.Size([2048]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.bn3.bias - torch.Size([2048]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.downsample.0.weight - torch.Size([2048, 1024, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.downsample.1.weight - torch.Size([2048]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.0.downsample.1.bias - torch.Size([2048]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.1.conv1.weight - torch.Size([512, 2048, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.1.bn1.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.1.bn1.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.1.conv2.weight - torch.Size([512, 512, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.1.bn2.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.1.bn2.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.1.conv3.weight - torch.Size([2048, 512, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.1.bn3.weight - torch.Size([2048]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.1.bn3.bias - torch.Size([2048]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.2.conv1.weight - torch.Size([512, 2048, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.2.bn1.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.2.bn1.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.2.conv2.weight - torch.Size([512, 512, 3, 3]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.2.bn2.weight - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.2.bn2.bias - torch.Size([512]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.2.conv3.weight - torch.Size([2048, 512, 1, 1]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.2.bn3.weight - torch.Size([2048]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_backbone.layer4.2.bn3.bias - torch.Size([2048]): PretrainedInit: load from ./ckpts/resnet50-19c8e357.pth img_neck.lateral_convs.0.conv.weight - torch.Size([512, 2048, 1, 1]): XavierInit: gain=1, distribution=uniform, bias=0 img_neck.lateral_convs.0.conv.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer img_neck.fpn_convs.0.conv.weight - torch.Size([512, 512, 3, 3]): XavierInit: gain=1, distribution=uniform, bias=0 img_neck.fpn_convs.0.conv.bias - torch.Size([512]): The value is the same before and after calling `init_weights` of DriveTransformer