Hugging Face's logo

ilessio-aiflowlab
/
project_thor

Robotics
PyTorch
ONNX
English
visual-slam
anima
thor
robot-flow-labs
pose-estimation
pointmap
computer-vision
slam
monocular-slam
Model card Files
xet
 Community
ilessio-aiflowlab commited on
Commit
79461a8
·
verified ·
1 Parent(s): 2d398bf

Upload folder using huggingface_hub

Browse files
Files changed (9) hide show
  1. .gitattributes +2 -0
  2. README.md +125 -0
  3. configs/training.toml +55 -0
  4. logs/training_history.json +2802 -0
  5. onnx/thor_sta_v1.onnx +3 -0
  6. pytorch/thor_sta_v1.pth +3 -0
  7. pytorch/thor_sta_v1.safetensors +3 -0
  8. tensorrt/thor_sta_v1_fp16.trt +3 -0
  9. tensorrt/thor_sta_v1_fp32.trt +3 -0
.gitattributes CHANGED
@@ -33,3 +33,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
33
  *.zip filter=lfs diff=lfs merge=lfs -text
34
  *.zst filter=lfs diff=lfs merge=lfs -text
35
  *tfevents* filter=lfs diff=lfs merge=lfs -text
 
 
 
33
  *.zip filter=lfs diff=lfs merge=lfs -text
34
  *.zst filter=lfs diff=lfs merge=lfs -text
35
  *tfevents* filter=lfs diff=lfs merge=lfs -text
36
+ tensorrt/thor_sta_v1_fp16.trt filter=lfs diff=lfs merge=lfs -text
37
+ tensorrt/thor_sta_v1_fp32.trt filter=lfs diff=lfs merge=lfs -text
README.md ADDED
@@ -0,0 +1,125 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ---
2
+ language: en
3
+ license: mit
4
+ tags:
5
+ - visual-slam
6
+ - robotics
7
+ - pose-estimation
8
+ - pointmap
9
+ - computer-vision
10
+ library_name: pytorch
11
+ ---
12
+
13
+ # THOR — ViSTA-SLAM STA Model
14
+
15
+ **Project THOR** is ANIMA Wave-6's Tier-1 Foundation SLAM module, implementing the
16
+ **Symmetric Two-view Association (STA)** frontend from the ViSTA-SLAM paper.
17
+
18
+ ## Paper
19
+
20
+ - **Title**: ViSTA-SLAM: Visual SLAM with Symmetric Two-view Association
21
+ - **Authors**: Ganlin Zhang, Shenhan Qian, Xi Wang, Daniel Cremers
22
+ - **arXiv**: [2509.01584](https://arxiv.org/abs/2509.01584)
23
+ - **Published**: 1 September 2025
24
+
25
+ ## Model Summary
26
+
27
+ | Property | Value |
28
+ |---|---|
29
+ | Input | Two RGB frames — `(B, 3, 224, 224)` each |
30
+ | Output | Quaternion `(B,4)`, Translation `(B,3)`, Pointmap `(B,H,W,3)` |
31
+ | Parameters | ~35% fewer than SOTA SLAM frontends |
32
+ | Intrinsics | None required — intrinsic-free design |
33
+ | Checkpoint epoch | 198 |
34
+ | Best val loss | 0.782216 |
35
+
36
+ ## Architecture
37
+
38
+ The STA model uses a **symmetric encoder** that processes two consecutive RGB frames
39
+ through shared weights, producing:
40
+
41
+ 1. **Pose head** — relative SE(3) camera transformation (quaternion + translation)
42
+ 2. **Pointmap head** — dense local 3D pointmap in normalised image coordinates
43
+
44
+ A Sim(3) pose graph backend handles global consistency and scale-drift correction.
45
+
46
+ ## Usage
47
+
48
+ ```python
49
+ import torch
50
+ from anima_thor.models.sta_model import STAConfig, STAModel
51
+
52
+ # Load from this repository
53
+ config = STAConfig()
54
+ model = STAModel(config)
55
+
56
+ ckpt = torch.load("pytorch/thor_sta_v1.pth", map_location="cpu", weights_only=False)
57
+ model.load_state_dict(ckpt["model"])
58
+ model.eval()
59
+
60
+ # Inference
61
+ img_a = torch.randn(1, 3, 224, 224) # current frame
62
+ img_b = torch.randn(1, 3, 224, 224) # previous frame
63
+
64
+ with torch.no_grad():
65
+ output = model(img_a, img_b)
66
+
67
+ print(output.quaternion.shape) # (1, 4)
68
+ print(output.translation.shape) # (1, 3)
69
+ print(output.pointmap.shape) # (1, H, W, 3)
70
+ ```
71
+
72
+ ### ONNX inference
73
+
74
+ ```python
75
+ import onnxruntime as ort
76
+ import numpy as np
77
+
78
+ sess = ort.InferenceSession(
79
+ "onnx/thor_sta_v1.onnx",
80
+ providers=["CUDAExecutionProvider", "CPUExecutionProvider"],
81
+ )
82
+
83
+ img_a = np.random.randn(1, 3, 224, 224).astype(np.float32)
84
+ img_b = np.random.randn(1, 3, 224, 224).astype(np.float32)
85
+
86
+ quaternion, translation, pointmap = sess.run(
87
+ None, {"img_a": img_a, "img_b": img_b}
88
+ )
89
+ ```
90
+
91
+ ## Downstream Contracts (ANIMA Wave-6)
92
+
93
+ | Module | Dependency | Topic |
94
+ |---|---|---|
95
+ | BALDUR | Semantic mapping | Pointmap → voxel grid |
96
+ | HEIMDALL | Hierarchical planning | Pose stream @ 30 Hz |
97
+ | HERMOD | Exploration | Coverage map |
98
+
99
+ ## Files
100
+
101
+ ```
102
+ README.md # This file
103
+ pytorch/thor_sta_v1.pth # PyTorch state dict
104
+ pytorch/thor_sta_v1.safetensors # SafeTensors (if exported)
105
+ onnx/thor_sta_v1.onnx # ONNX opset 17
106
+ tensorrt/thor_sta_v1_fp16.trt # TensorRT FP16 (if exported)
107
+ tensorrt/thor_sta_v1_fp32.trt # TensorRT FP32 (if exported)
108
+ configs/training.toml # Training configuration
109
+ logs/training_history.json # Epoch-by-epoch metrics
110
+ ```
111
+
112
+ ## Citation
113
+
114
+ ```bibtex
115
+ @article{zhang2025vistaslam,
116
+ title = {ViSTA-SLAM: Visual SLAM with Symmetric Two-view Association},
117
+ author = {Zhang, Ganlin and Qian, Shenhan and Wang, Xi and Cremers, Daniel},
118
+ journal = {arXiv preprint arXiv:2509.01584},
119
+ year = {2025},
120
+ }
121
+ ```
122
+
123
+ ## License
124
+
125
+ MIT License — see [LICENSE](https://github.com/zhangganlin/vista-slam/blob/main/LICENSE).
configs/training.toml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # THOR default configuration
2
+ # Maps to ThorConfig in src/anima_thor/config.py
3
+ # Override any value with environment variables: THOR_<FIELD>=value
4
+ # For nested fields use double underscore: THOR_STA__ENCODER_CHANNELS=256
5
+
6
+ [thor]
7
+ device = "cpu"
8
+ batch_size = 1
9
+ log_level = "INFO"
10
+ seed = 42
11
+ num_workers = 4
12
+
13
+ [thor.sta]
14
+ encoder_channels = 128
15
+ encoder_depth = 4
16
+ pose_head_hidden = 256
17
+ pointmap_head_hidden = 256
18
+ input_height = 480
19
+ input_width = 640
20
+ pointmap_channels = 3
21
+ checkpoint_path = ""
22
+ half_precision = false
23
+ compile_model = false
24
+
25
+ [thor.pose_graph]
26
+ max_keyframes = 1000
27
+ keyframe_translation_threshold = 0.05
28
+ keyframe_rotation_threshold = 0.05
29
+ local_window_size = 10
30
+ use_sim3 = true
31
+ information_matrix_weight = 1.0
32
+
33
+ [thor.loop_closure]
34
+ enabled = true
35
+ descriptor_dim = 256
36
+ min_temporal_gap = 30
37
+ similarity_threshold = 0.85
38
+ geometric_inlier_ratio = 0.4
39
+ max_candidates_per_frame = 5
40
+
41
+ [thor.reconstruction]
42
+ voxel_size = 0.02
43
+ max_depth = 10.0
44
+ min_depth = 0.1
45
+ publish_every_n_frames = 5
46
+ export_format = "ply"
47
+
48
+ [thor.ros2]
49
+ enabled = false
50
+ pose_topic = "/thor/pose"
51
+ pointmap_topic = "/thor/pointmap"
52
+ pose_graph_topic = "/thor/pose_graph"
53
+ frame_id = "world"
54
+ queue_size = 10
55
+ publish_rate_hz = 30.0
logs/training_history.json ADDED
@@ -0,0 +1,2802 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ [
2
+ {
3
+ "epoch": 1,
4
+ "train_loss": 2.8586218243553523,
5
+ "val_loss": 2.6404526233673096,
6
+ "lr": 1.5e-06,
7
+ "timestamp": "2026-04-02T18:43:44",
8
+ "train_loss_pointmap": 1.1246295542944045,
9
+ "train_loss_pose": 0.08823804592802412,
10
+ "train_loss_reproj": 1.6457542521612984,
11
+ "val_loss_pointmap": 1.0470088720321655,
12
+ "val_loss_pose": 0.05275406874716282,
13
+ "val_loss_reproj": 1.5406897068023682,
14
+ "epoch_time_s": 62.07
15
+ },
16
+ {
17
+ "epoch": 2,
18
+ "train_loss": 2.7185910656338645,
19
+ "val_loss": 2.6530208587646484,
20
+ "lr": 3e-06,
21
+ "timestamp": "2026-04-02T18:44:44",
22
+ "train_loss_pointmap": 1.1151512463887532,
23
+ "train_loss_pose": 0.07780242285558156,
24
+ "train_loss_reproj": 1.5256374052592687,
25
+ "val_loss_pointmap": 1.0666760206222534,
26
+ "val_loss_pose": 0.08332239836454391,
27
+ "val_loss_reproj": 1.5030224919319153,
28
+ "epoch_time_s": 60.13
29
+ },
30
+ {
31
+ "epoch": 3,
32
+ "train_loss": 2.636932759057908,
33
+ "val_loss": 2.5609328746795654,
34
+ "lr": 4.5e-06,
35
+ "timestamp": "2026-04-02T18:45:44",
36
+ "train_loss_pointmap": 1.1005788360323225,
37
+ "train_loss_pose": 0.0744807209287371,
38
+ "train_loss_reproj": 1.4618732191267467,
39
+ "val_loss_pointmap": 1.0717848539352417,
40
+ "val_loss_pose": 0.07181531563401222,
41
+ "val_loss_reproj": 1.417332649230957,
42
+ "epoch_time_s": 59.63
43
+ },
44
+ {
45
+ "epoch": 4,
46
+ "train_loss": 2.552794933319092,
47
+ "val_loss": 2.4358350038528442,
48
+ "lr": 6e-06,
49
+ "timestamp": "2026-04-02T18:46:44",
50
+ "train_loss_pointmap": 1.0764982473282587,
51
+ "train_loss_pose": 0.06892268146787371,
52
+ "train_loss_reproj": 1.4073740073612757,
53
+ "val_loss_pointmap": 1.0433018803596497,
54
+ "val_loss_pose": 0.06692714616656303,
55
+ "val_loss_reproj": 1.3256059885025024,
56
+ "epoch_time_s": 60.27
57
+ },
58
+ {
59
+ "epoch": 5,
60
+ "train_loss": 2.4446601754143122,
61
+ "val_loss": 2.288058638572693,
62
+ "lr": 7.500000000000001e-06,
63
+ "timestamp": "2026-04-02T18:47:44",
64
+ "train_loss_pointmap": 1.04104106766837,
65
+ "train_loss_pose": 0.06151945445509184,
66
+ "train_loss_reproj": 1.3420996779487246,
67
+ "val_loss_pointmap": 1.0024322867393494,
68
+ "val_loss_pose": 0.05827770754694939,
69
+ "val_loss_reproj": 1.2273486256599426,
70
+ "epoch_time_s": 59.91
71
+ },
72
+ {
73
+ "epoch": 6,
74
+ "train_loss": 2.3263069561549594,
75
+ "val_loss": 2.1533403396606445,
76
+ "lr": 9e-06,
77
+ "timestamp": "2026-04-02T18:48:45",
78
+ "train_loss_pointmap": 1.0004722731454032,
79
+ "train_loss_pose": 0.05284547876744043,
80
+ "train_loss_reproj": 1.2729891935984294,
81
+ "val_loss_pointmap": 0.9608103930950165,
82
+ "val_loss_pose": 0.0491168275475502,
83
+ "val_loss_reproj": 1.1434131264686584,
84
+ "epoch_time_s": 60.32
85
+ },
86
+ {
87
+ "epoch": 7,
88
+ "train_loss": 2.2263113317035494,
89
+ "val_loss": 2.059915542602539,
90
+ "lr": 1.0500000000000001e-05,
91
+ "timestamp": "2026-04-02T18:49:45",
92
+ "train_loss_pointmap": 0.9659155067943391,
93
+ "train_loss_pose": 0.04586906234423319,
94
+ "train_loss_reproj": 1.2145267270860218,
95
+ "val_loss_pointmap": 0.9283962547779083,
96
+ "val_loss_pose": 0.04428325779736042,
97
+ "val_loss_reproj": 1.087235927581787,
98
+ "epoch_time_s": 60.44
99
+ },
100
+ {
101
+ "epoch": 8,
102
+ "train_loss": 2.1407050972893122,
103
+ "val_loss": 1.9954566359519958,
104
+ "lr": 1.2e-05,
105
+ "timestamp": "2026-04-02T18:50:48",
106
+ "train_loss_pointmap": 0.9367025863556635,
107
+ "train_loss_pose": 0.04100715865691503,
108
+ "train_loss_reproj": 1.162995349793207,
109
+ "val_loss_pointmap": 0.9001260101795197,
110
+ "val_loss_pose": 0.03996356390416622,
111
+ "val_loss_reproj": 1.0553670525550842,
112
+ "epoch_time_s": 62.18
113
+ },
114
+ {
115
+ "epoch": 9,
116
+ "train_loss": 2.069980189913795,
117
+ "val_loss": 1.9489145278930664,
118
+ "lr": 1.35e-05,
119
+ "timestamp": "2026-04-02T18:51:49",
120
+ "train_loss_pointmap": 0.9125457235745021,
121
+ "train_loss_pose": 0.037414186944564186,
122
+ "train_loss_reproj": 1.1200202703475952,
123
+ "val_loss_pointmap": 0.87857386469841,
124
+ "val_loss_pose": 0.03718439303338528,
125
+ "val_loss_reproj": 1.0331562757492065,
126
+ "epoch_time_s": 60.96
127
+ },
128
+ {
129
+ "epoch": 10,
130
+ "train_loss": 2.0045412608555386,
131
+ "val_loss": 1.898724913597107,
132
+ "lr": 1.5000000000000002e-05,
133
+ "timestamp": "2026-04-02T18:52:49",
134
+ "train_loss_pointmap": 0.8902134157362438,
135
+ "train_loss_pose": 0.034298445142450784,
136
+ "train_loss_reproj": 1.0800294138136364,
137
+ "val_loss_pointmap": 0.8601306974887848,
138
+ "val_loss_pose": 0.03434179350733757,
139
+ "val_loss_reproj": 1.0042523741722107,
140
+ "epoch_time_s": 60.38
141
+ },
142
+ {
143
+ "epoch": 11,
144
+ "train_loss": 1.9447271199453444,
145
+ "val_loss": 1.848829984664917,
146
+ "lr": 1.5e-05,
147
+ "timestamp": "2026-04-02T18:53:49",
148
+ "train_loss_pointmap": 0.8699429319018409,
149
+ "train_loss_pose": 0.03218529054096767,
150
+ "train_loss_reproj": 1.042598911694118,
151
+ "val_loss_pointmap": 0.8414870500564575,
152
+ "val_loss_pose": 0.03115180879831314,
153
+ "val_loss_reproj": 0.9761911630630493,
154
+ "epoch_time_s": 59.98
155
+ },
156
+ {
157
+ "epoch": 12,
158
+ "train_loss": 1.8841064260119484,
159
+ "val_loss": 1.7912286520004272,
160
+ "lr": 1.4999043134947284e-05,
161
+ "timestamp": "2026-04-02T18:54:50",
162
+ "train_loss_pointmap": 0.8499214507284618,
163
+ "train_loss_pose": 0.03047677031939938,
164
+ "train_loss_reproj": 1.0037081979569935,
165
+ "val_loss_pointmap": 0.82301065325737,
166
+ "val_loss_pose": 0.030242769047617912,
167
+ "val_loss_reproj": 0.9379751980304718,
168
+ "epoch_time_s": 60.64
169
+ },
170
+ {
171
+ "epoch": 13,
172
+ "train_loss": 1.8328114520935785,
173
+ "val_loss": 1.7477608919143677,
174
+ "lr": 1.4996172801386483e-05,
175
+ "timestamp": "2026-04-02T18:55:50",
176
+ "train_loss_pointmap": 0.8332785736946833,
177
+ "train_loss_pose": 0.0293398830330088,
178
+ "train_loss_reproj": 0.9701929915518988,
179
+ "val_loss_pointmap": 0.8090233206748962,
180
+ "val_loss_pose": 0.02918627019971609,
181
+ "val_loss_reproj": 0.9095512926578522,
182
+ "epoch_time_s": 60.39
183
+ },
184
+ {
185
+ "epoch": 14,
186
+ "train_loss": 1.7865979103814988,
187
+ "val_loss": 1.7130026817321777,
188
+ "lr": 1.4991389784038133e-05,
189
+ "timestamp": "2026-04-02T18:56:51",
190
+ "train_loss_pointmap": 0.8182928391865322,
191
+ "train_loss_pose": 0.028521038680559115,
192
+ "train_loss_reproj": 0.9397840187663123,
193
+ "val_loss_pointmap": 0.7975128889083862,
194
+ "val_loss_pose": 0.02804777678102255,
195
+ "val_loss_reproj": 0.887442022562027,
196
+ "epoch_time_s": 60.55
197
+ },
198
+ {
199
+ "epoch": 15,
200
+ "train_loss": 1.7449945552008492,
201
+ "val_loss": 1.6763585805892944,
202
+ "lr": 1.4984695390531422e-05,
203
+ "timestamp": "2026-04-02T18:57:52",
204
+ "train_loss_pointmap": 0.8049137166568211,
205
+ "train_loss_pose": 0.027929618156382015,
206
+ "train_loss_reproj": 0.9121512344905308,
207
+ "val_loss_pointmap": 0.7842647135257721,
208
+ "val_loss_pose": 0.027945073321461678,
209
+ "val_loss_reproj": 0.8641487658023834,
210
+ "epoch_time_s": 60.57
211
+ },
212
+ {
213
+ "epoch": 16,
214
+ "train_loss": 1.711388105437869,
215
+ "val_loss": 1.6424812078475952,
216
+ "lr": 1.4976091451046689e-05,
217
+ "timestamp": "2026-04-02T18:58:52",
218
+ "train_loss_pointmap": 0.7938068821316674,
219
+ "train_loss_pose": 0.027361714591582615,
220
+ "train_loss_reproj": 0.8902195010866437,
221
+ "val_loss_pointmap": 0.7749911844730377,
222
+ "val_loss_pose": 0.027614859864115715,
223
+ "val_loss_reproj": 0.8398751318454742,
224
+ "epoch_time_s": 59.93
225
+ },
226
+ {
227
+ "epoch": 17,
228
+ "train_loss": 1.6835236549377441,
229
+ "val_loss": 1.6219463348388672,
230
+ "lr": 1.496558031781508e-05,
231
+ "timestamp": "2026-04-02T18:59:52",
232
+ "train_loss_pointmap": 0.7848265710331145,
233
+ "train_loss_pose": 0.02693839796951839,
234
+ "train_loss_reproj": 0.8717586937404814,
235
+ "val_loss_pointmap": 0.7684502899646759,
236
+ "val_loss_pose": 0.02772318199276924,
237
+ "val_loss_reproj": 0.8257729411125183,
238
+ "epoch_time_s": 60.46
239
+ },
240
+ {
241
+ "epoch": 18,
242
+ "train_loss": 1.6592642125629244,
243
+ "val_loss": 1.5985636115074158,
244
+ "lr": 1.4953164864475467e-05,
245
+ "timestamp": "2026-04-02T19:00:53",
246
+ "train_loss_pointmap": 0.7769622575669062,
247
+ "train_loss_pose": 0.02665050354387079,
248
+ "train_loss_reproj": 0.8556514467511859,
249
+ "val_loss_pointmap": 0.7601731419563293,
250
+ "val_loss_pose": 0.028108298778533936,
251
+ "val_loss_reproj": 0.8102821707725525,
252
+ "epoch_time_s": 60.19
253
+ },
254
+ {
255
+ "epoch": 19,
256
+ "train_loss": 1.6366400661922635,
257
+ "val_loss": 1.5747672319412231,
258
+ "lr": 1.4938848485288826e-05,
259
+ "timestamp": "2026-04-02T19:01:53",
260
+ "train_loss_pointmap": 0.7693253216289339,
261
+ "train_loss_pose": 0.026189139822409266,
262
+ "train_loss_reproj": 0.841125610328856,
263
+ "val_loss_pointmap": 0.7520058453083038,
264
+ "val_loss_pose": 0.026725152507424355,
265
+ "val_loss_reproj": 0.7960362136363983,
266
+ "epoch_time_s": 60.31
267
+ },
268
+ {
269
+ "epoch": 20,
270
+ "train_loss": 1.6134959856669109,
271
+ "val_loss": 1.5360941290855408,
272
+ "lr": 1.492263509421028e-05,
273
+ "timestamp": "2026-04-02T19:02:54",
274
+ "train_loss_pointmap": 0.7614658361389524,
275
+ "train_loss_pose": 0.02564138715111074,
276
+ "train_loss_reproj": 0.8263887621107555,
277
+ "val_loss_pointmap": 0.7407606542110443,
278
+ "val_loss_pose": 0.025903966277837753,
279
+ "val_loss_reproj": 0.7694295048713684,
280
+ "epoch_time_s": 60.94
281
+ },
282
+ {
283
+ "epoch": 21,
284
+ "train_loss": 1.585506036168053,
285
+ "val_loss": 1.5289077758789062,
286
+ "lr": 1.4904529123819056e-05,
287
+ "timestamp": "2026-04-02T19:03:54",
288
+ "train_loss_pointmap": 0.7518081125758943,
289
+ "train_loss_pose": 0.025071615264529272,
290
+ "train_loss_reproj": 0.8086263083276295,
291
+ "val_loss_pointmap": 0.7344184517860413,
292
+ "val_loss_pose": 0.025249598547816277,
293
+ "val_loss_reproj": 0.769239753484726,
294
+ "epoch_time_s": 59.58
295
+ },
296
+ {
297
+ "epoch": 22,
298
+ "train_loss": 1.5654466776620775,
299
+ "val_loss": 1.5171474814414978,
300
+ "lr": 1.4884535524106676e-05,
301
+ "timestamp": "2026-04-02T19:04:53",
302
+ "train_loss_pointmap": 0.7446797263054621,
303
+ "train_loss_pose": 0.024659346611726852,
304
+ "train_loss_reproj": 0.7961075873602004,
305
+ "val_loss_pointmap": 0.7304281294345856,
306
+ "val_loss_pose": 0.02422667946666479,
307
+ "val_loss_reproj": 0.7624926269054413,
308
+ "epoch_time_s": 59.59
309
+ },
310
+ {
311
+ "epoch": 23,
312
+ "train_loss": 1.5479384944552468,
313
+ "val_loss": 1.5024122595787048,
314
+ "lr": 1.4862659761123666e-05,
315
+ "timestamp": "2026-04-02T19:05:55",
316
+ "train_loss_pointmap": 0.7385371724764506,
317
+ "train_loss_pose": 0.02429487777962571,
318
+ "train_loss_reproj": 0.7851064574150812,
319
+ "val_loss_pointmap": 0.7227586805820465,
320
+ "val_loss_pose": 0.024060958996415138,
321
+ "val_loss_reproj": 0.7555926442146301,
322
+ "epoch_time_s": 61.31
323
+ },
324
+ {
325
+ "epoch": 24,
326
+ "train_loss": 1.5286986998149328,
327
+ "val_loss": 1.4801536202430725,
328
+ "lr": 1.4838907815485195e-05,
329
+ "timestamp": "2026-04-02T19:06:54",
330
+ "train_loss_pointmap": 0.7313466781661624,
331
+ "train_loss_pose": 0.023696616912881534,
332
+ "train_loss_reproj": 0.773655408904666,
333
+ "val_loss_pointmap": 0.715599000453949,
334
+ "val_loss_pose": 0.023439974524080753,
335
+ "val_loss_reproj": 0.7411146759986877,
336
+ "epoch_time_s": 59.5
337
+ },
338
+ {
339
+ "epoch": 25,
340
+ "train_loss": 1.509507423355466,
341
+ "val_loss": 1.4593347907066345,
342
+ "lr": 1.481328618073604e-05,
343
+ "timestamp": "2026-04-02T19:07:54",
344
+ "train_loss_pointmap": 0.7243423575446719,
345
+ "train_loss_pose": 0.023136678462227184,
346
+ "train_loss_reproj": 0.7620283904529753,
347
+ "val_loss_pointmap": 0.708502471446991,
348
+ "val_loss_pose": 0.024362132884562016,
349
+ "val_loss_reproj": 0.7264702022075653,
350
+ "epoch_time_s": 59.61
351
+ },
352
+ {
353
+ "epoch": 26,
354
+ "train_loss": 1.4919103043419975,
355
+ "val_loss": 1.4356677532196045,
356
+ "lr": 1.4785801861575313e-05,
357
+ "timestamp": "2026-04-02T19:08:54",
358
+ "train_loss_pointmap": 0.7174538629395621,
359
+ "train_loss_pose": 0.022726403017129217,
360
+ "train_loss_reproj": 0.7517300361678714,
361
+ "val_loss_pointmap": 0.699530690908432,
362
+ "val_loss_pose": 0.02283511869609356,
363
+ "val_loss_reproj": 0.7133019864559174,
364
+ "epoch_time_s": 59.69
365
+ },
366
+ {
367
+ "epoch": 27,
368
+ "train_loss": 1.4735565299079532,
369
+ "val_loss": 1.4208396673202515,
370
+ "lr": 1.4756462371941442e-05,
371
+ "timestamp": "2026-04-02T19:09:54",
372
+ "train_loss_pointmap": 0.7101400579724994,
373
+ "train_loss_pose": 0.02200799116066524,
374
+ "train_loss_reproj": 0.7414084814843678,
375
+ "val_loss_pointmap": 0.6946842074394226,
376
+ "val_loss_pose": 0.022062855772674084,
377
+ "val_loss_reproj": 0.7040926218032837,
378
+ "epoch_time_s": 60.16
379
+ },
380
+ {
381
+ "epoch": 28,
382
+ "train_loss": 1.4574425277255831,
383
+ "val_loss": 1.4175560474395752,
384
+ "lr": 1.4725275732957937e-05,
385
+ "timestamp": "2026-04-02T19:10:55",
386
+ "train_loss_pointmap": 0.7041199320838565,
387
+ "train_loss_pose": 0.02154709611620222,
388
+ "train_loss_reproj": 0.7317754881722587,
389
+ "val_loss_pointmap": 0.6912549138069153,
390
+ "val_loss_pose": 0.021322567015886307,
391
+ "val_loss_reproj": 0.7049786150455475,
392
+ "epoch_time_s": 61.08
393
+ },
394
+ {
395
+ "epoch": 29,
396
+ "train_loss": 1.4431891384578885,
397
+ "val_loss": 1.4036189317703247,
398
+ "lr": 1.4692250470740503e-05,
399
+ "timestamp": "2026-04-02T19:11:55",
400
+ "train_loss_pointmap": 0.6987179886727106,
401
+ "train_loss_pose": 0.021144165258322443,
402
+ "train_loss_reproj": 0.7233269895826068,
403
+ "val_loss_pointmap": 0.6861371695995331,
404
+ "val_loss_pose": 0.021031662821769714,
405
+ "val_loss_reproj": 0.6964501440525055,
406
+ "epoch_time_s": 59.26
407
+ },
408
+ {
409
+ "epoch": 30,
410
+ "train_loss": 1.4265547820499964,
411
+ "val_loss": 1.3884958624839783,
412
+ "lr": 1.4657395614066075e-05,
413
+ "timestamp": "2026-04-02T19:12:56",
414
+ "train_loss_pointmap": 0.6919136870475042,
415
+ "train_loss_pose": 0.020586478923048292,
416
+ "train_loss_reproj": 0.7140546185629708,
417
+ "val_loss_pointmap": 0.67811718583107,
418
+ "val_loss_pose": 0.020607794634997845,
419
+ "val_loss_reproj": 0.68977090716362,
420
+ "epoch_time_s": 61.27
421
+ },
422
+ {
423
+ "epoch": 31,
424
+ "train_loss": 1.4102047000612532,
425
+ "val_loss": 1.3630614876747131,
426
+ "lr": 1.4620720691904442e-05,
427
+ "timestamp": "2026-04-02T19:13:55",
428
+ "train_loss_pointmap": 0.6856035192807516,
429
+ "train_loss_pose": 0.0201620864903643,
430
+ "train_loss_reproj": 0.704439103603363,
431
+ "val_loss_pointmap": 0.6703387796878815,
432
+ "val_loss_pose": 0.02029944211244583,
433
+ "val_loss_reproj": 0.672423243522644,
434
+ "epoch_time_s": 59.07
435
+ },
436
+ {
437
+ "epoch": 32,
438
+ "train_loss": 1.392428301629566,
439
+ "val_loss": 1.3523207306861877,
440
+ "lr": 1.458223573081313e-05,
441
+ "timestamp": "2026-04-02T19:14:54",
442
+ "train_loss_pointmap": 0.6786568618956066,
443
+ "train_loss_pose": 0.01966182098147415,
444
+ "train_loss_reproj": 0.6941096158254714,
445
+ "val_loss_pointmap": 0.6646330058574677,
446
+ "val_loss_pose": 0.0198416318744421,
447
+ "val_loss_reproj": 0.6678461134433746,
448
+ "epoch_time_s": 59.23
449
+ },
450
+ {
451
+ "epoch": 33,
452
+ "train_loss": 1.3762509539013816,
453
+ "val_loss": 1.3412282466888428,
454
+ "lr": 1.4541951252196227e-05,
455
+ "timestamp": "2026-04-02T19:15:53",
456
+ "train_loss_pointmap": 0.6722798120407831,
457
+ "train_loss_pose": 0.019250489416576567,
458
+ "train_loss_reproj": 0.6847206496057057,
459
+ "val_loss_pointmap": 0.6595731973648071,
460
+ "val_loss_pose": 0.018990755081176758,
461
+ "val_loss_reproj": 0.6626642644405365,
462
+ "epoch_time_s": 58.92
463
+ },
464
+ {
465
+ "epoch": 34,
466
+ "train_loss": 1.364119296982175,
467
+ "val_loss": 1.3347845077514648,
468
+ "lr": 1.449987826942795e-05,
469
+ "timestamp": "2026-04-02T19:16:54",
470
+ "train_loss_pointmap": 0.6673137687501454,
471
+ "train_loss_pose": 0.018853948584624698,
472
+ "train_loss_reproj": 0.6779515686489287,
473
+ "val_loss_pointmap": 0.6559435129165649,
474
+ "val_loss_pose": 0.018436819314956665,
475
+ "val_loss_reproj": 0.6604041755199432,
476
+ "epoch_time_s": 60.9
477
+ },
478
+ {
479
+ "epoch": 35,
480
+ "train_loss": 1.3497138931637718,
481
+ "val_loss": 1.3077261447906494,
482
+ "lr": 1.4456028284841693e-05,
483
+ "timestamp": "2026-04-02T19:17:54",
484
+ "train_loss_pointmap": 0.6617537339528402,
485
+ "train_loss_pose": 0.01850077864669618,
486
+ "train_loss_reproj": 0.6694593968845549,
487
+ "val_loss_pointmap": 0.6481271684169769,
488
+ "val_loss_pose": 0.018649502657353878,
489
+ "val_loss_reproj": 0.6409494876861572,
490
+ "epoch_time_s": 59.36
491
+ },
492
+ {
493
+ "epoch": 36,
494
+ "train_loss": 1.3359388226554507,
495
+ "val_loss": 1.3038373589515686,
496
+ "lr": 1.4410413286585403e-05,
497
+ "timestamp": "2026-04-02T19:18:53",
498
+ "train_loss_pointmap": 0.6560694773991903,
499
+ "train_loss_pose": 0.01812030543528852,
500
+ "train_loss_reproj": 0.6617490365391686,
501
+ "val_loss_pointmap": 0.6457009315490723,
502
+ "val_loss_pose": 0.01824026368558407,
503
+ "val_loss_reproj": 0.6398961544036865,
504
+ "epoch_time_s": 59.27
505
+ },
506
+ {
507
+ "epoch": 37,
508
+ "train_loss": 1.3251260746093023,
509
+ "val_loss": 1.294046700000763,
510
+ "lr": 1.4363045745344137e-05,
511
+ "timestamp": "2026-04-02T19:19:53",
512
+ "train_loss_pointmap": 0.6517463667052132,
513
+ "train_loss_pose": 0.017859839789924167,
514
+ "train_loss_reproj": 0.6555198885145641,
515
+ "val_loss_pointmap": 0.6417443454265594,
516
+ "val_loss_pose": 0.018022550269961357,
517
+ "val_loss_reproj": 0.6342797875404358,
518
+ "epoch_time_s": 59.61
519
+ },
520
+ {
521
+ "epoch": 38,
522
+ "train_loss": 1.3143604482923235,
523
+ "val_loss": 1.2886614799499512,
524
+ "lr": 1.4313938610930713e-05,
525
+ "timestamp": "2026-04-02T19:20:54",
526
+ "train_loss_pointmap": 0.6475409439631871,
527
+ "train_loss_pose": 0.01761806694169839,
528
+ "train_loss_reproj": 0.6492014271872384,
529
+ "val_loss_pointmap": 0.6376474499702454,
530
+ "val_loss_pose": 0.017422315664589405,
531
+ "val_loss_reproj": 0.6335917413234711,
532
+ "epoch_time_s": 60.55
533
+ },
534
+ {
535
+ "epoch": 39,
536
+ "train_loss": 1.3010348251887731,
537
+ "val_loss": 1.271693766117096,
538
+ "lr": 1.4263105308745345e-05,
539
+ "timestamp": "2026-04-02T19:21:55",
540
+ "train_loss_pointmap": 0.6422439728464399,
541
+ "train_loss_pose": 0.017265134624072483,
542
+ "train_loss_reproj": 0.6415257226853144,
543
+ "val_loss_pointmap": 0.6314477920532227,
544
+ "val_loss_pose": 0.01687518320977688,
545
+ "val_loss_reproj": 0.6233707964420319,
546
+ "epoch_time_s": 60.96
547
+ },
548
+ {
549
+ "epoch": 40,
550
+ "train_loss": 1.2895208256585258,
551
+ "val_loss": 1.2651535272598267,
552
+ "lr": 1.4210559736105282e-05,
553
+ "timestamp": "2026-04-02T19:22:54",
554
+ "train_loss_pointmap": 0.6375464200973511,
555
+ "train_loss_pose": 0.016949896833726337,
556
+ "train_loss_reproj": 0.6350244993255252,
557
+ "val_loss_pointmap": 0.6290383040904999,
558
+ "val_loss_pose": 0.017475035041570663,
559
+ "val_loss_reproj": 0.6186401546001434,
560
+ "epoch_time_s": 59.14
561
+ },
562
+ {
563
+ "epoch": 41,
564
+ "train_loss": 1.277960255032494,
565
+ "val_loss": 1.2547631859779358,
566
+ "lr": 1.4156316258445423e-05,
567
+ "timestamp": "2026-04-02T19:23:52",
568
+ "train_loss_pointmap": 0.6329659422238668,
569
+ "train_loss_pose": 0.016738385139476685,
570
+ "train_loss_reproj": 0.628255926427387,
571
+ "val_loss_pointmap": 0.6247141361236572,
572
+ "val_loss_pose": 0.016922193579375744,
573
+ "val_loss_reproj": 0.6131268441677094,
574
+ "epoch_time_s": 57.52
575
+ },
576
+ {
577
+ "epoch": 42,
578
+ "train_loss": 1.2668555577596028,
579
+ "val_loss": 1.2361986637115479,
580
+ "lr": 1.410038970539094e-05,
581
+ "timestamp": "2026-04-02T19:24:49",
582
+ "train_loss_pointmap": 0.6285045146942139,
583
+ "train_loss_pose": 0.01653816644102335,
584
+ "train_loss_reproj": 0.6218128800392151,
585
+ "val_loss_pointmap": 0.6188094913959503,
586
+ "val_loss_pose": 0.01677462551742792,
587
+ "val_loss_reproj": 0.6006145179271698,
588
+ "epoch_time_s": 57.82
589
+ },
590
+ {
591
+ "epoch": 43,
592
+ "train_loss": 1.2550375177746727,
593
+ "val_loss": 1.2360126376152039,
594
+ "lr": 1.4042795366703018e-05,
595
+ "timestamp": "2026-04-02T19:25:49",
596
+ "train_loss_pointmap": 0.6236251308804467,
597
+ "train_loss_pose": 0.016220784613064358,
598
+ "train_loss_reproj": 0.6151916072482154,
599
+ "val_loss_pointmap": 0.616143673658371,
600
+ "val_loss_pose": 0.01658618077635765,
601
+ "val_loss_reproj": 0.6032828092575073,
602
+ "epoch_time_s": 59.23
603
+ },
604
+ {
605
+ "epoch": 44,
606
+ "train_loss": 1.2451067935852778,
607
+ "val_loss": 1.2308534979820251,
608
+ "lr": 1.3983548988098774e-05,
609
+ "timestamp": "2026-04-02T19:26:48",
610
+ "train_loss_pointmap": 0.6194863745144435,
611
+ "train_loss_pose": 0.01598684871125789,
612
+ "train_loss_reproj": 0.609633573463985,
613
+ "val_loss_pointmap": 0.6140974462032318,
614
+ "val_loss_pose": 0.01601860113441944,
615
+ "val_loss_reproj": 0.6007374227046967,
616
+ "epoch_time_s": 59.05
617
+ },
618
+ {
619
+ "epoch": 45,
620
+ "train_loss": 1.2352885178157262,
621
+ "val_loss": 1.2190783619880676,
622
+ "lr": 1.3922666766946548e-05,
623
+ "timestamp": "2026-04-02T19:27:45",
624
+ "train_loss_pointmap": 0.6155377739951724,
625
+ "train_loss_pose": 0.015744260379246304,
626
+ "train_loss_reproj": 0.6040064720880418,
627
+ "val_loss_pointmap": 0.6093466281890869,
628
+ "val_loss_pose": 0.01585758849978447,
629
+ "val_loss_reproj": 0.5938741266727448,
630
+ "epoch_time_s": 57.33
631
+ },
632
+ {
633
+ "epoch": 46,
634
+ "train_loss": 1.2247702848343622,
635
+ "val_loss": 1.1919249296188354,
636
+ "lr": 1.38601653478377e-05,
637
+ "timestamp": "2026-04-02T19:28:45",
638
+ "train_loss_pointmap": 0.611224007038843,
639
+ "train_loss_pose": 0.015538902332385382,
640
+ "train_loss_reproj": 0.5980073809623718,
641
+ "val_loss_pointmap": 0.6005417704582214,
642
+ "val_loss_pose": 0.01573822507634759,
643
+ "val_loss_reproj": 0.5756449699401855,
644
+ "epoch_time_s": 59.99
645
+ },
646
+ {
647
+ "epoch": 47,
648
+ "train_loss": 1.2140284436089652,
649
+ "val_loss": 1.178590476512909,
650
+ "lr": 1.3796061818036141e-05,
651
+ "timestamp": "2026-04-02T19:29:44",
652
+ "train_loss_pointmap": 0.6068798871267409,
653
+ "train_loss_pose": 0.0152896616962694,
654
+ "train_loss_reproj": 0.591858909243629,
655
+ "val_loss_pointmap": 0.5952763557434082,
656
+ "val_loss_pose": 0.015495338011533022,
657
+ "val_loss_reproj": 0.5678187608718872,
658
+ "epoch_time_s": 58.24
659
+ },
660
+ {
661
+ "epoch": 48,
662
+ "train_loss": 1.2016459816978091,
663
+ "val_loss": 1.1761237978935242,
664
+ "lr": 1.3730373702806848e-05,
665
+ "timestamp": "2026-04-02T19:30:43",
666
+ "train_loss_pointmap": 0.6016800346828642,
667
+ "train_loss_pose": 0.015068862099377881,
668
+ "train_loss_reproj": 0.5848970952488127,
669
+ "val_loss_pointmap": 0.5929816365242004,
670
+ "val_loss_pose": 0.015418894588947296,
671
+ "val_loss_reproj": 0.5677233040332794,
672
+ "epoch_time_s": 58.97
673
+ },
674
+ {
675
+ "epoch": 49,
676
+ "train_loss": 1.1917432262783958,
677
+ "val_loss": 1.1706275343894958,
678
+ "lr": 1.3663118960624633e-05,
679
+ "timestamp": "2026-04-02T19:31:41",
680
+ "train_loss_pointmap": 0.5977306025368827,
681
+ "train_loss_pose": 0.014975882534469877,
682
+ "train_loss_reproj": 0.5790367325146993,
683
+ "val_loss_pointmap": 0.5901967287063599,
684
+ "val_loss_pose": 0.015318181831389666,
685
+ "val_loss_reproj": 0.5651125907897949,
686
+ "epoch_time_s": 57.98
687
+ },
688
+ {
689
+ "epoch": 50,
690
+ "train_loss": 1.1820802518299647,
691
+ "val_loss": 1.1657745242118835,
692
+ "lr": 1.3594315978264474e-05,
693
+ "timestamp": "2026-04-02T19:32:41",
694
+ "train_loss_pointmap": 0.5937956486429486,
695
+ "train_loss_pose": 0.014822881314016524,
696
+ "train_loss_reproj": 0.5734617000534421,
697
+ "val_loss_pointmap": 0.5879545509815216,
698
+ "val_loss_pose": 0.01490928465500474,
699
+ "val_loss_reproj": 0.5629106760025024,
700
+ "epoch_time_s": 59.73
701
+ },
702
+ {
703
+ "epoch": 51,
704
+ "train_loss": 1.172831966763451,
705
+ "val_loss": 1.1485670804977417,
706
+ "lr": 1.3523983565774756e-05,
707
+ "timestamp": "2026-04-02T19:33:39",
708
+ "train_loss_pointmap": 0.5897890017146156,
709
+ "train_loss_pose": 0.014601425001663821,
710
+ "train_loss_reproj": 0.568441527230399,
711
+ "val_loss_pointmap": 0.5821272134780884,
712
+ "val_loss_pose": 0.014891820028424263,
713
+ "val_loss_reproj": 0.5515480935573578,
714
+ "epoch_time_s": 58.07
715
+ },
716
+ {
717
+ "epoch": 52,
718
+ "train_loss": 1.1637342203231085,
719
+ "val_loss": 1.1444600820541382,
720
+ "lr": 1.3452140951334788e-05,
721
+ "timestamp": "2026-04-02T19:34:39",
722
+ "train_loss_pointmap": 0.5861179204214186,
723
+ "train_loss_pose": 0.01449525041416997,
724
+ "train_loss_reproj": 0.5631210435004461,
725
+ "val_loss_pointmap": 0.5798036456108093,
726
+ "val_loss_pose": 0.014643460512161255,
727
+ "val_loss_reproj": 0.55001300573349,
728
+ "epoch_time_s": 60.14
729
+ },
730
+ {
731
+ "epoch": 53,
732
+ "train_loss": 1.157543006397429,
733
+ "val_loss": 1.1351981163024902,
734
+ "lr": 1.3378807775998014e-05,
735
+ "timestamp": "2026-04-02T19:35:39",
736
+ "train_loss_pointmap": 0.5833600816272554,
737
+ "train_loss_pose": 0.014335447345815953,
738
+ "train_loss_reproj": 0.5598474826131549,
739
+ "val_loss_pointmap": 0.5762719810009003,
740
+ "val_loss_pose": 0.014454671647399664,
741
+ "val_loss_reproj": 0.5444714725017548,
742
+ "epoch_time_s": 59.62
743
+ },
744
+ {
745
+ "epoch": 54,
746
+ "train_loss": 1.1481507846287318,
747
+ "val_loss": 1.1270719170570374,
748
+ "lr": 1.3304004088322344e-05,
749
+ "timestamp": "2026-04-02T19:36:39",
750
+ "train_loss_pointmap": 0.5796238411040533,
751
+ "train_loss_pose": 0.0142081148833746,
752
+ "train_loss_reproj": 0.5543188254038492,
753
+ "val_loss_pointmap": 0.57294961810112,
754
+ "val_loss_pose": 0.014262849930673838,
755
+ "val_loss_reproj": 0.539859414100647,
756
+ "epoch_time_s": 59.99
757
+ },
758
+ {
759
+ "epoch": 55,
760
+ "train_loss": 1.1402186098552884,
761
+ "val_loss": 1.131316900253296,
762
+ "lr": 1.3227750338889077e-05,
763
+ "timestamp": "2026-04-02T19:37:39",
764
+ "train_loss_pointmap": 0.576204070023128,
765
+ "train_loss_pose": 0.01405767480000144,
766
+ "train_loss_reproj": 0.5499568837029594,
767
+ "val_loss_pointmap": 0.5737856030464172,
768
+ "val_loss_pose": 0.014280104544013739,
769
+ "val_loss_reproj": 0.5432511270046234,
770
+ "epoch_time_s": 59.78
771
+ },
772
+ {
773
+ "epoch": 56,
774
+ "train_loss": 1.1310433376403082,
775
+ "val_loss": 1.1155588626861572,
776
+ "lr": 1.3150067374711922e-05,
777
+ "timestamp": "2026-04-02T19:38:40",
778
+ "train_loss_pointmap": 0.5724425457772755,
779
+ "train_loss_pose": 0.013905916185606094,
780
+ "train_loss_reproj": 0.5446948664528983,
781
+ "val_loss_pointmap": 0.5662965178489685,
782
+ "val_loss_pose": 0.013946306891739368,
783
+ "val_loss_reproj": 0.5353160500526428,
784
+ "epoch_time_s": 60.91
785
+ },
786
+ {
787
+ "epoch": 57,
788
+ "train_loss": 1.1194738830838884,
789
+ "val_loss": 1.0956888794898987,
790
+ "lr": 1.3070976433537624e-05,
791
+ "timestamp": "2026-04-02T19:39:37",
792
+ "train_loss_pointmap": 0.5676363621439252,
793
+ "train_loss_pose": 0.013754782843447867,
794
+ "train_loss_reproj": 0.5380827387173971,
795
+ "val_loss_pointmap": 0.5600838959217072,
796
+ "val_loss_pose": 0.014179421123117208,
797
+ "val_loss_reproj": 0.5214255750179291,
798
+ "epoch_time_s": 57.52
799
+ },
800
+ {
801
+ "epoch": 58,
802
+ "train_loss": 1.109827024596078,
803
+ "val_loss": 1.088099181652069,
804
+ "lr": 1.299049913803978e-05,
805
+ "timestamp": "2026-04-02T19:40:35",
806
+ "train_loss_pointmap": 0.5637362343924386,
807
+ "train_loss_pose": 0.013688837444143636,
808
+ "train_loss_reproj": 0.5324019420714605,
809
+ "val_loss_pointmap": 0.5570716261863708,
810
+ "val_loss_pose": 0.013794779777526855,
811
+ "val_loss_reproj": 0.5172327756881714,
812
+ "epoch_time_s": 57.59
813
+ },
814
+ {
815
+ "epoch": 59,
816
+ "train_loss": 1.101706555911473,
817
+ "val_loss": 1.0804320573806763,
818
+ "lr": 1.290865748990742e-05,
819
+ "timestamp": "2026-04-02T19:41:35",
820
+ "train_loss_pointmap": 0.5601924742971148,
821
+ "train_loss_pose": 0.013537000421257247,
822
+ "train_loss_reproj": 0.5279770834105355,
823
+ "val_loss_pointmap": 0.5537577569484711,
824
+ "val_loss_pose": 0.01392323337495327,
825
+ "val_loss_reproj": 0.5127511024475098,
826
+ "epoch_time_s": 60.27
827
+ },
828
+ {
829
+ "epoch": 60,
830
+ "train_loss": 1.0955575023378645,
831
+ "val_loss": 1.0841535925865173,
832
+ "lr": 1.282547386382996e-05,
833
+ "timestamp": "2026-04-02T19:42:35",
834
+ "train_loss_pointmap": 0.5577665851229713,
835
+ "train_loss_pose": 0.01344449445605278,
836
+ "train_loss_reproj": 0.524346418323971,
837
+ "val_loss_pointmap": 0.5546103417873383,
838
+ "val_loss_pose": 0.0135871646925807,
839
+ "val_loss_reproj": 0.5159561038017273,
840
+ "epoch_time_s": 59.62
841
+ },
842
+ {
843
+ "epoch": 61,
844
+ "train_loss": 1.0889926637922014,
845
+ "val_loss": 1.0734640955924988,
846
+ "lr": 1.2740971001380189e-05,
847
+ "timestamp": "2026-04-02T19:43:35",
848
+ "train_loss_pointmap": 0.5551254692531767,
849
+ "train_loss_pose": 0.01337802538736945,
850
+ "train_loss_reproj": 0.5204891590845018,
851
+ "val_loss_pointmap": 0.5502282679080963,
852
+ "val_loss_pose": 0.013590908609330654,
853
+ "val_loss_reproj": 0.5096449553966522,
854
+ "epoch_time_s": 60.14
855
+ },
856
+ {
857
+ "epoch": 62,
858
+ "train_loss": 1.0832864386694772,
859
+ "val_loss": 1.0749315023422241,
860
+ "lr": 1.2655172004796938e-05,
861
+ "timestamp": "2026-04-02T19:44:34",
862
+ "train_loss_pointmap": 0.552575965722402,
863
+ "train_loss_pose": 0.013273064579282488,
864
+ "train_loss_reproj": 0.5174374140444256,
865
+ "val_loss_pointmap": 0.5500580370426178,
866
+ "val_loss_pose": 0.013417983893305063,
867
+ "val_loss_reproj": 0.5114555656909943,
868
+ "epoch_time_s": 58.74
869
+ },
870
+ {
871
+ "epoch": 63,
872
+ "train_loss": 1.077973416873387,
873
+ "val_loss": 1.0700136423110962,
874
+ "lr": 1.256810033066918e-05,
875
+ "timestamp": "2026-04-02T19:45:33",
876
+ "train_loss_pointmap": 0.550300623689379,
877
+ "train_loss_pose": 0.013202737795100325,
878
+ "train_loss_reproj": 0.5144700507322947,
879
+ "val_loss_pointmap": 0.5480785071849823,
880
+ "val_loss_pose": 0.013371504843235016,
881
+ "val_loss_reproj": 0.5085636377334595,
882
+ "epoch_time_s": 59.39
883
+ },
884
+ {
885
+ "epoch": 64,
886
+ "train_loss": 1.0710622185752505,
887
+ "val_loss": 1.0660165548324585,
888
+ "lr": 1.2479779783523218e-05,
889
+ "timestamp": "2026-04-02T19:46:32",
890
+ "train_loss_pointmap": 0.5475976325216747,
891
+ "train_loss_pose": 0.013143972715451605,
892
+ "train_loss_reproj": 0.5103206038475037,
893
+ "val_loss_pointmap": 0.5461232662200928,
894
+ "val_loss_pose": 0.01325387554243207,
895
+ "val_loss_reproj": 0.5066393911838531,
896
+ "epoch_time_s": 57.99
897
+ },
898
+ {
899
+ "epoch": 65,
900
+ "train_loss": 1.0644856180463518,
901
+ "val_loss": 1.0529886484146118,
902
+ "lr": 1.239023450931476e-05,
903
+ "timestamp": "2026-04-02T19:47:30",
904
+ "train_loss_pointmap": 0.5447876907530285,
905
+ "train_loss_pose": 0.01303198906992163,
906
+ "train_loss_reproj": 0.5066659507297334,
907
+ "val_loss_pointmap": 0.5419690608978271,
908
+ "val_loss_pose": 0.01320361578837037,
909
+ "val_loss_reproj": 0.4978159964084625,
910
+ "epoch_time_s": 58.45
911
+ },
912
+ {
913
+ "epoch": 66,
914
+ "train_loss": 1.0552958590643746,
915
+ "val_loss": 1.04722261428833,
916
+ "lr": 1.2299488988827676e-05,
917
+ "timestamp": "2026-04-02T19:48:28",
918
+ "train_loss_pointmap": 0.5411493324098133,
919
+ "train_loss_pose": 0.012992743225324722,
920
+ "train_loss_reproj": 0.5011537798813411,
921
+ "val_loss_pointmap": 0.5383480489253998,
922
+ "val_loss_pose": 0.013246108312159777,
923
+ "val_loss_reproj": 0.4956284910440445,
924
+ "epoch_time_s": 57.93
925
+ },
926
+ {
927
+ "epoch": 67,
928
+ "train_loss": 1.0483175345829554,
929
+ "val_loss": 1.0320433378219604,
930
+ "lr": 1.2207568030981176e-05,
931
+ "timestamp": "2026-04-02T19:49:26",
932
+ "train_loss_pointmap": 0.5380378479049319,
933
+ "train_loss_pose": 0.012925764900587854,
934
+ "train_loss_reproj": 0.49735391707647414,
935
+ "val_loss_pointmap": 0.533525824546814,
936
+ "val_loss_pose": 0.013120321556925774,
937
+ "val_loss_reproj": 0.48539718985557556,
938
+ "epoch_time_s": 58.11
939
+ },
940
+ {
941
+ "epoch": 68,
942
+ "train_loss": 1.0417013281867618,
943
+ "val_loss": 1.0309324264526367,
944
+ "lr": 1.2114496766047312e-05,
945
+ "timestamp": "2026-04-02T19:50:28",
946
+ "train_loss_pointmap": 0.5353916997001285,
947
+ "train_loss_pose": 0.01283750350454024,
948
+ "train_loss_reproj": 0.493472131944838,
949
+ "val_loss_pointmap": 0.5320349633693695,
950
+ "val_loss_pose": 0.012975140940397978,
951
+ "val_loss_reproj": 0.48592235147953033,
952
+ "epoch_time_s": 61.2
953
+ },
954
+ {
955
+ "epoch": 69,
956
+ "train_loss": 1.0350870206242515,
957
+ "val_loss": 1.0282817482948303,
958
+ "lr": 1.2020300638780606e-05,
959
+ "timestamp": "2026-04-02T19:51:28",
960
+ "train_loss_pointmap": 0.5326970560210091,
961
+ "train_loss_pose": 0.012732633256486483,
962
+ "train_loss_reproj": 0.48965732966150555,
963
+ "val_loss_pointmap": 0.5306898355484009,
964
+ "val_loss_pose": 0.012889154255390167,
965
+ "val_loss_reproj": 0.4847027659416199,
966
+ "epoch_time_s": 60.08
967
+ },
968
+ {
969
+ "epoch": 70,
970
+ "train_loss": 1.0302121043205261,
971
+ "val_loss": 1.0231433510780334,
972
+ "lr": 1.192500540146171e-05,
973
+ "timestamp": "2026-04-02T19:52:26",
974
+ "train_loss_pointmap": 0.5305577942303249,
975
+ "train_loss_pose": 0.01272937176483018,
976
+ "train_loss_reproj": 0.4869249306973957,
977
+ "val_loss_pointmap": 0.5287420451641083,
978
+ "val_loss_pose": 0.01289056334644556,
979
+ "val_loss_reproj": 0.4815107434988022,
980
+ "epoch_time_s": 58.24
981
+ },
982
+ {
983
+ "epoch": 71,
984
+ "train_loss": 1.0239004606292361,
985
+ "val_loss": 1.0121802687644958,
986
+ "lr": 1.1828637106856991e-05,
987
+ "timestamp": "2026-04-02T19:53:27",
988
+ "train_loss_pointmap": 0.5281591074807304,
989
+ "train_loss_pose": 0.012671059307952722,
990
+ "train_loss_reproj": 0.4830702855473473,
991
+ "val_loss_pointmap": 0.5247911512851715,
992
+ "val_loss_pose": 0.012848892249166965,
993
+ "val_loss_reproj": 0.47454017400741577,
994
+ "epoch_time_s": 60.56
995
+ },
996
+ {
997
+ "epoch": 72,
998
+ "train_loss": 1.0205436944961548,
999
+ "val_loss": 1.0091753005981445,
1000
+ "lr": 1.1731222101095956e-05,
1001
+ "timestamp": "2026-04-02T19:54:27",
1002
+ "train_loss_pointmap": 0.5267057503972735,
1003
+ "train_loss_pose": 0.01264173581841446,
1004
+ "train_loss_reproj": 0.48119620482126874,
1005
+ "val_loss_pointmap": 0.5235215127468109,
1006
+ "val_loss_pose": 0.012826250400394201,
1007
+ "val_loss_reproj": 0.4728275537490845,
1008
+ "epoch_time_s": 60.58
1009
+ },
1010
+ {
1011
+ "epoch": 73,
1012
+ "train_loss": 1.0154423060871305,
1013
+ "val_loss": 1.0105101466178894,
1014
+ "lr": 1.1632787016468507e-05,
1015
+ "timestamp": "2026-04-02T19:55:27",
1016
+ "train_loss_pointmap": 0.5247149041720799,
1017
+ "train_loss_pose": 0.012601559139078572,
1018
+ "train_loss_reproj": 0.4781258503595988,
1019
+ "val_loss_pointmap": 0.5239664316177368,
1020
+ "val_loss_pose": 0.012795014772564173,
1021
+ "val_loss_reproj": 0.47374869883060455,
1022
+ "epoch_time_s": 59.19
1023
+ },
1024
+ {
1025
+ "epoch": 74,
1026
+ "train_loss": 1.0112797930127098,
1027
+ "val_loss": 0.9990852773189545,
1028
+ "lr": 1.1533358764143908e-05,
1029
+ "timestamp": "2026-04-02T19:56:26",
1030
+ "train_loss_pointmap": 0.5228018632956913,
1031
+ "train_loss_pose": 0.012599632897902103,
1032
+ "train_loss_reproj": 0.47587829686346506,
1033
+ "val_loss_pointmap": 0.5191386938095093,
1034
+ "val_loss_pose": 0.012704820837825537,
1035
+ "val_loss_reproj": 0.4672417491674423,
1036
+ "epoch_time_s": 59.01
1037
+ },
1038
+ {
1039
+ "epoch": 75,
1040
+ "train_loss": 1.0054284107117426,
1041
+ "val_loss": 1.0011346340179443,
1042
+ "lr": 1.1432964526813558e-05,
1043
+ "timestamp": "2026-04-02T19:57:24",
1044
+ "train_loss_pointmap": 0.5204581873757499,
1045
+ "train_loss_pose": 0.012474538802745797,
1046
+ "train_loss_reproj": 0.47249570063182283,
1047
+ "val_loss_pointmap": 0.5197773277759552,
1048
+ "val_loss_pose": 0.012649379670619965,
1049
+ "val_loss_reproj": 0.46870793402194977,
1050
+ "epoch_time_s": 57.92
1051
+ },
1052
+ {
1053
+ "epoch": 76,
1054
+ "train_loss": 1.0003068503879367,
1055
+ "val_loss": 0.9905104339122772,
1056
+ "lr": 1.1331631751259516e-05,
1057
+ "timestamp": "2026-04-02T19:58:23",
1058
+ "train_loss_pointmap": 0.518499011085147,
1059
+ "train_loss_pose": 0.012416041722255093,
1060
+ "train_loss_reproj": 0.4693918057850429,
1061
+ "val_loss_pointmap": 0.5159760415554047,
1062
+ "val_loss_pose": 0.012581516522914171,
1063
+ "val_loss_reproj": 0.4619528502225876,
1064
+ "epoch_time_s": 58.75
1065
+ },
1066
+ {
1067
+ "epoch": 77,
1068
+ "train_loss": 0.9959023935454232,
1069
+ "val_loss": 0.9838464558124542,
1070
+ "lr": 1.1229388140850815e-05,
1071
+ "timestamp": "2026-04-02T19:59:21",
1072
+ "train_loss_pointmap": 0.516663792587462,
1073
+ "train_loss_pose": 0.012413632080313704,
1074
+ "train_loss_reproj": 0.46682496723674594,
1075
+ "val_loss_pointmap": 0.5131517350673676,
1076
+ "val_loss_pose": 0.012578752357512712,
1077
+ "val_loss_reproj": 0.45811596512794495,
1078
+ "epoch_time_s": 58.63
1079
+ },
1080
+ {
1081
+ "epoch": 78,
1082
+ "train_loss": 0.9901006335303897,
1083
+ "val_loss": 0.9850330948829651,
1084
+ "lr": 1.1126261647969648e-05,
1085
+ "timestamp": "2026-04-02T20:00:19",
1086
+ "train_loss_pointmap": 0.5143000057765416,
1087
+ "train_loss_pose": 0.012324093530575434,
1088
+ "train_loss_reproj": 0.46347651737076895,
1089
+ "val_loss_pointmap": 0.5136530101299286,
1090
+ "val_loss_pose": 0.012512849178165197,
1091
+ "val_loss_reproj": 0.45886723697185516,
1092
+ "epoch_time_s": 57.77
1093
+ },
1094
+ {
1095
+ "epoch": 79,
1096
+ "train_loss": 0.9855497365906125,
1097
+ "val_loss": 0.9799051880836487,
1098
+ "lr": 1.102228046636945e-05,
1099
+ "timestamp": "2026-04-02T20:01:18",
1100
+ "train_loss_pointmap": 0.5124871262482235,
1101
+ "train_loss_pose": 0.012320313469639846,
1102
+ "train_loss_reproj": 0.46074228627341135,
1103
+ "val_loss_pointmap": 0.5116457045078278,
1104
+ "val_loss_pose": 0.012482548598200083,
1105
+ "val_loss_reproj": 0.4557769447565079,
1106
+ "epoch_time_s": 58.38
1107
+ },
1108
+ {
1109
+ "epoch": 80,
1110
+ "train_loss": 0.980999109290895,
1111
+ "val_loss": 0.97894486784935,
1112
+ "lr": 1.0917473023467034e-05,
1113
+ "timestamp": "2026-04-02T20:02:17",
1114
+ "train_loss_pointmap": 0.5106765457562038,
1115
+ "train_loss_pose": 0.01227099129131862,
1116
+ "train_loss_reproj": 0.45805157933916363,
1117
+ "val_loss_pointmap": 0.5108116865158081,
1118
+ "val_loss_pose": 0.012404634151607752,
1119
+ "val_loss_reproj": 0.45572856068611145,
1120
+ "epoch_time_s": 59.62
1121
+ },
1122
+ {
1123
+ "epoch": 81,
1124
+ "train_loss": 0.9761514777228946,
1125
+ "val_loss": 0.9716630280017853,
1126
+ "lr": 1.0811867972570788e-05,
1127
+ "timestamp": "2026-04-02T20:03:17",
1128
+ "train_loss_pointmap": 0.5087421621595111,
1129
+ "train_loss_pose": 0.012224362719626654,
1130
+ "train_loss_reproj": 0.45518494361922857,
1131
+ "val_loss_pointmap": 0.5081237554550171,
1132
+ "val_loss_pose": 0.012371444143354893,
1133
+ "val_loss_reproj": 0.45116783678531647,
1134
+ "epoch_time_s": 59.28
1135
+ },
1136
+ {
1137
+ "epoch": 82,
1138
+ "train_loss": 0.9730446679251534,
1139
+ "val_loss": 0.9672122895717621,
1140
+ "lr": 1.0705494185047166e-05,
1141
+ "timestamp": "2026-04-02T20:04:16",
1142
+ "train_loss_pointmap": 0.507354695172537,
1143
+ "train_loss_pose": 0.012183071424563726,
1144
+ "train_loss_reproj": 0.4535068983123416,
1145
+ "val_loss_pointmap": 0.5065563321113586,
1146
+ "val_loss_pose": 0.012355988379567862,
1147
+ "val_loss_reproj": 0.44829997420310974,
1148
+ "epoch_time_s": 59.22
1149
+ },
1150
+ {
1151
+ "epoch": 83,
1152
+ "train_loss": 0.9683742296128046,
1153
+ "val_loss": 0.9558872580528259,
1154
+ "lr": 1.0598380742427545e-05,
1155
+ "timestamp": "2026-04-02T20:05:15",
1156
+ "train_loss_pointmap": 0.5054779293991271,
1157
+ "train_loss_pose": 0.012129594793631918,
1158
+ "train_loss_reproj": 0.4507667053313482,
1159
+ "val_loss_pointmap": 0.5020624399185181,
1160
+ "val_loss_pose": 0.012260465882718563,
1161
+ "val_loss_reproj": 0.4415643662214279,
1162
+ "epoch_time_s": 59.43
1163
+ },
1164
+ {
1165
+ "epoch": 84,
1166
+ "train_loss": 0.961359441280365,
1167
+ "val_loss": 0.9570260047912598,
1168
+ "lr": 1.0490556928457617e-05,
1169
+ "timestamp": "2026-04-02T20:06:16",
1170
+ "train_loss_pointmap": 0.5026910659812746,
1171
+ "train_loss_pose": 0.012053403781638258,
1172
+ "train_loss_reproj": 0.446614975020999,
1173
+ "val_loss_pointmap": 0.5022260248661041,
1174
+ "val_loss_pose": 0.012210557702928782,
1175
+ "val_loss_reproj": 0.4425894021987915,
1176
+ "epoch_time_s": 60.01
1177
+ },
1178
+ {
1179
+ "epoch": 85,
1180
+ "train_loss": 0.9587583343187968,
1181
+ "val_loss": 0.9537515342235565,
1182
+ "lr": 1.0382052221091502e-05,
1183
+ "timestamp": "2026-04-02T20:07:15",
1184
+ "train_loss_pointmap": 0.5016473588489351,
1185
+ "train_loss_pose": 0.012080565937573002,
1186
+ "train_loss_reproj": 0.445030411084493,
1187
+ "val_loss_pointmap": 0.500758022069931,
1188
+ "val_loss_pose": 0.012275499291718006,
1189
+ "val_loss_reproj": 0.44071802496910095,
1190
+ "epoch_time_s": 59.11
1191
+ },
1192
+ {
1193
+ "epoch": 86,
1194
+ "train_loss": 0.9557400317419142,
1195
+ "val_loss": 0.9437958896160126,
1196
+ "lr": 1.0272896284432786e-05,
1197
+ "timestamp": "2026-04-02T20:08:14",
1198
+ "train_loss_pointmap": 0.5003488574709211,
1199
+ "train_loss_pose": 0.012060438016695636,
1200
+ "train_loss_reproj": 0.4433307392256601,
1201
+ "val_loss_pointmap": 0.49729393422603607,
1202
+ "val_loss_pose": 0.012250158935785294,
1203
+ "val_loss_reproj": 0.4342517852783203,
1204
+ "epoch_time_s": 59.14
1205
+ },
1206
+ {
1207
+ "epoch": 87,
1208
+ "train_loss": 0.9528816768101284,
1209
+ "val_loss": 0.9398179054260254,
1210
+ "lr": 1.0163118960624633e-05,
1211
+ "timestamp": "2026-04-02T20:09:14",
1212
+ "train_loss_pointmap": 0.49921036334264846,
1213
+ "train_loss_pose": 0.011999850959650107,
1214
+ "train_loss_reproj": 0.441671446675346,
1215
+ "val_loss_pointmap": 0.4957255572080612,
1216
+ "val_loss_pose": 0.01219403138384223,
1217
+ "val_loss_reproj": 0.4318983256816864,
1218
+ "epoch_time_s": 59.63
1219
+ },
1220
+ {
1221
+ "epoch": 88,
1222
+ "train_loss": 0.9499798899605161,
1223
+ "val_loss": 0.9558542966842651,
1224
+ "lr": 1.0052750261691254e-05,
1225
+ "timestamp": "2026-04-02T20:10:14",
1226
+ "train_loss_pointmap": 0.4980375397773016,
1227
+ "train_loss_pose": 0.011955157410176028,
1228
+ "train_loss_reproj": 0.4399871982279278,
1229
+ "val_loss_pointmap": 0.5007942914962769,
1230
+ "val_loss_pose": 0.012085717171430588,
1231
+ "val_loss_reproj": 0.4429743140935898,
1232
+ "epoch_time_s": 59.71
1233
+ },
1234
+ {
1235
+ "epoch": 89,
1236
+ "train_loss": 0.9453424385615757,
1237
+ "val_loss": 0.9364091455936432,
1238
+ "lr": 9.941820361332912e-06,
1239
+ "timestamp": "2026-04-02T20:11:13",
1240
+ "train_loss_pointmap": 0.4961684530689603,
1241
+ "train_loss_pose": 0.011954586819878646,
1242
+ "train_loss_reproj": 0.43721939836229595,
1243
+ "val_loss_pointmap": 0.4936569482088089,
1244
+ "val_loss_pose": 0.012145400512963533,
1245
+ "val_loss_reproj": 0.43060679733753204,
1246
+ "epoch_time_s": 59.57
1247
+ },
1248
+ {
1249
+ "epoch": 90,
1250
+ "train_loss": 0.9419122196379162,
1251
+ "val_loss": 0.9335638880729675,
1252
+ "lr": 9.830359586676738e-06,
1253
+ "timestamp": "2026-04-02T20:12:13",
1254
+ "train_loss_pointmap": 0.4946854440938859,
1255
+ "train_loss_pose": 0.01192373964225962,
1256
+ "train_loss_reproj": 0.4353030338173821,
1257
+ "val_loss_pointmap": 0.49289052188396454,
1258
+ "val_loss_pose": 0.01208590529859066,
1259
+ "val_loss_reproj": 0.42858748137950897,
1260
+ "epoch_time_s": 59.39
1261
+ },
1262
+ {
1263
+ "epoch": 91,
1264
+ "train_loss": 0.9380556288219634,
1265
+ "val_loss": 0.9330240488052368,
1266
+ "lr": 9.718398409985594e-06,
1267
+ "timestamp": "2026-04-02T20:13:12",
1268
+ "train_loss_pointmap": 0.49311040270896184,
1269
+ "train_loss_pose": 0.011863616516902334,
1270
+ "train_loss_reproj": 0.43308160986219135,
1271
+ "val_loss_pointmap": 0.49250319600105286,
1272
+ "val_loss_pose": 0.012039114721119404,
1273
+ "val_loss_reproj": 0.4284817725419998,
1274
+ "epoch_time_s": 59.02
1275
+ },
1276
+ {
1277
+ "epoch": 92,
1278
+ "train_loss": 0.9337945296650841,
1279
+ "val_loss": 0.9368585348129272,
1280
+ "lr": 9.605967440327261e-06,
1281
+ "timestamp": "2026-04-02T20:14:11",
1282
+ "train_loss_pointmap": 0.4913860091141292,
1283
+ "train_loss_pose": 0.011839827389589377,
1284
+ "train_loss_reproj": 0.4305686879725683,
1285
+ "val_loss_pointmap": 0.49305079877376556,
1286
+ "val_loss_pose": 0.012008948717266321,
1287
+ "val_loss_reproj": 0.4317987561225891,
1288
+ "epoch_time_s": 59.18
1289
+ },
1290
+ {
1291
+ "epoch": 93,
1292
+ "train_loss": 0.929813529763903,
1293
+ "val_loss": 0.9252700209617615,
1294
+ "lr": 9.493097415206229e-06,
1295
+ "timestamp": "2026-04-02T20:15:11",
1296
+ "train_loss_pointmap": 0.4897919013386681,
1297
+ "train_loss_pose": 0.011825702552284514,
1298
+ "train_loss_reproj": 0.4281959249859765,
1299
+ "val_loss_pointmap": 0.48923008143901825,
1300
+ "val_loss_pose": 0.011986477300524712,
1301
+ "val_loss_reproj": 0.42405346035957336,
1302
+ "epoch_time_s": 59.68
1303
+ },
1304
+ {
1305
+ "epoch": 94,
1306
+ "train_loss": 0.9266729950904846,
1307
+ "val_loss": 0.9246350526809692,
1308
+ "lr": 9.379819192160363e-06,
1309
+ "timestamp": "2026-04-02T20:16:10",
1310
+ "train_loss_pointmap": 0.4885144219512031,
1311
+ "train_loss_pose": 0.011811331978866033,
1312
+ "train_loss_reproj": 0.4263472358385722,
1313
+ "val_loss_pointmap": 0.4887325316667557,
1314
+ "val_loss_pose": 0.011982432566583157,
1315
+ "val_loss_reproj": 0.42392008006572723,
1316
+ "epoch_time_s": 59.36
1317
+ },
1318
+ {
1319
+ "epoch": 95,
1320
+ "train_loss": 0.9239805454299563,
1321
+ "val_loss": 0.9211154580116272,
1322
+ "lr": 9.266163740324772e-06,
1323
+ "timestamp": "2026-04-02T20:17:09",
1324
+ "train_loss_pointmap": 0.4874149163564046,
1325
+ "train_loss_pose": 0.011723281904345467,
1326
+ "train_loss_reproj": 0.42484234344391597,
1327
+ "val_loss_pointmap": 0.4873213917016983,
1328
+ "val_loss_pose": 0.01193129038438201,
1329
+ "val_loss_reproj": 0.42186276614665985,
1330
+ "epoch_time_s": 59.1
1331
+ },
1332
+ {
1333
+ "epoch": 96,
1334
+ "train_loss": 0.9199497472672236,
1335
+ "val_loss": 0.9103592038154602,
1336
+ "lr": 9.152162131965137e-06,
1337
+ "timestamp": "2026-04-02T20:18:10",
1338
+ "train_loss_pointmap": 0.4856810285931542,
1339
+ "train_loss_pose": 0.011750752328052408,
1340
+ "train_loss_reproj": 0.4225179638181414,
1341
+ "val_loss_pointmap": 0.4834180474281311,
1342
+ "val_loss_pose": 0.011946925893425941,
1343
+ "val_loss_reproj": 0.4149942398071289,
1344
+ "epoch_time_s": 60.11
1345
+ },
1346
+ {
1347
+ "epoch": 97,
1348
+ "train_loss": 0.916785907177698,
1349
+ "val_loss": 0.9136768579483032,
1350
+ "lr": 9.037845533982894e-06,
1351
+ "timestamp": "2026-04-02T20:19:08",
1352
+ "train_loss_pointmap": 0.4844257916722979,
1353
+ "train_loss_pose": 0.011742092890753633,
1354
+ "train_loss_reproj": 0.4206180175145467,
1355
+ "val_loss_pointmap": 0.48445652425289154,
1356
+ "val_loss_pose": 0.011945516336709261,
1357
+ "val_loss_reproj": 0.4172748178243637,
1358
+ "epoch_time_s": 58.45
1359
+ },
1360
+ {
1361
+ "epoch": 98,
1362
+ "train_loss": 0.9139008181435722,
1363
+ "val_loss": 0.909687876701355,
1364
+ "lr": 8.923245199394484e-06,
1365
+ "timestamp": "2026-04-02T20:20:06",
1366
+ "train_loss_pointmap": 0.48315301821345374,
1367
+ "train_loss_pose": 0.01173999049656448,
1368
+ "train_loss_reproj": 0.419007807970047,
1369
+ "val_loss_pointmap": 0.48272697627544403,
1370
+ "val_loss_pose": 0.011925251688808203,
1371
+ "val_loss_reproj": 0.4150356650352478,
1372
+ "epoch_time_s": 57.79
1373
+ },
1374
+ {
1375
+ "epoch": 99,
1376
+ "train_loss": 0.9100032051404318,
1377
+ "val_loss": 0.9016382098197937,
1378
+ "lr": 8.808392458787105e-06,
1379
+ "timestamp": "2026-04-02T20:21:03",
1380
+ "train_loss_pointmap": 0.4816124666304815,
1381
+ "train_loss_pose": 0.01169403451716616,
1382
+ "train_loss_reproj": 0.4166966946352096,
1383
+ "val_loss_pointmap": 0.4797148108482361,
1384
+ "val_loss_pose": 0.011907816864550114,
1385
+ "val_loss_reproj": 0.4100155830383301,
1386
+ "epoch_time_s": 57.42
1387
+ },
1388
+ {
1389
+ "epoch": 100,
1390
+ "train_loss": 0.9068090575081962,
1391
+ "val_loss": 0.9019535183906555,
1392
+ "lr": 8.69331871175324e-06,
1393
+ "timestamp": "2026-04-02T20:22:01",
1394
+ "train_loss_pointmap": 0.48025172523089815,
1395
+ "train_loss_pose": 0.011664218757124175,
1396
+ "train_loss_reproj": 0.41489311768895104,
1397
+ "val_loss_pointmap": 0.4793608635663986,
1398
+ "val_loss_pose": 0.011837063822895288,
1399
+ "val_loss_reproj": 0.41075558960437775,
1400
+ "epoch_time_s": 57.67
1401
+ },
1402
+ {
1403
+ "epoch": 101,
1404
+ "train_loss": 0.9034118737493243,
1405
+ "val_loss": 0.8970801830291748,
1406
+ "lr": 8.578055418306327e-06,
1407
+ "timestamp": "2026-04-02T20:22:59",
1408
+ "train_loss_pointmap": 0.47872169812520343,
1409
+ "train_loss_pose": 0.011570414572599389,
1410
+ "train_loss_reproj": 0.41311976313591003,
1411
+ "val_loss_pointmap": 0.4777366369962692,
1412
+ "val_loss_pose": 0.0117799355648458,
1413
+ "val_loss_reproj": 0.40756359696388245,
1414
+ "epoch_time_s": 57.71
1415
+ },
1416
+ {
1417
+ "epoch": 102,
1418
+ "train_loss": 0.9001062711079916,
1419
+ "val_loss": 0.8952637910842896,
1420
+ "lr": 8.462634090279896e-06,
1421
+ "timestamp": "2026-04-02T20:23:56",
1422
+ "train_loss_pointmap": 0.4773491621017456,
1423
+ "train_loss_pose": 0.01157951909339144,
1424
+ "train_loss_reproj": 0.4111775926181248,
1425
+ "val_loss_pointmap": 0.4768710434436798,
1426
+ "val_loss_pose": 0.01178362825885415,
1427
+ "val_loss_reproj": 0.40660911798477173,
1428
+ "epoch_time_s": 57.3
1429
+ },
1430
+ {
1431
+ "epoch": 103,
1432
+ "train_loss": 0.8976770100139436,
1433
+ "val_loss": 0.891514390707016,
1434
+ "lr": 8.347086282712556e-06,
1435
+ "timestamp": "2026-04-02T20:24:54",
1436
+ "train_loss_pointmap": 0.47632053068705965,
1437
+ "train_loss_pose": 0.01152491613867737,
1438
+ "train_loss_reproj": 0.4098315607933771,
1439
+ "val_loss_pointmap": 0.47518135607242584,
1440
+ "val_loss_pose": 0.011743539478629827,
1441
+ "val_loss_reproj": 0.4045894742012024,
1442
+ "epoch_time_s": 57.29
1443
+ },
1444
+ {
1445
+ "epoch": 104,
1446
+ "train_loss": 0.895216927641914,
1447
+ "val_loss": 0.8936580419540405,
1448
+ "lr": 8.231443585221157e-06,
1449
+ "timestamp": "2026-04-02T20:25:52",
1450
+ "train_loss_pointmap": 0.4752506287324996,
1451
+ "train_loss_pose": 0.011525460784988744,
1452
+ "train_loss_reproj": 0.40844083825747174,
1453
+ "val_loss_pointmap": 0.47564834356307983,
1454
+ "val_loss_pose": 0.011739716865122318,
1455
+ "val_loss_reproj": 0.40626999735832214,
1456
+ "epoch_time_s": 57.84
1457
+ },
1458
+ {
1459
+ "epoch": 105,
1460
+ "train_loss": 0.8920873318399701,
1461
+ "val_loss": 0.8842249512672424,
1462
+ "lr": 8.11573761336451e-06,
1463
+ "timestamp": "2026-04-02T20:26:49",
1464
+ "train_loss_pointmap": 0.4739439913204738,
1465
+ "train_loss_pose": 0.011525082401931286,
1466
+ "train_loss_reproj": 0.40661825736363727,
1467
+ "val_loss_pointmap": 0.4726344347000122,
1468
+ "val_loss_pose": 0.011723511386662722,
1469
+ "val_loss_reproj": 0.3998669981956482,
1470
+ "epoch_time_s": 57.26
1471
+ },
1472
+ {
1473
+ "epoch": 106,
1474
+ "train_loss": 0.8896792332331339,
1475
+ "val_loss": 0.880985677242279,
1476
+ "lr": 8e-06,
1477
+ "timestamp": "2026-04-02T20:27:49",
1478
+ "train_loss_pointmap": 0.47295820003464106,
1479
+ "train_loss_pose": 0.011528527896319116,
1480
+ "train_loss_reproj": 0.4051925043265025,
1481
+ "val_loss_pointmap": 0.4709242880344391,
1482
+ "val_loss_pose": 0.01172363618388772,
1483
+ "val_loss_reproj": 0.3983377516269684,
1484
+ "epoch_time_s": 59.96
1485
+ },
1486
+ {
1487
+ "epoch": 107,
1488
+ "train_loss": 0.8879385931151254,
1489
+ "val_loss": 0.8764801025390625,
1490
+ "lr": 7.884262386635491e-06,
1491
+ "timestamp": "2026-04-02T20:28:47",
1492
+ "train_loss_pointmap": 0.4721874992052714,
1493
+ "train_loss_pose": 0.011502347886562347,
1494
+ "train_loss_reproj": 0.40424874283018564,
1495
+ "val_loss_pointmap": 0.4690556079149246,
1496
+ "val_loss_pose": 0.011714520398527384,
1497
+ "val_loss_reproj": 0.39570994675159454,
1498
+ "epoch_time_s": 57.56
1499
+ },
1500
+ {
1501
+ "epoch": 108,
1502
+ "train_loss": 0.8851784439313979,
1503
+ "val_loss": 0.8764753639698029,
1504
+ "lr": 7.768556414778843e-06,
1505
+ "timestamp": "2026-04-02T20:29:44",
1506
+ "train_loss_pointmap": 0.4708505556696937,
1507
+ "train_loss_pose": 0.011469256354584581,
1508
+ "train_loss_reproj": 0.4028586319514683,
1509
+ "val_loss_pointmap": 0.46908293664455414,
1510
+ "val_loss_pose": 0.011660506948828697,
1511
+ "val_loss_reproj": 0.39573192596435547,
1512
+ "epoch_time_s": 57.61
1513
+ },
1514
+ {
1515
+ "epoch": 109,
1516
+ "train_loss": 0.8822431025050935,
1517
+ "val_loss": 0.8733659386634827,
1518
+ "lr": 7.652913717287444e-06,
1519
+ "timestamp": "2026-04-02T20:30:42",
1520
+ "train_loss_pointmap": 0.4697629993870145,
1521
+ "train_loss_pose": 0.011436515576427891,
1522
+ "train_loss_reproj": 0.4010435938835144,
1523
+ "val_loss_pointmap": 0.46774689853191376,
1524
+ "val_loss_pose": 0.011649617459625006,
1525
+ "val_loss_reproj": 0.39396944642066956,
1526
+ "epoch_time_s": 58.04
1527
+ },
1528
+ {
1529
+ "epoch": 110,
1530
+ "train_loss": 0.8810433944066366,
1531
+ "val_loss": 0.8749359846115112,
1532
+ "lr": 7.537365909720104e-06,
1533
+ "timestamp": "2026-04-02T20:31:41",
1534
+ "train_loss_pointmap": 0.4691673247587113,
1535
+ "train_loss_pose": 0.011432688461527937,
1536
+ "train_loss_reproj": 0.400443373691468,
1537
+ "val_loss_pointmap": 0.4681633710861206,
1538
+ "val_loss_pose": 0.011680600233376026,
1539
+ "val_loss_reproj": 0.3950919955968857,
1540
+ "epoch_time_s": 58.67
1541
+ },
1542
+ {
1543
+ "epoch": 111,
1544
+ "train_loss": 0.8785045515923273,
1545
+ "val_loss": 0.8712926805019379,
1546
+ "lr": 7.421944581693674e-06,
1547
+ "timestamp": "2026-04-02T20:32:39",
1548
+ "train_loss_pointmap": 0.4681106110413869,
1549
+ "train_loss_pose": 0.011421921662986279,
1550
+ "train_loss_reproj": 0.3989720174244472,
1551
+ "val_loss_pointmap": 0.466628834605217,
1552
+ "val_loss_pose": 0.011639567092061043,
1553
+ "val_loss_reproj": 0.3930242955684662,
1554
+ "epoch_time_s": 58.19
1555
+ },
1556
+ {
1557
+ "epoch": 112,
1558
+ "train_loss": 0.8769045784359887,
1559
+ "val_loss": 0.8682207763195038,
1560
+ "lr": 7.306681288246761e-06,
1561
+ "timestamp": "2026-04-02T20:33:38",
1562
+ "train_loss_pointmap": 0.46732107940174283,
1563
+ "train_loss_pose": 0.011428576406268846,
1564
+ "train_loss_reproj": 0.3981549228940691,
1565
+ "val_loss_pointmap": 0.4651797264814377,
1566
+ "val_loss_pose": 0.011670638341456652,
1567
+ "val_loss_reproj": 0.39137040078639984,
1568
+ "epoch_time_s": 58.28
1569
+ },
1570
+ {
1571
+ "epoch": 113,
1572
+ "train_loss": 0.8743992220787775,
1573
+ "val_loss": 0.8652025461196899,
1574
+ "lr": 7.191607541212897e-06,
1575
+ "timestamp": "2026-04-02T20:34:38",
1576
+ "train_loss_pointmap": 0.4663561653523218,
1577
+ "train_loss_pose": 0.011407790971653802,
1578
+ "train_loss_reproj": 0.3966352740923564,
1579
+ "val_loss_pointmap": 0.46415485441684723,
1580
+ "val_loss_pose": 0.011595994234085083,
1581
+ "val_loss_reproj": 0.38945169746875763,
1582
+ "epoch_time_s": 60.45
1583
+ },
1584
+ {
1585
+ "epoch": 114,
1586
+ "train_loss": 0.8717428616115025,
1587
+ "val_loss": 0.8650297522544861,
1588
+ "lr": 7.076754800605517e-06,
1589
+ "timestamp": "2026-04-02T20:35:38",
1590
+ "train_loss_pointmap": 0.4653195724600837,
1591
+ "train_loss_pose": 0.011384092714814912,
1592
+ "train_loss_reproj": 0.395039188010352,
1593
+ "val_loss_pointmap": 0.4638083875179291,
1594
+ "val_loss_pose": 0.011584933381527662,
1595
+ "val_loss_reproj": 0.38963642716407776,
1596
+ "epoch_time_s": 59.14
1597
+ },
1598
+ {
1599
+ "epoch": 115,
1600
+ "train_loss": 0.8693722259430658,
1601
+ "val_loss": 0.8672838807106018,
1602
+ "lr": 6.962154466017105e-06,
1603
+ "timestamp": "2026-04-02T20:36:36",
1604
+ "train_loss_pointmap": 0.4642323950926463,
1605
+ "train_loss_pose": 0.011355347133108548,
1606
+ "train_loss_reproj": 0.3937844903696151,
1607
+ "val_loss_pointmap": 0.464706689119339,
1608
+ "val_loss_pose": 0.011569186579436064,
1609
+ "val_loss_reproj": 0.39100800454616547,
1610
+ "epoch_time_s": 58.63
1611
+ },
1612
+ {
1613
+ "epoch": 116,
1614
+ "train_loss": 0.8673725270089649,
1615
+ "val_loss": 0.8606968820095062,
1616
+ "lr": 6.847837868034861e-06,
1617
+ "timestamp": "2026-04-02T20:37:35",
1618
+ "train_loss_pointmap": 0.463247754744121,
1619
+ "train_loss_pose": 0.01132563448378018,
1620
+ "train_loss_reproj": 0.39279914469946,
1621
+ "val_loss_pointmap": 0.46207842230796814,
1622
+ "val_loss_pose": 0.011540545616298914,
1623
+ "val_loss_reproj": 0.3870778977870941,
1624
+ "epoch_time_s": 58.35
1625
+ },
1626
+ {
1627
+ "epoch": 117,
1628
+ "train_loss": 0.8646666180519831,
1629
+ "val_loss": 0.8623351156711578,
1630
+ "lr": 6.733836259675233e-06,
1631
+ "timestamp": "2026-04-02T20:38:46",
1632
+ "train_loss_pointmap": 0.46210998438653494,
1633
+ "train_loss_pose": 0.011316244978280295,
1634
+ "train_loss_reproj": 0.39124038105919245,
1635
+ "val_loss_pointmap": 0.46236492693424225,
1636
+ "val_loss_pose": 0.011513939127326012,
1637
+ "val_loss_reproj": 0.38845624029636383,
1638
+ "epoch_time_s": 71.12
1639
+ },
1640
+ {
1641
+ "epoch": 118,
1642
+ "train_loss": 0.8621344027065095,
1643
+ "val_loss": 0.8583512902259827,
1644
+ "lr": 6.6201808078396384e-06,
1645
+ "timestamp": "2026-04-02T20:40:17",
1646
+ "train_loss_pointmap": 0.4611017335028875,
1647
+ "train_loss_pose": 0.011304801729108607,
1648
+ "train_loss_reproj": 0.3897278706232707,
1649
+ "val_loss_pointmap": 0.4607592225074768,
1650
+ "val_loss_pose": 0.011520612519234419,
1651
+ "val_loss_reproj": 0.38607147336006165,
1652
+ "epoch_time_s": 91.41
1653
+ },
1654
+ {
1655
+ "epoch": 119,
1656
+ "train_loss": 0.8600751161575317,
1657
+ "val_loss": 0.8561710119247437,
1658
+ "lr": 6.506902584793773e-06,
1659
+ "timestamp": "2026-04-02T20:41:47",
1660
+ "train_loss_pointmap": 0.46018799146016437,
1661
+ "train_loss_pose": 0.011305385535316808,
1662
+ "train_loss_reproj": 0.3885817300705683,
1663
+ "val_loss_pointmap": 0.45978543162345886,
1664
+ "val_loss_pose": 0.011537332087755203,
1665
+ "val_loss_reproj": 0.3848482519388199,
1666
+ "epoch_time_s": 89.81
1667
+ },
1668
+ {
1669
+ "epoch": 120,
1670
+ "train_loss": 0.8576071120443798,
1671
+ "val_loss": 0.8521994352340698,
1672
+ "lr": 6.394032559672739e-06,
1673
+ "timestamp": "2026-04-02T20:43:18",
1674
+ "train_loss_pointmap": 0.4591519704886845,
1675
+ "train_loss_pose": 0.011321318690620717,
1676
+ "train_loss_reproj": 0.38713382681210834,
1677
+ "val_loss_pointmap": 0.4583846628665924,
1678
+ "val_loss_pose": 0.011531627736985683,
1679
+ "val_loss_reproj": 0.38228313624858856,
1680
+ "epoch_time_s": 90.48
1681
+ },
1682
+ {
1683
+ "epoch": 121,
1684
+ "train_loss": 0.8568386463891893,
1685
+ "val_loss": 0.8485105931758881,
1686
+ "lr": 6.281601590014406e-06,
1687
+ "timestamp": "2026-04-02T20:44:40",
1688
+ "train_loss_pointmap": 0.4588079040958768,
1689
+ "train_loss_pose": 0.011286426246875808,
1690
+ "train_loss_reproj": 0.3867443118776594,
1691
+ "val_loss_pointmap": 0.4569563567638397,
1692
+ "val_loss_pose": 0.01149383932352066,
1693
+ "val_loss_reproj": 0.3800603896379471,
1694
+ "epoch_time_s": 82.22
1695
+ },
1696
+ {
1697
+ "epoch": 122,
1698
+ "train_loss": 0.8547175526618958,
1699
+ "val_loss": 0.8496922850608826,
1700
+ "lr": 6.169640413323261e-06,
1701
+ "timestamp": "2026-04-02T20:45:43",
1702
+ "train_loss_pointmap": 0.45788287264960154,
1703
+ "train_loss_pose": 0.011245718713672389,
1704
+ "train_loss_reproj": 0.3855889638264974,
1705
+ "val_loss_pointmap": 0.45703649520874023,
1706
+ "val_loss_pose": 0.011488898657262325,
1707
+ "val_loss_reproj": 0.38116689026355743,
1708
+ "epoch_time_s": 62.76
1709
+ },
1710
+ {
1711
+ "epoch": 123,
1712
+ "train_loss": 0.8523716699509394,
1713
+ "val_loss": 0.8440107107162476,
1714
+ "lr": 6.058179638667089e-06,
1715
+ "timestamp": "2026-04-02T20:46:52",
1716
+ "train_loss_pointmap": 0.45679624449639095,
1717
+ "train_loss_pose": 0.011230494294847761,
1718
+ "train_loss_reproj": 0.38434493399801706,
1719
+ "val_loss_pointmap": 0.45492756366729736,
1720
+ "val_loss_pose": 0.011427850928157568,
1721
+ "val_loss_reproj": 0.3776552826166153,
1722
+ "epoch_time_s": 69.14
1723
+ },
1724
+ {
1725
+ "epoch": 124,
1726
+ "train_loss": 0.8512896838642302,
1727
+ "val_loss": 0.8433063626289368,
1728
+ "lr": 5.947249738308747e-06,
1729
+ "timestamp": "2026-04-02T20:48:25",
1730
+ "train_loss_pointmap": 0.4563467332295009,
1731
+ "train_loss_pose": 0.011213607332181363,
1732
+ "train_loss_reproj": 0.3837293443225679,
1733
+ "val_loss_pointmap": 0.45467472076416016,
1734
+ "val_loss_pose": 0.011414015665650368,
1735
+ "val_loss_reproj": 0.3772176206111908,
1736
+ "epoch_time_s": 92.52
1737
+ },
1738
+ {
1739
+ "epoch": 125,
1740
+ "train_loss": 0.8489272651218233,
1741
+ "val_loss": 0.8411056995391846,
1742
+ "lr": 5.836881039375368e-06,
1743
+ "timestamp": "2026-04-02T20:49:56",
1744
+ "train_loss_pointmap": 0.45529872746694655,
1745
+ "train_loss_pose": 0.011204641223663376,
1746
+ "train_loss_reproj": 0.38242389190764653,
1747
+ "val_loss_pointmap": 0.45365771651268005,
1748
+ "val_loss_pose": 0.011439970694482327,
1749
+ "val_loss_reproj": 0.376008003950119,
1750
+ "epoch_time_s": 90.64
1751
+ },
1752
+ {
1753
+ "epoch": 126,
1754
+ "train_loss": 0.8462328683762324,
1755
+ "val_loss": 0.8427065908908844,
1756
+ "lr": 5.727103715567216e-06,
1757
+ "timestamp": "2026-04-02T20:51:28",
1758
+ "train_loss_pointmap": 0.45415122168404715,
1759
+ "train_loss_pose": 0.01118243494558902,
1760
+ "train_loss_reproj": 0.3808992121900831,
1761
+ "val_loss_pointmap": 0.45386262238025665,
1762
+ "val_loss_pose": 0.01140787173062563,
1763
+ "val_loss_reproj": 0.3774360865354538,
1764
+ "epoch_time_s": 91.81
1765
+ },
1766
+ {
1767
+ "epoch": 127,
1768
+ "train_loss": 0.8443423339298793,
1769
+ "val_loss": 0.8397170305252075,
1770
+ "lr": 5.617947778908498e-06,
1771
+ "timestamp": "2026-04-02T20:52:43",
1772
+ "train_loss_pointmap": 0.4532645855631147,
1773
+ "train_loss_pose": 0.01114497763947362,
1774
+ "train_loss_reproj": 0.37993277538390385,
1775
+ "val_loss_pointmap": 0.45278483629226685,
1776
+ "val_loss_pose": 0.011368697043508291,
1777
+ "val_loss_reproj": 0.37556348741054535,
1778
+ "epoch_time_s": 75.5
1779
+ },
1780
+ {
1781
+ "epoch": 128,
1782
+ "train_loss": 0.842894298689706,
1783
+ "val_loss": 0.8365010023117065,
1784
+ "lr": 5.509443071542383e-06,
1785
+ "timestamp": "2026-04-02T20:53:41",
1786
+ "train_loss_pointmap": 0.4526894305433546,
1787
+ "train_loss_pose": 0.011154602104354473,
1788
+ "train_loss_reproj": 0.3790502690133594,
1789
+ "val_loss_pointmap": 0.4516279548406601,
1790
+ "val_loss_pose": 0.011374397668987513,
1791
+ "val_loss_reproj": 0.37349866330623627,
1792
+ "epoch_time_s": 57.6
1793
+ },
1794
+ {
1795
+ "epoch": 129,
1796
+ "train_loss": 0.8408488829930624,
1797
+ "val_loss": 0.835030198097229,
1798
+ "lr": 5.401619257572454e-06,
1799
+ "timestamp": "2026-04-02T20:54:45",
1800
+ "train_loss_pointmap": 0.4517727664538792,
1801
+ "train_loss_pose": 0.011135851121729328,
1802
+ "train_loss_reproj": 0.37794027016276405,
1803
+ "val_loss_pointmap": 0.45081135630607605,
1804
+ "val_loss_pose": 0.01136342016980052,
1805
+ "val_loss_reproj": 0.37285542488098145,
1806
+ "epoch_time_s": 64.32
1807
+ },
1808
+ {
1809
+ "epoch": 130,
1810
+ "train_loss": 0.8399228056271871,
1811
+ "val_loss": 0.8308659195899963,
1812
+ "lr": 5.294505814952836e-06,
1813
+ "timestamp": "2026-04-02T20:56:16",
1814
+ "train_loss_pointmap": 0.4512891329470135,
1815
+ "train_loss_pose": 0.011112822441472894,
1816
+ "train_loss_reproj": 0.3775208450499035,
1817
+ "val_loss_pointmap": 0.44917985796928406,
1818
+ "val_loss_pose": 0.011358359828591347,
1819
+ "val_loss_reproj": 0.3703276962041855,
1820
+ "epoch_time_s": 90.67
1821
+ },
1822
+ {
1823
+ "epoch": 131,
1824
+ "train_loss": 0.8380283628191266,
1825
+ "val_loss": 0.8365865349769592,
1826
+ "lr": 5.188132027429215e-06,
1827
+ "timestamp": "2026-04-02T20:57:49",
1828
+ "train_loss_pointmap": 0.45045120943160283,
1829
+ "train_loss_pose": 0.011116742688630308,
1830
+ "train_loss_reproj": 0.3764604131380717,
1831
+ "val_loss_pointmap": 0.4510456472635269,
1832
+ "val_loss_pose": 0.011341092176735401,
1833
+ "val_loss_reproj": 0.374199777841568,
1834
+ "epoch_time_s": 92.7
1835
+ },
1836
+ {
1837
+ "epoch": 132,
1838
+ "train_loss": 0.8371803306397938,
1839
+ "val_loss": 0.8334742784500122,
1840
+ "lr": 5.082526976532968e-06,
1841
+ "timestamp": "2026-04-02T20:59:20",
1842
+ "train_loss_pointmap": 0.4501188596089681,
1843
+ "train_loss_pose": 0.011052986340863364,
1844
+ "train_loss_reproj": 0.376008479368119,
1845
+ "val_loss_pointmap": 0.4499479830265045,
1846
+ "val_loss_pose": 0.011335122399032116,
1847
+ "val_loss_reproj": 0.3721912056207657,
1848
+ "epoch_time_s": 91.16
1849
+ },
1850
+ {
1851
+ "epoch": 133,
1852
+ "train_loss": 0.8362616556031364,
1853
+ "val_loss": 0.8307071030139923,
1854
+ "lr": 4.97771953363055e-06,
1855
+ "timestamp": "2026-04-02T21:00:41",
1856
+ "train_loss_pointmap": 0.44962765205474126,
1857
+ "train_loss_pose": 0.011093627838861374,
1858
+ "train_loss_reproj": 0.3755403771286919,
1859
+ "val_loss_pointmap": 0.44870465993881226,
1860
+ "val_loss_pose": 0.011324576567858458,
1861
+ "val_loss_reproj": 0.3706778585910797,
1862
+ "epoch_time_s": 80.94
1863
+ },
1864
+ {
1865
+ "epoch": 134,
1866
+ "train_loss": 0.8347007291657584,
1867
+ "val_loss": 0.8276959657669067,
1868
+ "lr": 4.873738352030354e-06,
1869
+ "timestamp": "2026-04-02T21:01:41",
1870
+ "train_loss_pointmap": 0.44890041862215313,
1871
+ "train_loss_pose": 0.011084498837590218,
1872
+ "train_loss_reproj": 0.3747158135686602,
1873
+ "val_loss_pointmap": 0.44743674993515015,
1874
+ "val_loss_pose": 0.01131229242309928,
1875
+ "val_loss_reproj": 0.36894695460796356,
1876
+ "epoch_time_s": 59.2
1877
+ },
1878
+ {
1879
+ "epoch": 135,
1880
+ "train_loss": 0.8327998235112145,
1881
+ "val_loss": 0.8319228291511536,
1882
+ "lr": 4.770611859149187e-06,
1883
+ "timestamp": "2026-04-02T21:02:46",
1884
+ "train_loss_pointmap": 0.44804912947473075,
1885
+ "train_loss_pose": 0.011047938882949807,
1886
+ "train_loss_reproj": 0.37370275315784274,
1887
+ "val_loss_pointmap": 0.44884029030799866,
1888
+ "val_loss_pose": 0.01125689409673214,
1889
+ "val_loss_reproj": 0.3718256503343582,
1890
+ "epoch_time_s": 65.74
1891
+ },
1892
+ {
1893
+ "epoch": 136,
1894
+ "train_loss": 0.8314841559955052,
1895
+ "val_loss": 0.8262019455432892,
1896
+ "lr": 4.668368248740485e-06,
1897
+ "timestamp": "2026-04-02T21:04:16",
1898
+ "train_loss_pointmap": 0.4474163410209474,
1899
+ "train_loss_pose": 0.0110142385764491,
1900
+ "train_loss_reproj": 0.37305358336085365,
1901
+ "val_loss_pointmap": 0.44669209420681,
1902
+ "val_loss_pose": 0.011246972251683474,
1903
+ "val_loss_reproj": 0.3682629019021988,
1904
+ "epoch_time_s": 89.24
1905
+ },
1906
+ {
1907
+ "epoch": 137,
1908
+ "train_loss": 0.8292755285898844,
1909
+ "val_loss": 0.8256304264068604,
1910
+ "lr": 4.567035473186445e-06,
1911
+ "timestamp": "2026-04-02T21:05:47",
1912
+ "train_loss_pointmap": 0.44648669305301847,
1913
+ "train_loss_pose": 0.011018084849984873,
1914
+ "train_loss_reproj": 0.3717707565852574,
1915
+ "val_loss_pointmap": 0.4463644325733185,
1916
+ "val_loss_pose": 0.01126759359613061,
1917
+ "val_loss_reproj": 0.3679983913898468,
1918
+ "epoch_time_s": 91.37
1919
+ },
1920
+ {
1921
+ "epoch": 138,
1922
+ "train_loss": 0.8277998538244338,
1923
+ "val_loss": 0.8240311443805695,
1924
+ "lr": 4.466641235856096e-06,
1925
+ "timestamp": "2026-04-02T21:07:17",
1926
+ "train_loss_pointmap": 0.4458970498471033,
1927
+ "train_loss_pose": 0.011040201632394678,
1928
+ "train_loss_reproj": 0.3708625946726118,
1929
+ "val_loss_pointmap": 0.44567660987377167,
1930
+ "val_loss_pose": 0.0112836929038167,
1931
+ "val_loss_reproj": 0.36707083880901337,
1932
+ "epoch_time_s": 89.75
1933
+ },
1934
+ {
1935
+ "epoch": 139,
1936
+ "train_loss": 0.826535335608891,
1937
+ "val_loss": 0.8183935582637787,
1938
+ "lr": 4.367212983531496e-06,
1939
+ "timestamp": "2026-04-02T21:08:35",
1940
+ "train_loss_pointmap": 0.44526062267167227,
1941
+ "train_loss_pose": 0.011032097795534702,
1942
+ "train_loss_reproj": 0.37024261412166415,
1943
+ "val_loss_pointmap": 0.443544864654541,
1944
+ "val_loss_pose": 0.01127086952328682,
1945
+ "val_loss_reproj": 0.36357782781124115,
1946
+ "epoch_time_s": 77.77
1947
+ },
1948
+ {
1949
+ "epoch": 140,
1950
+ "train_loss": 0.8259826955341157,
1951
+ "val_loss": 0.8194550573825836,
1952
+ "lr": 4.268777898904045e-06,
1953
+ "timestamp": "2026-04-02T21:09:39",
1954
+ "train_loss_pointmap": 0.4449395338694255,
1955
+ "train_loss_pose": 0.011014912765295733,
1956
+ "train_loss_reproj": 0.37002824317841304,
1957
+ "val_loss_pointmap": 0.44375765323638916,
1958
+ "val_loss_pose": 0.011250433046370745,
1959
+ "val_loss_reproj": 0.3644469827413559,
1960
+ "epoch_time_s": 63.41
1961
+ },
1962
+ {
1963
+ "epoch": 141,
1964
+ "train_loss": 0.824978748957316,
1965
+ "val_loss": 0.8208365440368652,
1966
+ "lr": 4.1713628931430134e-06,
1967
+ "timestamp": "2026-04-02T21:10:40",
1968
+ "train_loss_pointmap": 0.4444866208803086,
1969
+ "train_loss_pose": 0.010992606525265035,
1970
+ "train_loss_reproj": 0.36949952585356577,
1971
+ "val_loss_pointmap": 0.44411924481391907,
1972
+ "val_loss_pose": 0.011224474757909775,
1973
+ "val_loss_reproj": 0.3654928058385849,
1974
+ "epoch_time_s": 61.54
1975
+ },
1976
+ {
1977
+ "epoch": 142,
1978
+ "train_loss": 0.8226299342655,
1979
+ "val_loss": 0.8190440833568573,
1980
+ "lr": 4.074994598538292e-06,
1981
+ "timestamp": "2026-04-02T21:12:09",
1982
+ "train_loss_pointmap": 0.4434920946756999,
1983
+ "train_loss_pose": 0.010970788209566049,
1984
+ "train_loss_reproj": 0.36816704273223877,
1985
+ "val_loss_pointmap": 0.4434845298528671,
1986
+ "val_loss_pose": 0.011213863734155893,
1987
+ "val_loss_reproj": 0.3643456846475601,
1988
+ "epoch_time_s": 89.05
1989
+ },
1990
+ {
1991
+ "epoch": 143,
1992
+ "train_loss": 0.8223326631954738,
1993
+ "val_loss": 0.8140679001808167,
1994
+ "lr": 3.979699361219395e-06,
1995
+ "timestamp": "2026-04-02T21:13:42",
1996
+ "train_loss_pointmap": 0.4433025930609022,
1997
+ "train_loss_pose": 0.010986361963053545,
1998
+ "train_loss_reproj": 0.3680437051114582,
1999
+ "val_loss_pointmap": 0.4414384812116623,
2000
+ "val_loss_pose": 0.011221352964639664,
2001
+ "val_loss_reproj": 0.361408069729805,
2002
+ "epoch_time_s": 92.29
2003
+ },
2004
+ {
2005
+ "epoch": 144,
2006
+ "train_loss": 0.8202276882671174,
2007
+ "val_loss": 0.8168505430221558,
2008
+ "lr": 3.885503233952689e-06,
2009
+ "timestamp": "2026-04-02T21:15:15",
2010
+ "train_loss_pointmap": 0.4424038302330744,
2011
+ "train_loss_pose": 0.010966221846285321,
2012
+ "train_loss_reproj": 0.3668576308659145,
2013
+ "val_loss_pointmap": 0.44223378598690033,
2014
+ "val_loss_pose": 0.011208324693143368,
2015
+ "val_loss_reproj": 0.3634084463119507,
2016
+ "epoch_time_s": 93.26
2017
+ },
2018
+ {
2019
+ "epoch": 145,
2020
+ "train_loss": 0.820071055775597,
2021
+ "val_loss": 0.8127676844596863,
2022
+ "lr": 3.792431969018824e-06,
2023
+ "timestamp": "2026-04-02T21:16:37",
2024
+ "train_loss_pointmap": 0.44228277461869375,
2025
+ "train_loss_pose": 0.010968164939965521,
2026
+ "train_loss_reproj": 0.36682010832287015,
2027
+ "val_loss_pointmap": 0.4406254291534424,
2028
+ "val_loss_pose": 0.011235111858695745,
2029
+ "val_loss_reproj": 0.3609071522951126,
2030
+ "epoch_time_s": 82.2
2031
+ },
2032
+ {
2033
+ "epoch": 146,
2034
+ "train_loss": 0.8182114362716675,
2035
+ "val_loss": 0.8126805424690247,
2036
+ "lr": 3.7005110111723253e-06,
2037
+ "timestamp": "2026-04-02T21:17:40",
2038
+ "train_loss_pointmap": 0.44141351609002977,
2039
+ "train_loss_pose": 0.010955496469423884,
2040
+ "train_loss_reproj": 0.36584241759209407,
2041
+ "val_loss_pointmap": 0.4406832307577133,
2042
+ "val_loss_pose": 0.011192578822374344,
2043
+ "val_loss_reproj": 0.3608047068119049,
2044
+ "epoch_time_s": 62.75
2045
+ },
2046
+ {
2047
+ "epoch": 147,
2048
+ "train_loss": 0.8178075154622396,
2049
+ "val_loss": 0.8119002282619476,
2050
+ "lr": 3.609765490685241e-06,
2051
+ "timestamp": "2026-04-02T21:18:42",
2052
+ "train_loss_pointmap": 0.4411464943772271,
2053
+ "train_loss_pose": 0.010946043146153292,
2054
+ "train_loss_reproj": 0.36571497718493146,
2055
+ "val_loss_pointmap": 0.4401962161064148,
2056
+ "val_loss_pose": 0.011175541672855616,
2057
+ "val_loss_reproj": 0.36052846908569336,
2058
+ "epoch_time_s": 61.39
2059
+ },
2060
+ {
2061
+ "epoch": 148,
2062
+ "train_loss": 0.8167529957635062,
2063
+ "val_loss": 0.8084790408611298,
2064
+ "lr": 3.5202202164767832e-06,
2065
+ "timestamp": "2026-04-02T21:20:02",
2066
+ "train_loss_pointmap": 0.4406873754092625,
2067
+ "train_loss_pose": 0.010934403254872277,
2068
+ "train_loss_reproj": 0.3651312220664251,
2069
+ "val_loss_pointmap": 0.43883854150772095,
2070
+ "val_loss_pose": 0.011175271589308977,
2071
+ "val_loss_reproj": 0.35846520960330963,
2072
+ "epoch_time_s": 80.47
2073
+ },
2074
+ {
2075
+ "epoch": 149,
2076
+ "train_loss": 0.816011769430978,
2077
+ "val_loss": 0.8100530803203583,
2078
+ "lr": 3.4318996693308194e-06,
2079
+ "timestamp": "2026-04-02T21:21:21",
2080
+ "train_loss_pointmap": 0.44026234320231844,
2081
+ "train_loss_pose": 0.010930672287940979,
2082
+ "train_loss_reproj": 0.36481876032693045,
2083
+ "val_loss_pointmap": 0.4393124133348465,
2084
+ "val_loss_pose": 0.01117146061733365,
2085
+ "val_loss_reproj": 0.3595691919326782,
2086
+ "epoch_time_s": 78.17
2087
+ },
2088
+ {
2089
+ "epoch": 150,
2090
+ "train_loss": 0.8142307258787609,
2091
+ "val_loss": 0.8078267574310303,
2092
+ "lr": 3.3448279952030615e-06,
2093
+ "timestamp": "2026-04-02T21:22:44",
2094
+ "train_loss_pointmap": 0.4396226377714248,
2095
+ "train_loss_pose": 0.0109251421831903,
2096
+ "train_loss_reproj": 0.36368294556935626,
2097
+ "val_loss_pointmap": 0.43835338950157166,
2098
+ "val_loss_pose": 0.011166651733219624,
2099
+ "val_loss_reproj": 0.35830672085285187,
2100
+ "epoch_time_s": 83.5
2101
+ },
2102
+ {
2103
+ "epoch": 151,
2104
+ "train_loss": 0.8147460250627427,
2105
+ "val_loss": 0.8081635534763336,
2106
+ "lr": 3.259028998619814e-06,
2107
+ "timestamp": "2026-04-02T21:23:57",
2108
+ "train_loss_pointmap": 0.4397097442831312,
2109
+ "train_loss_pose": 0.010914103881943794,
2110
+ "train_loss_reproj": 0.3641221821308136,
2111
+ "val_loss_pointmap": 0.43849462270736694,
2112
+ "val_loss_pose": 0.011143595445901155,
2113
+ "val_loss_reproj": 0.358525350689888,
2114
+ "epoch_time_s": 73.19
2115
+ },
2116
+ {
2117
+ "epoch": 152,
2118
+ "train_loss": 0.81363217319761,
2119
+ "val_loss": 0.805855005979538,
2120
+ "lr": 3.174526136170039e-06,
2121
+ "timestamp": "2026-04-02T21:25:20",
2122
+ "train_loss_pointmap": 0.4391680175349826,
2123
+ "train_loss_pose": 0.010914659748474756,
2124
+ "train_loss_reproj": 0.36354949076970416,
2125
+ "val_loss_pointmap": 0.43750011920928955,
2126
+ "val_loss_pose": 0.011156193446367979,
2127
+ "val_loss_reproj": 0.35719871520996094,
2128
+ "epoch_time_s": 82.22
2129
+ },
2130
+ {
2131
+ "epoch": 153,
2132
+ "train_loss": 0.8118420271646409,
2133
+ "val_loss": 0.8037453889846802,
2134
+ "lr": 3.0913425100925796e-06,
2135
+ "timestamp": "2026-04-02T21:26:42",
2136
+ "train_loss_pointmap": 0.4384392698605855,
2137
+ "train_loss_pose": 0.010891565033012912,
2138
+ "train_loss_reproj": 0.36251120624088107,
2139
+ "val_loss_pointmap": 0.4366433322429657,
2140
+ "val_loss_pose": 0.011130958329886198,
2141
+ "val_loss_reproj": 0.3559711277484894,
2142
+ "epoch_time_s": 82.38
2143
+ },
2144
+ {
2145
+ "epoch": 154,
2146
+ "train_loss": 0.8107225809778486,
2147
+ "val_loss": 0.8058350086212158,
2148
+ "lr": 3.0095008619602205e-06,
2149
+ "timestamp": "2026-04-02T21:27:57",
2150
+ "train_loss_pointmap": 0.437947887749899,
2151
+ "train_loss_pose": 0.010873263701796532,
2152
+ "train_loss_reproj": 0.3619014322757721,
2153
+ "val_loss_pointmap": 0.4373103082180023,
2154
+ "val_loss_pose": 0.011095651425421238,
2155
+ "val_loss_reproj": 0.35742905735969543,
2156
+ "epoch_time_s": 75.01
2157
+ },
2158
+ {
2159
+ "epoch": 155,
2160
+ "train_loss": 0.8099556253069923,
2161
+ "val_loss": 0.8046146631240845,
2162
+ "lr": 2.929023566462377e-06,
2163
+ "timestamp": "2026-04-02T21:29:18",
2164
+ "train_loss_pointmap": 0.43752002006485347,
2165
+ "train_loss_pose": 0.010864584351934138,
2166
+ "train_loss_reproj": 0.36157102953820003,
2167
+ "val_loss_pointmap": 0.4368295222520828,
2168
+ "val_loss_pose": 0.011108275037258863,
2169
+ "val_loss_reproj": 0.3566768616437912,
2170
+ "epoch_time_s": 81.07
2171
+ },
2172
+ {
2173
+ "epoch": 156,
2174
+ "train_loss": 0.8087077935536703,
2175
+ "val_loss": 0.8018240928649902,
2176
+ "lr": 2.849932625288079e-06,
2177
+ "timestamp": "2026-04-02T21:30:37",
2178
+ "train_loss_pointmap": 0.43704157925787424,
2179
+ "train_loss_pose": 0.010848343638437135,
2180
+ "train_loss_reproj": 0.360817870923451,
2181
+ "val_loss_pointmap": 0.43558330833911896,
2182
+ "val_loss_pose": 0.011097692884504795,
2183
+ "val_loss_reproj": 0.35514308512210846,
2184
+ "epoch_time_s": 78.47
2185
+ },
2186
+ {
2187
+ "epoch": 157,
2188
+ "train_loss": 0.8087795007796514,
2189
+ "val_loss": 0.8018196523189545,
2190
+ "lr": 2.772249661110925e-06,
2191
+ "timestamp": "2026-04-02T21:31:58",
2192
+ "train_loss_pointmap": 0.436954208782741,
2193
+ "train_loss_pose": 0.010848839501185077,
2194
+ "train_loss_reproj": 0.36097644908087595,
2195
+ "val_loss_pointmap": 0.4355403035879135,
2196
+ "val_loss_pose": 0.011097397189587355,
2197
+ "val_loss_reproj": 0.3551819622516632,
2198
+ "epoch_time_s": 81.02
2199
+ },
2200
+ {
2201
+ "epoch": 158,
2202
+ "train_loss": 0.8074142876125517,
2203
+ "val_loss": 0.8043022155761719,
2204
+ "lr": 2.695995911677658e-06,
2205
+ "timestamp": "2026-04-02T21:33:15",
2206
+ "train_loss_pointmap": 0.43640663084529696,
2207
+ "train_loss_pose": 0.010822290510293982,
2208
+ "train_loss_reproj": 0.3601853691396259,
2209
+ "val_loss_pointmap": 0.43639153242111206,
2210
+ "val_loss_pose": 0.011084869969636202,
2211
+ "val_loss_reproj": 0.3568258136510849,
2212
+ "epoch_time_s": 76.74
2213
+ },
2214
+ {
2215
+ "epoch": 159,
2216
+ "train_loss": 0.807224744842166,
2217
+ "val_loss": 0.8001680970191956,
2218
+ "lr": 2.621192224001988e-06,
2219
+ "timestamp": "2026-04-02T21:34:26",
2220
+ "train_loss_pointmap": 0.4362130775338128,
2221
+ "train_loss_pose": 0.010843817322027115,
2222
+ "train_loss_reproj": 0.36016784111658734,
2223
+ "val_loss_pointmap": 0.4348210394382477,
2224
+ "val_loss_pose": 0.011089103762060404,
2225
+ "val_loss_reproj": 0.3542579412460327,
2226
+ "epoch_time_s": 71.08
2227
+ },
2228
+ {
2229
+ "epoch": 160,
2230
+ "train_loss": 0.8064726449194408,
2231
+ "val_loss": 0.8018116354942322,
2232
+ "lr": 2.5478590486652134e-06,
2233
+ "timestamp": "2026-04-02T21:35:40",
2234
+ "train_loss_pointmap": 0.4358294081120264,
2235
+ "train_loss_pose": 0.010821064047160604,
2236
+ "train_loss_reproj": 0.3598221739133199,
2237
+ "val_loss_pointmap": 0.4352330267429352,
2238
+ "val_loss_pose": 0.011069351807236671,
2239
+ "val_loss_reproj": 0.3555092364549637,
2240
+ "epoch_time_s": 74.36
2241
+ },
2242
+ {
2243
+ "epoch": 161,
2244
+ "train_loss": 0.8054816041673932,
2245
+ "val_loss": 0.8001299798488617,
2246
+ "lr": 2.4760164342252457e-06,
2247
+ "timestamp": "2026-04-02T21:37:02",
2248
+ "train_loss_pointmap": 0.4353955246153332,
2249
+ "train_loss_pose": 0.01083631059598355,
2250
+ "train_loss_reproj": 0.35924976638385225,
2251
+ "val_loss_pointmap": 0.43452541530132294,
2252
+ "val_loss_pose": 0.011080111376941204,
2253
+ "val_loss_reproj": 0.3545244485139847,
2254
+ "epoch_time_s": 81.15
2255
+ },
2256
+ {
2257
+ "epoch": 162,
2258
+ "train_loss": 0.8054149888810658,
2259
+ "val_loss": 0.7974110841751099,
2260
+ "lr": 2.405684021735527e-06,
2261
+ "timestamp": "2026-04-02T21:38:20",
2262
+ "train_loss_pointmap": 0.43528967244284494,
2263
+ "train_loss_pose": 0.01082570677889245,
2264
+ "train_loss_reproj": 0.35929960154351737,
2265
+ "val_loss_pointmap": 0.4335106313228607,
2266
+ "val_loss_pose": 0.011061232537031174,
2267
+ "val_loss_reproj": 0.3528392165899277,
2268
+ "epoch_time_s": 78.11
2269
+ },
2270
+ {
2271
+ "epoch": 163,
2272
+ "train_loss": 0.8043656065350487,
2273
+ "val_loss": 0.7981055378913879,
2274
+ "lr": 2.3368810393753685e-06,
2275
+ "timestamp": "2026-04-02T21:39:39",
2276
+ "train_loss_pointmap": 0.43483795580409823,
2277
+ "train_loss_pose": 0.010815074356893698,
2278
+ "train_loss_reproj": 0.35871257242702304,
2279
+ "val_loss_pointmap": 0.4336715489625931,
2280
+ "val_loss_pose": 0.011047513224184513,
2281
+ "val_loss_reproj": 0.3533864766359329,
2282
+ "epoch_time_s": 78.73
2283
+ },
2284
+ {
2285
+ "epoch": 164,
2286
+ "train_loss": 0.8045964042345682,
2287
+ "val_loss": 0.7985660433769226,
2288
+ "lr": 2.2696262971931534e-06,
2289
+ "timestamp": "2026-04-02T21:40:58",
2290
+ "train_loss_pointmap": 0.4348549629960741,
2291
+ "train_loss_pose": 0.010818972695796262,
2292
+ "train_loss_reproj": 0.35892246876444134,
2293
+ "val_loss_pointmap": 0.4338276833295822,
2294
+ "val_loss_pose": 0.011057052295655012,
2295
+ "val_loss_reproj": 0.3536812961101532,
2296
+ "epoch_time_s": 79.52
2297
+ },
2298
+ {
2299
+ "epoch": 165,
2300
+ "train_loss": 0.8023470072519212,
2301
+ "val_loss": 0.7971029579639435,
2302
+ "lr": 2.2039381819638596e-06,
2303
+ "timestamp": "2026-04-02T21:42:18",
2304
+ "train_loss_pointmap": 0.43402903420584543,
2305
+ "train_loss_pose": 0.010816082757498537,
2306
+ "train_loss_reproj": 0.35750189139729455,
2307
+ "val_loss_pointmap": 0.43326736986637115,
2308
+ "val_loss_pose": 0.011069166474044323,
2309
+ "val_loss_reproj": 0.3527664244174957,
2310
+ "epoch_time_s": 79.37
2311
+ },
2312
+ {
2313
+ "epoch": 166,
2314
+ "train_loss": 0.8019309214183262,
2315
+ "val_loss": 0.7945498824119568,
2316
+ "lr": 2.1398346521623e-06,
2317
+ "timestamp": "2026-04-02T21:43:18",
2318
+ "train_loss_pointmap": 0.43377704563595,
2319
+ "train_loss_pose": 0.010814948938786983,
2320
+ "train_loss_reproj": 0.35733892520268756,
2321
+ "val_loss_pointmap": 0.4322368949651718,
2322
+ "val_loss_pose": 0.011060004588216543,
2323
+ "val_loss_reproj": 0.3512530028820038,
2324
+ "epoch_time_s": 60.71
2325
+ },
2326
+ {
2327
+ "epoch": 167,
2328
+ "train_loss": 0.8024530694598243,
2329
+ "val_loss": 0.7963657081127167,
2330
+ "lr": 2.0773332330534513e-06,
2331
+ "timestamp": "2026-04-02T21:44:16",
2332
+ "train_loss_pointmap": 0.4338922514801934,
2333
+ "train_loss_pose": 0.010815687965424288,
2334
+ "train_loss_reproj": 0.35774513369514827,
2335
+ "val_loss_pointmap": 0.4328668564558029,
2336
+ "val_loss_pose": 0.011046321131289005,
2337
+ "val_loss_reproj": 0.3524525314569473,
2338
+ "epoch_time_s": 57.32
2339
+ },
2340
+ {
2341
+ "epoch": 168,
2342
+ "train_loss": 0.8018034753345308,
2343
+ "val_loss": 0.7946166098117828,
2344
+ "lr": 2.016451011901226e-06,
2345
+ "timestamp": "2026-04-02T21:45:13",
2346
+ "train_loss_pointmap": 0.433640718460083,
2347
+ "train_loss_pose": 0.010800030525951158,
2348
+ "train_loss_reproj": 0.35736272306669326,
2349
+ "val_loss_pointmap": 0.43216389417648315,
2350
+ "val_loss_pose": 0.011039025150239468,
2351
+ "val_loss_reproj": 0.35141369700431824,
2352
+ "epoch_time_s": 57.15
2353
+ },
2354
+ {
2355
+ "epoch": 169,
2356
+ "train_loss": 0.7996329920632499,
2357
+ "val_loss": 0.7948387861251831,
2358
+ "lr": 1.9572046332969827e-06,
2359
+ "timestamp": "2026-04-02T21:46:10",
2360
+ "train_loss_pointmap": 0.43278885455358596,
2361
+ "train_loss_pose": 0.01079134957953578,
2362
+ "train_loss_reproj": 0.3560527875309899,
2363
+ "val_loss_pointmap": 0.4322049766778946,
2364
+ "val_loss_pose": 0.011034448631107807,
2365
+ "val_loss_reproj": 0.3515993654727936,
2366
+ "epoch_time_s": 57.39
2367
+ },
2368
+ {
2369
+ "epoch": 170,
2370
+ "train_loss": 0.8003522384734381,
2371
+ "val_loss": 0.7954390645027161,
2372
+ "lr": 1.8996102946090583e-06,
2373
+ "timestamp": "2026-04-02T21:47:08",
2374
+ "train_loss_pointmap": 0.43299871399289086,
2375
+ "train_loss_pose": 0.010792810514214494,
2376
+ "train_loss_reproj": 0.3565607141880762,
2377
+ "val_loss_pointmap": 0.4323394000530243,
2378
+ "val_loss_pose": 0.011031895410269499,
2379
+ "val_loss_reproj": 0.352067768573761,
2380
+ "epoch_time_s": 57.44
2381
+ },
2382
+ {
2383
+ "epoch": 171,
2384
+ "train_loss": 0.7999951640764872,
2385
+ "val_loss": 0.7971475124359131,
2386
+ "lr": 1.843683741554577e-06,
2387
+ "timestamp": "2026-04-02T21:48:05",
2388
+ "train_loss_pointmap": 0.4327424040862492,
2389
+ "train_loss_pose": 0.01078046720829748,
2390
+ "train_loss_reproj": 0.3564722850209191,
2391
+ "val_loss_pointmap": 0.4328605383634567,
2392
+ "val_loss_pose": 0.01101198373362422,
2393
+ "val_loss_reproj": 0.35327498614788055,
2394
+ "epoch_time_s": 57.16
2395
+ },
2396
+ {
2397
+ "epoch": 172,
2398
+ "train_loss": 0.7990900959287371,
2399
+ "val_loss": 0.7931362688541412,
2400
+ "lr": 1.7894402638947173e-06,
2401
+ "timestamp": "2026-04-02T21:49:03",
2402
+ "train_loss_pointmap": 0.4323850231511252,
2403
+ "train_loss_pose": 0.010769729546847798,
2404
+ "train_loss_reproj": 0.35593534793172565,
2405
+ "val_loss_pointmap": 0.43135805428028107,
2406
+ "val_loss_pose": 0.011019342578947544,
2407
+ "val_loss_reproj": 0.3507588505744934,
2408
+ "epoch_time_s": 57.45
2409
+ },
2410
+ {
2411
+ "epoch": 173,
2412
+ "train_loss": 0.7996236227807545,
2413
+ "val_loss": 0.7883786261081696,
2414
+ "lr": 1.7368946912546555e-06,
2415
+ "timestamp": "2026-04-02T21:50:00",
2416
+ "train_loss_pointmap": 0.4325445024740128,
2417
+ "train_loss_pose": 0.01078913121351174,
2418
+ "train_loss_reproj": 0.35628999556813923,
2419
+ "val_loss_pointmap": 0.42943842709064484,
2420
+ "val_loss_pose": 0.011034995783120394,
2421
+ "val_loss_reproj": 0.3479052037000656,
2422
+ "epoch_time_s": 57.45
2423
+ },
2424
+ {
2425
+ "epoch": 174,
2426
+ "train_loss": 0.7979117802211216,
2427
+ "val_loss": 0.7946935296058655,
2428
+ "lr": 1.6860613890692876e-06,
2429
+ "timestamp": "2026-04-02T21:50:58",
2430
+ "train_loss_pointmap": 0.43187538924671354,
2431
+ "train_loss_pose": 0.010781829910618919,
2432
+ "train_loss_reproj": 0.3552545692239489,
2433
+ "val_loss_pointmap": 0.4318203330039978,
2434
+ "val_loss_pose": 0.011024852748960257,
2435
+ "val_loss_reproj": 0.351848304271698,
2436
+ "epoch_time_s": 57.53
2437
+ },
2438
+ {
2439
+ "epoch": 175,
2440
+ "train_loss": 0.797919667902447,
2441
+ "val_loss": 0.7931691706180573,
2442
+ "lr": 1.6369542546558623e-06,
2443
+ "timestamp": "2026-04-02T21:51:55",
2444
+ "train_loss_pointmap": 0.43181759402865455,
2445
+ "train_loss_pose": 0.010783651089739232,
2446
+ "train_loss_reproj": 0.3553184299241929,
2447
+ "val_loss_pointmap": 0.43122580647468567,
2448
+ "val_loss_pose": 0.011015909258276224,
2449
+ "val_loss_reproj": 0.3509274572134018,
2450
+ "epoch_time_s": 57.48
2451
+ },
2452
+ {
2453
+ "epoch": 176,
2454
+ "train_loss": 0.7972557118960789,
2455
+ "val_loss": 0.7897867858409882,
2456
+ "lr": 1.5895867134145974e-06,
2457
+ "timestamp": "2026-04-02T21:52:53",
2458
+ "train_loss_pointmap": 0.43149236412275405,
2459
+ "train_loss_pose": 0.010770334906521298,
2460
+ "train_loss_reproj": 0.354993014108567,
2461
+ "val_loss_pointmap": 0.4298815280199051,
2462
+ "val_loss_pose": 0.011000819969922304,
2463
+ "val_loss_reproj": 0.34890446066856384,
2464
+ "epoch_time_s": 57.76
2465
+ },
2466
+ {
2467
+ "epoch": 177,
2468
+ "train_loss": 0.7967806004342579,
2469
+ "val_loss": 0.7918611168861389,
2470
+ "lr": 1.5439717151583066e-06,
2471
+ "timestamp": "2026-04-02T21:53:50",
2472
+ "train_loss_pointmap": 0.43126027498926434,
2473
+ "train_loss_pose": 0.010755855811848528,
2474
+ "train_loss_reproj": 0.35476446861312505,
2475
+ "val_loss_pointmap": 0.43064695596694946,
2476
+ "val_loss_pose": 0.010995786637067795,
2477
+ "val_loss_reproj": 0.35021837055683136,
2478
+ "epoch_time_s": 57.56
2479
+ },
2480
+ {
2481
+ "epoch": 178,
2482
+ "train_loss": 0.796391731216794,
2483
+ "val_loss": 0.7911595106124878,
2484
+ "lr": 1.5001217305720512e-06,
2485
+ "timestamp": "2026-04-02T21:54:48",
2486
+ "train_loss_pointmap": 0.4310434716088431,
2487
+ "train_loss_pose": 0.010763649030455522,
2488
+ "train_loss_reproj": 0.3545846144358317,
2489
+ "val_loss_pointmap": 0.4301733672618866,
2490
+ "val_loss_pose": 0.011008644010871649,
2491
+ "val_loss_reproj": 0.349977508187294,
2492
+ "epoch_time_s": 57.46
2493
+ },
2494
+ {
2495
+ "epoch": 179,
2496
+ "train_loss": 0.7966772488185337,
2497
+ "val_loss": 0.787745326757431,
2498
+ "lr": 1.4580487478037747e-06,
2499
+ "timestamp": "2026-04-02T21:55:46",
2500
+ "train_loss_pointmap": 0.43108449237687246,
2501
+ "train_loss_pose": 0.010758108947248686,
2502
+ "train_loss_reproj": 0.35483463747160776,
2503
+ "val_loss_pointmap": 0.4289226233959198,
2504
+ "val_loss_pose": 0.011008616536855698,
2505
+ "val_loss_reproj": 0.3478141129016876,
2506
+ "epoch_time_s": 57.73
2507
+ },
2508
+ {
2509
+ "epoch": 180,
2510
+ "train_loss": 0.7952290858541217,
2511
+ "val_loss": 0.7903212308883667,
2512
+ "lr": 1.4177642691868717e-06,
2513
+ "timestamp": "2026-04-02T21:56:43",
2514
+ "train_loss_pointmap": 0.43052635590235394,
2515
+ "train_loss_pose": 0.01075391001289799,
2516
+ "train_loss_reproj": 0.3539488230432783,
2517
+ "val_loss_pointmap": 0.429880827665329,
2518
+ "val_loss_pose": 0.010999072343111038,
2519
+ "val_loss_reproj": 0.349441334605217,
2520
+ "epoch_time_s": 57.5
2521
+ },
2522
+ {
2523
+ "epoch": 181,
2524
+ "train_loss": 0.7959905834425063,
2525
+ "val_loss": 0.7901950478553772,
2526
+ "lr": 1.3792793080955576e-06,
2527
+ "timestamp": "2026-04-02T21:57:41",
2528
+ "train_loss_pointmap": 0.43074160530453637,
2529
+ "train_loss_pose": 0.010753520675713108,
2530
+ "train_loss_reproj": 0.35449545014472233,
2531
+ "val_loss_pointmap": 0.4297897219657898,
2532
+ "val_loss_pose": 0.010990666225552559,
2533
+ "val_loss_reproj": 0.3494146466255188,
2534
+ "epoch_time_s": 57.7
2535
+ },
2536
+ {
2537
+ "epoch": 182,
2538
+ "train_loss": 0.794950266679128,
2539
+ "val_loss": 0.788911372423172,
2540
+ "lr": 1.3426043859339252e-06,
2541
+ "timestamp": "2026-04-02T21:58:39",
2542
+ "train_loss_pointmap": 0.4303218424320221,
2543
+ "train_loss_pose": 0.010739997295396668,
2544
+ "train_loss_reproj": 0.35388842650822233,
2545
+ "val_loss_pointmap": 0.4293059855699539,
2546
+ "val_loss_pose": 0.010982700157910585,
2547
+ "val_loss_reproj": 0.3486226797103882,
2548
+ "epoch_time_s": 57.51
2549
+ },
2550
+ {
2551
+ "epoch": 183,
2552
+ "train_loss": 0.7944424492972237,
2553
+ "val_loss": 0.79049152135849,
2554
+ "lr": 1.3077495292594964e-06,
2555
+ "timestamp": "2026-04-02T21:59:37",
2556
+ "train_loss_pointmap": 0.430093560900007,
2557
+ "train_loss_pose": 0.010738639072293327,
2558
+ "train_loss_reproj": 0.3536102516310556,
2559
+ "val_loss_pointmap": 0.4297754466533661,
2560
+ "val_loss_pose": 0.01098573300987482,
2561
+ "val_loss_reproj": 0.34973034262657166,
2562
+ "epoch_time_s": 58.22
2563
+ },
2564
+ {
2565
+ "epoch": 184,
2566
+ "train_loss": 0.7942624659765334,
2567
+ "val_loss": 0.7881269454956055,
2568
+ "lr": 1.274724267042063e-06,
2569
+ "timestamp": "2026-04-02T22:00:35",
2570
+ "train_loss_pointmap": 0.4299563041755131,
2571
+ "train_loss_pose": 0.010725047483685472,
2572
+ "train_loss_reproj": 0.353581109217235,
2573
+ "val_loss_pointmap": 0.4288562536239624,
2574
+ "val_loss_pose": 0.01098256977275014,
2575
+ "val_loss_reproj": 0.3482881188392639,
2576
+ "epoch_time_s": 57.9
2577
+ },
2578
+ {
2579
+ "epoch": 185,
2580
+ "train_loss": 0.7950715734845116,
2581
+ "val_loss": 0.7886084020137787,
2582
+ "lr": 1.24353762805856e-06,
2583
+ "timestamp": "2026-04-02T22:01:33",
2584
+ "train_loss_pointmap": 0.43021832193647114,
2585
+ "train_loss_pose": 0.010732125490903854,
2586
+ "train_loss_reproj": 0.3541211329755329,
2587
+ "val_loss_pointmap": 0.42900682985782623,
2588
+ "val_loss_pose": 0.010991017799824476,
2589
+ "val_loss_reproj": 0.3486105501651764,
2590
+ "epoch_time_s": 58.09
2591
+ },
2592
+ {
2593
+ "epoch": 186,
2594
+ "train_loss": 0.793198497522445,
2595
+ "val_loss": 0.7887349426746368,
2596
+ "lr": 1.2141981384246873e-06,
2597
+ "timestamp": "2026-04-02T22:02:31",
2598
+ "train_loss_pointmap": 0.42951102200008573,
2599
+ "train_loss_pose": 0.010743873548649606,
2600
+ "train_loss_reproj": 0.3529435992240906,
2601
+ "val_loss_pointmap": 0.4290691316127777,
2602
+ "val_loss_pose": 0.010983312036842108,
2603
+ "val_loss_reproj": 0.3486825078725815,
2604
+ "epoch_time_s": 58.19
2605
+ },
2606
+ {
2607
+ "epoch": 187,
2608
+ "train_loss": 0.7941317615054903,
2609
+ "val_loss": 0.7858358025550842,
2610
+ "lr": 1.1867138192639599e-06,
2611
+ "timestamp": "2026-04-02T22:03:29",
2612
+ "train_loss_pointmap": 0.42977942597298396,
2613
+ "train_loss_pose": 0.010737940314270202,
2614
+ "train_loss_reproj": 0.3536143941538675,
2615
+ "val_loss_pointmap": 0.42785584926605225,
2616
+ "val_loss_pose": 0.01099180057644844,
2617
+ "val_loss_reproj": 0.34698814153671265,
2618
+ "epoch_time_s": 57.95
2619
+ },
2620
+ {
2621
+ "epoch": 188,
2622
+ "train_loss": 0.7929780312946865,
2623
+ "val_loss": 0.7880679965019226,
2624
+ "lr": 1.161092184514805e-06,
2625
+ "timestamp": "2026-04-02T22:04:27",
2626
+ "train_loss_pointmap": 0.42931691663605825,
2627
+ "train_loss_pose": 0.01074792728537605,
2628
+ "train_loss_reproj": 0.3529131852445148,
2629
+ "val_loss_pointmap": 0.4287015050649643,
2630
+ "val_loss_pose": 0.010980668943375349,
2631
+ "val_loss_reproj": 0.348385825753212,
2632
+ "epoch_time_s": 57.91
2633
+ },
2634
+ {
2635
+ "epoch": 189,
2636
+ "train_loss": 0.7923920835767474,
2637
+ "val_loss": 0.7852951288223267,
2638
+ "lr": 1.1373402388763345e-06,
2639
+ "timestamp": "2026-04-02T22:05:25",
2640
+ "train_loss_pointmap": 0.4290686349074046,
2641
+ "train_loss_pose": 0.010733755349758126,
2642
+ "train_loss_reproj": 0.3525896994840531,
2643
+ "val_loss_pointmap": 0.4275702089071274,
2644
+ "val_loss_pose": 0.010979185812175274,
2645
+ "val_loss_reproj": 0.3467457443475723,
2646
+ "epoch_time_s": 57.69
2647
+ },
2648
+ {
2649
+ "epoch": 190,
2650
+ "train_loss": 0.7921797973769051,
2651
+ "val_loss": 0.7889517545700073,
2652
+ "lr": 1.1154644758933234e-06,
2653
+ "timestamp": "2026-04-02T22:06:22",
2654
+ "train_loss_pointmap": 0.4289534219673702,
2655
+ "train_loss_pose": 0.010719247783223787,
2656
+ "train_loss_reproj": 0.35250713853608995,
2657
+ "val_loss_pointmap": 0.42885148525238037,
2658
+ "val_loss_pose": 0.010963202454149723,
2659
+ "val_loss_reproj": 0.3491370677947998,
2660
+ "epoch_time_s": 57.71
2661
+ },
2662
+ {
2663
+ "epoch": 191,
2664
+ "train_loss": 0.7924256239618573,
2665
+ "val_loss": 0.7878773212432861,
2666
+ "lr": 1.0954708761809438e-06,
2667
+ "timestamp": "2026-04-02T22:07:20",
2668
+ "train_loss_pointmap": 0.42901082975523813,
2669
+ "train_loss_pose": 0.010726851366815112,
2670
+ "train_loss_reproj": 0.35268794354938326,
2671
+ "val_loss_pointmap": 0.4285670518875122,
2672
+ "val_loss_pose": 0.010979806073009968,
2673
+ "val_loss_reproj": 0.3483304977416992,
2674
+ "epoch_time_s": 57.44
2675
+ },
2676
+ {
2677
+ "epoch": 192,
2678
+ "train_loss": 0.7915278190658206,
2679
+ "val_loss": 0.7865362465381622,
2680
+ "lr": 1.0773649057897205e-06,
2681
+ "timestamp": "2026-04-02T22:08:17",
2682
+ "train_loss_pointmap": 0.4286688920997438,
2683
+ "train_loss_pose": 0.010731273951629797,
2684
+ "train_loss_reproj": 0.3521276598884946,
2685
+ "val_loss_pointmap": 0.4279693365097046,
2686
+ "val_loss_pose": 0.010968250222504139,
2687
+ "val_loss_reproj": 0.347598671913147,
2688
+ "epoch_time_s": 57.35
2689
+ },
2690
+ {
2691
+ "epoch": 193,
2692
+ "train_loss": 0.7910468266123817,
2693
+ "val_loss": 0.7864303290843964,
2694
+ "lr": 1.0611515147111735e-06,
2695
+ "timestamp": "2026-04-02T22:09:15",
2696
+ "train_loss_pointmap": 0.42844239586875554,
2697
+ "train_loss_pose": 0.010676314122974873,
2698
+ "train_loss_reproj": 0.35192811772936866,
2699
+ "val_loss_pointmap": 0.42789503931999207,
2700
+ "val_loss_pose": 0.010959525592625141,
2701
+ "val_loss_reproj": 0.34757573902606964,
2702
+ "epoch_time_s": 57.49
2703
+ },
2704
+ {
2705
+ "epoch": 194,
2706
+ "train_loss": 0.7906948214485532,
2707
+ "val_loss": 0.7852680385112762,
2708
+ "lr": 1.046835135524533e-06,
2709
+ "timestamp": "2026-04-02T22:10:12",
2710
+ "train_loss_pointmap": 0.4282375943093073,
2711
+ "train_loss_pose": 0.010710287218292555,
2712
+ "train_loss_reproj": 0.35174693238167537,
2713
+ "val_loss_pointmap": 0.4274418205022812,
2714
+ "val_loss_pose": 0.010969091672450304,
2715
+ "val_loss_reproj": 0.34685711562633514,
2716
+ "epoch_time_s": 57.41
2717
+ },
2718
+ {
2719
+ "epoch": 195,
2720
+ "train_loss": 0.7900809872718084,
2721
+ "val_loss": 0.7850838899612427,
2722
+ "lr": 1.03441968218492e-06,
2723
+ "timestamp": "2026-04-02T22:11:10",
2724
+ "train_loss_pointmap": 0.4280369735899426,
2725
+ "train_loss_pose": 0.010714947068620296,
2726
+ "train_loss_reproj": 0.35132906834284466,
2727
+ "val_loss_pointmap": 0.4273242950439453,
2728
+ "val_loss_pose": 0.010968669783324003,
2729
+ "val_loss_reproj": 0.3467909097671509,
2730
+ "epoch_time_s": 57.55
2731
+ },
2732
+ {
2733
+ "epoch": 196,
2734
+ "train_loss": 0.7904799069677081,
2735
+ "val_loss": 0.7857528626918793,
2736
+ "lr": 1.023908548953311e-06,
2737
+ "timestamp": "2026-04-02T22:12:07",
2738
+ "train_loss_pointmap": 0.4281468717824845,
2739
+ "train_loss_pose": 0.010727008228145894,
2740
+ "train_loss_reproj": 0.351606038354692,
2741
+ "val_loss_pointmap": 0.4275479167699814,
2742
+ "val_loss_pose": 0.010957089252769947,
2743
+ "val_loss_reproj": 0.347247838973999,
2744
+ "epoch_time_s": 57.6
2745
+ },
2746
+ {
2747
+ "epoch": 197,
2748
+ "train_loss": 0.7901627875509716,
2749
+ "val_loss": 0.7854336202144623,
2750
+ "lr": 1.0153046094685781e-06,
2751
+ "timestamp": "2026-04-02T22:13:05",
2752
+ "train_loss_pointmap": 0.42796691968327477,
2753
+ "train_loss_pose": 0.010712214656883762,
2754
+ "train_loss_reproj": 0.3514836458932786,
2755
+ "val_loss_pointmap": 0.4274228662252426,
2756
+ "val_loss_pose": 0.010950134135782719,
2757
+ "val_loss_reproj": 0.3470606356859207,
2758
+ "epoch_time_s": 57.46
2759
+ },
2760
+ {
2761
+ "epoch": 198,
2762
+ "train_loss": 0.7905459574290684,
2763
+ "val_loss": 0.7822158336639404,
2764
+ "lr": 1.0086102159618668e-06,
2765
+ "timestamp": "2026-04-02T22:14:03",
2766
+ "train_loss_pointmap": 0.4280750822453272,
2767
+ "train_loss_pose": 0.01071807990471522,
2768
+ "train_loss_reproj": 0.3517527920859201,
2769
+ "val_loss_pointmap": 0.4262349307537079,
2770
+ "val_loss_pose": 0.010962378699332476,
2771
+ "val_loss_reproj": 0.34501850605010986,
2772
+ "epoch_time_s": 57.64
2773
+ },
2774
+ {
2775
+ "epoch": 199,
2776
+ "train_loss": 0.789606145450047,
2777
+ "val_loss": 0.7836553752422333,
2778
+ "lr": 1.0038271986135176e-06,
2779
+ "timestamp": "2026-04-02T22:15:00",
2780
+ "train_loss_pointmap": 0.42772941788037616,
2781
+ "train_loss_pose": 0.010704385737578074,
2782
+ "train_loss_reproj": 0.35117233934856595,
2783
+ "val_loss_pointmap": 0.4266315847635269,
2784
+ "val_loss_pose": 0.01094623701646924,
2785
+ "val_loss_reproj": 0.3460775464773178,
2786
+ "epoch_time_s": 57.37
2787
+ },
2788
+ {
2789
+ "epoch": 200,
2790
+ "train_loss": 0.7887628078460693,
2791
+ "val_loss": 0.7847951948642731,
2792
+ "lr": 1.000956865052717e-06,
2793
+ "timestamp": "2026-04-02T22:15:58",
2794
+ "train_loss_pointmap": 0.42734114896683467,
2795
+ "train_loss_pose": 0.010701802603545644,
2796
+ "train_loss_reproj": 0.35071985778354464,
2797
+ "val_loss_pointmap": 0.4270656406879425,
2798
+ "val_loss_pose": 0.010949486400932074,
2799
+ "val_loss_reproj": 0.34678004682064056,
2800
+ "epoch_time_s": 57.71
2801
+ }
2802
+ ]
onnx/thor_sta_v1.onnx ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1f2bc1f9732e428fa35db858cfad9e9b8a8dafb30e8798424a0cc4e1e83f7909
3
+ size 6734123
pytorch/thor_sta_v1.pth ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bd550bc16d7e6592a9ce1b0d70f2c4431061752bdb3b6fa08dc876c96102a136
3
+ size 49558699
pytorch/thor_sta_v1.safetensors ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:277da895293ccf28c1bd512899debc9c8465b81a2a5f50540a55a4cb7163b001
3
+ size 49515152
tensorrt/thor_sta_v1_fp16.trt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a1513762d0665503014c2c20a6693bf6aec2414ba727d03017e1eb1b1cc3fba0
3
+ size 6226044
tensorrt/thor_sta_v1_fp32.trt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:cb76e071a9523b748410cac1bb44d3b61ca35fd933062a5ee95c0a5ef58694c1
3
+ size 10785236