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Model_for_Aff-Grasp

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+ data_root=ag_dataset/ego_video_data/all
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+ save_root=rerun_models
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+ base=False
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+ crop_size=448
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+ resize_size=476
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+ num_workers=8
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+ batch_size=8
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+ warm_epoch=0
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+ epochs=15
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+ lr=0.001
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+ momentum=0.9
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+ weight_decay=0.0005
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+ show_step=30
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+ gpu=0
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+ viz=False
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+ test_batch_size=1
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+ test_num_workers=8
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+ save_path=rerun_models/20240809_152101
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+
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+ using MLP layer as FFN
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+ Train layer:aff_protos
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+ Train layer:dino_model.depth_stem.stem.0.weight
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+ Train layer:dino_model.depth_stem.stem.1.weight
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+ Train layer:dino_model.depth_stem.stem.1.bias
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+ Train layer:dino_model.depth_stem.stem.3.weight
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+ Train layer:dino_model.depth_stem.stem.4.weight
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+ Train layer:dino_model.depth_stem.stem.4.bias
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+ Train layer:dino_model.depth_stem.stem.6.weight
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+ Train layer:dino_model.depth_stem.stem.7.weight
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+ Train layer:dino_model.depth_stem.stem.7.bias
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+ Train layer:dino_model.depth_stem.conv2.0.weight
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+ Train layer:dino_model.depth_stem.conv2.1.weight
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+ Train layer:dino_model.depth_stem.conv2.1.bias
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+ Train layer:dino_model.depth_stem.conv3.0.weight
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+ Train layer:dino_model.depth_stem.conv3.1.weight
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+ Train layer:dino_model.depth_stem.conv3.1.bias
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+ Train layer:dino_model.depth_stem.fc3.weight
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+ Train layer:dino_model.depth_stem.fc3.bias
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+ Train layer:dino_model.injectors.0.injector.gamma
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+ Train layer:dino_model.injectors.0.injector.query_norm.weight
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+ Train layer:dino_model.injectors.0.injector.query_norm.bias
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+ Train layer:dino_model.injectors.0.injector.feat_norm.weight
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+ Train layer:dino_model.injectors.0.injector.feat_norm.bias
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+ Train layer:dino_model.injectors.0.injector.attn.sampling_offsets.weight
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+ Train layer:dino_model.injectors.0.injector.attn.sampling_offsets.bias
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+ Train layer:dino_model.injectors.0.injector.attn.attention_weights.weight
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+ Train layer:dino_model.injectors.0.injector.attn.attention_weights.bias
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+ Train layer:dino_model.injectors.0.injector.attn.value_proj.weight
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+ Train layer:dino_model.injectors.0.injector.attn.value_proj.bias
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+ Train layer:dino_model.injectors.0.injector.attn.output_proj.weight
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+ Train layer:dino_model.injectors.0.injector.attn.output_proj.bias
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+ Train layer:dino_model.injectors.1.injector.gamma
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+ Train layer:dino_model.injectors.1.injector.query_norm.weight
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+ Train layer:dino_model.injectors.1.injector.query_norm.bias
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+ Train layer:dino_model.injectors.1.injector.feat_norm.weight
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+ Train layer:dino_model.injectors.1.injector.feat_norm.bias
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+ Train layer:dino_model.injectors.1.injector.attn.sampling_offsets.weight
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+ Train layer:dino_model.injectors.1.injector.attn.sampling_offsets.bias
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+ Train layer:dino_model.injectors.1.injector.attn.attention_weights.weight
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+ Train layer:dino_model.injectors.1.injector.attn.attention_weights.bias
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+ Train layer:dino_model.injectors.1.injector.attn.value_proj.weight
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+ Train layer:dino_model.injectors.1.injector.attn.value_proj.bias
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+ Train layer:dino_model.injectors.1.injector.attn.output_proj.weight
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+ Train layer:dino_model.injectors.1.injector.attn.output_proj.bias
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+ Train layer:dino_model.injectors.2.injector.gamma
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+ Train layer:dino_model.injectors.2.injector.query_norm.weight
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+ Train layer:dino_model.injectors.2.injector.query_norm.bias
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+ Train layer:dino_model.injectors.2.injector.feat_norm.weight
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+ Train layer:dino_model.injectors.2.injector.feat_norm.bias
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+ Train layer:dino_model.injectors.2.injector.attn.sampling_offsets.weight
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+ Train layer:dino_model.injectors.2.injector.attn.sampling_offsets.bias
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+ Train layer:dino_model.injectors.2.injector.attn.attention_weights.weight
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+ Train layer:dino_model.injectors.2.injector.attn.attention_weights.bias
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+ Train layer:dino_model.injectors.2.injector.attn.value_proj.weight
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+ Train layer:dino_model.injectors.2.injector.attn.value_proj.bias
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+ Train layer:dino_model.injectors.2.injector.attn.output_proj.weight
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+ Train layer:dino_model.injectors.2.injector.attn.output_proj.bias
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+ Train layer:dino_model.injectors.3.injector.gamma
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+ Train layer:dino_model.injectors.3.injector.query_norm.weight
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+ Train layer:dino_model.injectors.3.injector.query_norm.bias
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+ Train layer:dino_model.injectors.3.injector.feat_norm.weight
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+ Train layer:dino_model.injectors.3.injector.feat_norm.bias
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+ Train layer:dino_model.injectors.3.injector.attn.sampling_offsets.weight
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+ Train layer:dino_model.injectors.3.injector.attn.sampling_offsets.bias
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+ Train layer:dino_model.injectors.3.injector.attn.attention_weights.weight
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+ Train layer:dino_model.injectors.3.injector.attn.attention_weights.bias
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+ Train layer:dino_model.injectors.3.injector.attn.value_proj.weight
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+ Train layer:dino_model.injectors.3.injector.attn.value_proj.bias
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+ Train layer:dino_model.injectors.3.injector.attn.output_proj.weight
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+ Train layer:dino_model.injectors.3.injector.attn.output_proj.bias
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+ Train layer:dino_model.blocks.0.attn.qkv.lora_A.default.weight
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+ Train layer:dino_model.blocks.0.attn.qkv.lora_B.default.weight
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+ Train layer:dino_model.blocks.1.attn.qkv.lora_A.default.weight
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+ Train layer:dino_model.blocks.1.attn.qkv.lora_B.default.weight
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+ Train layer:dino_model.blocks.2.attn.qkv.lora_A.default.weight
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+ Train layer:dino_model.blocks.2.attn.qkv.lora_B.default.weight
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+ Train layer:dino_model.blocks.3.attn.qkv.lora_A.default.weight
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+ Train layer:dino_model.blocks.3.attn.qkv.lora_B.default.weight
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+ Train layer:dino_model.blocks.4.attn.qkv.lora_A.default.weight
100
+ Train layer:dino_model.blocks.4.attn.qkv.lora_B.default.weight
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+ Train layer:dino_model.blocks.5.attn.qkv.lora_A.default.weight
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+ Train layer:dino_model.blocks.5.attn.qkv.lora_B.default.weight
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+ Train layer:dino_model.blocks.6.attn.qkv.lora_A.default.weight
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+ Train layer:dino_model.blocks.6.attn.qkv.lora_B.default.weight
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+ Train layer:dino_model.blocks.7.attn.qkv.lora_A.default.weight
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+ Train layer:dino_model.blocks.7.attn.qkv.lora_B.default.weight
107
+ Train layer:dino_model.blocks.8.attn.qkv.lora_A.default.weight
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+ Train layer:dino_model.blocks.8.attn.qkv.lora_B.default.weight
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+ Train layer:dino_model.blocks.9.attn.qkv.lora_A.default.weight
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+ Train layer:dino_model.blocks.9.attn.qkv.lora_B.default.weight
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+ Train layer:dino_model.blocks.10.attn.qkv.lora_A.default.weight
112
+ Train layer:dino_model.blocks.10.attn.qkv.lora_B.default.weight
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+ Train layer:dino_model.blocks.11.attn.qkv.lora_A.default.weight
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+ Train layer:dino_model.blocks.11.attn.qkv.lora_B.default.weight
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+ Train layer:embedder.norm.weight
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+ Train layer:embedder.norm.bias
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+ Train layer:embedder.fc1.weight
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+ Train layer:embedder.fc1.bias
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+ Train layer:embedder.fc2.weight
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+ Train layer:embedder.fc2.bias
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+ Optimizer: AdamW
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+ epoch: 1/15 + 30/42 | loss: 0.478 | focal: 0.039 | dice: 0.439 | lr 0.001000
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+ bg: 0.90 | grasp: 0.57 | cut: 0.53 | scoop: 0.12 | pound: 0.00 | support: 0.00 | screw: 0.09 | contain: 0.41 | stick: 0.00
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+ mIoU: 21.58 | F1: 29.84 | mAcc: 37.03 | best_iou: 0_0.00
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+ epoch: 2/15 + 30/42 | loss: 0.313 | focal: 0.024 | dice: 0.290 | lr 0.000989
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+ bg: 0.93 | grasp: 0.63 | cut: 0.67 | scoop: 0.47 | pound: 0.00 | support: 0.00 | screw: 0.24 | contain: 0.57 | stick: 0.41
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+ mIoU: 37.40 | F1: 48.96 | mAcc: 50.88 | best_iou: 1_21.58
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+ epoch: 3/15 + 30/42 | loss: 0.279 | focal: 0.030 | dice: 0.249 | lr 0.000957
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+ bg: 0.94 | grasp: 0.65 | cut: 0.70 | scoop: 0.66 | pound: 0.00 | support: 0.48 | screw: 0.52 | contain: 0.61 | stick: 0.53
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+ mIoU: 51.80 | F1: 64.84 | mAcc: 70.58 | best_iou: 2_37.40
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+ epoch: 4/15 + 30/42 | loss: 0.481 | focal: 0.088 | dice: 0.393 | lr 0.000905
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+ bg: 0.95 | grasp: 0.69 | cut: 0.72 | scoop: 0.78 | pound: 0.45 | support: 0.70 | screw: 0.53 | contain: 0.67 | stick: 0.59
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+ mIoU: 64.17 | F1: 77.69 | mAcc: 81.47 | best_iou: 3_51.80
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+ epoch: 5/15 + 30/42 | loss: 0.279 | focal: 0.039 | dice: 0.240 | lr 0.000835
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+ bg: 0.95 | grasp: 0.71 | cut: 0.72 | scoop: 0.77 | pound: 0.50 | support: 0.66 | screw: 0.61 | contain: 0.64 | stick: 0.59
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+ mIoU: 65.02 | F1: 78.51 | mAcc: 82.09 | best_iou: 4_64.17
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+ epoch: 6/15 + 30/42 | loss: 0.250 | focal: 0.028 | dice: 0.223 | lr 0.000750
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+ bg: 0.95 | grasp: 0.70 | cut: 0.72 | scoop: 0.69 | pound: 0.64 | support: 0.76 | screw: 0.53 | contain: 0.60 | stick: 0.58
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+ mIoU: 65.24 | F1: 78.72 | mAcc: 85.69 | best_iou: 5_65.02
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+ epoch: 7/15 + 30/42 | loss: 0.194 | focal: 0.037 | dice: 0.156 | lr 0.000655
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+ bg: 0.96 | grasp: 0.71 | cut: 0.72 | scoop: 0.69 | pound: 0.51 | support: 0.77 | screw: 0.55 | contain: 0.68 | stick: 0.60
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+ mIoU: 65.50 | F1: 78.81 | mAcc: 82.49 | best_iou: 6_65.24
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+ epoch: 8/15 + 30/42 | loss: 0.232 | focal: 0.036 | dice: 0.196 | lr 0.000552
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+ bg: 0.96 | grasp: 0.70 | cut: 0.74 | scoop: 0.75 | pound: 0.66 | support: 0.81 | screw: 0.51 | contain: 0.70 | stick: 0.60
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+ mIoU: 68.40 | F1: 80.90 | mAcc: 88.13 | best_iou: 7_65.50
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+ epoch: 9/15 + 30/42 | loss: 0.204 | focal: 0.041 | dice: 0.163 | lr 0.000448
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+ bg: 0.96 | grasp: 0.71 | cut: 0.74 | scoop: 0.72 | pound: 0.63 | support: 0.76 | screw: 0.53 | contain: 0.71 | stick: 0.61
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+ mIoU: 67.87 | F1: 80.62 | mAcc: 86.25 | best_iou: 8_68.40
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+ epoch: 10/15 + 30/42 | loss: 0.126 | focal: 0.019 | dice: 0.107 | lr 0.000345
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+ bg: 0.96 | grasp: 0.71 | cut: 0.75 | scoop: 0.67 | pound: 0.66 | support: 0.78 | screw: 0.53 | contain: 0.71 | stick: 0.61
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+ mIoU: 67.69 | F1: 80.49 | mAcc: 85.68 | best_iou: 8_68.40
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+ epoch: 11/15 + 30/42 | loss: 0.196 | focal: 0.032 | dice: 0.164 | lr 0.000250
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+ bg: 0.96 | grasp: 0.71 | cut: 0.75 | scoop: 0.70 | pound: 0.68 | support: 0.78 | screw: 0.51 | contain: 0.70 | stick: 0.61
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+ mIoU: 67.83 | F1: 80.55 | mAcc: 86.68 | best_iou: 8_68.40
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+ epoch: 12/15 + 30/42 | loss: 0.231 | focal: 0.029 | dice: 0.202 | lr 0.000165
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+ bg: 0.96 | grasp: 0.71 | cut: 0.75 | scoop: 0.67 | pound: 0.61 | support: 0.77 | screw: 0.52 | contain: 0.70 | stick: 0.60
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+ mIoU: 66.60 | F1: 79.68 | mAcc: 84.33 | best_iou: 8_68.40
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+ epoch: 13/15 + 30/42 | loss: 0.230 | focal: 0.032 | dice: 0.198 | lr 0.000095
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+ bg: 0.96 | grasp: 0.71 | cut: 0.75 | scoop: 0.68 | pound: 0.64 | support: 0.76 | screw: 0.52 | contain: 0.70 | stick: 0.61
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+ mIoU: 67.18 | F1: 80.12 | mAcc: 85.45 | best_iou: 8_68.40
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+ epoch: 14/15 + 30/42 | loss: 0.213 | focal: 0.027 | dice: 0.186 | lr 0.000043
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+ bg: 0.96 | grasp: 0.71 | cut: 0.75 | scoop: 0.68 | pound: 0.65 | support: 0.77 | screw: 0.53 | contain: 0.70 | stick: 0.61
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+ mIoU: 67.41 | F1: 80.30 | mAcc: 85.54 | best_iou: 8_68.40
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+ epoch: 15/15 + 30/42 | loss: 0.114 | focal: 0.017 | dice: 0.097 | lr 0.000011
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+ bg: 0.96 | grasp: 0.71 | cut: 0.75 | scoop: 0.68 | pound: 0.64 | support: 0.77 | screw: 0.53 | contain: 0.70 | stick: 0.61
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+ mIoU: 67.39 | F1: 80.28 | mAcc: 85.42 | best_iou: 8_68.40
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+ using MLP layer as FFN
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+ bg: 0.92 | grasp: 0.59 | cut: 0.62 | scoop: 0.60 | pound: 0.67 | support: 0.75 | screw: 0.35 | contain: 0.58 | stick: 0.48
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+ 0.30 - mIoU: 57.99 | F1: 72.73 | mAcc: 93.40
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+ bg: 0.94 | grasp: 0.63 | cut: 0.65 | scoop: 0.65 | pound: 0.68 | support: 0.78 | screw: 0.39 | contain: 0.61 | stick: 0.52
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+ 0.40 - mIoU: 61.49 | F1: 75.56 | mAcc: 92.74
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+ bg: 0.94 | grasp: 0.66 | cut: 0.68 | scoop: 0.69 | pound: 0.69 | support: 0.80 | screw: 0.43 | contain: 0.65 | stick: 0.56
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+ 0.50 - mIoU: 64.33 | F1: 77.79 | mAcc: 91.85
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+ bg: 0.95 | grasp: 0.68 | cut: 0.71 | scoop: 0.73 | pound: 0.68 | support: 0.81 | screw: 0.47 | contain: 0.68 | stick: 0.58
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+ 0.60 - mIoU: 66.72 | F1: 79.62 | mAcc: 90.60
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+ bg: 0.96 | grasp: 0.70 | cut: 0.74 | scoop: 0.75 | pound: 0.66 | support: 0.81 | screw: 0.51 | contain: 0.70 | stick: 0.60
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+ 0.70 - mIoU: 68.40 | F1: 80.90 | mAcc: 88.13
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+ bg: 0.96 | grasp: 0.72 | cut: 0.76 | scoop: 0.76 | pound: 0.58 | support: 0.78 | screw: 0.56 | contain: 0.72 | stick: 0.61
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+ 0.80 - mIoU: 68.62 | F1: 81.09 | mAcc: 83.51
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+ bg: 0.96 | grasp: 0.71 | cut: 0.75 | scoop: 0.72 | pound: 0.34 | support: 0.67 | screw: 0.59 | contain: 0.70 | stick: 0.61
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+ 0.90 - mIoU: 63.61 | F1: 76.97 | mAcc: 72.71