2026-04-17 17:42:20,524 - mmdet - INFO - Environment info: ------------------------------------------------------------ sys.platform: linux Python: 3.8.20 (default, Oct 3 2024, 15:24:27) [GCC 11.2.0] CUDA available: True GPU 0,1: NVIDIA RTX A6000 CUDA_HOME: /usr/local/cuda-11.8 NVCC: Cuda compilation tools, release 11.8, V11.8.89 GCC: gcc (Ubuntu 9.5.0-1ubuntu1~22.04) 9.5.0 PyTorch: 1.13.1+cu117 PyTorch compiling details: PyTorch built with: - GCC 9.3 - C++ Version: 201402 - Intel(R) Math Kernel Library Version 2020.0.0 Product Build 20191122 for Intel(R) 64 architecture applications - Intel(R) MKL-DNN v2.6.0 (Git Hash 52b5f107dd9cf10910aaa19cb47f3abf9b349815) - OpenMP 201511 (a.k.a. OpenMP 4.5) - LAPACK is enabled (usually provided by MKL) - NNPACK is enabled - CPU capability usage: AVX2 - CUDA Runtime 11.7 - NVCC architecture flags: -gencode;arch=compute_37,code=sm_37;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_60,code=sm_60;-gencode;arch=compute_70,code=sm_70;-gencode;arch=compute_75,code=sm_75;-gencode;arch=compute_80,code=sm_80;-gencode;arch=compute_86,code=sm_86 - CuDNN 8.5 - Magma 2.6.1 - Build settings: BLAS_INFO=mkl, BUILD_TYPE=Release, CUDA_VERSION=11.7, CUDNN_VERSION=8.5.0, CXX_COMPILER=/opt/rh/devtoolset-9/root/usr/bin/c++, CXX_FLAGS= -fabi-version=11 -Wno-deprecated -fvisibility-inlines-hidden -DUSE_PTHREADPOOL -fopenmp -DNDEBUG -DUSE_KINETO -DUSE_FBGEMM -DUSE_QNNPACK -DUSE_PYTORCH_QNNPACK -DUSE_XNNPACK -DSYMBOLICATE_MOBILE_DEBUG_HANDLE -DEDGE_PROFILER_USE_KINETO -O2 -fPIC -Wno-narrowing -Wall -Wextra -Werror=return-type -Werror=non-virtual-dtor -Wno-missing-field-initializers -Wno-type-limits -Wno-array-bounds -Wno-unknown-pragmas -Wunused-local-typedefs -Wno-unused-parameter -Wno-unused-function -Wno-unused-result -Wno-strict-overflow -Wno-strict-aliasing -Wno-error=deprecated-declarations -Wno-stringop-overflow -Wno-psabi -Wno-error=pedantic -Wno-error=redundant-decls -Wno-error=old-style-cast -fdiagnostics-color=always -faligned-new -Wno-unused-but-set-variable -Wno-maybe-uninitialized -fno-math-errno -fno-trapping-math -Werror=format -Werror=cast-function-type -Wno-stringop-overflow, LAPACK_INFO=mkl, PERF_WITH_AVX=1, PERF_WITH_AVX2=1, PERF_WITH_AVX512=1, TORCH_VERSION=1.13.1, USE_CUDA=ON, USE_CUDNN=ON, USE_EXCEPTION_PTR=1, USE_GFLAGS=OFF, USE_GLOG=OFF, USE_MKL=ON, USE_MKLDNN=ON, USE_MPI=OFF, USE_NCCL=ON, USE_NNPACK=ON, USE_OPENMP=ON, USE_ROCM=OFF, TorchVision: 0.14.1+cu117 OpenCV: 4.13.0 MMCV: 1.7.0 MMCV Compiler: GCC 9.3 MMCV CUDA Compiler: 11.7 MMDetection: 2.28.2 MMSegmentation: 0.30.0 MMDetection3D: 1.0.0rc6+2f2b98c spconv2.0: False ------------------------------------------------------------ 2026-04-17 17:42:21,098 - mmdet - INFO - Distributed training: True 2026-04-17 17:42:21,623 - mmdet - INFO - Config: checkpoint_config = dict(interval=9322) log_config = dict( interval=50, hooks=[ dict(type='TextLoggerHook'), dict(type='TensorboardLoggerHook'), dict( type='WandbLoggerHook', init_kwargs=dict( entity='IRCV_Mapping', project='FullOld-ResilientMap-Sumin', name='Full-ResilientMap-oldsplit/stage1_pixelgate')) ]) dist_params = dict(backend='nccl') log_level = 'INFO' work_dir = './work_dirs/Full-ResilientMap-Sumin-oldsplit/stage1_pixelgate' load_from = None resume_from = None workflow = [('train', 1)] type = 'Mapper' plugin = True plugin_dir = 'plugin/' img_norm_cfg = dict( mean=[103.53, 116.28, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False) img_h = 480 img_w = 800 img_size = (480, 800) num_cams = 6 num_gpus = 2 batch_size = 3 num_iters_per_epoch = 4661 num_epochs = 12 num_epochs_interval = 2 total_iters = 55932 num_queries = 100 cat2id = dict(ped_crossing=0, divider=1, boundary=2) num_class = 3 roi_size = (60, 30) bev_h = 50 bev_w = 100 pc_range = [-30.0, -15.0, -3, 30.0, 15.0, 5] coords_dim = 2 sample_dist = -1 sample_num = -1 simplify = True canvas_size = (200, 100) thickness = 3 meta = dict( use_lidar=False, use_camera=True, use_radar=False, use_map=False, use_external=False, output_format='vector') bev_embed_dims = 256 embed_dims = 512 num_feat_levels = 3 norm_cfg = dict(type='BN2d') num_points = 20 permute = True aid4ad_root = './datasets/nuscenes/AID4AD_frames' model = dict( type='SatMapTracker', roi_size=(60, 30), bev_h=50, bev_w=100, history_steps=4, test_time_history_steps=20, mem_select_dist_ranges=[1, 5, 10, 15], skip_vector_head=True, freeze_bev=False, track_fp_aug=False, use_memory=False, mem_len=4, mem_warmup_iters=500, history_mode='cam', freeze_sat_encoder=False, sat_encoder_cfg=dict( type='SatelliteEncoder', backbone_cfg=dict( type='ResNet', depth=50, num_stages=4, out_indices=(0, 1, 2, 3), frozen_stages=-1, norm_cfg=dict(type='BN2d'), norm_eval=True, style='pytorch', init_cfg=dict( type='Pretrained', checkpoint='torchvision://resnet50')), out_channels=256, bev_size=(50, 100)), sat_fusion_cfg=dict(type='ReliabilityAwareFusion', in_channels=256), backbone_cfg=dict( type='BEVFormerBackbone', roi_size=(60, 30), bev_h=50, bev_w=100, use_grid_mask=True, history_steps=4, img_backbone=dict( type='ResNet', with_cp=False, pretrained='open-mmlab://detectron2/resnet50_caffe', depth=50, num_stages=4, out_indices=(1, 2, 3), frozen_stages=-1, norm_cfg=dict(type='BN2d'), norm_eval=True, style='caffe', dcn=dict(type='DCNv2', deform_groups=1, fallback_on_stride=False), stage_with_dcn=(False, False, True, True)), img_neck=dict( type='FPN', in_channels=[512, 1024, 2048], out_channels=256, start_level=0, add_extra_convs=True, num_outs=3, norm_cfg=dict(type='BN2d'), relu_before_extra_convs=True), transformer=dict( type='PerceptionTransformer', embed_dims=256, encoder=dict( type='BEVFormerEncoder', num_layers=2, pc_range=[-30.0, -15.0, -3, 30.0, 15.0, 5], num_points_in_pillar=4, return_intermediate=False, transformerlayers=dict( type='BEVFormerLayer', attn_cfgs=[ dict( type='TemporalSelfAttention', embed_dims=256, num_levels=1), dict( type='SpatialCrossAttention', deformable_attention=dict( type='MSDeformableAttention3D', embed_dims=256, num_points=8, num_levels=3), embed_dims=256) ], feedforward_channels=512, ffn_dropout=0.1, operation_order=('self_attn', 'norm', 'cross_attn', 'norm', 'ffn', 'norm')))), positional_encoding=dict( type='LearnedPositionalEncoding', num_feats=128, row_num_embed=50, col_num_embed=100)), head_cfg=dict( type='MapDetectorHead', num_queries=100, embed_dims=512, num_classes=3, in_channels=256, num_points=20, roi_size=(60, 30), coord_dim=2, different_heads=False, predict_refine=False, sync_cls_avg_factor=True, trans_loss_weight=0.1, transformer=dict( type='MapTransformer', num_feature_levels=1, num_points=20, coord_dim=2, encoder=dict(type='PlaceHolderEncoder', embed_dims=512), decoder=dict( type='MapTransformerDecoder_new', num_layers=6, prop_add_stage=1, return_intermediate=True, transformerlayers=dict( type='MapTransformerLayer', attn_cfgs=[ dict( type='MultiheadAttention', embed_dims=512, num_heads=8, attn_drop=0.1, proj_drop=0.1), dict( type='CustomMSDeformableAttention', embed_dims=512, num_heads=8, num_levels=1, num_points=20, dropout=0.1), dict( type='MultiheadAttention', embed_dims=512, num_heads=8, attn_drop=0.1, proj_drop=0.1) ], ffn_cfgs=dict( type='FFN', embed_dims=512, feedforward_channels=1024, num_fcs=2, ffn_drop=0.1, act_cfg=dict(type='ReLU', inplace=True)), feedforward_channels=1024, ffn_dropout=0.1, operation_order=('self_attn', 'norm', 'cross_attn', 'norm', 'cross_attn', 'norm', 'ffn', 'norm')))), loss_cls=dict( type='FocalLoss', use_sigmoid=True, gamma=2.0, alpha=0.25, loss_weight=5.0), loss_reg=dict(type='LinesL1Loss', loss_weight=50.0, beta=0.01), assigner=dict( type='HungarianLinesAssigner', cost=dict( type='MapQueriesCost', cls_cost=dict(type='FocalLossCost', weight=5.0), reg_cost=dict( type='LinesL1Cost', weight=50.0, beta=0.01, permute=True)))), seg_cfg=dict( type='MapSegHead', num_classes=3, in_channels=256, embed_dims=256, bev_size=(100, 50), canvas_size=(200, 100), loss_seg=dict( type='MaskFocalLoss', use_sigmoid=True, loss_weight=10.0), loss_dice=dict(type='MaskDiceLoss', loss_weight=1.0)), model_name='SatMapTracker_Stage1', use_reliability_fusion=True, reliability_mode='max_sigmoid', use_prediction_moe=False, use_modality_masking=True, mask_cam_zero_prob=0.1, mask_cam_noise_prob=0.1, mask_cam_block_prob=0.05, mask_sat_zero_prob=0.05, mask_noise_scale=1.0, use_norm_dampening=False) train_pipeline = [ dict( type='VectorizeMap', coords_dim=2, roi_size=(60, 30), sample_num=20, normalize=True, permute=True), dict( type='RasterizeMap', roi_size=(60, 30), coords_dim=2, canvas_size=(200, 100), thickness=3, semantic_mask=True), dict(type='LoadMultiViewImagesFromFiles', to_float32=True), dict( type='LoadAID4ADSatelliteImage', data_root='./datasets/nuscenes/AID4AD_frames', canvas_size=None, normalize=True), dict(type='PhotoMetricDistortionMultiViewImage'), dict( type='ResizeMultiViewImages', size=(480, 800), change_intrinsics=True), dict( type='Normalize3D', mean=[103.53, 116.28, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False), dict(type='PadMultiViewImages', size_divisor=32), dict(type='FormatBundleMap'), dict( type='Collect3D', keys=['img', 'vectors', 'semantic_mask', 'sat_img'], meta_keys=('token', 'ego2img', 'sample_idx', 'ego2global_translation', 'ego2global_rotation', 'img_shape', 'scene_name')) ] test_pipeline = [ dict(type='LoadMultiViewImagesFromFiles', to_float32=True), dict( type='LoadAID4ADSatelliteImage', data_root='./datasets/nuscenes/AID4AD_frames', canvas_size=None, normalize=True), dict( type='ResizeMultiViewImages', size=(480, 800), change_intrinsics=True), dict( type='Normalize3D', mean=[103.53, 116.28, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False), dict(type='PadMultiViewImages', size_divisor=32), dict( type='ApplySensorCorruption', enabled=False, camera_mask=0, camera_names=[ 'CAM_FRONT', 'CAM_FRONT_RIGHT', 'CAM_FRONT_LEFT', 'CAM_BACK', 'CAM_BACK_LEFT', 'CAM_BACK_RIGHT' ], camera_mode='zero', camera_noise_std=1.0, satellite_corrupted=False, satellite_mode='zero', satellite_noise_std=1.0), dict(type='FormatBundleMap'), dict( type='Collect3D', keys=['img', 'sat_img'], meta_keys=('token', 'ego2img', 'sample_idx', 'ego2global_translation', 'ego2global_rotation', 'img_shape', 'scene_name', 'sensor_corruption')) ] eval_config = dict( type='NuscDataset', data_root='./datasets/nuscenes', ann_file='./datasets/nuscenes/nuscenes_map_infos_val.pkl', meta=dict( use_lidar=False, use_camera=True, use_radar=False, use_map=False, use_external=False, output_format='vector'), roi_size=(60, 30), cat2id=dict(ped_crossing=0, divider=1, boundary=2), pipeline=[ dict( type='VectorizeMap', coords_dim=2, simplify=True, normalize=False, roi_size=(60, 30)), dict( type='RasterizeMap', roi_size=(60, 30), coords_dim=2, canvas_size=(200, 100), thickness=3, semantic_mask=True), dict(type='FormatBundleMap'), dict( type='Collect3D', keys=['vectors', 'semantic_mask'], meta_keys=[ 'token', 'ego2img', 'sample_idx', 'ego2global_translation', 'ego2global_rotation', 'img_shape', 'scene_name' ]) ], interval=1) match_config = dict( type='NuscDataset', data_root='./datasets/nuscenes', ann_file='./datasets/nuscenes/nuscenes_map_infos_val.pkl', meta=dict( use_lidar=False, use_camera=True, use_radar=False, use_map=False, use_external=False, output_format='vector'), roi_size=(60, 30), cat2id=dict(ped_crossing=0, divider=1, boundary=2), pipeline=[ dict( type='VectorizeMap', coords_dim=2, simplify=False, normalize=True, roi_size=(60, 30), sample_num=20), dict( type='RasterizeMap', roi_size=(60, 30), coords_dim=2, canvas_size=(200, 100), thickness=3), dict(type='FormatBundleMap'), dict( type='Collect3D', keys=['vectors', 'semantic_mask'], meta_keys=[ 'token', 'ego2img', 'ego2cam', 'sample_idx', 'ego2global_translation', 'ego2global_rotation', 'img_shape', 'scene_name', 'img_filenames', 'cam_intrinsics', 'cam_extrinsics', 'lidar2ego_translation', 'lidar2ego_rotation' ]) ], interval=1) data = dict( samples_per_gpu=3, workers_per_gpu=8, train=dict( type='NuscDataset', data_root='./datasets/nuscenes', ann_file='./datasets/nuscenes/nuscenes_map_infos_train.pkl', meta=dict( use_lidar=False, use_camera=True, use_radar=False, use_map=False, use_external=False, output_format='vector'), roi_size=(60, 30), cat2id=dict(ped_crossing=0, divider=1, boundary=2), pipeline=[ dict( type='VectorizeMap', coords_dim=2, roi_size=(60, 30), sample_num=20, normalize=True, permute=True), dict( type='RasterizeMap', roi_size=(60, 30), coords_dim=2, canvas_size=(200, 100), thickness=3, semantic_mask=True), dict(type='LoadMultiViewImagesFromFiles', to_float32=True), dict( type='LoadAID4ADSatelliteImage', data_root='./datasets/nuscenes/AID4AD_frames', canvas_size=None, normalize=True), dict(type='PhotoMetricDistortionMultiViewImage'), dict( type='ResizeMultiViewImages', size=(480, 800), change_intrinsics=True), dict( type='Normalize3D', mean=[103.53, 116.28, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False), dict(type='PadMultiViewImages', size_divisor=32), dict(type='FormatBundleMap'), dict( type='Collect3D', keys=['img', 'vectors', 'semantic_mask', 'sat_img'], meta_keys=('token', 'ego2img', 'sample_idx', 'ego2global_translation', 'ego2global_rotation', 'img_shape', 'scene_name')) ], seq_split_num=-2, matching=True, multi_frame=5, sampling_span=10), val=dict( type='NuscDataset', data_root='./datasets/nuscenes', ann_file='./datasets/nuscenes/nuscenes_map_infos_val.pkl', meta=dict( use_lidar=False, use_camera=True, use_radar=False, use_map=False, use_external=False, output_format='vector'), roi_size=(60, 30), cat2id=dict(ped_crossing=0, divider=1, boundary=2), pipeline=[ dict(type='LoadMultiViewImagesFromFiles', to_float32=True), dict( type='LoadAID4ADSatelliteImage', data_root='./datasets/nuscenes/AID4AD_frames', canvas_size=None, normalize=True), dict( type='ResizeMultiViewImages', size=(480, 800), change_intrinsics=True), dict( type='Normalize3D', mean=[103.53, 116.28, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False), dict(type='PadMultiViewImages', size_divisor=32), dict( type='ApplySensorCorruption', enabled=False, camera_mask=0, camera_names=[ 'CAM_FRONT', 'CAM_FRONT_RIGHT', 'CAM_FRONT_LEFT', 'CAM_BACK', 'CAM_BACK_LEFT', 'CAM_BACK_RIGHT' ], camera_mode='zero', camera_noise_std=1.0, satellite_corrupted=False, satellite_mode='zero', satellite_noise_std=1.0), dict(type='FormatBundleMap'), dict( type='Collect3D', keys=['img', 'sat_img'], meta_keys=('token', 'ego2img', 'sample_idx', 'ego2global_translation', 'ego2global_rotation', 'img_shape', 'scene_name', 'sensor_corruption')) ], eval_config=dict( type='NuscDataset', data_root='./datasets/nuscenes', ann_file='./datasets/nuscenes/nuscenes_map_infos_val.pkl', meta=dict( use_lidar=False, use_camera=True, use_radar=False, use_map=False, use_external=False, output_format='vector'), roi_size=(60, 30), cat2id=dict(ped_crossing=0, divider=1, boundary=2), pipeline=[ dict( type='VectorizeMap', coords_dim=2, simplify=True, normalize=False, roi_size=(60, 30)), dict( type='RasterizeMap', roi_size=(60, 30), coords_dim=2, canvas_size=(200, 100), thickness=3, semantic_mask=True), dict(type='FormatBundleMap'), dict( type='Collect3D', keys=['vectors', 'semantic_mask'], meta_keys=[ 'token', 'ego2img', 'sample_idx', 'ego2global_translation', 'ego2global_rotation', 'img_shape', 'scene_name' ]) ], interval=1), test_mode=True, seq_split_num=1, eval_semantic=True), test=dict( type='NuscDataset', data_root='./datasets/nuscenes', ann_file='./datasets/nuscenes/nuscenes_map_infos_val.pkl', meta=dict( use_lidar=False, use_camera=True, use_radar=False, use_map=False, use_external=False, output_format='vector'), roi_size=(60, 30), cat2id=dict(ped_crossing=0, divider=1, boundary=2), pipeline=[ dict(type='LoadMultiViewImagesFromFiles', to_float32=True), dict( type='LoadAID4ADSatelliteImage', data_root='./datasets/nuscenes/AID4AD_frames', canvas_size=None, normalize=True), dict( type='ResizeMultiViewImages', size=(480, 800), change_intrinsics=True), dict( type='Normalize3D', mean=[103.53, 116.28, 123.675], std=[1.0, 1.0, 1.0], to_rgb=False), dict(type='PadMultiViewImages', size_divisor=32), dict( type='ApplySensorCorruption', enabled=False, camera_mask=0, camera_names=[ 'CAM_FRONT', 'CAM_FRONT_RIGHT', 'CAM_FRONT_LEFT', 'CAM_BACK', 'CAM_BACK_LEFT', 'CAM_BACK_RIGHT' ], camera_mode='zero', camera_noise_std=1.0, satellite_corrupted=False, satellite_mode='zero', satellite_noise_std=1.0), dict(type='FormatBundleMap'), dict( type='Collect3D', keys=['img', 'sat_img'], meta_keys=('token', 'ego2img', 'sample_idx', 'ego2global_translation', 'ego2global_rotation', 'img_shape', 'scene_name', 'sensor_corruption')) ], eval_config=dict( type='NuscDataset', data_root='./datasets/nuscenes', ann_file='./datasets/nuscenes/nuscenes_map_infos_val.pkl', meta=dict( use_lidar=False, use_camera=True, use_radar=False, use_map=False, use_external=False, output_format='vector'), roi_size=(60, 30), cat2id=dict(ped_crossing=0, divider=1, boundary=2), pipeline=[ dict( type='VectorizeMap', coords_dim=2, simplify=True, normalize=False, roi_size=(60, 30)), dict( type='RasterizeMap', roi_size=(60, 30), coords_dim=2, canvas_size=(200, 100), thickness=3, semantic_mask=True), dict(type='FormatBundleMap'), dict( type='Collect3D', keys=['vectors', 'semantic_mask'], meta_keys=[ 'token', 'ego2img', 'sample_idx', 'ego2global_translation', 'ego2global_rotation', 'img_shape', 'scene_name' ]) ], interval=1), test_mode=True, seq_split_num=1, eval_semantic=True), shuffler_sampler=dict(type='DistributedGroupSampler'), nonshuffler_sampler=dict(type='DistributedSampler')) optimizer = dict( type='AdamW', lr=0.0005, paramwise_cfg=dict(custom_keys=dict(img_backbone=dict(lr_mult=0.1))), weight_decay=0.01) optimizer_config = dict(grad_clip=dict(max_norm=35, norm_type=2)) lr_config = dict( policy='CosineAnnealing', warmup='linear', warmup_iters=500, warmup_ratio=0.3333333333333333, min_lr_ratio=0.05) evaluation = dict(interval=9322) find_unused_parameters = True runner = dict(type='MyRunnerWrapper', max_iters=55932) SyncBN = True gpu_ids = range(0, 2) 2026-04-17 17:42:21,624 - mmdet - INFO - Set random seed to 0, deterministic: False 2026-04-17 17:42:21,999 - mmdet - INFO - initialize ResNet with init_cfg {'type': 'Pretrained', 'checkpoint': 'open-mmlab://detectron2/resnet50_caffe'} 2026-04-17 17:42:23,322 - mmdet - INFO - initialize FPN with init_cfg {'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} Name of parameter - Initialization information lateral_convs.0.conv.weight - torch.Size([256, 512, 1, 1]): XavierInit: gain=1, distribution=uniform, bias=0 lateral_convs.0.bn.weight - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN lateral_convs.0.bn.bias - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN lateral_convs.1.conv.weight - torch.Size([256, 1024, 1, 1]): XavierInit: gain=1, distribution=uniform, bias=0 lateral_convs.1.bn.weight - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN lateral_convs.1.bn.bias - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN lateral_convs.2.conv.weight - torch.Size([256, 2048, 1, 1]): XavierInit: gain=1, distribution=uniform, bias=0 lateral_convs.2.bn.weight - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN lateral_convs.2.bn.bias - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN fpn_convs.0.conv.weight - torch.Size([256, 256, 3, 3]): XavierInit: gain=1, distribution=uniform, bias=0 fpn_convs.0.bn.weight - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN fpn_convs.0.bn.bias - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN fpn_convs.1.conv.weight - torch.Size([256, 256, 3, 3]): XavierInit: gain=1, distribution=uniform, bias=0 fpn_convs.1.bn.weight - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN fpn_convs.1.bn.bias - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN fpn_convs.2.conv.weight - torch.Size([256, 256, 3, 3]): XavierInit: gain=1, distribution=uniform, bias=0 fpn_convs.2.bn.weight - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN fpn_convs.2.bn.bias - torch.Size([256]): The value is the same before and after calling `init_weights` of FPN 2026-04-17 17:42:23,884 - mmdet - INFO - Using SyncBN 2026-04-17 17:42:23,888 - mmdet - INFO - Model: SatMapTracker( (backbone): BEVFormerBackbone( (grid_mask): GridMask() (img_backbone): ResNet( (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) (bn1): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) (layer1): ResLayer( (0): Bottleneck( (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) (1): Bottleneck( (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (2): Bottleneck( (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) ) (layer2): ResLayer( (0): Bottleneck( (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(2, 2), bias=False) (bn1): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) (1): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (2): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (3): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) ) (layer3): ResLayer( (0): Bottleneck( (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(2, 2), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): ModulatedDeformConv2dPack( (conv_offset): Conv2d(256, 27, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) (1): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): ModulatedDeformConv2dPack( (conv_offset): Conv2d(256, 27, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (2): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): ModulatedDeformConv2dPack( (conv_offset): Conv2d(256, 27, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (3): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): ModulatedDeformConv2dPack( (conv_offset): Conv2d(256, 27, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (4): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): ModulatedDeformConv2dPack( (conv_offset): Conv2d(256, 27, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (5): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): ModulatedDeformConv2dPack( (conv_offset): Conv2d(256, 27, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) ) (layer4): ResLayer( (0): Bottleneck( (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) (bn1): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): ModulatedDeformConv2dPack( (conv_offset): Conv2d(512, 27, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) (bn2): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): SyncBatchNorm(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) (1): Bottleneck( (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): ModulatedDeformConv2dPack( (conv_offset): Conv2d(512, 27, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) (bn2): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (2): Bottleneck( (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): ModulatedDeformConv2dPack( (conv_offset): Conv2d(512, 27, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) ) (bn2): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) ) ) init_cfg={'type': 'Pretrained', 'checkpoint': 'open-mmlab://detectron2/resnet50_caffe'} (img_neck): FPN( (lateral_convs): ModuleList( (0): ConvModule( (conv): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) (1): ConvModule( (conv): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) (2): ConvModule( (conv): Conv2d(2048, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) (fpn_convs): ModuleList( (0): ConvModule( (conv): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) (1): ConvModule( (conv): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) (2): ConvModule( (conv): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) ) init_cfg={'type': 'Xavier', 'layer': 'Conv2d', 'distribution': 'uniform'} (positional_encoding): LearnedPositionalEncoding(num_feats=128, row_num_embed=50, col_num_embed=100) (transformer): PerceptionTransformer( (encoder): BEVFormerEncoder( (layers): ModuleList( (0): BEVFormerLayer( (attentions): ModuleList( (0): TemporalSelfAttention( (dropout): Dropout(p=0.1, inplace=False) (sampling_offsets): Linear(in_features=512, out_features=128, bias=True) (attention_weights): Linear(in_features=512, out_features=64, bias=True) (value_proj): Linear(in_features=256, out_features=256, bias=True) (output_proj): Linear(in_features=256, out_features=256, bias=True) ) (1): SpatialCrossAttention( (dropout): Dropout(p=0.1, inplace=False) (deformable_attention): MSDeformableAttention3D( (sampling_offsets): Linear(in_features=256, out_features=384, bias=True) (attention_weights): Linear(in_features=256, out_features=192, bias=True) (value_proj): Linear(in_features=256, out_features=256, bias=True) ) (output_proj): Linear(in_features=256, out_features=256, bias=True) ) ) (ffns): ModuleList( (0): FFN( (activate): ReLU(inplace=True) (layers): Sequential( (0): Sequential( (0): Linear(in_features=256, out_features=512, bias=True) (1): ReLU(inplace=True) (2): Dropout(p=0.1, inplace=False) ) (1): Linear(in_features=512, out_features=256, bias=True) (2): Dropout(p=0.1, inplace=False) ) (dropout_layer): Identity() ) ) (norms): ModuleList( (0): LayerNorm((256,), eps=1e-05, elementwise_affine=True) (1): LayerNorm((256,), eps=1e-05, elementwise_affine=True) (2): LayerNorm((256,), eps=1e-05, elementwise_affine=True) ) ) (1): BEVFormerLayer( (attentions): ModuleList( (0): TemporalSelfAttention( (dropout): Dropout(p=0.1, inplace=False) (sampling_offsets): Linear(in_features=512, out_features=128, bias=True) (attention_weights): Linear(in_features=512, out_features=64, bias=True) (value_proj): Linear(in_features=256, out_features=256, bias=True) (output_proj): Linear(in_features=256, out_features=256, bias=True) ) (1): SpatialCrossAttention( (dropout): Dropout(p=0.1, inplace=False) (deformable_attention): MSDeformableAttention3D( (sampling_offsets): Linear(in_features=256, out_features=384, bias=True) (attention_weights): Linear(in_features=256, out_features=192, bias=True) (value_proj): Linear(in_features=256, out_features=256, bias=True) ) (output_proj): Linear(in_features=256, out_features=256, bias=True) ) ) (ffns): ModuleList( (0): FFN( (activate): ReLU(inplace=True) (layers): Sequential( (0): Sequential( (0): Linear(in_features=256, out_features=512, bias=True) (1): ReLU(inplace=True) (2): Dropout(p=0.1, inplace=False) ) (1): Linear(in_features=512, out_features=256, bias=True) (2): Dropout(p=0.1, inplace=False) ) (dropout_layer): Identity() ) ) (norms): ModuleList( (0): LayerNorm((256,), eps=1e-05, elementwise_affine=True) (1): LayerNorm((256,), eps=1e-05, elementwise_affine=True) (2): LayerNorm((256,), eps=1e-05, elementwise_affine=True) ) ) ) (temporal_mem_layers): ModuleList( (0): TemporalNet( (conv_in): Conv2d(1280, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (res_layer): Sequential( (0): MyResBlock( (conv1): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) ) (1): TemporalNet( (conv_in): Conv2d(1280, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (res_layer): Sequential( (0): MyResBlock( (conv1): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) ) ) ) ) (bev_embedding): Embedding(5000, 256) ) (neck): Identity() (head): MapDetectorHead( (transformer): MapTransformer( (encoder): PlaceHolderEncoder() (decoder): MapTransformerDecoder_new( (layers): ModuleList( (0): MapTransformerLayer( (attentions): ModuleList( (0): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) (1): CustomMSDeformableAttention( (dropout): Dropout(p=0.1, inplace=False) (sampling_offsets): Linear(in_features=512, out_features=320, bias=True) (attention_weights): Linear(in_features=512, out_features=160, bias=True) (value_proj): Linear(in_features=512, out_features=512, bias=True) (output_proj): Linear(in_features=512, out_features=512, bias=True) ) (2): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) ) (ffns): ModuleList( (0): FFN( (activate): ReLU(inplace=True) (layers): Sequential( (0): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): ReLU(inplace=True) (2): Dropout(p=0.1, inplace=False) ) (1): Linear(in_features=1024, out_features=512, bias=True) (2): Dropout(p=0.1, inplace=False) ) (dropout_layer): Identity() ) ) (norms): ModuleList( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (2): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (3): LayerNorm((512,), eps=1e-05, elementwise_affine=True) ) ) (1): MapTransformerLayer( (attentions): ModuleList( (0): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) (1): CustomMSDeformableAttention( (dropout): Dropout(p=0.1, inplace=False) (sampling_offsets): Linear(in_features=512, out_features=320, bias=True) (attention_weights): Linear(in_features=512, out_features=160, bias=True) (value_proj): Linear(in_features=512, out_features=512, bias=True) (output_proj): Linear(in_features=512, out_features=512, bias=True) ) (2): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) ) (ffns): ModuleList( (0): FFN( (activate): ReLU(inplace=True) (layers): Sequential( (0): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): ReLU(inplace=True) (2): Dropout(p=0.1, inplace=False) ) (1): Linear(in_features=1024, out_features=512, bias=True) (2): Dropout(p=0.1, inplace=False) ) (dropout_layer): Identity() ) ) (norms): ModuleList( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (2): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (3): LayerNorm((512,), eps=1e-05, elementwise_affine=True) ) ) (2): MapTransformerLayer( (attentions): ModuleList( (0): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) (1): CustomMSDeformableAttention( (dropout): Dropout(p=0.1, inplace=False) (sampling_offsets): Linear(in_features=512, out_features=320, bias=True) (attention_weights): Linear(in_features=512, out_features=160, bias=True) (value_proj): Linear(in_features=512, out_features=512, bias=True) (output_proj): Linear(in_features=512, out_features=512, bias=True) ) (2): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) ) (ffns): ModuleList( (0): FFN( (activate): ReLU(inplace=True) (layers): Sequential( (0): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): ReLU(inplace=True) (2): Dropout(p=0.1, inplace=False) ) (1): Linear(in_features=1024, out_features=512, bias=True) (2): Dropout(p=0.1, inplace=False) ) (dropout_layer): Identity() ) ) (norms): ModuleList( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (2): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (3): LayerNorm((512,), eps=1e-05, elementwise_affine=True) ) ) (3): MapTransformerLayer( (attentions): ModuleList( (0): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) (1): CustomMSDeformableAttention( (dropout): Dropout(p=0.1, inplace=False) (sampling_offsets): Linear(in_features=512, out_features=320, bias=True) (attention_weights): Linear(in_features=512, out_features=160, bias=True) (value_proj): Linear(in_features=512, out_features=512, bias=True) (output_proj): Linear(in_features=512, out_features=512, bias=True) ) (2): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) ) (ffns): ModuleList( (0): FFN( (activate): ReLU(inplace=True) (layers): Sequential( (0): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): ReLU(inplace=True) (2): Dropout(p=0.1, inplace=False) ) (1): Linear(in_features=1024, out_features=512, bias=True) (2): Dropout(p=0.1, inplace=False) ) (dropout_layer): Identity() ) ) (norms): ModuleList( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (2): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (3): LayerNorm((512,), eps=1e-05, elementwise_affine=True) ) ) (4): MapTransformerLayer( (attentions): ModuleList( (0): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) (1): CustomMSDeformableAttention( (dropout): Dropout(p=0.1, inplace=False) (sampling_offsets): Linear(in_features=512, out_features=320, bias=True) (attention_weights): Linear(in_features=512, out_features=160, bias=True) (value_proj): Linear(in_features=512, out_features=512, bias=True) (output_proj): Linear(in_features=512, out_features=512, bias=True) ) (2): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) ) (ffns): ModuleList( (0): FFN( (activate): ReLU(inplace=True) (layers): Sequential( (0): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): ReLU(inplace=True) (2): Dropout(p=0.1, inplace=False) ) (1): Linear(in_features=1024, out_features=512, bias=True) (2): Dropout(p=0.1, inplace=False) ) (dropout_layer): Identity() ) ) (norms): ModuleList( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (2): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (3): LayerNorm((512,), eps=1e-05, elementwise_affine=True) ) ) (5): MapTransformerLayer( (attentions): ModuleList( (0): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) (1): CustomMSDeformableAttention( (dropout): Dropout(p=0.1, inplace=False) (sampling_offsets): Linear(in_features=512, out_features=320, bias=True) (attention_weights): Linear(in_features=512, out_features=160, bias=True) (value_proj): Linear(in_features=512, out_features=512, bias=True) (output_proj): Linear(in_features=512, out_features=512, bias=True) ) (2): MultiheadAttention( (attn): MultiheadAttention( (out_proj): NonDynamicallyQuantizableLinear(in_features=512, out_features=512, bias=True) ) (proj_drop): Dropout(p=0.1, inplace=False) (dropout_layer): Dropout(p=0.0, inplace=False) ) ) (ffns): ModuleList( (0): FFN( (activate): ReLU(inplace=True) (layers): Sequential( (0): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): ReLU(inplace=True) (2): Dropout(p=0.1, inplace=False) ) (1): Linear(in_features=1024, out_features=512, bias=True) (2): Dropout(p=0.1, inplace=False) ) (dropout_layer): Identity() ) ) (norms): ModuleList( (0): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (1): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (2): LayerNorm((512,), eps=1e-05, elementwise_affine=True) (3): LayerNorm((512,), eps=1e-05, elementwise_affine=True) ) ) ) ) ) (loss_cls): FocalLoss() (loss_reg): LinesL1Loss() (bev_pos_embed): SinePositionalEncoding(num_feats=256, temperature=10000, normalize=True, scale=6.283185307179586, eps=1e-06) (query_embedding): Embedding(100, 512) (reference_points_embed): Linear(in_features=512, out_features=40, bias=True) (input_proj): Conv2d(256, 512, kernel_size=(1, 1), stride=(1, 1)) (reg_branches): ModuleList( (0): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (2): ReLU() (3): Linear(in_features=1024, out_features=1024, bias=True) (4): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (5): ReLU() (6): Linear(in_features=1024, out_features=40, bias=True) ) (1): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (2): ReLU() (3): Linear(in_features=1024, out_features=1024, bias=True) (4): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (5): ReLU() (6): Linear(in_features=1024, out_features=40, bias=True) ) (2): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (2): ReLU() (3): Linear(in_features=1024, out_features=1024, bias=True) (4): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (5): ReLU() (6): Linear(in_features=1024, out_features=40, bias=True) ) (3): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (2): ReLU() (3): Linear(in_features=1024, out_features=1024, bias=True) (4): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (5): ReLU() (6): Linear(in_features=1024, out_features=40, bias=True) ) (4): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (2): ReLU() (3): Linear(in_features=1024, out_features=1024, bias=True) (4): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (5): ReLU() (6): Linear(in_features=1024, out_features=40, bias=True) ) (5): Sequential( (0): Linear(in_features=512, out_features=1024, bias=True) (1): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (2): ReLU() (3): Linear(in_features=1024, out_features=1024, bias=True) (4): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (5): ReLU() (6): Linear(in_features=1024, out_features=40, bias=True) ) ) (cls_branches): ModuleList( (0): Linear(in_features=512, out_features=3, bias=True) (1): Linear(in_features=512, out_features=3, bias=True) (2): Linear(in_features=512, out_features=3, bias=True) (3): Linear(in_features=512, out_features=3, bias=True) (4): Linear(in_features=512, out_features=3, bias=True) (5): Linear(in_features=512, out_features=3, bias=True) ) ) (query_propagate): MotionMLP( (fc): Sequential( (0): Linear(in_features=659, out_features=1024, bias=True) (1): LayerNorm((1024,), eps=1e-05, elementwise_affine=True) (2): ReLU() (3): Linear(in_features=1024, out_features=512, bias=True) ) ) (seg_decoder): MapSegHead( (loss_seg): MaskFocalLoss() (loss_dice): MaskDiceLoss() (conv_in): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (relu): ReLU(inplace=True) (conv_mid_layers): ModuleList( (0): Sequential( (0): Upsample(scale_factor=2.0, mode=nearest) (1): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) (2): ReLU(inplace=True) ) ) (downsample_layers): ModuleList( (0): Upsample(scale_factor=0.5, mode=bilinear) ) (conv_out): Conv2d(256, 3, kernel_size=(1, 1), stride=(1, 1)) ) (sat_encoder): SatelliteEncoder( (backbone): ResNet( (conv1): Conv2d(3, 64, kernel_size=(7, 7), stride=(2, 2), padding=(3, 3), bias=False) (bn1): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (maxpool): MaxPool2d(kernel_size=3, stride=2, padding=1, dilation=1, ceil_mode=False) (layer1): ResLayer( (0): Bottleneck( (conv1): Conv2d(64, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) (1): Bottleneck( (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (2): Bottleneck( (conv1): Conv2d(256, 64, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(64, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(64, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) ) (layer2): ResLayer( (0): Bottleneck( (conv1): Conv2d(256, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(256, 512, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) (1): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (2): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (3): Bottleneck( (conv1): Conv2d(512, 128, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(128, 128, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(128, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(128, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) ) (layer3): ResLayer( (0): Bottleneck( (conv1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(512, 1024, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) (1): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (2): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (3): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (4): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (5): Bottleneck( (conv1): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(256, 1024, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(1024, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) ) (layer4): ResLayer( (0): Bottleneck( (conv1): Conv2d(1024, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(2, 2), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) (downsample): Sequential( (0): Conv2d(1024, 2048, kernel_size=(1, 1), stride=(2, 2), bias=False) (1): SyncBatchNorm(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) ) ) (1): Bottleneck( (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) (2): Bottleneck( (conv1): Conv2d(2048, 512, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn1): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv2): Conv2d(512, 512, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (bn2): SyncBatchNorm(512, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (conv3): Conv2d(512, 2048, kernel_size=(1, 1), stride=(1, 1), bias=False) (bn3): SyncBatchNorm(2048, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (relu): ReLU(inplace=True) ) ) ) init_cfg={'type': 'Pretrained', 'checkpoint': 'torchvision://resnet50'} (lateral_convs): ModuleList( (0): Conv2d(256, 256, kernel_size=(1, 1), stride=(1, 1)) (1): Conv2d(512, 256, kernel_size=(1, 1), stride=(1, 1)) (2): Conv2d(1024, 256, kernel_size=(1, 1), stride=(1, 1)) (3): Conv2d(2048, 256, kernel_size=(1, 1), stride=(1, 1)) ) (output_conv): Sequential( (0): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (1): SyncBatchNorm(256, eps=1e-05, momentum=0.1, affine=True, track_running_stats=True) (2): ReLU(inplace=True) ) ) (sat_fusion): ReliabilityAwareFusion() (seg_decoder_fused): MapSegHead( (loss_seg): MaskFocalLoss() (loss_dice): MaskDiceLoss() (conv_in): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (relu): ReLU(inplace=True) (conv_mid_layers): ModuleList( (0): Sequential( (0): Upsample(scale_factor=2.0, mode=nearest) (1): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) (2): ReLU(inplace=True) ) ) (downsample_layers): ModuleList( (0): Upsample(scale_factor=0.5, mode=bilinear) ) (conv_out): Conv2d(256, 3, kernel_size=(1, 1), stride=(1, 1)) ) (seg_decoder_sat): MapSegHead( (loss_seg): MaskFocalLoss() (loss_dice): MaskDiceLoss() (conv_in): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1), bias=False) (relu): ReLU(inplace=True) (conv_mid_layers): ModuleList( (0): Sequential( (0): Upsample(scale_factor=2.0, mode=nearest) (1): Conv2d(256, 256, kernel_size=(3, 3), stride=(1, 1), padding=(1, 1)) (2): ReLU(inplace=True) ) ) (downsample_layers): ModuleList( (0): Upsample(scale_factor=0.5, mode=bilinear) ) (conv_out): Conv2d(256, 3, kernel_size=(1, 1), stride=(1, 1)) ) ) 2026-04-17 17:42:29,257 - mmdet - INFO - Start running, host: sumin@ace, work_dir: /home/sumin/projects/online_mapping_for_nips/2026.Online-Mapping.for-NeurIPS-2026/work_dirs/Full-ResilientMap-Sumin-oldsplit/stage1_pixelgate 2026-04-17 17:42:29,257 - mmdet - INFO - Hooks will be executed in the following order: before_run: (VERY_HIGH ) CosineAnnealingLrUpdaterHook (NORMAL ) CheckpointHook (LOW ) CustomDistEvalHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook (VERY_LOW ) WandbLoggerHook -------------------- before_train_epoch: (VERY_HIGH ) CosineAnnealingLrUpdaterHook (LOW ) IterTimerHook (LOW ) CustomDistEvalHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook (VERY_LOW ) WandbLoggerHook -------------------- before_train_iter: (VERY_HIGH ) CosineAnnealingLrUpdaterHook (LOW ) IterTimerHook (LOW ) CustomDistEvalHook -------------------- after_train_iter: (ABOVE_NORMAL) OptimizerHook (NORMAL ) CheckpointHook (LOW ) IterTimerHook (LOW ) CustomDistEvalHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook (VERY_LOW ) WandbLoggerHook -------------------- after_train_epoch: (NORMAL ) CheckpointHook (LOW ) CustomDistEvalHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook (VERY_LOW ) WandbLoggerHook -------------------- before_val_epoch: (LOW ) IterTimerHook (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook (VERY_LOW ) WandbLoggerHook -------------------- before_val_iter: (LOW ) IterTimerHook -------------------- after_val_iter: (LOW ) IterTimerHook -------------------- after_val_epoch: (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook (VERY_LOW ) WandbLoggerHook -------------------- after_run: (VERY_LOW ) TextLoggerHook (VERY_LOW ) TensorboardLoggerHook (VERY_LOW ) WandbLoggerHook -------------------- 2026-04-17 17:42:29,257 - mmdet - INFO - workflow: [('train', 1)], max: 55932 iters 2026-04-17 17:42:29,258 - mmdet - INFO - Checkpoints will be saved to /home/sumin/projects/online_mapping_for_nips/2026.Online-Mapping.for-NeurIPS-2026/work_dirs/Full-ResilientMap-Sumin-oldsplit/stage1_pixelgate by HardDiskBackend. 2026-04-17 17:45:23,038 - mmdet - INFO - Iter [50/55932] lr: 1.993e-05, eta: 1 day, 11:05:07, time: 2.260, data_time: 0.231, memory: 34491, seg: 3.7035, seg_dice: 0.7661, seg_t0: 3.2843, seg_dice_t0: 0.7706, seg_t1: 3.4943, seg_dice_t1: 0.7674, seg_t2: 3.6491, seg_dice_t2: 0.7683, seg_t3: 3.6716, seg_dice_t3: 0.7656, total_t0: 4.0550, total_t1: 4.2617, total_t2: 4.4174, total_t3: 4.4372, total_t4: 4.4695, total: 31.9370, cam_bev_norm: 24.7390, sat_bev_norm: 10.2474, seg_sat: 4.7566, seg_dice_sat: 0.8264, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 3.9200, seg_dice_fused: 0.7931, cam_rel_mean: 0.2217, sat_rel_mean: 0.1450, cam_rel_min: 0.0410, sat_rel_min: 0.0219, grad_norm: 183.0366 2026-04-17 17:47:07,362 - mmdet - INFO - Iter [100/55932] lr: 2.327e-05, eta: 1 day, 9:42:21, time: 2.086, data_time: 0.071, memory: 34491, seg: 2.3783, seg_dice: 0.7438, seg_t0: 2.4077, seg_dice_t0: 0.7408, seg_t1: 2.4101, seg_dice_t1: 0.7395, seg_t2: 2.4047, seg_dice_t2: 0.7386, seg_t3: 2.3918, seg_dice_t3: 0.7407, total_t0: 3.1485, total_t1: 3.1496, total_t2: 3.1433, total_t3: 3.1325, total_t4: 3.1221, total: 23.7920, cam_bev_norm: 23.7135, sat_bev_norm: 9.8544, seg_sat: 3.8573, seg_dice_sat: 0.8119, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0800, seg_fused: 2.6692, seg_dice_fused: 0.7576, cam_rel_mean: 0.2337, sat_rel_mean: 0.1618, cam_rel_min: 0.0529, sat_rel_min: 0.0276, grad_norm: 94.9964 2026-04-17 17:48:51,152 - mmdet - INFO - Iter [150/55932] lr: 2.660e-05, eta: 1 day, 9:10:18, time: 2.076, data_time: 0.073, memory: 34493, seg: 2.0562, seg_dice: 0.6835, seg_t0: 2.1398, seg_dice_t0: 0.6968, seg_t1: 2.0755, seg_dice_t1: 0.6871, seg_t2: 2.0746, seg_dice_t2: 0.6824, seg_t3: 2.0753, seg_dice_t3: 0.6815, total_t0: 2.8366, total_t1: 2.7625, total_t2: 2.7570, total_t3: 2.7568, total_t4: 2.7398, total: 20.9416, cam_bev_norm: 23.1956, sat_bev_norm: 9.7212, seg_sat: 3.2764, seg_dice_sat: 0.7666, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2600, seg_fused: 2.3460, seg_dice_fused: 0.6999, cam_rel_mean: 0.2152, sat_rel_mean: 0.1918, cam_rel_min: 0.0530, sat_rel_min: 0.0286, grad_norm: 71.9480 2026-04-17 17:50:34,439 - mmdet - INFO - Iter [200/55932] lr: 2.993e-05, eta: 1 day, 8:51:05, time: 2.066, data_time: 0.076, memory: 34493, seg: 2.0304, seg_dice: 0.6635, seg_t0: 2.1453, seg_dice_t0: 0.6827, seg_t1: 2.0920, seg_dice_t1: 0.6689, seg_t2: 2.0527, seg_dice_t2: 0.6633, seg_t3: 2.0226, seg_dice_t3: 0.6626, total_t0: 2.8280, total_t1: 2.7609, total_t2: 2.7160, total_t3: 2.6852, total_t4: 2.6938, total: 21.1911, cam_bev_norm: 22.6948, sat_bev_norm: 9.8918, seg_sat: 3.5714, seg_dice_sat: 0.7778, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 2.4658, seg_dice_fused: 0.6922, cam_rel_mean: 0.2121, sat_rel_mean: 0.1812, cam_rel_min: 0.0522, sat_rel_min: 0.0294, grad_norm: 68.7924 2026-04-17 17:52:18,237 - mmdet - INFO - Iter [250/55932] lr: 3.327e-05, eta: 1 day, 8:40:46, time: 2.076, data_time: 0.081, memory: 34493, seg: 2.0584, seg_dice: 0.6491, seg_t0: 2.2641, seg_dice_t0: 0.6717, seg_t1: 2.2014, seg_dice_t1: 0.6572, seg_t2: 2.1431, seg_dice_t2: 0.6508, seg_t3: 2.0936, seg_dice_t3: 0.6481, total_t0: 2.9358, total_t1: 2.8587, total_t2: 2.7939, total_t3: 2.7417, total_t4: 2.7076, total: 21.3150, cam_bev_norm: 22.3419, sat_bev_norm: 9.9480, seg_sat: 3.4802, seg_dice_sat: 0.7570, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 2.3742, seg_dice_fused: 0.6661, cam_rel_mean: 0.2203, sat_rel_mean: 0.1992, cam_rel_min: 0.0498, sat_rel_min: 0.0363, grad_norm: 71.2814 2026-04-17 17:54:01,557 - mmdet - INFO - Iter [300/55932] lr: 3.660e-05, eta: 1 day, 8:31:47, time: 2.066, data_time: 0.078, memory: 34607, seg: 2.0145, seg_dice: 0.6291, seg_t0: 2.1798, seg_dice_t0: 0.6583, seg_t1: 2.0781, seg_dice_t1: 0.6383, seg_t2: 2.0354, seg_dice_t2: 0.6291, seg_t3: 2.0119, seg_dice_t3: 0.6263, total_t0: 2.8381, total_t1: 2.7164, total_t2: 2.6645, total_t3: 2.6382, total_t4: 2.6436, total: 19.9417, cam_bev_norm: 22.0264, sat_bev_norm: 9.9980, seg_sat: 2.8087, seg_dice_sat: 0.7224, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2400, seg_fused: 2.2696, seg_dice_fused: 0.6403, cam_rel_mean: 0.2314, sat_rel_mean: 0.2071, cam_rel_min: 0.0436, sat_rel_min: 0.0427, grad_norm: 86.2345 2026-04-17 17:55:44,920 - mmdet - INFO - Iter [350/55932] lr: 3.993e-05, eta: 1 day, 8:25:04, time: 2.067, data_time: 0.080, memory: 34607, seg: 1.9104, seg_dice: 0.6233, seg_t0: 2.1054, seg_dice_t0: 0.6592, seg_t1: 1.9973, seg_dice_t1: 0.6372, seg_t2: 1.9361, seg_dice_t2: 0.6263, seg_t3: 1.9207, seg_dice_t3: 0.6238, total_t0: 2.7645, total_t1: 2.6345, total_t2: 2.5624, total_t3: 2.5445, total_t4: 2.5336, total: 19.3815, cam_bev_norm: 21.8298, sat_bev_norm: 10.0242, seg_sat: 2.9350, seg_dice_sat: 0.7379, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 2.0454, seg_dice_fused: 0.6238, cam_rel_mean: 0.2346, sat_rel_mean: 0.1959, cam_rel_min: 0.0438, sat_rel_min: 0.0430, grad_norm: 73.2872 2026-04-17 17:57:28,753 - mmdet - INFO - Iter [400/55932] lr: 4.326e-05, eta: 1 day, 8:20:36, time: 2.076, data_time: 0.082, memory: 34607, seg: 1.8978, seg_dice: 0.6150, seg_t0: 2.1388, seg_dice_t0: 0.6645, seg_t1: 1.9998, seg_dice_t1: 0.6368, seg_t2: 1.9452, seg_dice_t2: 0.6243, seg_t3: 1.9369, seg_dice_t3: 0.6184, total_t0: 2.8033, total_t1: 2.6366, total_t2: 2.5695, total_t3: 2.5553, total_t4: 2.5127, total: 19.1940, cam_bev_norm: 21.4582, sat_bev_norm: 10.2012, seg_sat: 2.6404, seg_dice_sat: 0.7192, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.0800, seg_fused: 2.1206, seg_dice_fused: 0.6364, cam_rel_mean: 0.2112, sat_rel_mean: 0.2191, cam_rel_min: 0.0420, sat_rel_min: 0.0539, grad_norm: 76.3612 2026-04-17 17:59:10,873 - mmdet - INFO - Iter [450/55932] lr: 4.659e-05, eta: 1 day, 8:13:19, time: 2.043, data_time: 0.071, memory: 34607, seg: 1.8859, seg_dice: 0.6171, seg_t0: 2.0685, seg_dice_t0: 0.6558, seg_t1: 1.9597, seg_dice_t1: 0.6324, seg_t2: 1.9152, seg_dice_t2: 0.6240, seg_t3: 1.8883, seg_dice_t3: 0.6195, total_t0: 2.7243, total_t1: 2.5921, total_t2: 2.5392, total_t3: 2.5078, total_t4: 2.5030, total: 18.7369, cam_bev_norm: 21.2579, sat_bev_norm: 10.1869, seg_sat: 2.5462, seg_dice_sat: 0.7043, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 2.0086, seg_dice_fused: 0.6114, cam_rel_mean: 0.2291, sat_rel_mean: 0.2305, cam_rel_min: 0.0429, sat_rel_min: 0.0556, grad_norm: 64.1434 2026-04-17 18:00:54,852 - mmdet - INFO - Iter [500/55932] lr: 4.992e-05, eta: 1 day, 8:10:32, time: 2.080, data_time: 0.071, memory: 34607, seg: 1.7926, seg_dice: 0.6041, seg_t0: 2.0440, seg_dice_t0: 0.6516, seg_t1: 1.9132, seg_dice_t1: 0.6260, seg_t2: 1.8699, seg_dice_t2: 0.6141, seg_t3: 1.8162, seg_dice_t3: 0.6090, total_t0: 2.6955, total_t1: 2.5392, total_t2: 2.4840, total_t3: 2.4252, total_t4: 2.3967, total: 18.3155, cam_bev_norm: 21.2081, sat_bev_norm: 10.1173, seg_sat: 2.4422, seg_dice_sat: 0.7043, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1200, seg_fused: 2.0049, seg_dice_fused: 0.6235, cam_rel_mean: 0.2010, sat_rel_mean: 0.2340, cam_rel_min: 0.0377, sat_rel_min: 0.0547, grad_norm: 66.3491 2026-04-17 18:02:39,306 - mmdet - INFO - Iter [550/55932] lr: 4.999e-05, eta: 1 day, 8:08:45, time: 2.089, data_time: 0.078, memory: 34607, seg: 1.7604, seg_dice: 0.5910, seg_t0: 1.9636, seg_dice_t0: 0.6335, seg_t1: 1.8350, seg_dice_t1: 0.6066, seg_t2: 1.8028, seg_dice_t2: 0.6014, seg_t3: 1.7951, seg_dice_t3: 0.5967, total_t0: 2.5971, total_t1: 2.4416, total_t2: 2.4042, total_t3: 2.3918, total_t4: 2.3514, total: 18.1480, cam_bev_norm: 20.9684, sat_bev_norm: 10.2552, seg_sat: 2.6043, seg_dice_sat: 0.6988, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2400, seg_fused: 2.0542, seg_dice_fused: 0.6046, cam_rel_mean: 0.2176, sat_rel_mean: 0.2208, cam_rel_min: 0.0396, sat_rel_min: 0.0571, grad_norm: 52.0487 2026-04-17 18:04:22,389 - mmdet - INFO - Iter [600/55932] lr: 4.999e-05, eta: 1 day, 8:04:51, time: 2.062, data_time: 0.077, memory: 34607, seg: 1.7825, seg_dice: 0.5971, seg_t0: 2.0143, seg_dice_t0: 0.6407, seg_t1: 1.8664, seg_dice_t1: 0.6171, seg_t2: 1.7996, seg_dice_t2: 0.6063, seg_t3: 1.7864, seg_dice_t3: 0.5998, total_t0: 2.6550, total_t1: 2.4835, total_t2: 2.4059, total_t3: 2.3862, total_t4: 2.3796, total: 18.1861, cam_bev_norm: 20.7190, sat_bev_norm: 10.4024, seg_sat: 2.5081, seg_dice_sat: 0.6998, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 2.0601, seg_dice_fused: 0.6079, cam_rel_mean: 0.2153, sat_rel_mean: 0.2156, cam_rel_min: 0.0380, sat_rel_min: 0.0608, grad_norm: 53.9706 2026-04-17 18:06:05,298 - mmdet - INFO - Iter [650/55932] lr: 4.998e-05, eta: 1 day, 8:01:03, time: 2.058, data_time: 0.076, memory: 34607, seg: 1.6854, seg_dice: 0.5923, seg_t0: 1.9158, seg_dice_t0: 0.6394, seg_t1: 1.7642, seg_dice_t1: 0.6054, seg_t2: 1.7255, seg_dice_t2: 0.5957, seg_t3: 1.7067, seg_dice_t3: 0.5922, total_t0: 2.5552, total_t1: 2.3696, total_t2: 2.3212, total_t3: 2.2988, total_t4: 2.2777, total: 17.1606, cam_bev_norm: 20.6133, sat_bev_norm: 10.2628, seg_sat: 2.2519, seg_dice_sat: 0.6910, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2200, seg_fused: 1.8057, seg_dice_fused: 0.5894, cam_rel_mean: 0.2309, sat_rel_mean: 0.2193, cam_rel_min: 0.0414, sat_rel_min: 0.0591, grad_norm: 61.1932 2026-04-17 18:07:48,435 - mmdet - INFO - Iter [700/55932] lr: 4.998e-05, eta: 1 day, 7:57:51, time: 2.063, data_time: 0.073, memory: 34607, seg: 1.7019, seg_dice: 0.5892, seg_t0: 1.9374, seg_dice_t0: 0.6389, seg_t1: 1.7969, seg_dice_t1: 0.6127, seg_t2: 1.7291, seg_dice_t2: 0.6022, seg_t3: 1.7261, seg_dice_t3: 0.5935, total_t0: 2.5763, total_t1: 2.4096, total_t2: 2.3313, total_t3: 2.3196, total_t4: 2.2910, total: 17.3461, cam_bev_norm: 20.5699, sat_bev_norm: 10.2900, seg_sat: 2.3155, seg_dice_sat: 0.6862, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 1.8285, seg_dice_fused: 0.5882, cam_rel_mean: 0.2034, sat_rel_mean: 0.2279, cam_rel_min: 0.0345, sat_rel_min: 0.0613, grad_norm: 54.0963 2026-04-17 18:09:31,538 - mmdet - INFO - Iter [750/55932] lr: 4.998e-05, eta: 1 day, 7:54:48, time: 2.062, data_time: 0.070, memory: 34607, seg: 1.6364, seg_dice: 0.5774, seg_t0: 1.8707, seg_dice_t0: 0.6195, seg_t1: 1.7447, seg_dice_t1: 0.5923, seg_t2: 1.7035, seg_dice_t2: 0.5850, seg_t3: 1.6813, seg_dice_t3: 0.5820, total_t0: 2.4902, total_t1: 2.3370, total_t2: 2.2885, total_t3: 2.2633, total_t4: 2.2138, total: 16.9041, cam_bev_norm: 20.3571, sat_bev_norm: 10.3141, seg_sat: 2.2386, seg_dice_sat: 0.6786, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1200, seg_fused: 1.8109, seg_dice_fused: 0.5833, cam_rel_mean: 0.2084, sat_rel_mean: 0.2316, cam_rel_min: 0.0329, sat_rel_min: 0.0620, grad_norm: 51.9789 2026-04-17 18:11:14,441 - mmdet - INFO - Iter [800/55932] lr: 4.998e-05, eta: 1 day, 7:51:40, time: 2.057, data_time: 0.070, memory: 34607, seg: 1.5938, seg_dice: 0.5779, seg_t0: 1.7900, seg_dice_t0: 0.6228, seg_t1: 1.6580, seg_dice_t1: 0.5927, seg_t2: 1.6359, seg_dice_t2: 0.5838, seg_t3: 1.6240, seg_dice_t3: 0.5797, total_t0: 2.4128, total_t1: 2.2506, total_t2: 2.2197, total_t3: 2.2037, total_t4: 2.1718, total: 16.1740, cam_bev_norm: 20.2619, sat_bev_norm: 10.3415, seg_sat: 2.0545, seg_dice_sat: 0.6609, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 1.6272, seg_dice_fused: 0.5729, cam_rel_mean: 0.2110, sat_rel_mean: 0.2319, cam_rel_min: 0.0319, sat_rel_min: 0.0597, grad_norm: 50.0152 2026-04-17 18:12:57,323 - mmdet - INFO - Iter [850/55932] lr: 4.997e-05, eta: 1 day, 7:48:43, time: 2.058, data_time: 0.073, memory: 34607, seg: 1.6583, seg_dice: 0.5493, seg_t0: 1.8858, seg_dice_t0: 0.5978, seg_t1: 1.7299, seg_dice_t1: 0.5689, seg_t2: 1.6858, seg_dice_t2: 0.5547, seg_t3: 1.6620, seg_dice_t3: 0.5514, total_t0: 2.4836, total_t1: 2.2988, total_t2: 2.2404, total_t3: 2.2134, total_t4: 2.2076, total: 16.5428, cam_bev_norm: 20.4126, sat_bev_norm: 10.3573, seg_sat: 2.1684, seg_dice_sat: 0.6530, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1200, seg_fused: 1.7204, seg_dice_fused: 0.5572, cam_rel_mean: 0.2099, sat_rel_mean: 0.2343, cam_rel_min: 0.0326, sat_rel_min: 0.0556, grad_norm: 67.7204 2026-04-17 18:14:40,649 - mmdet - INFO - Iter [900/55932] lr: 4.997e-05, eta: 1 day, 7:46:21, time: 2.067, data_time: 0.071, memory: 34607, seg: 1.6963, seg_dice: 0.5550, seg_t0: 1.8545, seg_dice_t0: 0.5976, seg_t1: 1.7145, seg_dice_t1: 0.5683, seg_t2: 1.6903, seg_dice_t2: 0.5590, seg_t3: 1.6996, seg_dice_t3: 0.5551, total_t0: 2.4520, total_t1: 2.2828, total_t2: 2.2493, total_t3: 2.2547, total_t4: 2.2513, total: 16.5506, cam_bev_norm: 20.3742, sat_bev_norm: 10.5032, seg_sat: 2.2248, seg_dice_sat: 0.6473, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 1.6550, seg_dice_fused: 0.5334, cam_rel_mean: 0.2320, sat_rel_mean: 0.2419, cam_rel_min: 0.0352, sat_rel_min: 0.0603, grad_norm: 41.6657 2026-04-17 18:16:23,996 - mmdet - INFO - Iter [950/55932] lr: 4.997e-05, eta: 1 day, 7:44:03, time: 2.067, data_time: 0.072, memory: 34607, seg: 1.5581, seg_dice: 0.5518, seg_t0: 1.8072, seg_dice_t0: 0.6070, seg_t1: 1.6423, seg_dice_t1: 0.5742, seg_t2: 1.5806, seg_dice_t2: 0.5603, seg_t3: 1.5798, seg_dice_t3: 0.5563, total_t0: 2.4142, total_t1: 2.2165, total_t2: 2.1409, total_t3: 2.1361, total_t4: 2.1098, total: 15.8394, cam_bev_norm: 20.2088, sat_bev_norm: 10.4822, seg_sat: 2.0518, seg_dice_sat: 0.6431, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 1.5862, seg_dice_fused: 0.5406, cam_rel_mean: 0.2299, sat_rel_mean: 0.2175, cam_rel_min: 0.0330, sat_rel_min: 0.0539, grad_norm: 41.7905 2026-04-17 18:18:06,778 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-17 18:18:06,779 - mmdet - INFO - Iter [1000/55932] lr: 4.996e-05, eta: 1 day, 7:41:18, time: 2.056, data_time: 0.077, memory: 34607, seg: 1.6284, seg_dice: 0.5476, seg_t0: 1.8437, seg_dice_t0: 0.5929, seg_t1: 1.6989, seg_dice_t1: 0.5611, seg_t2: 1.6501, seg_dice_t2: 0.5514, seg_t3: 1.6341, seg_dice_t3: 0.5454, total_t0: 2.4366, total_t1: 2.2600, total_t2: 2.2015, total_t3: 2.1795, total_t4: 2.1759, total: 16.1962, cam_bev_norm: 20.2193, sat_bev_norm: 10.5837, seg_sat: 2.0897, seg_dice_sat: 0.6270, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0600, seg_fused: 1.6879, seg_dice_fused: 0.5381, cam_rel_mean: 0.2259, sat_rel_mean: 0.2365, cam_rel_min: 0.0354, sat_rel_min: 0.0588, grad_norm: 51.8738 2026-04-17 18:19:48,760 - mmdet - INFO - Iter [1050/55932] lr: 4.996e-05, eta: 1 day, 7:37:58, time: 2.040, data_time: 0.071, memory: 34607, seg: 1.5060, seg_dice: 0.5480, seg_t0: 1.7543, seg_dice_t0: 0.5971, seg_t1: 1.6109, seg_dice_t1: 0.5660, seg_t2: 1.5663, seg_dice_t2: 0.5571, seg_t3: 1.5390, seg_dice_t3: 0.5508, total_t0: 2.3514, total_t1: 2.1770, total_t2: 2.1234, total_t3: 2.0898, total_t4: 2.0540, total: 15.5993, cam_bev_norm: 20.2436, sat_bev_norm: 10.5487, seg_sat: 2.0106, seg_dice_sat: 0.6406, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1000, seg_fused: 1.6012, seg_dice_fused: 0.5512, cam_rel_mean: 0.1997, sat_rel_mean: 0.2339, cam_rel_min: 0.0307, sat_rel_min: 0.0604, grad_norm: 40.3087 2026-04-17 18:21:31,114 - mmdet - INFO - Iter [1100/55932] lr: 4.995e-05, eta: 1 day, 7:35:05, time: 2.047, data_time: 0.072, memory: 34607, seg: 1.5685, seg_dice: 0.5457, seg_t0: 1.8347, seg_dice_t0: 0.5993, seg_t1: 1.6808, seg_dice_t1: 0.5660, seg_t2: 1.6215, seg_dice_t2: 0.5563, seg_t3: 1.5752, seg_dice_t3: 0.5501, total_t0: 2.4340, total_t1: 2.2468, total_t2: 2.1777, total_t3: 2.1253, total_t4: 2.1141, total: 16.0017, cam_bev_norm: 20.1815, sat_bev_norm: 10.6480, seg_sat: 2.0836, seg_dice_sat: 0.6350, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1000, seg_fused: 1.6415, seg_dice_fused: 0.5437, cam_rel_mean: 0.2095, sat_rel_mean: 0.2369, cam_rel_min: 0.0317, sat_rel_min: 0.0564, grad_norm: 36.1630 2026-04-17 18:23:13,190 - mmdet - INFO - Iter [1150/55932] lr: 4.995e-05, eta: 1 day, 7:32:04, time: 2.042, data_time: 0.068, memory: 34607, seg: 1.4496, seg_dice: 0.5269, seg_t0: 1.7247, seg_dice_t0: 0.5825, seg_t1: 1.5449, seg_dice_t1: 0.5492, seg_t2: 1.4951, seg_dice_t2: 0.5378, seg_t3: 1.4772, seg_dice_t3: 0.5311, total_t0: 2.3072, total_t1: 2.0941, total_t2: 2.0329, total_t3: 2.0083, total_t4: 1.9765, total: 15.0889, cam_bev_norm: 20.2198, sat_bev_norm: 10.5745, seg_sat: 2.0249, seg_dice_sat: 0.6286, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1200, seg_fused: 1.4947, seg_dice_fused: 0.5217, cam_rel_mean: 0.2102, sat_rel_mean: 0.2503, cam_rel_min: 0.0294, sat_rel_min: 0.0578, grad_norm: 42.0883 2026-04-17 18:24:55,372 - mmdet - INFO - Iter [1200/55932] lr: 4.995e-05, eta: 1 day, 7:29:15, time: 2.044, data_time: 0.071, memory: 34607, seg: 1.4668, seg_dice: 0.5381, seg_t0: 1.6412, seg_dice_t0: 0.5884, seg_t1: 1.5200, seg_dice_t1: 0.5572, seg_t2: 1.4888, seg_dice_t2: 0.5483, seg_t3: 1.4717, seg_dice_t3: 0.5409, total_t0: 2.2296, total_t1: 2.0772, total_t2: 2.0371, total_t3: 2.0126, total_t4: 2.0049, total: 15.0979, cam_bev_norm: 20.1954, sat_bev_norm: 10.5330, seg_sat: 1.9895, seg_dice_sat: 0.6308, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1600, seg_fused: 1.5757, seg_dice_fused: 0.5406, cam_rel_mean: 0.1981, sat_rel_mean: 0.2366, cam_rel_min: 0.0285, sat_rel_min: 0.0518, grad_norm: 39.3029 2026-04-17 18:26:37,540 - mmdet - INFO - Iter [1250/55932] lr: 4.994e-05, eta: 1 day, 7:26:30, time: 2.043, data_time: 0.075, memory: 34607, seg: 1.4735, seg_dice: 0.5336, seg_t0: 1.7147, seg_dice_t0: 0.5889, seg_t1: 1.5784, seg_dice_t1: 0.5583, seg_t2: 1.5192, seg_dice_t2: 0.5500, seg_t3: 1.4891, seg_dice_t3: 0.5420, total_t0: 2.3036, total_t1: 2.1366, total_t2: 2.0693, total_t3: 2.0310, total_t4: 2.0072, total: 15.1454, cam_bev_norm: 20.0674, sat_bev_norm: 10.6085, seg_sat: 1.9929, seg_dice_sat: 0.6238, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 1.4636, seg_dice_fused: 0.5173, cam_rel_mean: 0.2114, sat_rel_mean: 0.2490, cam_rel_min: 0.0295, sat_rel_min: 0.0590, grad_norm: 44.0000 2026-04-17 18:28:19,938 - mmdet - INFO - Iter [1300/55932] lr: 4.994e-05, eta: 1 day, 7:24:01, time: 2.048, data_time: 0.074, memory: 34610, seg: 1.4189, seg_dice: 0.5032, seg_t0: 1.6672, seg_dice_t0: 0.5595, seg_t1: 1.5011, seg_dice_t1: 0.5235, seg_t2: 1.4511, seg_dice_t2: 0.5119, seg_t3: 1.4448, seg_dice_t3: 0.5082, total_t0: 2.2267, total_t1: 2.0246, total_t2: 1.9629, total_t3: 1.9530, total_t4: 1.9221, total: 14.5301, cam_bev_norm: 20.1146, sat_bev_norm: 10.7110, seg_sat: 1.9606, seg_dice_sat: 0.6069, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1600, seg_fused: 1.3854, seg_dice_fused: 0.4878, cam_rel_mean: 0.2414, sat_rel_mean: 0.2307, cam_rel_min: 0.0313, sat_rel_min: 0.0540, grad_norm: 47.0550 2026-04-17 18:30:02,771 - mmdet - INFO - Iter [1350/55932] lr: 4.993e-05, eta: 1 day, 7:21:52, time: 2.057, data_time: 0.073, memory: 34610, seg: 1.4336, seg_dice: 0.5179, seg_t0: 1.6356, seg_dice_t0: 0.5742, seg_t1: 1.4938, seg_dice_t1: 0.5369, seg_t2: 1.4660, seg_dice_t2: 0.5302, seg_t3: 1.4430, seg_dice_t3: 0.5217, total_t0: 2.2098, total_t1: 2.0308, total_t2: 1.9962, total_t3: 1.9647, total_t4: 1.9515, total: 14.5398, cam_bev_norm: 20.0382, sat_bev_norm: 10.6129, seg_sat: 1.8955, seg_dice_sat: 0.6100, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 1.3850, seg_dice_fused: 0.4962, cam_rel_mean: 0.2289, sat_rel_mean: 0.2442, cam_rel_min: 0.0296, sat_rel_min: 0.0538, grad_norm: 44.4405 2026-04-17 18:31:45,714 - mmdet - INFO - Iter [1400/55932] lr: 4.993e-05, eta: 1 day, 7:19:50, time: 2.059, data_time: 0.074, memory: 34610, seg: 1.4717, seg_dice: 0.5215, seg_t0: 1.7308, seg_dice_t0: 0.5819, seg_t1: 1.5572, seg_dice_t1: 0.5421, seg_t2: 1.4873, seg_dice_t2: 0.5291, seg_t3: 1.4880, seg_dice_t3: 0.5257, total_t0: 2.3127, total_t1: 2.0993, total_t2: 2.0163, total_t3: 2.0137, total_t4: 1.9932, total: 14.9209, cam_bev_norm: 20.0926, sat_bev_norm: 10.6793, seg_sat: 1.9130, seg_dice_sat: 0.6121, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 1.4503, seg_dice_fused: 0.5102, cam_rel_mean: 0.2198, sat_rel_mean: 0.2442, cam_rel_min: 0.0303, sat_rel_min: 0.0534, grad_norm: 47.4217 2026-04-17 18:33:28,066 - mmdet - INFO - Iter [1450/55932] lr: 4.992e-05, eta: 1 day, 7:17:26, time: 2.047, data_time: 0.072, memory: 34610, seg: 1.4198, seg_dice: 0.5270, seg_t0: 1.6302, seg_dice_t0: 0.5854, seg_t1: 1.4866, seg_dice_t1: 0.5494, seg_t2: 1.4534, seg_dice_t2: 0.5367, seg_t3: 1.4334, seg_dice_t3: 0.5304, total_t0: 2.2156, total_t1: 2.0360, total_t2: 1.9901, total_t3: 1.9638, total_t4: 1.9469, total: 14.5739, cam_bev_norm: 19.9462, sat_bev_norm: 10.6288, seg_sat: 1.8576, seg_dice_sat: 0.6104, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 1.4396, seg_dice_fused: 0.5140, cam_rel_mean: 0.2191, sat_rel_mean: 0.2291, cam_rel_min: 0.0273, sat_rel_min: 0.0503, grad_norm: 40.4929 2026-04-17 18:35:10,326 - mmdet - INFO - Iter [1500/55932] lr: 4.992e-05, eta: 1 day, 7:15:02, time: 2.045, data_time: 0.073, memory: 34610, seg: 1.4408, seg_dice: 0.5069, seg_t0: 1.6900, seg_dice_t0: 0.5639, seg_t1: 1.5021, seg_dice_t1: 0.5221, seg_t2: 1.4775, seg_dice_t2: 0.5119, seg_t3: 1.4606, seg_dice_t3: 0.5045, total_t0: 2.2539, total_t1: 2.0242, total_t2: 1.9894, total_t3: 1.9651, total_t4: 1.9477, total: 14.6108, cam_bev_norm: 20.0006, sat_bev_norm: 10.7597, seg_sat: 1.9072, seg_dice_sat: 0.5923, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 1.4374, seg_dice_fused: 0.4936, cam_rel_mean: 0.2126, sat_rel_mean: 0.2389, cam_rel_min: 0.0278, sat_rel_min: 0.0472, grad_norm: 45.2595 2026-04-17 18:36:52,919 - mmdet - INFO - Iter [1550/55932] lr: 4.991e-05, eta: 1 day, 7:12:53, time: 2.052, data_time: 0.073, memory: 34610, seg: 1.4068, seg_dice: 0.5013, seg_t0: 1.6980, seg_dice_t0: 0.5652, seg_t1: 1.5218, seg_dice_t1: 0.5243, seg_t2: 1.4558, seg_dice_t2: 0.5125, seg_t3: 1.4160, seg_dice_t3: 0.5031, total_t0: 2.2632, total_t1: 2.0461, total_t2: 1.9684, total_t3: 1.9191, total_t4: 1.9081, total: 14.3829, cam_bev_norm: 20.0324, sat_bev_norm: 10.7162, seg_sat: 1.8411, seg_dice_sat: 0.5821, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 1.3744, seg_dice_fused: 0.4803, cam_rel_mean: 0.2253, sat_rel_mean: 0.2389, cam_rel_min: 0.0258, sat_rel_min: 0.0476, grad_norm: 37.2363 2026-04-17 18:38:35,630 - mmdet - INFO - Iter [1600/55932] lr: 4.990e-05, eta: 1 day, 7:10:49, time: 2.054, data_time: 0.075, memory: 34610, seg: 1.3952, seg_dice: 0.5178, seg_t0: 1.6176, seg_dice_t0: 0.5776, seg_t1: 1.4563, seg_dice_t1: 0.5396, seg_t2: 1.4241, seg_dice_t2: 0.5273, seg_t3: 1.4072, seg_dice_t3: 0.5192, total_t0: 2.1951, total_t1: 1.9960, total_t2: 1.9514, total_t3: 1.9265, total_t4: 1.9130, total: 14.0603, cam_bev_norm: 19.9390, sat_bev_norm: 10.6934, seg_sat: 1.7339, seg_dice_sat: 0.5844, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1800, seg_fused: 1.2775, seg_dice_fused: 0.4824, cam_rel_mean: 0.2343, sat_rel_mean: 0.2520, cam_rel_min: 0.0264, sat_rel_min: 0.0506, grad_norm: 39.2037 2026-04-17 18:40:18,324 - mmdet - INFO - Iter [1650/55932] lr: 4.990e-05, eta: 1 day, 7:08:45, time: 2.054, data_time: 0.075, memory: 34610, seg: 1.3910, seg_dice: 0.5126, seg_t0: 1.6472, seg_dice_t0: 0.5790, seg_t1: 1.4760, seg_dice_t1: 0.5392, seg_t2: 1.4347, seg_dice_t2: 0.5234, seg_t3: 1.3882, seg_dice_t3: 0.5149, total_t0: 2.2262, total_t1: 2.0152, total_t2: 1.9581, total_t3: 1.9031, total_t4: 1.9036, total: 14.4054, cam_bev_norm: 19.8948, sat_bev_norm: 10.6401, seg_sat: 1.8832, seg_dice_sat: 0.6096, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 1.4053, seg_dice_fused: 0.5011, cam_rel_mean: 0.2156, sat_rel_mean: 0.2466, cam_rel_min: 0.0245, sat_rel_min: 0.0467, grad_norm: 37.7567 2026-04-17 18:42:00,886 - mmdet - INFO - Iter [1700/55932] lr: 4.989e-05, eta: 1 day, 7:06:38, time: 2.051, data_time: 0.076, memory: 34610, seg: 1.3383, seg_dice: 0.4897, seg_t0: 1.6147, seg_dice_t0: 0.5600, seg_t1: 1.4550, seg_dice_t1: 0.5203, seg_t2: 1.4127, seg_dice_t2: 0.5065, seg_t3: 1.3766, seg_dice_t3: 0.4984, total_t0: 2.1747, total_t1: 1.9753, total_t2: 1.9192, total_t3: 1.8750, total_t4: 1.8280, total: 13.9054, cam_bev_norm: 19.8976, sat_bev_norm: 10.6979, seg_sat: 1.7417, seg_dice_sat: 0.5695, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2400, seg_fused: 1.3485, seg_dice_fused: 0.4735, cam_rel_mean: 0.2100, sat_rel_mean: 0.2284, cam_rel_min: 0.0226, sat_rel_min: 0.0444, grad_norm: 38.9691 2026-04-17 18:43:43,208 - mmdet - INFO - Iter [1750/55932] lr: 4.989e-05, eta: 1 day, 7:04:27, time: 2.047, data_time: 0.077, memory: 34610, seg: 1.3190, seg_dice: 0.4873, seg_t0: 1.5568, seg_dice_t0: 0.5495, seg_t1: 1.4013, seg_dice_t1: 0.5108, seg_t2: 1.3571, seg_dice_t2: 0.4967, seg_t3: 1.3247, seg_dice_t3: 0.4873, total_t0: 2.1063, total_t1: 1.9121, total_t2: 1.8538, total_t3: 1.8120, total_t4: 1.8064, total: 13.5497, cam_bev_norm: 19.9654, sat_bev_norm: 10.7058, seg_sat: 1.7327, seg_dice_sat: 0.5688, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 1.2941, seg_dice_fused: 0.4635, cam_rel_mean: 0.2147, sat_rel_mean: 0.2369, cam_rel_min: 0.0243, sat_rel_min: 0.0434, grad_norm: 36.8242 2026-04-17 18:45:26,444 - mmdet - INFO - Iter [1800/55932] lr: 4.988e-05, eta: 1 day, 7:02:43, time: 2.064, data_time: 0.073, memory: 34621, seg: 1.3468, seg_dice: 0.4874, seg_t0: 1.5866, seg_dice_t0: 0.5489, seg_t1: 1.4159, seg_dice_t1: 0.5051, seg_t2: 1.3527, seg_dice_t2: 0.4969, seg_t3: 1.3556, seg_dice_t3: 0.4920, total_t0: 2.1356, total_t1: 1.9211, total_t2: 1.8497, total_t3: 1.8477, total_t4: 1.8342, total: 13.5418, cam_bev_norm: 19.8170, sat_bev_norm: 10.7479, seg_sat: 1.6950, seg_dice_sat: 0.5536, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 1.2486, seg_dice_fused: 0.4565, cam_rel_mean: 0.2299, sat_rel_mean: 0.2548, cam_rel_min: 0.0230, sat_rel_min: 0.0413, grad_norm: 33.6628 2026-04-17 18:47:09,138 - mmdet - INFO - Iter [1850/55932] lr: 4.987e-05, eta: 1 day, 7:00:45, time: 2.054, data_time: 0.070, memory: 34621, seg: 1.3483, seg_dice: 0.4864, seg_t0: 1.5822, seg_dice_t0: 0.5572, seg_t1: 1.4045, seg_dice_t1: 0.5146, seg_t2: 1.3711, seg_dice_t2: 0.5001, seg_t3: 1.3633, seg_dice_t3: 0.4912, total_t0: 2.1394, total_t1: 1.9191, total_t2: 1.8712, total_t3: 1.8544, total_t4: 1.8347, total: 13.6133, cam_bev_norm: 19.9323, sat_bev_norm: 10.8019, seg_sat: 1.7069, seg_dice_sat: 0.5488, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0600, seg_fused: 1.2851, seg_dice_fused: 0.4536, cam_rel_mean: 0.2236, sat_rel_mean: 0.2329, cam_rel_min: 0.0236, sat_rel_min: 0.0395, grad_norm: 38.2028 2026-04-17 18:48:51,674 - mmdet - INFO - Iter [1900/55932] lr: 4.987e-05, eta: 1 day, 6:58:42, time: 2.051, data_time: 0.077, memory: 34621, seg: 1.3112, seg_dice: 0.4556, seg_t0: 1.6264, seg_dice_t0: 0.5312, seg_t1: 1.4185, seg_dice_t1: 0.4834, seg_t2: 1.3543, seg_dice_t2: 0.4694, seg_t3: 1.3156, seg_dice_t3: 0.4654, total_t0: 2.1577, total_t1: 1.9018, total_t2: 1.8237, total_t3: 1.7810, total_t4: 1.7668, total: 13.1959, cam_bev_norm: 19.8454, sat_bev_norm: 10.8049, seg_sat: 1.6199, seg_dice_sat: 0.5137, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 1.2090, seg_dice_fused: 0.4223, cam_rel_mean: 0.2303, sat_rel_mean: 0.2386, cam_rel_min: 0.0244, sat_rel_min: 0.0375, grad_norm: 34.6576 2026-04-17 18:50:34,449 - mmdet - INFO - Iter [1950/55932] lr: 4.986e-05, eta: 1 day, 6:56:46, time: 2.055, data_time: 0.073, memory: 34621, seg: 1.3476, seg_dice: 0.5078, seg_t0: 1.5531, seg_dice_t0: 0.5593, seg_t1: 1.4349, seg_dice_t1: 0.5271, seg_t2: 1.3974, seg_dice_t2: 0.5120, seg_t3: 1.3724, seg_dice_t3: 0.5077, total_t0: 2.1124, total_t1: 1.9620, total_t2: 1.9094, total_t3: 1.8801, total_t4: 1.8554, total: 13.6075, cam_bev_norm: 19.7856, sat_bev_norm: 10.7793, seg_sat: 1.6503, seg_dice_sat: 0.5614, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 1.2113, seg_dice_fused: 0.4651, cam_rel_mean: 0.2289, sat_rel_mean: 0.2431, cam_rel_min: 0.0227, sat_rel_min: 0.0352, grad_norm: 33.5336 2026-04-17 18:52:16,726 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-17 18:52:16,727 - mmdet - INFO - Iter [2000/55932] lr: 4.985e-05, eta: 1 day, 6:54:39, time: 2.046, data_time: 0.068, memory: 34621, seg: 1.3215, seg_dice: 0.4891, seg_t0: 1.6534, seg_dice_t0: 0.5625, seg_t1: 1.4529, seg_dice_t1: 0.5192, seg_t2: 1.3795, seg_dice_t2: 0.5000, seg_t3: 1.3499, seg_dice_t3: 0.4936, total_t0: 2.2159, total_t1: 1.9720, total_t2: 1.8795, total_t3: 1.8435, total_t4: 1.8106, total: 13.6381, cam_bev_norm: 19.6527, sat_bev_norm: 10.7912, seg_sat: 1.6623, seg_dice_sat: 0.5538, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 1.2434, seg_dice_fused: 0.4569, cam_rel_mean: 0.2300, sat_rel_mean: 0.2387, cam_rel_min: 0.0224, sat_rel_min: 0.0374, grad_norm: 37.2856 2026-04-17 18:53:58,865 - mmdet - INFO - Iter [2050/55932] lr: 4.984e-05, eta: 1 day, 6:52:29, time: 2.043, data_time: 0.074, memory: 34621, seg: 1.2733, seg_dice: 0.4827, seg_t0: 1.5454, seg_dice_t0: 0.5386, seg_t1: 1.4080, seg_dice_t1: 0.5028, seg_t2: 1.3451, seg_dice_t2: 0.4902, seg_t3: 1.3028, seg_dice_t3: 0.4839, total_t0: 2.0839, total_t1: 1.9108, total_t2: 1.8353, total_t3: 1.7867, total_t4: 1.7560, total: 13.2589, cam_bev_norm: 19.6870, sat_bev_norm: 10.7431, seg_sat: 1.6215, seg_dice_sat: 0.5575, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 1.2456, seg_dice_fused: 0.4615, cam_rel_mean: 0.2171, sat_rel_mean: 0.2470, cam_rel_min: 0.0210, sat_rel_min: 0.0380, grad_norm: 33.8155 2026-04-17 18:55:40,983 - mmdet - INFO - Iter [2100/55932] lr: 4.984e-05, eta: 1 day, 6:50:20, time: 2.042, data_time: 0.069, memory: 34621, seg: 1.2714, seg_dice: 0.4828, seg_t0: 1.5502, seg_dice_t0: 0.5508, seg_t1: 1.4032, seg_dice_t1: 0.5078, seg_t2: 1.3357, seg_dice_t2: 0.4902, seg_t3: 1.2900, seg_dice_t3: 0.4857, total_t0: 2.1010, total_t1: 1.9109, total_t2: 1.8259, total_t3: 1.7757, total_t4: 1.7542, total: 13.0683, cam_bev_norm: 19.8110, sat_bev_norm: 10.7115, seg_sat: 1.5484, seg_dice_sat: 0.5458, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0800, seg_fused: 1.1600, seg_dice_fused: 0.4463, cam_rel_mean: 0.2254, sat_rel_mean: 0.2477, cam_rel_min: 0.0211, sat_rel_min: 0.0355, grad_norm: 31.2344 2026-04-17 18:57:22,894 - mmdet - INFO - Iter [2150/55932] lr: 4.983e-05, eta: 1 day, 6:48:06, time: 2.038, data_time: 0.068, memory: 34621, seg: 1.2042, seg_dice: 0.4779, seg_t0: 1.4847, seg_dice_t0: 0.5509, seg_t1: 1.2987, seg_dice_t1: 0.4999, seg_t2: 1.2589, seg_dice_t2: 0.4861, seg_t3: 1.2053, seg_dice_t3: 0.4778, total_t0: 2.0356, total_t1: 1.7987, total_t2: 1.7450, total_t3: 1.6830, total_t4: 1.6821, total: 12.5982, cam_bev_norm: 19.8144, sat_bev_norm: 10.8188, seg_sat: 1.5370, seg_dice_sat: 0.5397, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 1.1309, seg_dice_fused: 0.4460, cam_rel_mean: 0.2196, sat_rel_mean: 0.2500, cam_rel_min: 0.0192, sat_rel_min: 0.0331, grad_norm: 29.6037 2026-04-17 18:59:05,222 - mmdet - INFO - Iter [2200/55932] lr: 4.982e-05, eta: 1 day, 6:46:05, time: 2.047, data_time: 0.071, memory: 34621, seg: 1.2572, seg_dice: 0.4691, seg_t0: 1.5099, seg_dice_t0: 0.5325, seg_t1: 1.3136, seg_dice_t1: 0.4888, seg_t2: 1.2810, seg_dice_t2: 0.4761, seg_t3: 1.2662, seg_dice_t3: 0.4687, total_t0: 2.0424, total_t1: 1.8023, total_t2: 1.7571, total_t3: 1.7349, total_t4: 1.7263, total: 12.7976, cam_bev_norm: 19.7344, sat_bev_norm: 10.8600, seg_sat: 1.5667, seg_dice_sat: 0.5360, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 1.1888, seg_dice_fused: 0.4430, cam_rel_mean: 0.2114, sat_rel_mean: 0.2420, cam_rel_min: 0.0179, sat_rel_min: 0.0347, grad_norm: 28.8475 2026-04-17 19:00:47,665 - mmdet - INFO - Iter [2250/55932] lr: 4.981e-05, eta: 1 day, 6:44:07, time: 2.049, data_time: 0.071, memory: 34621, seg: 1.2018, seg_dice: 0.4951, seg_t0: 1.4741, seg_dice_t0: 0.5641, seg_t1: 1.3150, seg_dice_t1: 0.5254, seg_t2: 1.2584, seg_dice_t2: 0.5148, seg_t3: 1.2262, seg_dice_t3: 0.5080, total_t0: 2.0382, total_t1: 1.8403, total_t2: 1.7732, total_t3: 1.7342, total_t4: 1.6969, total: 12.7280, cam_bev_norm: 19.6747, sat_bev_norm: 10.7406, seg_sat: 1.4978, seg_dice_sat: 0.5540, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1600, seg_fused: 1.1296, seg_dice_fused: 0.4638, cam_rel_mean: 0.2322, sat_rel_mean: 0.2191, cam_rel_min: 0.0226, sat_rel_min: 0.0317, grad_norm: 32.4044 2026-04-17 19:02:30,771 - mmdet - INFO - Iter [2300/55932] lr: 4.980e-05, eta: 1 day, 6:42:25, time: 2.062, data_time: 0.069, memory: 34621, seg: 1.2899, seg_dice: 0.4610, seg_t0: 1.4899, seg_dice_t0: 0.5299, seg_t1: 1.3545, seg_dice_t1: 0.4875, seg_t2: 1.3252, seg_dice_t2: 0.4725, seg_t3: 1.2946, seg_dice_t3: 0.4629, total_t0: 2.0199, total_t1: 1.8420, total_t2: 1.7978, total_t3: 1.7575, total_t4: 1.7510, total: 12.9109, cam_bev_norm: 19.7381, sat_bev_norm: 10.8902, seg_sat: 1.5646, seg_dice_sat: 0.5183, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 1.2260, seg_dice_fused: 0.4340, cam_rel_mean: 0.2159, sat_rel_mean: 0.2492, cam_rel_min: 0.0188, sat_rel_min: 0.0350, grad_norm: 32.2777 2026-04-17 19:04:13,433 - mmdet - INFO - Iter [2350/55932] lr: 4.979e-05, eta: 1 day, 6:40:32, time: 2.053, data_time: 0.067, memory: 34621, seg: 1.2276, seg_dice: 0.4725, seg_t0: 1.5528, seg_dice_t0: 0.5290, seg_t1: 1.3568, seg_dice_t1: 0.4833, seg_t2: 1.3083, seg_dice_t2: 0.4742, seg_t3: 1.2609, seg_dice_t3: 0.4716, total_t0: 2.0819, total_t1: 1.8401, total_t2: 1.7825, total_t3: 1.7325, total_t4: 1.7001, total: 12.7843, cam_bev_norm: 19.6977, sat_bev_norm: 10.8988, seg_sat: 1.5388, seg_dice_sat: 0.5334, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 1.1327, seg_dice_fused: 0.4423, cam_rel_mean: 0.2275, sat_rel_mean: 0.2511, cam_rel_min: 0.0187, sat_rel_min: 0.0303, grad_norm: 31.9851 2026-04-17 19:05:55,675 - mmdet - INFO - Iter [2400/55932] lr: 4.978e-05, eta: 1 day, 6:38:31, time: 2.045, data_time: 0.068, memory: 34621, seg: 1.2188, seg_dice: 0.4674, seg_t0: 1.4467, seg_dice_t0: 0.5379, seg_t1: 1.2954, seg_dice_t1: 0.4924, seg_t2: 1.2409, seg_dice_t2: 0.4750, seg_t3: 1.2372, seg_dice_t3: 0.4675, total_t0: 1.9847, total_t1: 1.7877, total_t2: 1.7159, total_t3: 1.7047, total_t4: 1.6862, total: 12.5780, cam_bev_norm: 19.6877, sat_bev_norm: 10.8467, seg_sat: 1.5537, seg_dice_sat: 0.5411, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 1.1554, seg_dice_fused: 0.4485, cam_rel_mean: 0.2083, sat_rel_mean: 0.2348, cam_rel_min: 0.0160, sat_rel_min: 0.0253, grad_norm: 40.9198 2026-04-17 19:07:37,873 - mmdet - INFO - Iter [2450/55932] lr: 4.978e-05, eta: 1 day, 6:36:30, time: 2.044, data_time: 0.069, memory: 34621, seg: 1.1802, seg_dice: 0.4792, seg_t0: 1.3579, seg_dice_t0: 0.5308, seg_t1: 1.2360, seg_dice_t1: 0.4933, seg_t2: 1.2007, seg_dice_t2: 0.4837, seg_t3: 1.1776, seg_dice_t3: 0.4782, total_t0: 1.8887, total_t1: 1.7293, total_t2: 1.6844, total_t3: 1.6559, total_t4: 1.6595, total: 12.2207, cam_bev_norm: 19.7054, sat_bev_norm: 10.9050, seg_sat: 1.4534, seg_dice_sat: 0.5339, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 1.1577, seg_dice_fused: 0.4580, cam_rel_mean: 0.2191, sat_rel_mean: 0.2203, cam_rel_min: 0.0155, sat_rel_min: 0.0266, grad_norm: 33.6096 2026-04-17 19:09:20,372 - mmdet - INFO - Iter [2500/55932] lr: 4.977e-05, eta: 1 day, 6:34:36, time: 2.050, data_time: 0.069, memory: 34621, seg: 1.2102, seg_dice: 0.4471, seg_t0: 1.4580, seg_dice_t0: 0.5220, seg_t1: 1.2719, seg_dice_t1: 0.4752, seg_t2: 1.2295, seg_dice_t2: 0.4608, seg_t3: 1.2158, seg_dice_t3: 0.4483, total_t0: 1.9800, total_t1: 1.7471, total_t2: 1.6903, total_t3: 1.6641, total_t4: 1.6574, total: 12.2381, cam_bev_norm: 19.7574, sat_bev_norm: 10.8199, seg_sat: 1.4912, seg_dice_sat: 0.5014, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2400, seg_fused: 1.0961, seg_dice_fused: 0.4105, cam_rel_mean: 0.2230, sat_rel_mean: 0.2424, cam_rel_min: 0.0145, sat_rel_min: 0.0254, grad_norm: 31.0723 2026-04-17 19:11:01,481 - mmdet - INFO - Iter [2550/55932] lr: 4.976e-05, eta: 1 day, 6:32:13, time: 2.022, data_time: 0.065, memory: 34621, seg: 1.1808, seg_dice: 0.4849, seg_t0: 1.4586, seg_dice_t0: 0.5486, seg_t1: 1.2862, seg_dice_t1: 0.5075, seg_t2: 1.2186, seg_dice_t2: 0.4918, seg_t3: 1.1881, seg_dice_t3: 0.4908, total_t0: 2.0072, total_t1: 1.7937, total_t2: 1.7105, total_t3: 1.6789, total_t4: 1.6656, total: 12.4999, cam_bev_norm: 19.5979, sat_bev_norm: 10.9006, seg_sat: 1.5026, seg_dice_sat: 0.5519, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2200, seg_fused: 1.1297, seg_dice_fused: 0.4598, cam_rel_mean: 0.2094, sat_rel_mean: 0.2385, cam_rel_min: 0.0163, sat_rel_min: 0.0273, grad_norm: 30.6865 2026-04-17 19:12:46,072 - mmdet - INFO - Iter [2600/55932] lr: 4.975e-05, eta: 1 day, 6:31:03, time: 2.091, data_time: 0.074, memory: 34621, seg: 1.2134, seg_dice: 0.4762, seg_t0: 1.4105, seg_dice_t0: 0.5263, seg_t1: 1.2581, seg_dice_t1: 0.4867, seg_t2: 1.2328, seg_dice_t2: 0.4761, seg_t3: 1.2243, seg_dice_t3: 0.4760, total_t0: 1.9368, total_t1: 1.7448, total_t2: 1.7088, total_t3: 1.7004, total_t4: 1.6895, total: 12.3143, cam_bev_norm: 19.6721, sat_bev_norm: 10.8498, seg_sat: 1.4527, seg_dice_sat: 0.5219, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0200, seg_fused: 1.1179, seg_dice_fused: 0.4414, cam_rel_mean: 0.2045, sat_rel_mean: 0.2346, cam_rel_min: 0.0165, sat_rel_min: 0.0253, grad_norm: 31.5457 2026-04-17 19:14:29,589 - mmdet - INFO - Iter [2650/55932] lr: 4.974e-05, eta: 1 day, 6:29:31, time: 2.071, data_time: 0.070, memory: 34621, seg: 1.1648, seg_dice: 0.4813, seg_t0: 1.4489, seg_dice_t0: 0.5436, seg_t1: 1.2840, seg_dice_t1: 0.5036, seg_t2: 1.2308, seg_dice_t2: 0.4911, seg_t3: 1.1768, seg_dice_t3: 0.4807, total_t0: 1.9925, total_t1: 1.7877, total_t2: 1.7219, total_t3: 1.6575, total_t4: 1.6462, total: 12.3758, cam_bev_norm: 19.5960, sat_bev_norm: 10.9222, seg_sat: 1.4378, seg_dice_sat: 0.5279, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1400, seg_fused: 1.1470, seg_dice_fused: 0.4574, cam_rel_mean: 0.1896, sat_rel_mean: 0.2401, cam_rel_min: 0.0150, sat_rel_min: 0.0281, grad_norm: 29.3853 2026-04-17 19:16:12,992 - mmdet - INFO - Iter [2700/55932] lr: 4.973e-05, eta: 1 day, 6:27:56, time: 2.068, data_time: 0.064, memory: 34621, seg: 1.2119, seg_dice: 0.4741, seg_t0: 1.4190, seg_dice_t0: 0.5373, seg_t1: 1.2539, seg_dice_t1: 0.5004, seg_t2: 1.2195, seg_dice_t2: 0.4893, seg_t3: 1.2144, seg_dice_t3: 0.4821, total_t0: 1.9563, total_t1: 1.7542, total_t2: 1.7088, total_t3: 1.6966, total_t4: 1.6860, total: 12.3841, cam_bev_norm: 19.6175, sat_bev_norm: 10.8804, seg_sat: 1.4834, seg_dice_sat: 0.5303, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 1.1235, seg_dice_fused: 0.4450, cam_rel_mean: 0.2087, sat_rel_mean: 0.2460, cam_rel_min: 0.0153, sat_rel_min: 0.0244, grad_norm: 27.9549 2026-04-17 19:17:56,997 - mmdet - INFO - Iter [2750/55932] lr: 4.972e-05, eta: 1 day, 6:26:32, time: 2.080, data_time: 0.067, memory: 34621, seg: 1.1056, seg_dice: 0.4698, seg_t0: 1.3742, seg_dice_t0: 0.5283, seg_t1: 1.1924, seg_dice_t1: 0.4863, seg_t2: 1.1380, seg_dice_t2: 0.4750, seg_t3: 1.1177, seg_dice_t3: 0.4721, total_t0: 1.9025, total_t1: 1.6787, total_t2: 1.6131, total_t3: 1.5898, total_t4: 1.5754, total: 11.7032, cam_bev_norm: 19.4879, sat_bev_norm: 10.9036, seg_sat: 1.3553, seg_dice_sat: 0.5211, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 1.0255, seg_dice_fused: 0.4417, cam_rel_mean: 0.2132, sat_rel_mean: 0.2361, cam_rel_min: 0.0160, sat_rel_min: 0.0255, grad_norm: 27.3936 2026-04-17 19:19:40,481 - mmdet - INFO - Iter [2800/55932] lr: 4.971e-05, eta: 1 day, 6:24:57, time: 2.070, data_time: 0.067, memory: 34621, seg: 1.0963, seg_dice: 0.4401, seg_t0: 1.3454, seg_dice_t0: 0.5029, seg_t1: 1.1977, seg_dice_t1: 0.4636, seg_t2: 1.1533, seg_dice_t2: 0.4509, seg_t3: 1.1118, seg_dice_t3: 0.4418, total_t0: 1.8483, total_t1: 1.6614, total_t2: 1.6042, total_t3: 1.5537, total_t4: 1.5363, total: 11.5503, cam_bev_norm: 19.6997, sat_bev_norm: 10.9207, seg_sat: 1.3964, seg_dice_sat: 0.5016, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 1.0348, seg_dice_fused: 0.4135, cam_rel_mean: 0.2241, sat_rel_mean: 0.2481, cam_rel_min: 0.0120, sat_rel_min: 0.0231, grad_norm: 27.8707 2026-04-17 19:21:23,549 - mmdet - INFO - Iter [2850/55932] lr: 4.970e-05, eta: 1 day, 6:23:15, time: 2.062, data_time: 0.069, memory: 34621, seg: 1.1377, seg_dice: 0.4505, seg_t0: 1.5026, seg_dice_t0: 0.5239, seg_t1: 1.3181, seg_dice_t1: 0.4802, seg_t2: 1.2228, seg_dice_t2: 0.4616, seg_t3: 1.1693, seg_dice_t3: 0.4498, total_t0: 2.0265, total_t1: 1.7983, total_t2: 1.6844, total_t3: 1.6191, total_t4: 1.5882, total: 12.1294, cam_bev_norm: 19.4045, sat_bev_norm: 10.9690, seg_sat: 1.4270, seg_dice_sat: 0.5032, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 1.0616, seg_dice_fused: 0.4211, cam_rel_mean: 0.2228, sat_rel_mean: 0.2323, cam_rel_min: 0.0125, sat_rel_min: 0.0233, grad_norm: 32.0197 2026-04-17 19:23:05,754 - mmdet - INFO - Iter [2900/55932] lr: 4.969e-05, eta: 1 day, 6:21:16, time: 2.043, data_time: 0.067, memory: 34621, seg: 1.1411, seg_dice: 0.4900, seg_t0: 1.4189, seg_dice_t0: 0.5483, seg_t1: 1.2250, seg_dice_t1: 0.5094, seg_t2: 1.1783, seg_dice_t2: 0.4951, seg_t3: 1.1414, seg_dice_t3: 0.4885, total_t0: 1.9672, total_t1: 1.7344, total_t2: 1.6734, total_t3: 1.6299, total_t4: 1.6311, total: 12.0476, cam_bev_norm: 19.3533, sat_bev_norm: 10.8802, seg_sat: 1.3529, seg_dice_sat: 0.5349, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 1.0623, seg_dice_fused: 0.4615, cam_rel_mean: 0.2102, sat_rel_mean: 0.2329, cam_rel_min: 0.0154, sat_rel_min: 0.0227, grad_norm: 31.6520 2026-04-17 19:24:48,774 - mmdet - INFO - Iter [2950/55932] lr: 4.967e-05, eta: 1 day, 6:19:33, time: 2.061, data_time: 0.068, memory: 34621, seg: 1.1407, seg_dice: 0.4447, seg_t0: 1.3651, seg_dice_t0: 0.5117, seg_t1: 1.2090, seg_dice_t1: 0.4706, seg_t2: 1.1702, seg_dice_t2: 0.4603, seg_t3: 1.1492, seg_dice_t3: 0.4507, total_t0: 1.8769, total_t1: 1.6795, total_t2: 1.6305, total_t3: 1.5999, total_t4: 1.5854, total: 11.6782, cam_bev_norm: 19.4386, sat_bev_norm: 10.9645, seg_sat: 1.3769, seg_dice_sat: 0.4883, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 1.0320, seg_dice_fused: 0.4087, cam_rel_mean: 0.2180, sat_rel_mean: 0.2383, cam_rel_min: 0.0144, sat_rel_min: 0.0200, grad_norm: 28.4928 2026-04-17 19:26:30,972 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-17 19:26:30,973 - mmdet - INFO - Iter [3000/55932] lr: 4.966e-05, eta: 1 day, 6:17:35, time: 2.044, data_time: 0.068, memory: 34621, seg: 1.1078, seg_dice: 0.4487, seg_t0: 1.3112, seg_dice_t0: 0.5033, seg_t1: 1.1499, seg_dice_t1: 0.4650, seg_t2: 1.1354, seg_dice_t2: 0.4582, seg_t3: 1.1201, seg_dice_t3: 0.4515, total_t0: 1.8145, total_t1: 1.6150, total_t2: 1.5937, total_t3: 1.5716, total_t4: 1.5565, total: 11.4321, cam_bev_norm: 19.4679, sat_bev_norm: 10.8833, seg_sat: 1.3569, seg_dice_sat: 0.5019, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 1.0049, seg_dice_fused: 0.4172, cam_rel_mean: 0.2230, sat_rel_mean: 0.2355, cam_rel_min: 0.0150, sat_rel_min: 0.0229, grad_norm: 31.1266 2026-04-17 19:28:14,201 - mmdet - INFO - Iter [3050/55932] lr: 4.965e-05, eta: 1 day, 6:15:56, time: 2.065, data_time: 0.068, memory: 34621, seg: 1.1451, seg_dice: 0.4648, seg_t0: 1.3742, seg_dice_t0: 0.5301, seg_t1: 1.2151, seg_dice_t1: 0.4879, seg_t2: 1.1550, seg_dice_t2: 0.4692, seg_t3: 1.1353, seg_dice_t3: 0.4625, total_t0: 1.9043, total_t1: 1.7030, total_t2: 1.6242, total_t3: 1.5978, total_t4: 1.6099, total: 11.8709, cam_bev_norm: 19.3400, sat_bev_norm: 10.8934, seg_sat: 1.4410, seg_dice_sat: 0.5184, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 1.0429, seg_dice_fused: 0.4293, cam_rel_mean: 0.2148, sat_rel_mean: 0.2404, cam_rel_min: 0.0150, sat_rel_min: 0.0221, grad_norm: 25.9742 2026-04-17 19:29:56,357 - mmdet - INFO - Iter [3100/55932] lr: 4.964e-05, eta: 1 day, 6:13:58, time: 2.043, data_time: 0.067, memory: 34621, seg: 1.0522, seg_dice: 0.4189, seg_t0: 1.3329, seg_dice_t0: 0.4984, seg_t1: 1.1418, seg_dice_t1: 0.4504, seg_t2: 1.0694, seg_dice_t2: 0.4370, seg_t3: 1.0536, seg_dice_t3: 0.4264, total_t0: 1.8313, total_t1: 1.5922, total_t2: 1.5064, total_t3: 1.4799, total_t4: 1.4711, total: 10.9306, cam_bev_norm: 19.4660, sat_bev_norm: 10.9581, seg_sat: 1.2503, seg_dice_sat: 0.4602, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.9540, seg_dice_fused: 0.3851, cam_rel_mean: 0.2195, sat_rel_mean: 0.2306, cam_rel_min: 0.0122, sat_rel_min: 0.0201, grad_norm: 26.6956 2026-04-17 19:31:38,848 - mmdet - INFO - Iter [3150/55932] lr: 4.963e-05, eta: 1 day, 6:12:06, time: 2.049, data_time: 0.069, memory: 34621, seg: 1.1277, seg_dice: 0.4266, seg_t0: 1.3619, seg_dice_t0: 0.4930, seg_t1: 1.2051, seg_dice_t1: 0.4544, seg_t2: 1.1507, seg_dice_t2: 0.4349, seg_t3: 1.1425, seg_dice_t3: 0.4328, total_t0: 1.8549, total_t1: 1.6595, total_t2: 1.5856, total_t3: 1.5753, total_t4: 1.5543, total: 11.4621, cam_bev_norm: 19.3558, sat_bev_norm: 10.9518, seg_sat: 1.3337, seg_dice_sat: 0.4704, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 1.0360, seg_dice_fused: 0.3925, cam_rel_mean: 0.2166, sat_rel_mean: 0.2368, cam_rel_min: 0.0139, sat_rel_min: 0.0219, grad_norm: 28.8120 2026-04-17 19:33:21,721 - mmdet - INFO - Iter [3200/55932] lr: 4.962e-05, eta: 1 day, 6:10:22, time: 2.058, data_time: 0.067, memory: 34621, seg: 1.0725, seg_dice: 0.4333, seg_t0: 1.3078, seg_dice_t0: 0.5080, seg_t1: 1.1365, seg_dice_t1: 0.4598, seg_t2: 1.0912, seg_dice_t2: 0.4468, seg_t3: 1.0693, seg_dice_t3: 0.4357, total_t0: 1.8158, total_t1: 1.5963, total_t2: 1.5380, total_t3: 1.5049, total_t4: 1.5058, total: 11.1001, cam_bev_norm: 19.4147, sat_bev_norm: 11.0299, seg_sat: 1.2766, seg_dice_sat: 0.4781, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.9819, seg_dice_fused: 0.4027, cam_rel_mean: 0.2090, sat_rel_mean: 0.2346, cam_rel_min: 0.0106, sat_rel_min: 0.0182, grad_norm: 31.3372 2026-04-17 19:35:04,630 - mmdet - INFO - Iter [3250/55932] lr: 4.961e-05, eta: 1 day, 6:08:37, time: 2.058, data_time: 0.068, memory: 34621, seg: 1.0774, seg_dice: 0.4316, seg_t0: 1.3657, seg_dice_t0: 0.5131, seg_t1: 1.1899, seg_dice_t1: 0.4635, seg_t2: 1.1084, seg_dice_t2: 0.4427, seg_t3: 1.0875, seg_dice_t3: 0.4345, total_t0: 1.8788, total_t1: 1.6534, total_t2: 1.5510, total_t3: 1.5220, total_t4: 1.5090, total: 11.2226, cam_bev_norm: 19.4741, sat_bev_norm: 10.9738, seg_sat: 1.2643, seg_dice_sat: 0.4650, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.9887, seg_dice_fused: 0.3903, cam_rel_mean: 0.2187, sat_rel_mean: 0.2250, cam_rel_min: 0.0094, sat_rel_min: 0.0191, grad_norm: 33.1160 2026-04-17 19:36:46,758 - mmdet - INFO - Iter [3300/55932] lr: 4.959e-05, eta: 1 day, 6:06:41, time: 2.043, data_time: 0.068, memory: 34621, seg: 1.0818, seg_dice: 0.4453, seg_t0: 1.3388, seg_dice_t0: 0.5060, seg_t1: 1.1977, seg_dice_t1: 0.4623, seg_t2: 1.1414, seg_dice_t2: 0.4431, seg_t3: 1.1053, seg_dice_t3: 0.4393, total_t0: 1.8448, total_t1: 1.6600, total_t2: 1.5845, total_t3: 1.5446, total_t4: 1.5271, total: 11.4164, cam_bev_norm: 19.2367, sat_bev_norm: 10.8906, seg_sat: 1.3087, seg_dice_sat: 0.4868, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1000, seg_fused: 1.0405, seg_dice_fused: 0.4193, cam_rel_mean: 0.1980, sat_rel_mean: 0.2481, cam_rel_min: 0.0086, sat_rel_min: 0.0189, grad_norm: 29.4832 2026-04-17 19:38:28,962 - mmdet - INFO - Iter [3350/55932] lr: 4.958e-05, eta: 1 day, 6:04:45, time: 2.044, data_time: 0.068, memory: 34621, seg: 1.0607, seg_dice: 0.4151, seg_t0: 1.3349, seg_dice_t0: 0.4858, seg_t1: 1.1441, seg_dice_t1: 0.4355, seg_t2: 1.0812, seg_dice_t2: 0.4257, seg_t3: 1.0653, seg_dice_t3: 0.4196, total_t0: 1.8206, total_t1: 1.5796, total_t2: 1.5068, total_t3: 1.4849, total_t4: 1.4758, total: 10.9717, cam_bev_norm: 19.4306, sat_bev_norm: 10.9164, seg_sat: 1.3165, seg_dice_sat: 0.4741, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.9347, seg_dice_fused: 0.3786, cam_rel_mean: 0.2238, sat_rel_mean: 0.2484, cam_rel_min: 0.0066, sat_rel_min: 0.0192, grad_norm: 25.7076 2026-04-17 19:40:10,892 - mmdet - INFO - Iter [3400/55932] lr: 4.957e-05, eta: 1 day, 6:02:46, time: 2.039, data_time: 0.068, memory: 34621, seg: 1.0216, seg_dice: 0.4512, seg_t0: 1.3597, seg_dice_t0: 0.5250, seg_t1: 1.1568, seg_dice_t1: 0.4795, seg_t2: 1.0760, seg_dice_t2: 0.4647, seg_t3: 1.0370, seg_dice_t3: 0.4511, total_t0: 1.8847, total_t1: 1.6363, total_t2: 1.5407, total_t3: 1.4880, total_t4: 1.4728, total: 11.1487, cam_bev_norm: 19.3621, sat_bev_norm: 10.8200, seg_sat: 1.2744, seg_dice_sat: 0.5118, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.9194, seg_dice_fused: 0.4205, cam_rel_mean: 0.2211, sat_rel_mean: 0.2234, cam_rel_min: 0.0082, sat_rel_min: 0.0184, grad_norm: 30.3400 2026-04-17 19:41:53,097 - mmdet - INFO - Iter [3450/55932] lr: 4.956e-05, eta: 1 day, 6:00:52, time: 2.044, data_time: 0.066, memory: 34621, seg: 1.0903, seg_dice: 0.4404, seg_t0: 1.3774, seg_dice_t0: 0.5041, seg_t1: 1.2060, seg_dice_t1: 0.4650, seg_t2: 1.1316, seg_dice_t2: 0.4482, seg_t3: 1.0930, seg_dice_t3: 0.4400, total_t0: 1.8815, total_t1: 1.6709, total_t2: 1.5798, total_t3: 1.5329, total_t4: 1.5307, total: 11.3889, cam_bev_norm: 19.2009, sat_bev_norm: 11.0174, seg_sat: 1.3016, seg_dice_sat: 0.4789, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 1.0049, seg_dice_fused: 0.4076, cam_rel_mean: 0.2090, sat_rel_mean: 0.2320, cam_rel_min: 0.0080, sat_rel_min: 0.0139, grad_norm: 28.7972 2026-04-17 19:43:36,013 - mmdet - INFO - Iter [3500/55932] lr: 4.954e-05, eta: 1 day, 5:59:08, time: 2.058, data_time: 0.066, memory: 34621, seg: 1.0386, seg_dice: 0.4219, seg_t0: 1.3265, seg_dice_t0: 0.4922, seg_t1: 1.1637, seg_dice_t1: 0.4542, seg_t2: 1.0911, seg_dice_t2: 0.4353, seg_t3: 1.0632, seg_dice_t3: 0.4227, total_t0: 1.8187, total_t1: 1.6180, total_t2: 1.5263, total_t3: 1.4859, total_t4: 1.4605, total: 11.0732, cam_bev_norm: 19.2970, sat_bev_norm: 10.9441, seg_sat: 1.2573, seg_dice_sat: 0.4640, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 1.0399, seg_dice_fused: 0.4026, cam_rel_mean: 0.2042, sat_rel_mean: 0.2253, cam_rel_min: 0.0064, sat_rel_min: 0.0142, grad_norm: 29.8093 2026-04-17 19:45:18,052 - mmdet - INFO - Iter [3550/55932] lr: 4.953e-05, eta: 1 day, 5:57:12, time: 2.041, data_time: 0.067, memory: 34621, seg: 1.0795, seg_dice: 0.4396, seg_t0: 1.3209, seg_dice_t0: 0.5046, seg_t1: 1.1415, seg_dice_t1: 0.4591, seg_t2: 1.0862, seg_dice_t2: 0.4463, seg_t3: 1.0718, seg_dice_t3: 0.4402, total_t0: 1.8255, total_t1: 1.6007, total_t2: 1.5325, total_t3: 1.5120, total_t4: 1.5191, total: 11.3329, cam_bev_norm: 19.1694, sat_bev_norm: 10.9170, seg_sat: 1.3751, seg_dice_sat: 0.4978, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 1.0486, seg_dice_fused: 0.4216, cam_rel_mean: 0.2020, sat_rel_mean: 0.2432, cam_rel_min: 0.0048, sat_rel_min: 0.0205, grad_norm: 28.6009 2026-04-17 19:47:00,186 - mmdet - INFO - Iter [3600/55932] lr: 4.952e-05, eta: 1 day, 5:55:18, time: 2.043, data_time: 0.066, memory: 34621, seg: 1.0085, seg_dice: 0.4170, seg_t0: 1.3317, seg_dice_t0: 0.4954, seg_t1: 1.1384, seg_dice_t1: 0.4496, seg_t2: 1.0665, seg_dice_t2: 0.4269, seg_t3: 1.0297, seg_dice_t3: 0.4189, total_t0: 1.8271, total_t1: 1.5880, total_t2: 1.4935, total_t3: 1.4486, total_t4: 1.4255, total: 10.8183, cam_bev_norm: 19.3244, sat_bev_norm: 10.9586, seg_sat: 1.2609, seg_dice_sat: 0.4768, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0600, seg_fused: 0.9115, seg_dice_fused: 0.3864, cam_rel_mean: 0.2197, sat_rel_mean: 0.2427, cam_rel_min: 0.0082, sat_rel_min: 0.0191, grad_norm: 25.6737 2026-04-17 19:48:43,179 - mmdet - INFO - Iter [3650/55932] lr: 4.950e-05, eta: 1 day, 5:53:36, time: 2.060, data_time: 0.069, memory: 34621, seg: 1.0521, seg_dice: 0.4252, seg_t0: 1.2921, seg_dice_t0: 0.4961, seg_t1: 1.1264, seg_dice_t1: 0.4487, seg_t2: 1.0832, seg_dice_t2: 0.4429, seg_t3: 1.0768, seg_dice_t3: 0.4372, total_t0: 1.7881, total_t1: 1.5751, total_t2: 1.5261, total_t3: 1.5140, total_t4: 1.4774, total: 10.9528, cam_bev_norm: 19.1962, sat_bev_norm: 10.9517, seg_sat: 1.2442, seg_dice_sat: 0.4597, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.9750, seg_dice_fused: 0.3932, cam_rel_mean: 0.2108, sat_rel_mean: 0.2212, cam_rel_min: 0.0082, sat_rel_min: 0.0155, grad_norm: 29.0390 2026-04-17 19:50:25,468 - mmdet - INFO - Iter [3700/55932] lr: 4.949e-05, eta: 1 day, 5:51:44, time: 2.046, data_time: 0.069, memory: 34621, seg: 1.0279, seg_dice: 0.4296, seg_t0: 1.2538, seg_dice_t0: 0.4903, seg_t1: 1.0875, seg_dice_t1: 0.4507, seg_t2: 1.0562, seg_dice_t2: 0.4371, seg_t3: 1.0478, seg_dice_t3: 0.4300, total_t0: 1.7441, total_t1: 1.5382, total_t2: 1.4933, total_t3: 1.4778, total_t4: 1.4575, total: 10.7599, cam_bev_norm: 19.2607, sat_bev_norm: 11.0531, seg_sat: 1.2174, seg_dice_sat: 0.4687, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2400, seg_fused: 0.9595, seg_dice_fused: 0.4033, cam_rel_mean: 0.1969, sat_rel_mean: 0.2291, cam_rel_min: 0.0078, sat_rel_min: 0.0169, grad_norm: 25.8559 2026-04-17 19:52:07,824 - mmdet - INFO - Iter [3750/55932] lr: 4.948e-05, eta: 1 day, 5:49:53, time: 2.047, data_time: 0.073, memory: 34621, seg: 1.0397, seg_dice: 0.4341, seg_t0: 1.3215, seg_dice_t0: 0.4974, seg_t1: 1.1385, seg_dice_t1: 0.4517, seg_t2: 1.0928, seg_dice_t2: 0.4434, seg_t3: 1.0511, seg_dice_t3: 0.4376, total_t0: 1.8190, total_t1: 1.5903, total_t2: 1.5362, total_t3: 1.4887, total_t4: 1.4738, total: 10.8788, cam_bev_norm: 19.2145, sat_bev_norm: 11.0198, seg_sat: 1.2101, seg_dice_sat: 0.4642, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.9060, seg_dice_fused: 0.3907, cam_rel_mean: 0.2220, sat_rel_mean: 0.2355, cam_rel_min: 0.0083, sat_rel_min: 0.0147, grad_norm: 27.1719 2026-04-17 19:53:50,104 - mmdet - INFO - Iter [3800/55932] lr: 4.946e-05, eta: 1 day, 5:48:02, time: 2.046, data_time: 0.071, memory: 34621, seg: 1.0679, seg_dice: 0.4310, seg_t0: 1.3440, seg_dice_t0: 0.4976, seg_t1: 1.1546, seg_dice_t1: 0.4536, seg_t2: 1.1214, seg_dice_t2: 0.4392, seg_t3: 1.0844, seg_dice_t3: 0.4301, total_t0: 1.8416, total_t1: 1.6082, total_t2: 1.5606, total_t3: 1.5144, total_t4: 1.4989, total: 11.1143, cam_bev_norm: 19.2483, sat_bev_norm: 10.9702, seg_sat: 1.2545, seg_dice_sat: 0.4696, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.9675, seg_dice_fused: 0.3989, cam_rel_mean: 0.2110, sat_rel_mean: 0.2434, cam_rel_min: 0.0084, sat_rel_min: 0.0152, grad_norm: 31.5271 2026-04-17 19:55:32,663 - mmdet - INFO - Iter [3850/55932] lr: 4.945e-05, eta: 1 day, 5:46:15, time: 2.051, data_time: 0.072, memory: 34621, seg: 1.0460, seg_dice: 0.4222, seg_t0: 1.3294, seg_dice_t0: 0.4895, seg_t1: 1.1577, seg_dice_t1: 0.4432, seg_t2: 1.1033, seg_dice_t2: 0.4303, seg_t3: 1.0776, seg_dice_t3: 0.4235, total_t0: 1.8189, total_t1: 1.6009, total_t2: 1.5335, total_t3: 1.5011, total_t4: 1.4683, total: 10.8576, cam_bev_norm: 19.2383, sat_bev_norm: 10.9438, seg_sat: 1.2003, seg_dice_sat: 0.4552, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.2200, seg_fused: 0.8982, seg_dice_fused: 0.3812, cam_rel_mean: 0.2230, sat_rel_mean: 0.2335, cam_rel_min: 0.0079, sat_rel_min: 0.0147, grad_norm: 30.9613 2026-04-17 19:57:15,787 - mmdet - INFO - Iter [3900/55932] lr: 4.943e-05, eta: 1 day, 5:44:35, time: 2.062, data_time: 0.075, memory: 34621, seg: 1.0414, seg_dice: 0.4207, seg_t0: 1.2833, seg_dice_t0: 0.4842, seg_t1: 1.1009, seg_dice_t1: 0.4390, seg_t2: 1.0607, seg_dice_t2: 0.4225, seg_t3: 1.0459, seg_dice_t3: 0.4209, total_t0: 1.7675, total_t1: 1.5399, total_t2: 1.4832, total_t3: 1.4668, total_t4: 1.4621, total: 10.6756, cam_bev_norm: 19.1522, sat_bev_norm: 10.9653, seg_sat: 1.2082, seg_dice_sat: 0.4573, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.9103, seg_dice_fused: 0.3803, cam_rel_mean: 0.2236, sat_rel_mean: 0.2241, cam_rel_min: 0.0089, sat_rel_min: 0.0147, grad_norm: 26.9792 2026-04-17 19:58:59,976 - mmdet - INFO - Iter [3950/55932] lr: 4.942e-05, eta: 1 day, 5:43:09, time: 2.084, data_time: 0.079, memory: 34621, seg: 0.9954, seg_dice: 0.4267, seg_t0: 1.2581, seg_dice_t0: 0.5040, seg_t1: 1.0788, seg_dice_t1: 0.4575, seg_t2: 1.0244, seg_dice_t2: 0.4394, seg_t3: 1.0110, seg_dice_t3: 0.4335, total_t0: 1.7621, total_t1: 1.5363, total_t2: 1.4637, total_t3: 1.4445, total_t4: 1.4221, total: 10.6156, cam_bev_norm: 19.2519, sat_bev_norm: 10.9243, seg_sat: 1.2173, seg_dice_sat: 0.4715, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.3600, seg_fused: 0.9065, seg_dice_fused: 0.3916, cam_rel_mean: 0.2051, sat_rel_mean: 0.2368, cam_rel_min: 0.0087, sat_rel_min: 0.0138, grad_norm: 27.3565 2026-04-17 20:00:43,196 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-17 20:00:43,198 - mmdet - INFO - Iter [4000/55932] lr: 4.940e-05, eta: 1 day, 5:41:30, time: 2.064, data_time: 0.079, memory: 34621, seg: 1.0425, seg_dice: 0.4179, seg_t0: 1.2871, seg_dice_t0: 0.4934, seg_t1: 1.1382, seg_dice_t1: 0.4562, seg_t2: 1.0698, seg_dice_t2: 0.4359, seg_t3: 1.0538, seg_dice_t3: 0.4238, total_t0: 1.7806, total_t1: 1.5945, total_t2: 1.5057, total_t3: 1.4776, total_t4: 1.4604, total: 10.9171, cam_bev_norm: 19.0919, sat_bev_norm: 10.9846, seg_sat: 1.2764, seg_dice_sat: 0.4603, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.9726, seg_dice_fused: 0.3890, cam_rel_mean: 0.2031, sat_rel_mean: 0.2394, cam_rel_min: 0.0073, sat_rel_min: 0.0155, grad_norm: 25.7111 2026-04-17 20:02:26,896 - mmdet - INFO - Iter [4050/55932] lr: 4.939e-05, eta: 1 day, 5:39:57, time: 2.074, data_time: 0.079, memory: 34621, seg: 1.0622, seg_dice: 0.4256, seg_t0: 1.3385, seg_dice_t0: 0.4955, seg_t1: 1.1634, seg_dice_t1: 0.4497, seg_t2: 1.0777, seg_dice_t2: 0.4327, seg_t3: 1.0545, seg_dice_t3: 0.4246, total_t0: 1.8340, total_t1: 1.6131, total_t2: 1.5104, total_t3: 1.4791, total_t4: 1.4879, total: 10.9952, cam_bev_norm: 19.0678, sat_bev_norm: 10.9798, seg_sat: 1.2402, seg_dice_sat: 0.4599, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.9758, seg_dice_fused: 0.3947, cam_rel_mean: 0.2150, sat_rel_mean: 0.2348, cam_rel_min: 0.0070, sat_rel_min: 0.0130, grad_norm: 33.4951 2026-04-17 20:04:10,198 - mmdet - INFO - Iter [4100/55932] lr: 4.937e-05, eta: 1 day, 5:38:19, time: 2.066, data_time: 0.080, memory: 34621, seg: 1.0205, seg_dice: 0.4165, seg_t0: 1.3240, seg_dice_t0: 0.5008, seg_t1: 1.1341, seg_dice_t1: 0.4500, seg_t2: 1.0623, seg_dice_t2: 0.4299, seg_t3: 1.0300, seg_dice_t3: 0.4212, total_t0: 1.8249, total_t1: 1.5840, total_t2: 1.4921, total_t3: 1.4512, total_t4: 1.4370, total: 10.8185, cam_bev_norm: 19.0387, sat_bev_norm: 10.9973, seg_sat: 1.2222, seg_dice_sat: 0.4568, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.9632, seg_dice_fused: 0.3870, cam_rel_mean: 0.2017, sat_rel_mean: 0.2199, cam_rel_min: 0.0075, sat_rel_min: 0.0167, grad_norm: 29.1160 2026-04-17 20:05:54,800 - mmdet - INFO - Iter [4150/55932] lr: 4.936e-05, eta: 1 day, 5:36:57, time: 2.092, data_time: 0.081, memory: 34621, seg: 1.0050, seg_dice: 0.4056, seg_t0: 1.2773, seg_dice_t0: 0.4871, seg_t1: 1.1060, seg_dice_t1: 0.4417, seg_t2: 1.0492, seg_dice_t2: 0.4246, seg_t3: 1.0229, seg_dice_t3: 0.4104, total_t0: 1.7645, total_t1: 1.5477, total_t2: 1.4738, total_t3: 1.4333, total_t4: 1.4106, total: 10.4871, cam_bev_norm: 19.1424, sat_bev_norm: 11.0069, seg_sat: 1.1837, seg_dice_sat: 0.4372, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.8737, seg_dice_fused: 0.3626, cam_rel_mean: 0.2149, sat_rel_mean: 0.2360, cam_rel_min: 0.0067, sat_rel_min: 0.0113, grad_norm: 30.1958 2026-04-17 20:07:37,780 - mmdet - INFO - Iter [4200/55932] lr: 4.934e-05, eta: 1 day, 5:35:15, time: 2.060, data_time: 0.078, memory: 34621, seg: 1.0657, seg_dice: 0.4361, seg_t0: 1.3151, seg_dice_t0: 0.5029, seg_t1: 1.1254, seg_dice_t1: 0.4600, seg_t2: 1.0788, seg_dice_t2: 0.4449, seg_t3: 1.0710, seg_dice_t3: 0.4385, total_t0: 1.8181, total_t1: 1.5854, total_t2: 1.5237, total_t3: 1.5095, total_t4: 1.5018, total: 10.9802, cam_bev_norm: 19.0613, sat_bev_norm: 10.9489, seg_sat: 1.2308, seg_dice_sat: 0.4659, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.9493, seg_dice_fused: 0.3957, cam_rel_mean: 0.2101, sat_rel_mean: 0.2394, cam_rel_min: 0.0066, sat_rel_min: 0.0167, grad_norm: 30.1851 2026-04-17 20:09:20,764 - mmdet - INFO - Iter [4250/55932] lr: 4.933e-05, eta: 1 day, 5:33:32, time: 2.060, data_time: 0.078, memory: 34621, seg: 0.9087, seg_dice: 0.3902, seg_t0: 1.1861, seg_dice_t0: 0.4703, seg_t1: 1.0210, seg_dice_t1: 0.4217, seg_t2: 0.9736, seg_dice_t2: 0.4073, seg_t3: 0.9374, seg_dice_t3: 0.3985, total_t0: 1.6564, total_t1: 1.4427, total_t2: 1.3809, total_t3: 1.3359, total_t4: 1.2989, total: 9.7208, cam_bev_norm: 19.2605, sat_bev_norm: 11.1034, seg_sat: 1.0486, seg_dice_sat: 0.4195, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 0.7845, seg_dice_fused: 0.3535, cam_rel_mean: 0.2183, sat_rel_mean: 0.2258, cam_rel_min: 0.0064, sat_rel_min: 0.0176, grad_norm: 26.1836 2026-04-17 20:11:03,595 - mmdet - INFO - Iter [4300/55932] lr: 4.931e-05, eta: 1 day, 5:31:48, time: 2.057, data_time: 0.079, memory: 34634, seg: 0.9394, seg_dice: 0.3934, seg_t0: 1.2434, seg_dice_t0: 0.4706, seg_t1: 1.0661, seg_dice_t1: 0.4226, seg_t2: 0.9997, seg_dice_t2: 0.4066, seg_t3: 0.9602, seg_dice_t3: 0.3928, total_t0: 1.7140, total_t1: 1.4886, total_t2: 1.4063, total_t3: 1.3530, total_t4: 1.3328, total: 9.9833, cam_bev_norm: 19.1908, sat_bev_norm: 10.9622, seg_sat: 1.0776, seg_dice_sat: 0.4302, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.8236, seg_dice_fused: 0.3572, cam_rel_mean: 0.1938, sat_rel_mean: 0.2308, cam_rel_min: 0.0062, sat_rel_min: 0.0169, grad_norm: 25.8106 2026-04-17 20:12:47,952 - mmdet - INFO - Iter [4350/55932] lr: 4.929e-05, eta: 1 day, 5:30:21, time: 2.087, data_time: 0.078, memory: 34634, seg: 0.9915, seg_dice: 0.3995, seg_t0: 1.2737, seg_dice_t0: 0.4737, seg_t1: 1.1176, seg_dice_t1: 0.4216, seg_t2: 1.0564, seg_dice_t2: 0.4094, seg_t3: 1.0139, seg_dice_t3: 0.4028, total_t0: 1.7474, total_t1: 1.5392, total_t2: 1.4658, total_t3: 1.4167, total_t4: 1.3910, total: 10.4425, cam_bev_norm: 19.0929, sat_bev_norm: 10.9543, seg_sat: 1.1918, seg_dice_sat: 0.4380, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.8866, seg_dice_fused: 0.3659, cam_rel_mean: 0.2147, sat_rel_mean: 0.2371, cam_rel_min: 0.0060, sat_rel_min: 0.0132, grad_norm: 27.1432 2026-04-17 20:14:31,241 - mmdet - INFO - Iter [4400/55932] lr: 4.928e-05, eta: 1 day, 5:28:42, time: 2.066, data_time: 0.082, memory: 34634, seg: 0.9852, seg_dice: 0.4030, seg_t0: 1.2396, seg_dice_t0: 0.4670, seg_t1: 1.0668, seg_dice_t1: 0.4242, seg_t2: 1.0171, seg_dice_t2: 0.4110, seg_t3: 1.0048, seg_dice_t3: 0.4075, total_t0: 1.7065, total_t1: 1.4910, total_t2: 1.4281, total_t3: 1.4123, total_t4: 1.3882, total: 10.1976, cam_bev_norm: 19.0295, sat_bev_norm: 10.9701, seg_sat: 1.1184, seg_dice_sat: 0.4321, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2200, seg_fused: 0.8552, seg_dice_fused: 0.3659, cam_rel_mean: 0.1981, sat_rel_mean: 0.2324, cam_rel_min: 0.0078, sat_rel_min: 0.0130, grad_norm: 22.1754 2026-04-17 20:16:13,967 - mmdet - INFO - Iter [4450/55932] lr: 4.926e-05, eta: 1 day, 5:26:56, time: 2.055, data_time: 0.079, memory: 34634, seg: 0.9153, seg_dice: 0.3874, seg_t0: 1.1929, seg_dice_t0: 0.4748, seg_t1: 0.9930, seg_dice_t1: 0.4167, seg_t2: 0.9496, seg_dice_t2: 0.3996, seg_t3: 0.9271, seg_dice_t3: 0.3900, total_t0: 1.6677, total_t1: 1.4097, total_t2: 1.3492, total_t3: 1.3171, total_t4: 1.3027, total: 9.7531, cam_bev_norm: 19.0769, sat_bev_norm: 10.9606, seg_sat: 1.1155, seg_dice_sat: 0.4320, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.8057, seg_dice_fused: 0.3534, cam_rel_mean: 0.2099, sat_rel_mean: 0.2344, cam_rel_min: 0.0073, sat_rel_min: 0.0104, grad_norm: 27.5360 2026-04-17 20:17:57,021 - mmdet - INFO - Iter [4500/55932] lr: 4.925e-05, eta: 1 day, 5:25:14, time: 2.061, data_time: 0.078, memory: 34634, seg: 0.9286, seg_dice: 0.4026, seg_t0: 1.1567, seg_dice_t0: 0.4757, seg_t1: 0.9958, seg_dice_t1: 0.4293, seg_t2: 0.9597, seg_dice_t2: 0.4092, seg_t3: 0.9450, seg_dice_t3: 0.4058, total_t0: 1.6323, total_t1: 1.4251, total_t2: 1.3689, total_t3: 1.3508, total_t4: 1.3312, total: 9.7853, cam_bev_norm: 19.1592, sat_bev_norm: 11.0351, seg_sat: 1.0989, seg_dice_sat: 0.4326, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1200, seg_fused: 0.7875, seg_dice_fused: 0.3579, cam_rel_mean: 0.2212, sat_rel_mean: 0.2379, cam_rel_min: 0.0055, sat_rel_min: 0.0119, grad_norm: 33.2575 2026-04-17 20:19:40,350 - mmdet - INFO - Iter [4550/55932] lr: 4.923e-05, eta: 1 day, 5:23:36, time: 2.067, data_time: 0.079, memory: 34634, seg: 0.9567, seg_dice: 0.3967, seg_t0: 1.2082, seg_dice_t0: 0.4560, seg_t1: 1.0391, seg_dice_t1: 0.4150, seg_t2: 0.9893, seg_dice_t2: 0.4029, seg_t3: 0.9592, seg_dice_t3: 0.3952, total_t0: 1.6642, total_t1: 1.4541, total_t2: 1.3922, total_t3: 1.3544, total_t4: 1.3534, total: 9.9137, cam_bev_norm: 19.1127, sat_bev_norm: 11.0409, seg_sat: 1.0722, seg_dice_sat: 0.4238, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.8371, seg_dice_fused: 0.3622, cam_rel_mean: 0.2032, sat_rel_mean: 0.2360, cam_rel_min: 0.0056, sat_rel_min: 0.0128, grad_norm: 26.3939 2026-04-17 20:21:23,964 - mmdet - INFO - Iter [4600/55932] lr: 4.921e-05, eta: 1 day, 5:22:00, time: 2.072, data_time: 0.076, memory: 34634, seg: 0.9659, seg_dice: 0.4102, seg_t0: 1.2298, seg_dice_t0: 0.4838, seg_t1: 1.0495, seg_dice_t1: 0.4402, seg_t2: 0.9907, seg_dice_t2: 0.4266, seg_t3: 0.9583, seg_dice_t3: 0.4171, total_t0: 1.7136, total_t1: 1.4897, total_t2: 1.4173, total_t3: 1.3754, total_t4: 1.3761, total: 10.1487, cam_bev_norm: 19.0624, sat_bev_norm: 11.0077, seg_sat: 1.1116, seg_dice_sat: 0.4364, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.8560, seg_dice_fused: 0.3727, cam_rel_mean: 0.2148, sat_rel_mean: 0.2305, cam_rel_min: 0.0051, sat_rel_min: 0.0101, grad_norm: 29.2716 2026-04-17 20:23:07,235 - mmdet - INFO - Iter [4650/55932] lr: 4.919e-05, eta: 1 day, 5:20:20, time: 2.066, data_time: 0.078, memory: 34634, seg: 0.9564, seg_dice: 0.4223, seg_t0: 1.2139, seg_dice_t0: 0.4744, seg_t1: 1.0661, seg_dice_t1: 0.4385, seg_t2: 1.0046, seg_dice_t2: 0.4268, seg_t3: 0.9754, seg_dice_t3: 0.4218, total_t0: 1.6882, total_t1: 1.5045, total_t2: 1.4314, total_t3: 1.3972, total_t4: 1.3787, total: 10.1783, cam_bev_norm: 18.9124, sat_bev_norm: 10.9632, seg_sat: 1.1112, seg_dice_sat: 0.4462, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2400, seg_fused: 0.8413, seg_dice_fused: 0.3795, cam_rel_mean: 0.2103, sat_rel_mean: 0.2216, cam_rel_min: 0.0045, sat_rel_min: 0.0120, grad_norm: 25.1140 2026-04-17 20:26:00,667 - mmdet - INFO - Iter [4700/55932] lr: 4.918e-05, eta: 1 day, 5:31:25, time: 3.469, data_time: 1.468, memory: 34634, seg: 0.9762, seg_dice: 0.4011, seg_t0: 1.1766, seg_dice_t0: 0.4726, seg_t1: 1.0103, seg_dice_t1: 0.4255, seg_t2: 0.9774, seg_dice_t2: 0.4069, seg_t3: 0.9714, seg_dice_t3: 0.4042, total_t0: 1.6492, total_t1: 1.4357, total_t2: 1.3843, total_t3: 1.3755, total_t4: 1.3773, total: 9.8964, cam_bev_norm: 19.0332, sat_bev_norm: 10.9974, seg_sat: 1.0992, seg_dice_sat: 0.4238, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0600, seg_fused: 0.7990, seg_dice_fused: 0.3525, cam_rel_mean: 0.2240, sat_rel_mean: 0.2411, cam_rel_min: 0.0038, sat_rel_min: 0.0099, grad_norm: 28.5940 2026-04-17 20:27:44,004 - mmdet - INFO - Iter [4750/55932] lr: 4.916e-05, eta: 1 day, 5:29:37, time: 2.066, data_time: 0.081, memory: 34634, seg: 0.9389, seg_dice: 0.3811, seg_t0: 1.2183, seg_dice_t0: 0.4643, seg_t1: 1.0214, seg_dice_t1: 0.4173, seg_t2: 0.9743, seg_dice_t2: 0.4011, seg_t3: 0.9523, seg_dice_t3: 0.3872, total_t0: 1.6826, total_t1: 1.4387, total_t2: 1.3754, total_t3: 1.3395, total_t4: 1.3201, total: 9.8109, cam_bev_norm: 19.0092, sat_bev_norm: 10.9967, seg_sat: 1.0830, seg_dice_sat: 0.4078, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.8200, seg_dice_fused: 0.3438, cam_rel_mean: 0.2066, sat_rel_mean: 0.2326, cam_rel_min: 0.0036, sat_rel_min: 0.0062, grad_norm: 25.4914 2026-04-17 20:29:27,662 - mmdet - INFO - Iter [4800/55932] lr: 4.914e-05, eta: 1 day, 5:27:53, time: 2.073, data_time: 0.077, memory: 34634, seg: 0.8697, seg_dice: 0.3749, seg_t0: 1.1414, seg_dice_t0: 0.4473, seg_t1: 0.9699, seg_dice_t1: 0.4014, seg_t2: 0.9213, seg_dice_t2: 0.3871, seg_t3: 0.8925, seg_dice_t3: 0.3797, total_t0: 1.5887, total_t1: 1.3713, total_t2: 1.3084, total_t3: 1.2722, total_t4: 1.2446, total: 9.2025, cam_bev_norm: 19.0693, sat_bev_norm: 11.0457, seg_sat: 0.9654, seg_dice_sat: 0.3967, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.7244, seg_dice_fused: 0.3308, cam_rel_mean: 0.2148, sat_rel_mean: 0.2256, cam_rel_min: 0.0084, sat_rel_min: 0.0109, grad_norm: 23.1304 2026-04-17 20:31:10,874 - mmdet - INFO - Iter [4850/55932] lr: 4.912e-05, eta: 1 day, 5:26:03, time: 2.064, data_time: 0.072, memory: 34634, seg: 0.9726, seg_dice: 0.3809, seg_t0: 1.2468, seg_dice_t0: 0.4503, seg_t1: 1.0682, seg_dice_t1: 0.4068, seg_t2: 1.0014, seg_dice_t2: 0.3954, seg_t3: 0.9736, seg_dice_t3: 0.3863, total_t0: 1.6971, total_t1: 1.4749, total_t2: 1.3968, total_t3: 1.3600, total_t4: 1.3535, total: 9.9406, cam_bev_norm: 18.9566, sat_bev_norm: 10.9591, seg_sat: 1.1065, seg_dice_sat: 0.4031, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.8159, seg_dice_fused: 0.3328, cam_rel_mean: 0.2171, sat_rel_mean: 0.2368, cam_rel_min: 0.0067, sat_rel_min: 0.0093, grad_norm: 29.7318 2026-04-17 20:32:54,966 - mmdet - INFO - Iter [4900/55932] lr: 4.911e-05, eta: 1 day, 5:24:24, time: 2.082, data_time: 0.088, memory: 34634, seg: 0.9598, seg_dice: 0.3882, seg_t0: 1.2236, seg_dice_t0: 0.4702, seg_t1: 1.0585, seg_dice_t1: 0.4262, seg_t2: 0.9962, seg_dice_t2: 0.4124, seg_t3: 0.9825, seg_dice_t3: 0.3963, total_t0: 1.6938, total_t1: 1.4847, total_t2: 1.4086, total_t3: 1.3789, total_t4: 1.3480, total: 10.0245, cam_bev_norm: 18.9672, sat_bev_norm: 10.9823, seg_sat: 1.1155, seg_dice_sat: 0.4135, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2800, seg_fused: 0.8355, seg_dice_fused: 0.3460, cam_rel_mean: 0.2046, sat_rel_mean: 0.2432, cam_rel_min: 0.0039, sat_rel_min: 0.0107, grad_norm: 31.4461 2026-04-17 20:34:38,365 - mmdet - INFO - Iter [4950/55932] lr: 4.909e-05, eta: 1 day, 5:22:37, time: 2.068, data_time: 0.082, memory: 34634, seg: 0.8967, seg_dice: 0.3967, seg_t0: 1.1732, seg_dice_t0: 0.4600, seg_t1: 0.9926, seg_dice_t1: 0.4173, seg_t2: 0.9311, seg_dice_t2: 0.4075, seg_t3: 0.9028, seg_dice_t3: 0.4014, total_t0: 1.6333, total_t1: 1.4099, total_t2: 1.3385, total_t3: 1.3042, total_t4: 1.2934, total: 9.5758, cam_bev_norm: 19.0222, sat_bev_norm: 11.0036, seg_sat: 1.0331, seg_dice_sat: 0.4201, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.7856, seg_dice_fused: 0.3576, cam_rel_mean: 0.2068, sat_rel_mean: 0.2202, cam_rel_min: 0.0067, sat_rel_min: 0.0114, grad_norm: 24.7260 2026-04-17 20:36:21,910 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-17 20:36:21,911 - mmdet - INFO - Iter [5000/55932] lr: 4.907e-05, eta: 1 day, 5:20:51, time: 2.071, data_time: 0.085, memory: 34634, seg: 0.9160, seg_dice: 0.4064, seg_t0: 1.1836, seg_dice_t0: 0.4785, seg_t1: 1.0062, seg_dice_t1: 0.4341, seg_t2: 0.9623, seg_dice_t2: 0.4166, seg_t3: 0.9292, seg_dice_t3: 0.4074, total_t0: 1.6621, total_t1: 1.4403, total_t2: 1.3789, total_t3: 1.3366, total_t4: 1.3224, total: 9.7938, cam_bev_norm: 18.8678, sat_bev_norm: 10.9357, seg_sat: 1.0872, seg_dice_sat: 0.4405, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1400, seg_fused: 0.7664, seg_dice_fused: 0.3594, cam_rel_mean: 0.2123, sat_rel_mean: 0.2349, cam_rel_min: 0.0062, sat_rel_min: 0.0097, grad_norm: 23.3051 2026-04-17 20:38:05,054 - mmdet - INFO - Iter [5050/55932] lr: 4.905e-05, eta: 1 day, 5:19:02, time: 2.063, data_time: 0.084, memory: 34634, seg: 0.9191, seg_dice: 0.3784, seg_t0: 1.1888, seg_dice_t0: 0.4696, seg_t1: 1.0338, seg_dice_t1: 0.4201, seg_t2: 0.9678, seg_dice_t2: 0.4028, seg_t3: 0.9303, seg_dice_t3: 0.3849, total_t0: 1.6584, total_t1: 1.4539, total_t2: 1.3706, total_t3: 1.3152, total_t4: 1.2975, total: 9.8240, cam_bev_norm: 18.8625, sat_bev_norm: 11.0328, seg_sat: 1.0760, seg_dice_sat: 0.4068, mask_cam_zeroed: 0.2600, mask_cam_noised: 0.1000, seg_fused: 0.8887, seg_dice_fused: 0.3568, cam_rel_mean: 0.1767, sat_rel_mean: 0.2387, cam_rel_min: 0.0074, sat_rel_min: 0.0098, grad_norm: 24.0936 2026-04-17 20:39:48,067 - mmdet - INFO - Iter [5100/55932] lr: 4.903e-05, eta: 1 day, 5:17:11, time: 2.060, data_time: 0.084, memory: 34634, seg: 0.9168, seg_dice: 0.3888, seg_t0: 1.2644, seg_dice_t0: 0.4794, seg_t1: 1.0893, seg_dice_t1: 0.4335, seg_t2: 0.9980, seg_dice_t2: 0.4111, seg_t3: 0.9629, seg_dice_t3: 0.3986, total_t0: 1.7438, total_t1: 1.5228, total_t2: 1.4091, total_t3: 1.3615, total_t4: 1.3056, total: 9.9461, cam_bev_norm: 18.7574, sat_bev_norm: 11.1006, seg_sat: 1.0406, seg_dice_sat: 0.4065, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.8074, seg_dice_fused: 0.3488, cam_rel_mean: 0.2110, sat_rel_mean: 0.2148, cam_rel_min: 0.0064, sat_rel_min: 0.0099, grad_norm: 25.5865 2026-04-17 20:41:30,917 - mmdet - INFO - Iter [5150/55932] lr: 4.901e-05, eta: 1 day, 5:15:19, time: 2.057, data_time: 0.081, memory: 34634, seg: 0.8956, seg_dice: 0.3817, seg_t0: 1.1697, seg_dice_t0: 0.4659, seg_t1: 0.9738, seg_dice_t1: 0.4101, seg_t2: 0.9397, seg_dice_t2: 0.3949, seg_t3: 0.9121, seg_dice_t3: 0.3852, total_t0: 1.6356, total_t1: 1.3839, total_t2: 1.3346, total_t3: 1.2973, total_t4: 1.2773, total: 9.5463, cam_bev_norm: 18.9230, sat_bev_norm: 10.9799, seg_sat: 1.0382, seg_dice_sat: 0.4167, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.8077, seg_dice_fused: 0.3549, cam_rel_mean: 0.2036, sat_rel_mean: 0.2231, cam_rel_min: 0.0054, sat_rel_min: 0.0071, grad_norm: 25.4096 2026-04-17 20:43:13,396 - mmdet - INFO - Iter [5200/55932] lr: 4.899e-05, eta: 1 day, 5:13:23, time: 2.050, data_time: 0.080, memory: 34634, seg: 0.8610, seg_dice: 0.3585, seg_t0: 1.1507, seg_dice_t0: 0.4353, seg_t1: 0.9457, seg_dice_t1: 0.3815, seg_t2: 0.8984, seg_dice_t2: 0.3662, seg_t3: 0.8616, seg_dice_t3: 0.3594, total_t0: 1.5861, total_t1: 1.3272, total_t2: 1.2645, total_t3: 1.2210, total_t4: 1.2195, total: 8.9451, cam_bev_norm: 18.8744, sat_bev_norm: 10.9574, seg_sat: 0.9237, seg_dice_sat: 0.3773, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2200, seg_fused: 0.7104, seg_dice_fused: 0.3153, cam_rel_mean: 0.2181, sat_rel_mean: 0.2353, cam_rel_min: 0.0043, sat_rel_min: 0.0076, grad_norm: 25.4051 2026-04-17 20:44:57,390 - mmdet - INFO - Iter [5250/55932] lr: 4.898e-05, eta: 1 day, 5:11:42, time: 2.080, data_time: 0.079, memory: 34634, seg: 0.8922, seg_dice: 0.3909, seg_t0: 1.1480, seg_dice_t0: 0.4554, seg_t1: 0.9915, seg_dice_t1: 0.4188, seg_t2: 0.9561, seg_dice_t2: 0.4048, seg_t3: 0.9192, seg_dice_t3: 0.3973, total_t0: 1.6033, total_t1: 1.4103, total_t2: 1.3608, total_t3: 1.3165, total_t4: 1.2830, total: 9.4885, cam_bev_norm: 18.8535, sat_bev_norm: 11.0013, seg_sat: 0.9714, seg_dice_sat: 0.4014, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.7858, seg_dice_fused: 0.3559, cam_rel_mean: 0.2068, sat_rel_mean: 0.2191, cam_rel_min: 0.0034, sat_rel_min: 0.0053, grad_norm: 26.7074 2026-04-17 20:46:40,003 - mmdet - INFO - Iter [5300/55932] lr: 4.896e-05, eta: 1 day, 5:09:48, time: 2.052, data_time: 0.083, memory: 34634, seg: 0.8758, seg_dice: 0.3754, seg_t0: 1.1076, seg_dice_t0: 0.4443, seg_t1: 0.9765, seg_dice_t1: 0.4005, seg_t2: 0.9094, seg_dice_t2: 0.3836, seg_t3: 0.8721, seg_dice_t3: 0.3765, total_t0: 1.5519, total_t1: 1.3770, total_t2: 1.2930, total_t3: 1.2486, total_t4: 1.2512, total: 9.2531, cam_bev_norm: 18.8473, sat_bev_norm: 10.9508, seg_sat: 1.0368, seg_dice_sat: 0.4102, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.7485, seg_dice_fused: 0.3360, cam_rel_mean: 0.2148, sat_rel_mean: 0.2382, cam_rel_min: 0.0021, sat_rel_min: 0.0071, grad_norm: 23.3588 2026-04-17 20:48:22,950 - mmdet - INFO - Iter [5350/55932] lr: 4.894e-05, eta: 1 day, 5:07:58, time: 2.059, data_time: 0.081, memory: 34634, seg: 0.9025, seg_dice: 0.3994, seg_t0: 1.2013, seg_dice_t0: 0.4694, seg_t1: 0.9806, seg_dice_t1: 0.4203, seg_t2: 0.9326, seg_dice_t2: 0.4077, seg_t3: 0.9056, seg_dice_t3: 0.4022, total_t0: 1.6707, total_t1: 1.4010, total_t2: 1.3403, total_t3: 1.3079, total_t4: 1.3019, total: 9.5764, cam_bev_norm: 18.8545, sat_bev_norm: 11.0081, seg_sat: 1.0225, seg_dice_sat: 0.4220, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.7543, seg_dice_fused: 0.3559, cam_rel_mean: 0.2109, sat_rel_mean: 0.2325, cam_rel_min: 0.0029, sat_rel_min: 0.0050, grad_norm: 29.4119 2026-04-17 20:50:06,240 - mmdet - INFO - Iter [5400/55932] lr: 4.892e-05, eta: 1 day, 5:06:10, time: 2.066, data_time: 0.086, memory: 34634, seg: 0.8944, seg_dice: 0.3870, seg_t0: 1.1706, seg_dice_t0: 0.4448, seg_t1: 0.9795, seg_dice_t1: 0.3982, seg_t2: 0.9180, seg_dice_t2: 0.3881, seg_t3: 0.8947, seg_dice_t3: 0.3840, total_t0: 1.6154, total_t1: 1.3777, total_t2: 1.3061, total_t3: 1.2788, total_t4: 1.2814, total: 9.3930, cam_bev_norm: 18.9279, sat_bev_norm: 11.0194, seg_sat: 1.0113, seg_dice_sat: 0.4059, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.7681, seg_dice_fused: 0.3482, cam_rel_mean: 0.2195, sat_rel_mean: 0.2435, cam_rel_min: 0.0023, sat_rel_min: 0.0059, grad_norm: 25.8711 2026-04-17 20:51:50,020 - mmdet - INFO - Iter [5450/55932] lr: 4.890e-05, eta: 1 day, 5:04:28, time: 2.076, data_time: 0.085, memory: 34634, seg: 0.8596, seg_dice: 0.3953, seg_t0: 1.1896, seg_dice_t0: 0.4560, seg_t1: 1.0214, seg_dice_t1: 0.4077, seg_t2: 0.9182, seg_dice_t2: 0.3906, seg_t3: 0.8915, seg_dice_t3: 0.3896, total_t0: 1.6456, total_t1: 1.4290, total_t2: 1.3088, total_t3: 1.2811, total_t4: 1.2549, total: 9.4092, cam_bev_norm: 18.8479, sat_bev_norm: 10.9942, seg_sat: 0.9697, seg_dice_sat: 0.4196, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0800, seg_fused: 0.7415, seg_dice_fused: 0.3589, cam_rel_mean: 0.1962, sat_rel_mean: 0.2221, cam_rel_min: 0.0064, sat_rel_min: 0.0066, grad_norm: 23.8096 2026-04-17 20:53:33,078 - mmdet - INFO - Iter [5500/55932] lr: 4.888e-05, eta: 1 day, 5:02:39, time: 2.061, data_time: 0.083, memory: 34634, seg: 0.8923, seg_dice: 0.3827, seg_t0: 1.1744, seg_dice_t0: 0.4547, seg_t1: 0.9846, seg_dice_t1: 0.4057, seg_t2: 0.9370, seg_dice_t2: 0.3884, seg_t3: 0.9104, seg_dice_t3: 0.3816, total_t0: 1.6291, total_t1: 1.3903, total_t2: 1.3254, total_t3: 1.2920, total_t4: 1.2750, total: 9.4792, cam_bev_norm: 18.8870, sat_bev_norm: 10.9381, seg_sat: 1.0261, seg_dice_sat: 0.4134, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2400, seg_fused: 0.7810, seg_dice_fused: 0.3469, cam_rel_mean: 0.2100, sat_rel_mean: 0.2335, cam_rel_min: 0.0049, sat_rel_min: 0.0065, grad_norm: 29.9349 2026-04-17 20:55:16,260 - mmdet - INFO - Iter [5550/55932] lr: 4.886e-05, eta: 1 day, 5:00:51, time: 2.064, data_time: 0.085, memory: 34634, seg: 0.9264, seg_dice: 0.3742, seg_t0: 1.2053, seg_dice_t0: 0.4648, seg_t1: 1.0289, seg_dice_t1: 0.4116, seg_t2: 0.9639, seg_dice_t2: 0.3950, seg_t3: 0.9261, seg_dice_t3: 0.3796, total_t0: 1.6700, total_t1: 1.4405, total_t2: 1.3590, total_t3: 1.3057, total_t4: 1.3007, total: 9.5189, cam_bev_norm: 18.8380, sat_bev_norm: 10.9681, seg_sat: 0.9469, seg_dice_sat: 0.3745, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.7897, seg_dice_fused: 0.3319, cam_rel_mean: 0.2107, sat_rel_mean: 0.2304, cam_rel_min: 0.0048, sat_rel_min: 0.0059, grad_norm: 26.9110 2026-04-17 20:56:59,719 - mmdet - INFO - Iter [5600/55932] lr: 4.884e-05, eta: 1 day, 4:59:05, time: 2.069, data_time: 0.085, memory: 34634, seg: 0.8646, seg_dice: 0.3970, seg_t0: 1.1318, seg_dice_t0: 0.4667, seg_t1: 0.9673, seg_dice_t1: 0.4241, seg_t2: 0.9060, seg_dice_t2: 0.4091, seg_t3: 0.8781, seg_dice_t3: 0.3951, total_t0: 1.5984, total_t1: 1.3913, total_t2: 1.3151, total_t3: 1.2731, total_t4: 1.2616, total: 9.3606, cam_bev_norm: 18.7971, sat_bev_norm: 10.9574, seg_sat: 1.0010, seg_dice_sat: 0.4196, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.7451, seg_dice_fused: 0.3553, cam_rel_mean: 0.2107, sat_rel_mean: 0.2148, cam_rel_min: 0.0047, sat_rel_min: 0.0058, grad_norm: 29.5790 2026-04-17 20:58:43,455 - mmdet - INFO - Iter [5650/55932] lr: 4.881e-05, eta: 1 day, 4:57:22, time: 2.075, data_time: 0.088, memory: 34634, seg: 0.8774, seg_dice: 0.3851, seg_t0: 1.2211, seg_dice_t0: 0.4681, seg_t1: 0.9924, seg_dice_t1: 0.4116, seg_t2: 0.9179, seg_dice_t2: 0.3959, seg_t3: 0.8939, seg_dice_t3: 0.3863, total_t0: 1.6893, total_t1: 1.4040, total_t2: 1.3138, total_t3: 1.2802, total_t4: 1.2625, total: 9.4389, cam_bev_norm: 18.6816, sat_bev_norm: 10.9338, seg_sat: 0.9772, seg_dice_sat: 0.4015, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.7630, seg_dice_fused: 0.3475, cam_rel_mean: 0.2126, sat_rel_mean: 0.2035, cam_rel_min: 0.0045, sat_rel_min: 0.0051, grad_norm: 26.7154 2026-04-17 21:00:27,648 - mmdet - INFO - Iter [5700/55932] lr: 4.879e-05, eta: 1 day, 4:55:43, time: 2.084, data_time: 0.084, memory: 34634, seg: 0.8567, seg_dice: 0.3659, seg_t0: 1.0689, seg_dice_t0: 0.4265, seg_t1: 0.9120, seg_dice_t1: 0.3835, seg_t2: 0.8707, seg_dice_t2: 0.3689, seg_t3: 0.8619, seg_dice_t3: 0.3695, total_t0: 1.4954, total_t1: 1.2955, total_t2: 1.2396, total_t3: 1.2313, total_t4: 1.2226, total: 8.9570, cam_bev_norm: 18.8116, sat_bev_norm: 11.0439, seg_sat: 0.9973, seg_dice_sat: 0.3955, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.7464, seg_dice_fused: 0.3333, cam_rel_mean: 0.2006, sat_rel_mean: 0.2278, cam_rel_min: 0.0033, sat_rel_min: 0.0040, grad_norm: 24.7500 2026-04-17 21:02:11,062 - mmdet - INFO - Iter [5750/55932] lr: 4.877e-05, eta: 1 day, 4:53:57, time: 2.068, data_time: 0.082, memory: 34634, seg: 0.8737, seg_dice: 0.3888, seg_t0: 1.1295, seg_dice_t0: 0.4592, seg_t1: 0.9566, seg_dice_t1: 0.4081, seg_t2: 0.9128, seg_dice_t2: 0.3915, seg_t3: 0.8948, seg_dice_t3: 0.3877, total_t0: 1.5887, total_t1: 1.3647, total_t2: 1.3043, total_t3: 1.2825, total_t4: 1.2625, total: 9.3405, cam_bev_norm: 18.6558, sat_bev_norm: 10.9818, seg_sat: 0.9884, seg_dice_sat: 0.4125, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 0.7783, seg_dice_fused: 0.3586, cam_rel_mean: 0.1956, sat_rel_mean: 0.2135, cam_rel_min: 0.0049, sat_rel_min: 0.0052, grad_norm: 26.9797 2026-04-17 21:03:54,672 - mmdet - INFO - Iter [5800/55932] lr: 4.875e-05, eta: 1 day, 4:52:13, time: 2.072, data_time: 0.085, memory: 34634, seg: 0.8897, seg_dice: 0.3931, seg_t0: 1.1804, seg_dice_t0: 0.4723, seg_t1: 0.9889, seg_dice_t1: 0.4253, seg_t2: 0.9429, seg_dice_t2: 0.4049, seg_t3: 0.9015, seg_dice_t3: 0.3976, total_t0: 1.6527, total_t1: 1.4142, total_t2: 1.3479, total_t3: 1.2991, total_t4: 1.2827, total: 9.5260, cam_bev_norm: 18.6726, sat_bev_norm: 11.0074, seg_sat: 1.0013, seg_dice_sat: 0.4132, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.7598, seg_dice_fused: 0.3551, cam_rel_mean: 0.2078, sat_rel_mean: 0.2243, cam_rel_min: 0.0047, sat_rel_min: 0.0063, grad_norm: 27.3439 2026-04-17 21:05:37,717 - mmdet - INFO - Iter [5850/55932] lr: 4.873e-05, eta: 1 day, 4:50:24, time: 2.061, data_time: 0.080, memory: 34634, seg: 0.8712, seg_dice: 0.3813, seg_t0: 1.1160, seg_dice_t0: 0.4510, seg_t1: 0.9540, seg_dice_t1: 0.4077, seg_t2: 0.9102, seg_dice_t2: 0.3930, seg_t3: 0.8782, seg_dice_t3: 0.3851, total_t0: 1.5670, total_t1: 1.3616, total_t2: 1.3032, total_t3: 1.2633, total_t4: 1.2525, total: 9.2425, cam_bev_norm: 18.6032, sat_bev_norm: 10.9760, seg_sat: 0.9963, seg_dice_sat: 0.4090, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0600, seg_fused: 0.7453, seg_dice_fused: 0.3442, cam_rel_mean: 0.2047, sat_rel_mean: 0.2302, cam_rel_min: 0.0057, sat_rel_min: 0.0048, grad_norm: 23.0774 2026-04-17 21:07:21,434 - mmdet - INFO - Iter [5900/55932] lr: 4.871e-05, eta: 1 day, 4:48:41, time: 2.074, data_time: 0.081, memory: 34634, seg: 0.8451, seg_dice: 0.3695, seg_t0: 1.0847, seg_dice_t0: 0.4448, seg_t1: 0.9129, seg_dice_t1: 0.3942, seg_t2: 0.8795, seg_dice_t2: 0.3819, seg_t3: 0.8448, seg_dice_t3: 0.3735, total_t0: 1.5295, total_t1: 1.3071, total_t2: 1.2614, total_t3: 1.2183, total_t4: 1.2145, total: 8.9167, cam_bev_norm: 18.7061, sat_bev_norm: 11.0243, seg_sat: 0.9622, seg_dice_sat: 0.3882, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.7069, seg_dice_fused: 0.3285, cam_rel_mean: 0.2121, sat_rel_mean: 0.2343, cam_rel_min: 0.0041, sat_rel_min: 0.0041, grad_norm: 22.6664 2026-04-17 21:09:03,972 - mmdet - INFO - Iter [5950/55932] lr: 4.869e-05, eta: 1 day, 4:46:48, time: 2.051, data_time: 0.081, memory: 34634, seg: 0.8267, seg_dice: 0.3644, seg_t0: 1.0855, seg_dice_t0: 0.4391, seg_t1: 0.9203, seg_dice_t1: 0.3978, seg_t2: 0.8731, seg_dice_t2: 0.3824, seg_t3: 0.8504, seg_dice_t3: 0.3724, total_t0: 1.5245, total_t1: 1.3182, total_t2: 1.2555, total_t3: 1.2228, total_t4: 1.1911, total: 8.7863, cam_bev_norm: 18.7555, sat_bev_norm: 11.0745, seg_sat: 0.8980, seg_dice_sat: 0.3794, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.6777, seg_dice_fused: 0.3191, cam_rel_mean: 0.2125, sat_rel_mean: 0.2353, cam_rel_min: 0.0045, sat_rel_min: 0.0030, grad_norm: 24.5400 2026-04-17 21:10:46,975 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-17 21:10:46,976 - mmdet - INFO - Iter [6000/55932] lr: 4.866e-05, eta: 1 day, 4:44:59, time: 2.060, data_time: 0.084, memory: 34634, seg: 0.8550, seg_dice: 0.3720, seg_t0: 1.1330, seg_dice_t0: 0.4509, seg_t1: 0.9405, seg_dice_t1: 0.4007, seg_t2: 0.8829, seg_dice_t2: 0.3847, seg_t3: 0.8667, seg_dice_t3: 0.3737, total_t0: 1.5839, total_t1: 1.3411, total_t2: 1.2675, total_t3: 1.2404, total_t4: 1.2270, total: 9.2034, cam_bev_norm: 18.6690, sat_bev_norm: 10.9364, seg_sat: 0.9990, seg_dice_sat: 0.4009, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1200, seg_fused: 0.7982, seg_dice_fused: 0.3454, cam_rel_mean: 0.1885, sat_rel_mean: 0.2232, cam_rel_min: 0.0051, sat_rel_min: 0.0039, grad_norm: 25.0603 2026-04-17 21:12:30,025 - mmdet - INFO - Iter [6050/55932] lr: 4.864e-05, eta: 1 day, 4:43:11, time: 2.061, data_time: 0.082, memory: 34634, seg: 0.9302, seg_dice: 0.3884, seg_t0: 1.1802, seg_dice_t0: 0.4681, seg_t1: 1.0051, seg_dice_t1: 0.4199, seg_t2: 0.9622, seg_dice_t2: 0.4046, seg_t3: 0.9518, seg_dice_t3: 0.3939, total_t0: 1.6483, total_t1: 1.4250, total_t2: 1.3668, total_t3: 1.3457, total_t4: 1.3186, total: 9.5984, cam_bev_norm: 18.4768, sat_bev_norm: 10.9059, seg_sat: 0.9775, seg_dice_sat: 0.3914, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.7820, seg_dice_fused: 0.3431, cam_rel_mean: 0.2065, sat_rel_mean: 0.2308, cam_rel_min: 0.0036, sat_rel_min: 0.0073, grad_norm: 26.7937 2026-04-17 21:14:12,671 - mmdet - INFO - Iter [6100/55932] lr: 4.862e-05, eta: 1 day, 4:41:19, time: 2.053, data_time: 0.079, memory: 34634, seg: 0.8834, seg_dice: 0.3851, seg_t0: 1.1663, seg_dice_t0: 0.4437, seg_t1: 0.9783, seg_dice_t1: 0.3990, seg_t2: 0.9242, seg_dice_t2: 0.3896, seg_t3: 0.9011, seg_dice_t3: 0.3892, total_t0: 1.6100, total_t1: 1.3773, total_t2: 1.3138, total_t3: 1.2903, total_t4: 1.2685, total: 9.2552, cam_bev_norm: 18.4587, sat_bev_norm: 10.9029, seg_sat: 0.9431, seg_dice_sat: 0.3937, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1800, seg_fused: 0.7225, seg_dice_fused: 0.3359, cam_rel_mean: 0.2190, sat_rel_mean: 0.2157, cam_rel_min: 0.0031, sat_rel_min: 0.0049, grad_norm: 34.1805 2026-04-17 21:15:56,204 - mmdet - INFO - Iter [6150/55932] lr: 4.860e-05, eta: 1 day, 4:39:35, time: 2.071, data_time: 0.080, memory: 34634, seg: 0.8483, seg_dice: 0.3595, seg_t0: 1.1577, seg_dice_t0: 0.4462, seg_t1: 0.9376, seg_dice_t1: 0.3914, seg_t2: 0.8812, seg_dice_t2: 0.3735, seg_t3: 0.8650, seg_dice_t3: 0.3666, total_t0: 1.6039, total_t1: 1.3290, total_t2: 1.2548, total_t3: 1.2316, total_t4: 1.2078, total: 8.9888, cam_bev_norm: 18.5323, sat_bev_norm: 11.0592, seg_sat: 0.9404, seg_dice_sat: 0.3779, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.7212, seg_dice_fused: 0.3221, cam_rel_mean: 0.2039, sat_rel_mean: 0.2314, cam_rel_min: 0.0037, sat_rel_min: 0.0057, grad_norm: 24.3090 2026-04-17 21:17:39,113 - mmdet - INFO - Iter [6200/55932] lr: 4.857e-05, eta: 1 day, 4:37:45, time: 2.058, data_time: 0.082, memory: 34634, seg: 0.8458, seg_dice: 0.3996, seg_t0: 1.1059, seg_dice_t0: 0.4611, seg_t1: 0.9431, seg_dice_t1: 0.4226, seg_t2: 0.8823, seg_dice_t2: 0.4093, seg_t3: 0.8533, seg_dice_t3: 0.3975, total_t0: 1.5671, total_t1: 1.3657, total_t2: 1.2916, total_t3: 1.2508, total_t4: 1.2454, total: 9.1115, cam_bev_norm: 18.5143, sat_bev_norm: 10.9255, seg_sat: 0.9397, seg_dice_sat: 0.4142, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.6864, seg_dice_fused: 0.3507, cam_rel_mean: 0.2187, sat_rel_mean: 0.2354, cam_rel_min: 0.0021, sat_rel_min: 0.0062, grad_norm: 25.2106 2026-04-17 21:19:22,044 - mmdet - INFO - Iter [6250/55932] lr: 4.855e-05, eta: 1 day, 4:35:56, time: 2.058, data_time: 0.080, memory: 34634, seg: 0.8386, seg_dice: 0.3835, seg_t0: 1.0992, seg_dice_t0: 0.4525, seg_t1: 0.9006, seg_dice_t1: 0.4000, seg_t2: 0.8392, seg_dice_t2: 0.3889, seg_t3: 0.8422, seg_dice_t3: 0.3878, total_t0: 1.5518, total_t1: 1.3006, total_t2: 1.2281, total_t3: 1.2301, total_t4: 1.2221, total: 8.9278, cam_bev_norm: 18.4581, sat_bev_norm: 10.9327, seg_sat: 0.9639, seg_dice_sat: 0.4036, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1800, seg_fused: 0.6902, seg_dice_fused: 0.3374, cam_rel_mean: 0.2186, sat_rel_mean: 0.2310, cam_rel_min: 0.0023, sat_rel_min: 0.0035, grad_norm: 27.2360 2026-04-17 21:21:04,842 - mmdet - INFO - Iter [6300/55932] lr: 4.853e-05, eta: 1 day, 4:34:06, time: 2.056, data_time: 0.081, memory: 34634, seg: 0.8665, seg_dice: 0.3496, seg_t0: 1.1769, seg_dice_t0: 0.4467, seg_t1: 0.9818, seg_dice_t1: 0.3889, seg_t2: 0.9233, seg_dice_t2: 0.3692, seg_t3: 0.8718, seg_dice_t3: 0.3556, total_t0: 1.6236, total_t1: 1.3707, total_t2: 1.2925, total_t3: 1.2274, total_t4: 1.2161, total: 9.1283, cam_bev_norm: 18.4004, sat_bev_norm: 10.8999, seg_sat: 0.9873, seg_dice_sat: 0.3739, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.7326, seg_dice_fused: 0.3043, cam_rel_mean: 0.2041, sat_rel_mean: 0.2153, cam_rel_min: 0.0031, sat_rel_min: 0.0044, grad_norm: 23.5754 2026-04-17 21:22:48,693 - mmdet - INFO - Iter [6350/55932] lr: 4.851e-05, eta: 1 day, 4:32:24, time: 2.077, data_time: 0.083, memory: 34634, seg: 0.8588, seg_dice: 0.3580, seg_t0: 1.1900, seg_dice_t0: 0.4389, seg_t1: 0.9872, seg_dice_t1: 0.3872, seg_t2: 0.9178, seg_dice_t2: 0.3692, seg_t3: 0.8666, seg_dice_t3: 0.3581, total_t0: 1.6289, total_t1: 1.3744, total_t2: 1.2870, total_t3: 1.2248, total_t4: 1.2168, total: 8.9834, cam_bev_norm: 18.3625, sat_bev_norm: 10.9859, seg_sat: 0.9014, seg_dice_sat: 0.3581, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.6864, seg_dice_fused: 0.3057, cam_rel_mean: 0.2078, sat_rel_mean: 0.2351, cam_rel_min: 0.0023, sat_rel_min: 0.0029, grad_norm: 26.1651 2026-04-17 21:24:31,410 - mmdet - INFO - Iter [6400/55932] lr: 4.848e-05, eta: 1 day, 4:30:34, time: 2.054, data_time: 0.083, memory: 34634, seg: 0.8371, seg_dice: 0.3561, seg_t0: 1.0509, seg_dice_t0: 0.4272, seg_t1: 0.8941, seg_dice_t1: 0.3804, seg_t2: 0.8640, seg_dice_t2: 0.3690, seg_t3: 0.8490, seg_dice_t3: 0.3564, total_t0: 1.4781, total_t1: 1.2745, total_t2: 1.2330, total_t3: 1.2053, total_t4: 1.1932, total: 8.7290, cam_bev_norm: 18.5564, sat_bev_norm: 10.9452, seg_sat: 0.9171, seg_dice_sat: 0.3736, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.7299, seg_dice_fused: 0.3242, cam_rel_mean: 0.2017, sat_rel_mean: 0.2310, cam_rel_min: 0.0033, sat_rel_min: 0.0027, grad_norm: 25.1722 2026-04-17 21:26:14,321 - mmdet - INFO - Iter [6450/55932] lr: 4.846e-05, eta: 1 day, 4:28:45, time: 2.058, data_time: 0.084, memory: 34634, seg: 0.8528, seg_dice: 0.3463, seg_t0: 1.1120, seg_dice_t0: 0.4184, seg_t1: 0.9508, seg_dice_t1: 0.3743, seg_t2: 0.8860, seg_dice_t2: 0.3553, seg_t3: 0.8558, seg_dice_t3: 0.3489, total_t0: 1.5303, total_t1: 1.3250, total_t2: 1.2413, total_t3: 1.2047, total_t4: 1.1991, total: 8.7780, cam_bev_norm: 18.5760, sat_bev_norm: 11.1036, seg_sat: 0.9316, seg_dice_sat: 0.3529, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.6952, seg_dice_fused: 0.2979, cam_rel_mean: 0.2225, sat_rel_mean: 0.2381, cam_rel_min: 0.0022, sat_rel_min: 0.0038, grad_norm: 29.3696 2026-04-17 21:27:57,759 - mmdet - INFO - Iter [6500/55932] lr: 4.844e-05, eta: 1 day, 4:27:00, time: 2.069, data_time: 0.085, memory: 34634, seg: 0.8574, seg_dice: 0.3735, seg_t0: 1.0963, seg_dice_t0: 0.4481, seg_t1: 0.9368, seg_dice_t1: 0.3966, seg_t2: 0.8829, seg_dice_t2: 0.3835, seg_t3: 0.8607, seg_dice_t3: 0.3813, total_t0: 1.5443, total_t1: 1.3334, total_t2: 1.2664, total_t3: 1.2420, total_t4: 1.2309, total: 8.9590, cam_bev_norm: 18.4315, sat_bev_norm: 10.9115, seg_sat: 0.9310, seg_dice_sat: 0.3830, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.7022, seg_dice_fused: 0.3257, cam_rel_mean: 0.2081, sat_rel_mean: 0.2376, cam_rel_min: 0.0034, sat_rel_min: 0.0023, grad_norm: 24.3877 2026-04-17 21:29:41,576 - mmdet - INFO - Iter [6550/55932] lr: 4.841e-05, eta: 1 day, 4:25:18, time: 2.076, data_time: 0.083, memory: 34634, seg: 0.8518, seg_dice: 0.3815, seg_t0: 1.1015, seg_dice_t0: 0.4579, seg_t1: 0.9221, seg_dice_t1: 0.4043, seg_t2: 0.8760, seg_dice_t2: 0.3847, seg_t3: 0.8590, seg_dice_t3: 0.3808, total_t0: 1.5594, total_t1: 1.3264, total_t2: 1.2607, total_t3: 1.2398, total_t4: 1.2333, total: 9.0509, cam_bev_norm: 18.3859, sat_bev_norm: 10.8827, seg_sat: 0.9294, seg_dice_sat: 0.3991, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.7530, seg_dice_fused: 0.3497, cam_rel_mean: 0.1931, sat_rel_mean: 0.2279, cam_rel_min: 0.0033, sat_rel_min: 0.0027, grad_norm: 28.0035 2026-04-17 21:31:24,500 - mmdet - INFO - Iter [6600/55932] lr: 4.839e-05, eta: 1 day, 4:23:29, time: 2.058, data_time: 0.083, memory: 34634, seg: 0.8277, seg_dice: 0.3704, seg_t0: 1.1517, seg_dice_t0: 0.4425, seg_t1: 0.9678, seg_dice_t1: 0.4004, seg_t2: 0.8980, seg_dice_t2: 0.3858, seg_t3: 0.8519, seg_dice_t3: 0.3760, total_t0: 1.5942, total_t1: 1.3683, total_t2: 1.2838, total_t3: 1.2280, total_t4: 1.1981, total: 9.0404, cam_bev_norm: 18.3866, sat_bev_norm: 11.0138, seg_sat: 0.9323, seg_dice_sat: 0.3855, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1800, seg_fused: 0.7184, seg_dice_fused: 0.3319, cam_rel_mean: 0.1843, sat_rel_mean: 0.2403, cam_rel_min: 0.0049, sat_rel_min: 0.0026, grad_norm: 25.6882 2026-04-17 21:33:07,477 - mmdet - INFO - Iter [6650/55932] lr: 4.836e-05, eta: 1 day, 4:21:41, time: 2.059, data_time: 0.082, memory: 34634, seg: 0.8295, seg_dice: 0.3471, seg_t0: 1.0920, seg_dice_t0: 0.4163, seg_t1: 0.9280, seg_dice_t1: 0.3723, seg_t2: 0.8885, seg_dice_t2: 0.3536, seg_t3: 0.8874, seg_dice_t3: 0.3524, total_t0: 1.5083, total_t1: 1.3003, total_t2: 1.2421, total_t3: 1.2398, total_t4: 1.1766, total: 8.6119, cam_bev_norm: 18.4515, sat_bev_norm: 10.9707, seg_sat: 0.8642, seg_dice_sat: 0.3479, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.6403, seg_dice_fused: 0.2925, cam_rel_mean: 0.2170, sat_rel_mean: 0.2337, cam_rel_min: 0.0021, sat_rel_min: 0.0012, grad_norm: 26.3236 2026-04-17 21:34:50,701 - mmdet - INFO - Iter [6700/55932] lr: 4.834e-05, eta: 1 day, 4:19:55, time: 2.065, data_time: 0.083, memory: 34634, seg: 0.8129, seg_dice: 0.3619, seg_t0: 1.0934, seg_dice_t0: 0.4327, seg_t1: 0.9363, seg_dice_t1: 0.3878, seg_t2: 0.8726, seg_dice_t2: 0.3712, seg_t3: 0.8343, seg_dice_t3: 0.3666, total_t0: 1.5261, total_t1: 1.3240, total_t2: 1.2438, total_t3: 1.2008, total_t4: 1.1748, total: 8.8406, cam_bev_norm: 18.5003, sat_bev_norm: 10.9515, seg_sat: 0.9235, seg_dice_sat: 0.3849, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.7297, seg_dice_fused: 0.3329, cam_rel_mean: 0.1930, sat_rel_mean: 0.2123, cam_rel_min: 0.0027, sat_rel_min: 0.0040, grad_norm: 24.2265 2026-04-17 21:36:33,450 - mmdet - INFO - Iter [6750/55932] lr: 4.831e-05, eta: 1 day, 4:18:05, time: 2.055, data_time: 0.081, memory: 34634, seg: 0.7933, seg_dice: 0.3409, seg_t0: 1.0373, seg_dice_t0: 0.4148, seg_t1: 0.8678, seg_dice_t1: 0.3662, seg_t2: 0.8097, seg_dice_t2: 0.3492, seg_t3: 0.7839, seg_dice_t3: 0.3470, total_t0: 1.4521, total_t1: 1.2340, total_t2: 1.1589, total_t3: 1.1309, total_t4: 1.1342, total: 8.2654, cam_bev_norm: 18.4359, sat_bev_norm: 11.0435, seg_sat: 0.8396, seg_dice_sat: 0.3520, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.6603, seg_dice_fused: 0.3036, cam_rel_mean: 0.2057, sat_rel_mean: 0.2212, cam_rel_min: 0.0016, sat_rel_min: 0.0036, grad_norm: 23.4884 2026-04-17 21:38:17,236 - mmdet - INFO - Iter [6800/55932] lr: 4.829e-05, eta: 1 day, 4:16:23, time: 2.076, data_time: 0.082, memory: 34634, seg: 0.7975, seg_dice: 0.3721, seg_t0: 1.0704, seg_dice_t0: 0.4288, seg_t1: 0.8922, seg_dice_t1: 0.3804, seg_t2: 0.8342, seg_dice_t2: 0.3690, seg_t3: 0.7930, seg_dice_t3: 0.3697, total_t0: 1.4992, total_t1: 1.2725, total_t2: 1.2032, total_t3: 1.1627, total_t4: 1.1697, total: 8.6022, cam_bev_norm: 18.3490, sat_bev_norm: 10.9412, seg_sat: 0.8871, seg_dice_sat: 0.3870, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1600, seg_fused: 0.6855, seg_dice_fused: 0.3353, cam_rel_mean: 0.1879, sat_rel_mean: 0.2328, cam_rel_min: 0.0034, sat_rel_min: 0.0021, grad_norm: 24.0628 2026-04-17 21:39:59,938 - mmdet - INFO - Iter [6850/55932] lr: 4.826e-05, eta: 1 day, 4:14:33, time: 2.054, data_time: 0.077, memory: 34634, seg: 0.8253, seg_dice: 0.3581, seg_t0: 1.1179, seg_dice_t0: 0.4412, seg_t1: 0.9378, seg_dice_t1: 0.3934, seg_t2: 0.8700, seg_dice_t2: 0.3750, seg_t3: 0.8347, seg_dice_t3: 0.3631, total_t0: 1.5591, total_t1: 1.3312, total_t2: 1.2450, total_t3: 1.1978, total_t4: 1.1834, total: 8.7452, cam_bev_norm: 18.3896, sat_bev_norm: 10.9802, seg_sat: 0.8711, seg_dice_sat: 0.3708, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1200, seg_fused: 0.6717, seg_dice_fused: 0.3151, cam_rel_mean: 0.2245, sat_rel_mean: 0.2136, cam_rel_min: 0.0014, sat_rel_min: 0.0040, grad_norm: 23.9075 2026-04-17 21:41:42,835 - mmdet - INFO - Iter [6900/55932] lr: 4.824e-05, eta: 1 day, 4:12:45, time: 2.058, data_time: 0.083, memory: 34634, seg: 0.8504, seg_dice: 0.3817, seg_t0: 1.1362, seg_dice_t0: 0.4594, seg_t1: 0.9544, seg_dice_t1: 0.4119, seg_t2: 0.8843, seg_dice_t2: 0.3952, seg_t3: 0.8633, seg_dice_t3: 0.3892, total_t0: 1.5956, total_t1: 1.3663, total_t2: 1.2795, total_t3: 1.2524, total_t4: 1.2321, total: 9.0388, cam_bev_norm: 18.1601, sat_bev_norm: 10.8668, seg_sat: 0.8869, seg_dice_sat: 0.3801, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.7111, seg_dice_fused: 0.3348, cam_rel_mean: 0.2018, sat_rel_mean: 0.2225, cam_rel_min: 0.0021, sat_rel_min: 0.0025, grad_norm: 26.4343 2026-04-17 21:43:25,372 - mmdet - INFO - Iter [6950/55932] lr: 4.821e-05, eta: 1 day, 4:10:54, time: 2.051, data_time: 0.083, memory: 34634, seg: 0.7892, seg_dice: 0.3662, seg_t0: 1.0696, seg_dice_t0: 0.4332, seg_t1: 0.8944, seg_dice_t1: 0.3891, seg_t2: 0.8468, seg_dice_t2: 0.3708, seg_t3: 0.8047, seg_dice_t3: 0.3653, total_t0: 1.5028, total_t1: 1.2834, total_t2: 1.2176, total_t3: 1.1701, total_t4: 1.1554, total: 8.5759, cam_bev_norm: 18.2474, sat_bev_norm: 10.9636, seg_sat: 0.8732, seg_dice_sat: 0.3874, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.6585, seg_dice_fused: 0.3274, cam_rel_mean: 0.2171, sat_rel_mean: 0.2298, cam_rel_min: 0.0014, sat_rel_min: 0.0045, grad_norm: 24.5789 2026-04-17 21:45:09,482 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-17 21:45:09,483 - mmdet - INFO - Iter [7000/55932] lr: 4.819e-05, eta: 1 day, 4:09:14, time: 2.082, data_time: 0.086, memory: 34634, seg: 0.8168, seg_dice: 0.3747, seg_t0: 1.0639, seg_dice_t0: 0.4453, seg_t1: 0.8754, seg_dice_t1: 0.3976, seg_t2: 0.8464, seg_dice_t2: 0.3884, seg_t3: 0.8266, seg_dice_t3: 0.3807, total_t0: 1.5092, total_t1: 1.2731, total_t2: 1.2349, total_t3: 1.2073, total_t4: 1.1915, total: 8.8341, cam_bev_norm: 18.2882, sat_bev_norm: 10.8973, seg_sat: 0.9434, seg_dice_sat: 0.4087, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.7182, seg_dice_fused: 0.3479, cam_rel_mean: 0.1990, sat_rel_mean: 0.2243, cam_rel_min: 0.0029, sat_rel_min: 0.0042, grad_norm: 23.9596 2026-04-17 21:46:53,189 - mmdet - INFO - Iter [7050/55932] lr: 4.816e-05, eta: 1 day, 4:07:32, time: 2.074, data_time: 0.087, memory: 34634, seg: 0.7982, seg_dice: 0.3715, seg_t0: 1.0687, seg_dice_t0: 0.4402, seg_t1: 0.8856, seg_dice_t1: 0.3953, seg_t2: 0.8355, seg_dice_t2: 0.3837, seg_t3: 0.8186, seg_dice_t3: 0.3724, total_t0: 1.5090, total_t1: 1.2809, total_t2: 1.2192, total_t3: 1.1909, total_t4: 1.1697, total: 8.7689, cam_bev_norm: 18.3730, sat_bev_norm: 10.8933, seg_sat: 0.9370, seg_dice_sat: 0.4034, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.7154, seg_dice_fused: 0.3435, cam_rel_mean: 0.1941, sat_rel_mean: 0.2255, cam_rel_min: 0.0032, sat_rel_min: 0.0055, grad_norm: 21.9811 2026-04-17 21:48:36,177 - mmdet - INFO - Iter [7100/55932] lr: 4.814e-05, eta: 1 day, 4:05:44, time: 2.060, data_time: 0.084, memory: 34634, seg: 0.7539, seg_dice: 0.3418, seg_t0: 1.0417, seg_dice_t0: 0.4240, seg_t1: 0.8648, seg_dice_t1: 0.3811, seg_t2: 0.8071, seg_dice_t2: 0.3593, seg_t3: 0.7759, seg_dice_t3: 0.3463, total_t0: 1.4657, total_t1: 1.2458, total_t2: 1.1665, total_t3: 1.1222, total_t4: 1.0957, total: 8.2086, cam_bev_norm: 18.2888, sat_bev_norm: 11.0073, seg_sat: 0.8391, seg_dice_sat: 0.3533, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.6205, seg_dice_fused: 0.2998, cam_rel_mean: 0.2046, sat_rel_mean: 0.2295, cam_rel_min: 0.0033, sat_rel_min: 0.0020, grad_norm: 22.5110 2026-04-17 21:50:19,394 - mmdet - INFO - Iter [7150/55932] lr: 4.811e-05, eta: 1 day, 4:03:58, time: 2.064, data_time: 0.085, memory: 34634, seg: 0.7933, seg_dice: 0.3567, seg_t0: 1.0366, seg_dice_t0: 0.4216, seg_t1: 0.8813, seg_dice_t1: 0.3745, seg_t2: 0.8292, seg_dice_t2: 0.3611, seg_t3: 0.7918, seg_dice_t3: 0.3548, total_t0: 1.4582, total_t1: 1.2557, total_t2: 1.1904, total_t3: 1.1466, total_t4: 1.1500, total: 8.3925, cam_bev_norm: 18.2891, sat_bev_norm: 11.0101, seg_sat: 0.8484, seg_dice_sat: 0.3672, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.6591, seg_dice_fused: 0.3168, cam_rel_mean: 0.2128, sat_rel_mean: 0.2102, cam_rel_min: 0.0028, sat_rel_min: 0.0026, grad_norm: 21.0473 2026-04-17 21:52:02,380 - mmdet - INFO - Iter [7200/55932] lr: 4.808e-05, eta: 1 day, 4:02:11, time: 2.060, data_time: 0.082, memory: 34634, seg: 0.8462, seg_dice: 0.3459, seg_t0: 1.0958, seg_dice_t0: 0.4236, seg_t1: 0.9103, seg_dice_t1: 0.3732, seg_t2: 0.8705, seg_dice_t2: 0.3589, seg_t3: 0.8576, seg_dice_t3: 0.3511, total_t0: 1.5193, total_t1: 1.2834, total_t2: 1.2294, total_t3: 1.2087, total_t4: 1.1921, total: 8.6397, cam_bev_norm: 18.2663, sat_bev_norm: 11.0807, seg_sat: 0.8784, seg_dice_sat: 0.3481, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.6833, seg_dice_fused: 0.2970, cam_rel_mean: 0.2065, sat_rel_mean: 0.2252, cam_rel_min: 0.0023, sat_rel_min: 0.0024, grad_norm: 24.3835 2026-04-17 21:53:46,344 - mmdet - INFO - Iter [7250/55932] lr: 4.806e-05, eta: 1 day, 4:00:30, time: 2.079, data_time: 0.083, memory: 34634, seg: 0.7999, seg_dice: 0.3491, seg_t0: 1.0725, seg_dice_t0: 0.4248, seg_t1: 0.8869, seg_dice_t1: 0.3749, seg_t2: 0.8326, seg_dice_t2: 0.3542, seg_t3: 0.8170, seg_dice_t3: 0.3533, total_t0: 1.4973, total_t1: 1.2618, total_t2: 1.1868, total_t3: 1.1703, total_t4: 1.1490, total: 8.5356, cam_bev_norm: 18.2985, sat_bev_norm: 10.9024, seg_sat: 0.9036, seg_dice_sat: 0.3689, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 0.6847, seg_dice_fused: 0.3131, cam_rel_mean: 0.2136, sat_rel_mean: 0.2188, cam_rel_min: 0.0021, sat_rel_min: 0.0033, grad_norm: 26.1178 2026-04-17 21:55:29,700 - mmdet - INFO - Iter [7300/55932] lr: 4.803e-05, eta: 1 day, 3:58:45, time: 2.067, data_time: 0.083, memory: 34634, seg: 0.8321, seg_dice: 0.3683, seg_t0: 1.1108, seg_dice_t0: 0.4424, seg_t1: 0.9120, seg_dice_t1: 0.3954, seg_t2: 0.8611, seg_dice_t2: 0.3785, seg_t3: 0.8547, seg_dice_t3: 0.3733, total_t0: 1.5533, total_t1: 1.3074, total_t2: 1.2396, total_t3: 1.2281, total_t4: 1.2004, total: 8.7853, cam_bev_norm: 18.2340, sat_bev_norm: 11.0101, seg_sat: 0.8688, seg_dice_sat: 0.3747, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.6874, seg_dice_fused: 0.3257, cam_rel_mean: 0.2041, sat_rel_mean: 0.2269, cam_rel_min: 0.0025, sat_rel_min: 0.0029, grad_norm: 24.1585 2026-04-17 21:57:12,754 - mmdet - INFO - Iter [7350/55932] lr: 4.801e-05, eta: 1 day, 3:56:58, time: 2.061, data_time: 0.085, memory: 34634, seg: 0.7863, seg_dice: 0.3495, seg_t0: 1.0458, seg_dice_t0: 0.4243, seg_t1: 0.8927, seg_dice_t1: 0.3792, seg_t2: 0.8070, seg_dice_t2: 0.3553, seg_t3: 0.7894, seg_dice_t3: 0.3471, total_t0: 1.4701, total_t1: 1.2719, total_t2: 1.1624, total_t3: 1.1364, total_t4: 1.1358, total: 8.4408, cam_bev_norm: 18.2658, sat_bev_norm: 10.9167, seg_sat: 0.9127, seg_dice_sat: 0.3764, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2400, seg_fused: 0.6629, seg_dice_fused: 0.3121, cam_rel_mean: 0.2072, sat_rel_mean: 0.2217, cam_rel_min: 0.0020, sat_rel_min: 0.0027, grad_norm: 21.5310 2026-04-17 21:58:55,834 - mmdet - INFO - Iter [7400/55932] lr: 4.798e-05, eta: 1 day, 3:55:11, time: 2.062, data_time: 0.083, memory: 34634, seg: 0.7913, seg_dice: 0.3579, seg_t0: 1.0674, seg_dice_t0: 0.4279, seg_t1: 0.9045, seg_dice_t1: 0.3866, seg_t2: 0.8464, seg_dice_t2: 0.3735, seg_t3: 0.8026, seg_dice_t3: 0.3596, total_t0: 1.4953, total_t1: 1.2912, total_t2: 1.2199, total_t3: 1.1623, total_t4: 1.1492, total: 8.6480, cam_bev_norm: 18.3568, sat_bev_norm: 11.0055, seg_sat: 0.9350, seg_dice_sat: 0.3884, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.6817, seg_dice_fused: 0.3250, cam_rel_mean: 0.2066, sat_rel_mean: 0.2301, cam_rel_min: 0.0028, sat_rel_min: 0.0030, grad_norm: 27.4663 2026-04-17 22:00:39,887 - mmdet - INFO - Iter [7450/55932] lr: 4.795e-05, eta: 1 day, 3:53:31, time: 2.081, data_time: 0.084, memory: 34634, seg: 0.8294, seg_dice: 0.3311, seg_t0: 1.0995, seg_dice_t0: 0.4211, seg_t1: 0.9437, seg_dice_t1: 0.3736, seg_t2: 0.8841, seg_dice_t2: 0.3522, seg_t3: 0.8522, seg_dice_t3: 0.3422, total_t0: 1.5206, total_t1: 1.3173, total_t2: 1.2364, total_t3: 1.1944, total_t4: 1.1605, total: 8.6713, cam_bev_norm: 18.2145, sat_bev_norm: 10.8762, seg_sat: 0.9025, seg_dice_sat: 0.3502, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1600, seg_fused: 0.6961, seg_dice_fused: 0.2934, cam_rel_mean: 0.1869, sat_rel_mean: 0.2330, cam_rel_min: 0.0039, sat_rel_min: 0.0024, grad_norm: 20.4922 2026-04-17 22:02:22,740 - mmdet - INFO - Iter [7500/55932] lr: 4.792e-05, eta: 1 day, 3:51:43, time: 2.057, data_time: 0.083, memory: 34634, seg: 0.7860, seg_dice: 0.3527, seg_t0: 1.0267, seg_dice_t0: 0.4221, seg_t1: 0.8411, seg_dice_t1: 0.3742, seg_t2: 0.7965, seg_dice_t2: 0.3602, seg_t3: 0.7748, seg_dice_t3: 0.3534, total_t0: 1.4488, total_t1: 1.2153, total_t2: 1.1567, total_t3: 1.1282, total_t4: 1.1387, total: 8.3856, cam_bev_norm: 18.1568, sat_bev_norm: 10.9142, seg_sat: 0.9183, seg_dice_sat: 0.3774, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.6855, seg_dice_fused: 0.3167, cam_rel_mean: 0.2041, sat_rel_mean: 0.2233, cam_rel_min: 0.0028, sat_rel_min: 0.0019, grad_norm: 22.9993 2026-04-17 22:04:05,699 - mmdet - INFO - Iter [7550/55932] lr: 4.790e-05, eta: 1 day, 3:49:56, time: 2.059, data_time: 0.081, memory: 34634, seg: 0.7842, seg_dice: 0.3596, seg_t0: 1.0520, seg_dice_t0: 0.4417, seg_t1: 0.8879, seg_dice_t1: 0.3986, seg_t2: 0.8265, seg_dice_t2: 0.3801, seg_t3: 0.7985, seg_dice_t3: 0.3648, total_t0: 1.4937, total_t1: 1.2864, total_t2: 1.2066, total_t3: 1.1633, total_t4: 1.1438, total: 8.5266, cam_bev_norm: 18.1422, sat_bev_norm: 10.9219, seg_sat: 0.8918, seg_dice_sat: 0.3757, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.6490, seg_dice_fused: 0.3162, cam_rel_mean: 0.2110, sat_rel_mean: 0.2129, cam_rel_min: 0.0016, sat_rel_min: 0.0022, grad_norm: 24.5675 2026-04-17 22:05:48,780 - mmdet - INFO - Iter [7600/55932] lr: 4.787e-05, eta: 1 day, 3:48:09, time: 2.061, data_time: 0.083, memory: 34634, seg: 0.7880, seg_dice: 0.3805, seg_t0: 1.0378, seg_dice_t0: 0.4529, seg_t1: 0.8542, seg_dice_t1: 0.4088, seg_t2: 0.8026, seg_dice_t2: 0.3961, seg_t3: 0.7677, seg_dice_t3: 0.3878, total_t0: 1.4906, total_t1: 1.2631, total_t2: 1.1987, total_t3: 1.1556, total_t4: 1.1685, total: 8.5285, cam_bev_norm: 18.1366, sat_bev_norm: 10.8481, seg_sat: 0.8709, seg_dice_sat: 0.3999, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0600, seg_fused: 0.6439, seg_dice_fused: 0.3374, cam_rel_mean: 0.2124, sat_rel_mean: 0.2295, cam_rel_min: 0.0017, sat_rel_min: 0.0015, grad_norm: 22.3331 2026-04-17 22:07:31,747 - mmdet - INFO - Iter [7650/55932] lr: 4.784e-05, eta: 1 day, 3:46:22, time: 2.059, data_time: 0.083, memory: 34634, seg: 0.7608, seg_dice: 0.3080, seg_t0: 1.0781, seg_dice_t0: 0.3951, seg_t1: 0.8877, seg_dice_t1: 0.3475, seg_t2: 0.8249, seg_dice_t2: 0.3294, seg_t3: 0.7910, seg_dice_t3: 0.3203, total_t0: 1.4732, total_t1: 1.2352, total_t2: 1.1543, total_t3: 1.1114, total_t4: 1.0688, total: 8.0497, cam_bev_norm: 18.2003, sat_bev_norm: 11.0706, seg_sat: 0.8067, seg_dice_sat: 0.3074, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.6330, seg_dice_fused: 0.2598, cam_rel_mean: 0.2145, sat_rel_mean: 0.2392, cam_rel_min: 0.0024, sat_rel_min: 0.0012, grad_norm: 23.2964 2026-04-17 22:09:15,373 - mmdet - INFO - Iter [7700/55932] lr: 4.781e-05, eta: 1 day, 3:44:39, time: 2.073, data_time: 0.083, memory: 34634, seg: 0.7864, seg_dice: 0.3454, seg_t0: 1.0605, seg_dice_t0: 0.4303, seg_t1: 0.8972, seg_dice_t1: 0.3820, seg_t2: 0.8303, seg_dice_t2: 0.3636, seg_t3: 0.8140, seg_dice_t3: 0.3516, total_t0: 1.4907, total_t1: 1.2792, total_t2: 1.1939, total_t3: 1.1655, total_t4: 1.1319, total: 8.4589, cam_bev_norm: 18.1210, sat_bev_norm: 10.9076, seg_sat: 0.8645, seg_dice_sat: 0.3622, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.6621, seg_dice_fused: 0.3089, cam_rel_mean: 0.2018, sat_rel_mean: 0.2360, cam_rel_min: 0.0027, sat_rel_min: 0.0013, grad_norm: 21.3652 2026-04-17 22:10:58,477 - mmdet - INFO - Iter [7750/55932] lr: 4.779e-05, eta: 1 day, 3:42:53, time: 2.062, data_time: 0.082, memory: 34634, seg: 0.7339, seg_dice: 0.3532, seg_t0: 0.9906, seg_dice_t0: 0.4366, seg_t1: 0.8420, seg_dice_t1: 0.3930, seg_t2: 0.7768, seg_dice_t2: 0.3719, seg_t3: 0.7447, seg_dice_t3: 0.3625, total_t0: 1.4273, total_t1: 1.2349, total_t2: 1.1487, total_t3: 1.1072, total_t4: 1.0871, total: 8.1285, cam_bev_norm: 18.1048, sat_bev_norm: 10.8544, seg_sat: 0.8253, seg_dice_sat: 0.3719, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.6131, seg_dice_fused: 0.3132, cam_rel_mean: 0.2103, sat_rel_mean: 0.2174, cam_rel_min: 0.0021, sat_rel_min: 0.0017, grad_norm: 24.7444 2026-04-17 22:12:41,494 - mmdet - INFO - Iter [7800/55932] lr: 4.776e-05, eta: 1 day, 3:41:06, time: 2.060, data_time: 0.083, memory: 34634, seg: 0.7411, seg_dice: 0.3372, seg_t0: 1.0485, seg_dice_t0: 0.4119, seg_t1: 0.8562, seg_dice_t1: 0.3587, seg_t2: 0.7841, seg_dice_t2: 0.3477, seg_t3: 0.7539, seg_dice_t3: 0.3379, total_t0: 1.4604, total_t1: 1.2150, total_t2: 1.1317, total_t3: 1.0918, total_t4: 1.0783, total: 8.0630, cam_bev_norm: 18.1651, sat_bev_norm: 10.9579, seg_sat: 0.8207, seg_dice_sat: 0.3508, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.6199, seg_dice_fused: 0.2944, cam_rel_mean: 0.1970, sat_rel_mean: 0.2280, cam_rel_min: 0.0024, sat_rel_min: 0.0018, grad_norm: 23.1088 2026-04-17 22:14:25,281 - mmdet - INFO - Iter [7850/55932] lr: 4.773e-05, eta: 1 day, 3:39:24, time: 2.076, data_time: 0.081, memory: 34634, seg: 0.8475, seg_dice: 0.3326, seg_t0: 1.0826, seg_dice_t0: 0.4275, seg_t1: 0.9086, seg_dice_t1: 0.3728, seg_t2: 0.8649, seg_dice_t2: 0.3492, seg_t3: 0.8532, seg_dice_t3: 0.3377, total_t0: 1.5102, total_t1: 1.2813, total_t2: 1.2141, total_t3: 1.1909, total_t4: 1.1801, total: 8.6744, cam_bev_norm: 18.1087, sat_bev_norm: 10.9002, seg_sat: 0.9461, seg_dice_sat: 0.3496, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.7127, seg_dice_fused: 0.2895, cam_rel_mean: 0.2007, sat_rel_mean: 0.2354, cam_rel_min: 0.0024, sat_rel_min: 0.0014, grad_norm: 24.9531 2026-04-17 22:16:08,481 - mmdet - INFO - Iter [7900/55932] lr: 4.770e-05, eta: 1 day, 3:37:38, time: 2.064, data_time: 0.084, memory: 34634, seg: 0.7668, seg_dice: 0.3456, seg_t0: 1.0393, seg_dice_t0: 0.4147, seg_t1: 0.8702, seg_dice_t1: 0.3704, seg_t2: 0.7909, seg_dice_t2: 0.3576, seg_t3: 0.7589, seg_dice_t3: 0.3434, total_t0: 1.4540, total_t1: 1.2406, total_t2: 1.1484, total_t3: 1.1023, total_t4: 1.1124, total: 8.1234, cam_bev_norm: 18.1190, sat_bev_norm: 10.9819, seg_sat: 0.7979, seg_dice_sat: 0.3469, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.6204, seg_dice_fused: 0.3005, cam_rel_mean: 0.2008, sat_rel_mean: 0.2200, cam_rel_min: 0.0024, sat_rel_min: 0.0019, grad_norm: 21.8765 2026-04-17 22:17:51,418 - mmdet - INFO - Iter [7950/55932] lr: 4.767e-05, eta: 1 day, 3:35:51, time: 2.059, data_time: 0.084, memory: 34634, seg: 0.7214, seg_dice: 0.3214, seg_t0: 0.9819, seg_dice_t0: 0.4071, seg_t1: 0.8061, seg_dice_t1: 0.3586, seg_t2: 0.7410, seg_dice_t2: 0.3421, seg_t3: 0.7217, seg_dice_t3: 0.3346, total_t0: 1.3891, total_t1: 1.1647, total_t2: 1.0831, total_t3: 1.0564, total_t4: 1.0429, total: 7.7447, cam_bev_norm: 18.2995, sat_bev_norm: 10.9445, seg_sat: 0.8075, seg_dice_sat: 0.3306, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.5931, seg_dice_fused: 0.2775, cam_rel_mean: 0.2160, sat_rel_mean: 0.2416, cam_rel_min: 0.0014, sat_rel_min: 0.0011, grad_norm: 24.6454 2026-04-17 22:19:34,212 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-17 22:19:34,214 - mmdet - INFO - Iter [8000/55932] lr: 4.764e-05, eta: 1 day, 3:34:03, time: 2.056, data_time: 0.082, memory: 34634, seg: 0.7686, seg_dice: 0.3509, seg_t0: 1.0211, seg_dice_t0: 0.4175, seg_t1: 0.8473, seg_dice_t1: 0.3769, seg_t2: 0.7994, seg_dice_t2: 0.3597, seg_t3: 0.7798, seg_dice_t3: 0.3546, total_t0: 1.4386, total_t1: 1.2242, total_t2: 1.1591, total_t3: 1.1345, total_t4: 1.1195, total: 8.1797, cam_bev_norm: 18.2309, sat_bev_norm: 10.9802, seg_sat: 0.8238, seg_dice_sat: 0.3632, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.6070, seg_dice_fused: 0.3099, cam_rel_mean: 0.2054, sat_rel_mean: 0.2330, cam_rel_min: 0.0023, sat_rel_min: 0.0013, grad_norm: 23.4764 2026-04-17 22:21:16,718 - mmdet - INFO - Iter [8050/55932] lr: 4.761e-05, eta: 1 day, 3:32:14, time: 2.050, data_time: 0.078, memory: 34634, seg: 0.7184, seg_dice: 0.3471, seg_t0: 1.0022, seg_dice_t0: 0.4309, seg_t1: 0.8304, seg_dice_t1: 0.3801, seg_t2: 0.7602, seg_dice_t2: 0.3608, seg_t3: 0.7306, seg_dice_t3: 0.3511, total_t0: 1.4331, total_t1: 1.2105, total_t2: 1.1210, total_t3: 1.0817, total_t4: 1.0655, total: 7.9668, cam_bev_norm: 18.1014, sat_bev_norm: 10.9039, seg_sat: 0.8058, seg_dice_sat: 0.3634, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.5819, seg_dice_fused: 0.3038, cam_rel_mean: 0.2006, sat_rel_mean: 0.2165, cam_rel_min: 0.0021, sat_rel_min: 0.0020, grad_norm: 22.6019 2026-04-17 22:22:58,950 - mmdet - INFO - Iter [8100/55932] lr: 4.758e-05, eta: 1 day, 3:30:23, time: 2.045, data_time: 0.079, memory: 34634, seg: 0.7770, seg_dice: 0.3375, seg_t0: 1.0104, seg_dice_t0: 0.4008, seg_t1: 0.8408, seg_dice_t1: 0.3564, seg_t2: 0.8043, seg_dice_t2: 0.3445, seg_t3: 0.7831, seg_dice_t3: 0.3385, total_t0: 1.4112, total_t1: 1.1972, total_t2: 1.1487, total_t3: 1.1216, total_t4: 1.1145, total: 7.9874, cam_bev_norm: 18.1231, sat_bev_norm: 11.0428, seg_sat: 0.7664, seg_dice_sat: 0.3337, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.6072, seg_dice_fused: 0.2869, cam_rel_mean: 0.2128, sat_rel_mean: 0.2230, cam_rel_min: 0.0016, sat_rel_min: 0.0023, grad_norm: 23.1174 2026-04-17 22:24:41,363 - mmdet - INFO - Iter [8150/55932] lr: 4.756e-05, eta: 1 day, 3:28:33, time: 2.048, data_time: 0.080, memory: 34634, seg: 0.7435, seg_dice: 0.3612, seg_t0: 0.9898, seg_dice_t0: 0.4130, seg_t1: 0.8292, seg_dice_t1: 0.3739, seg_t2: 0.7718, seg_dice_t2: 0.3635, seg_t3: 0.7387, seg_dice_t3: 0.3618, total_t0: 1.4028, total_t1: 1.2031, total_t2: 1.1352, total_t3: 1.1005, total_t4: 1.1047, total: 8.0842, cam_bev_norm: 18.0762, sat_bev_norm: 10.8784, seg_sat: 0.8135, seg_dice_sat: 0.3756, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.6226, seg_dice_fused: 0.3262, cam_rel_mean: 0.1986, sat_rel_mean: 0.2113, cam_rel_min: 0.0026, sat_rel_min: 0.0025, grad_norm: 23.8732 2026-04-17 22:26:24,895 - mmdet - INFO - Iter [8200/55932] lr: 4.753e-05, eta: 1 day, 3:26:49, time: 2.071, data_time: 0.083, memory: 34634, seg: 0.7481, seg_dice: 0.3266, seg_t0: 1.0082, seg_dice_t0: 0.4034, seg_t1: 0.8434, seg_dice_t1: 0.3609, seg_t2: 0.7904, seg_dice_t2: 0.3425, seg_t3: 0.7600, seg_dice_t3: 0.3289, total_t0: 1.4116, total_t1: 1.2043, total_t2: 1.1329, total_t3: 1.0889, total_t4: 1.0747, total: 8.0428, cam_bev_norm: 18.1619, sat_bev_norm: 11.0294, seg_sat: 0.8550, seg_dice_sat: 0.3444, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.6398, seg_dice_fused: 0.2912, cam_rel_mean: 0.1987, sat_rel_mean: 0.2243, cam_rel_min: 0.0026, sat_rel_min: 0.0019, grad_norm: 23.5123 2026-04-17 22:28:08,201 - mmdet - INFO - Iter [8250/55932] lr: 4.750e-05, eta: 1 day, 3:25:05, time: 2.066, data_time: 0.087, memory: 34634, seg: 0.7346, seg_dice: 0.3408, seg_t0: 0.9908, seg_dice_t0: 0.4117, seg_t1: 0.8207, seg_dice_t1: 0.3679, seg_t2: 0.7749, seg_dice_t2: 0.3559, seg_t3: 0.7547, seg_dice_t3: 0.3464, total_t0: 1.4024, total_t1: 1.1886, total_t2: 1.1307, total_t3: 1.1011, total_t4: 1.0754, total: 7.9236, cam_bev_norm: 18.0267, sat_bev_norm: 10.9903, seg_sat: 0.7826, seg_dice_sat: 0.3568, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.5859, seg_dice_fused: 0.3001, cam_rel_mean: 0.2198, sat_rel_mean: 0.2192, cam_rel_min: 0.0015, sat_rel_min: 0.0018, grad_norm: 20.9783 2026-04-17 22:29:51,204 - mmdet - INFO - Iter [8300/55932] lr: 4.747e-05, eta: 1 day, 3:23:18, time: 2.060, data_time: 0.085, memory: 34634, seg: 0.7552, seg_dice: 0.3281, seg_t0: 1.0412, seg_dice_t0: 0.3951, seg_t1: 0.8452, seg_dice_t1: 0.3497, seg_t2: 0.8063, seg_dice_t2: 0.3361, seg_t3: 0.7873, seg_dice_t3: 0.3304, total_t0: 1.4362, total_t1: 1.1949, total_t2: 1.1424, total_t3: 1.1177, total_t4: 1.0833, total: 8.0378, cam_bev_norm: 18.0611, sat_bev_norm: 10.9008, seg_sat: 0.8137, seg_dice_sat: 0.3336, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.6262, seg_dice_fused: 0.2898, cam_rel_mean: 0.2018, sat_rel_mean: 0.2273, cam_rel_min: 0.0022, sat_rel_min: 0.0015, grad_norm: 23.0846 2026-04-17 22:31:35,227 - mmdet - INFO - Iter [8350/55932] lr: 4.744e-05, eta: 1 day, 3:21:38, time: 2.081, data_time: 0.083, memory: 34634, seg: 0.7450, seg_dice: 0.3403, seg_t0: 0.9979, seg_dice_t0: 0.4135, seg_t1: 0.8361, seg_dice_t1: 0.3679, seg_t2: 0.7735, seg_dice_t2: 0.3519, seg_t3: 0.7551, seg_dice_t3: 0.3464, total_t0: 1.4113, total_t1: 1.2041, total_t2: 1.1254, total_t3: 1.1015, total_t4: 1.0853, total: 7.9670, cam_bev_norm: 18.0622, sat_bev_norm: 10.9512, seg_sat: 0.7760, seg_dice_sat: 0.3450, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2600, seg_fused: 0.6190, seg_dice_fused: 0.2994, cam_rel_mean: 0.1995, sat_rel_mean: 0.2216, cam_rel_min: 0.0018, sat_rel_min: 0.0015, grad_norm: 23.1286 2026-04-17 22:33:18,126 - mmdet - INFO - Iter [8400/55932] lr: 4.741e-05, eta: 1 day, 3:19:51, time: 2.058, data_time: 0.085, memory: 34634, seg: 0.7144, seg_dice: 0.3393, seg_t0: 0.9652, seg_dice_t0: 0.4013, seg_t1: 0.8106, seg_dice_t1: 0.3571, seg_t2: 0.7567, seg_dice_t2: 0.3427, seg_t3: 0.7280, seg_dice_t3: 0.3458, total_t0: 1.3666, total_t1: 1.1677, total_t2: 1.0994, total_t3: 1.0738, total_t4: 1.0536, total: 7.8327, cam_bev_norm: 18.0208, sat_bev_norm: 10.9674, seg_sat: 0.8310, seg_dice_sat: 0.3624, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.5790, seg_dice_fused: 0.2994, cam_rel_mean: 0.1977, sat_rel_mean: 0.2157, cam_rel_min: 0.0017, sat_rel_min: 0.0025, grad_norm: 23.5980 2026-04-17 22:35:01,135 - mmdet - INFO - Iter [8450/55932] lr: 4.738e-05, eta: 1 day, 3:18:04, time: 2.060, data_time: 0.082, memory: 34634, seg: 0.7716, seg_dice: 0.3506, seg_t0: 1.0310, seg_dice_t0: 0.4195, seg_t1: 0.8410, seg_dice_t1: 0.3736, seg_t2: 0.7867, seg_dice_t2: 0.3566, seg_t3: 0.7580, seg_dice_t3: 0.3456, total_t0: 1.4506, total_t1: 1.2146, total_t2: 1.1433, total_t3: 1.1036, total_t4: 1.1222, total: 8.1879, cam_bev_norm: 18.0457, sat_bev_norm: 10.7840, seg_sat: 0.8642, seg_dice_sat: 0.3739, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.6086, seg_dice_fused: 0.3069, cam_rel_mean: 0.2100, sat_rel_mean: 0.2348, cam_rel_min: 0.0013, sat_rel_min: 0.0017, grad_norm: 24.0877 2026-04-17 22:36:44,303 - mmdet - INFO - Iter [8500/55932] lr: 4.734e-05, eta: 1 day, 3:16:19, time: 2.063, data_time: 0.085, memory: 34634, seg: 0.7545, seg_dice: 0.3643, seg_t0: 1.0399, seg_dice_t0: 0.4359, seg_t1: 0.8546, seg_dice_t1: 0.3910, seg_t2: 0.7869, seg_dice_t2: 0.3704, seg_t3: 0.7727, seg_dice_t3: 0.3636, total_t0: 1.4757, total_t1: 1.2456, total_t2: 1.1572, total_t3: 1.1363, total_t4: 1.1189, total: 8.2990, cam_bev_norm: 17.9820, sat_bev_norm: 10.8818, seg_sat: 0.8455, seg_dice_sat: 0.3793, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.6167, seg_dice_fused: 0.3237, cam_rel_mean: 0.1992, sat_rel_mean: 0.2377, cam_rel_min: 0.0023, sat_rel_min: 0.0020, grad_norm: 24.0432 2026-04-17 22:38:27,180 - mmdet - INFO - Iter [8550/55932] lr: 4.731e-05, eta: 1 day, 3:14:32, time: 2.057, data_time: 0.083, memory: 34634, seg: 0.7915, seg_dice: 0.3423, seg_t0: 1.0658, seg_dice_t0: 0.4172, seg_t1: 0.8837, seg_dice_t1: 0.3620, seg_t2: 0.8232, seg_dice_t2: 0.3474, seg_t3: 0.7872, seg_dice_t3: 0.3436, total_t0: 1.4830, total_t1: 1.2457, total_t2: 1.1707, total_t3: 1.1308, total_t4: 1.1338, total: 8.2661, cam_bev_norm: 18.0639, sat_bev_norm: 10.9588, seg_sat: 0.8255, seg_dice_sat: 0.3521, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.6274, seg_dice_fused: 0.2971, cam_rel_mean: 0.2048, sat_rel_mean: 0.2271, cam_rel_min: 0.0013, sat_rel_min: 0.0023, grad_norm: 27.7753 2026-04-17 22:40:09,771 - mmdet - INFO - Iter [8600/55932] lr: 4.728e-05, eta: 1 day, 3:12:44, time: 2.052, data_time: 0.082, memory: 34634, seg: 0.7096, seg_dice: 0.3286, seg_t0: 0.9770, seg_dice_t0: 0.4107, seg_t1: 0.7941, seg_dice_t1: 0.3588, seg_t2: 0.7186, seg_dice_t2: 0.3335, seg_t3: 0.7172, seg_dice_t3: 0.3255, total_t0: 1.3877, total_t1: 1.1528, total_t2: 1.0521, total_t3: 1.0427, total_t4: 1.0382, total: 7.5488, cam_bev_norm: 17.9802, sat_bev_norm: 11.0356, seg_sat: 0.7142, seg_dice_sat: 0.3234, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.3000, seg_fused: 0.5583, seg_dice_fused: 0.2794, cam_rel_mean: 0.2044, sat_rel_mean: 0.2014, cam_rel_min: 0.0007, sat_rel_min: 0.0029, grad_norm: 24.6029 2026-04-17 22:41:53,177 - mmdet - INFO - Iter [8650/55932] lr: 4.725e-05, eta: 1 day, 3:11:00, time: 2.068, data_time: 0.079, memory: 34634, seg: 0.7530, seg_dice: 0.3232, seg_t0: 1.0381, seg_dice_t0: 0.4008, seg_t1: 0.8823, seg_dice_t1: 0.3533, seg_t2: 0.8088, seg_dice_t2: 0.3297, seg_t3: 0.7609, seg_dice_t3: 0.3190, total_t0: 1.4389, total_t1: 1.2355, total_t2: 1.1386, total_t3: 1.0798, total_t4: 1.0763, total: 7.9568, cam_bev_norm: 17.9013, sat_bev_norm: 10.9013, seg_sat: 0.7784, seg_dice_sat: 0.3240, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.6042, seg_dice_fused: 0.2812, cam_rel_mean: 0.2001, sat_rel_mean: 0.2214, cam_rel_min: 0.0016, sat_rel_min: 0.0013, grad_norm: 25.4761 2026-04-17 22:43:35,657 - mmdet - INFO - Iter [8700/55932] lr: 4.722e-05, eta: 1 day, 3:09:11, time: 2.050, data_time: 0.081, memory: 34634, seg: 0.7304, seg_dice: 0.3365, seg_t0: 0.9548, seg_dice_t0: 0.4017, seg_t1: 0.8238, seg_dice_t1: 0.3537, seg_t2: 0.7696, seg_dice_t2: 0.3375, seg_t3: 0.7577, seg_dice_t3: 0.3373, total_t0: 1.3565, total_t1: 1.1775, total_t2: 1.1071, total_t3: 1.0951, total_t4: 1.0669, total: 7.7971, cam_bev_norm: 17.9331, sat_bev_norm: 10.9679, seg_sat: 0.7765, seg_dice_sat: 0.3425, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.5831, seg_dice_fused: 0.2919, cam_rel_mean: 0.1992, sat_rel_mean: 0.2250, cam_rel_min: 0.0016, sat_rel_min: 0.0006, grad_norm: 21.6041 2026-04-17 22:45:18,988 - mmdet - INFO - Iter [8750/55932] lr: 4.719e-05, eta: 1 day, 3:07:27, time: 2.067, data_time: 0.086, memory: 34634, seg: 0.7753, seg_dice: 0.3323, seg_t0: 1.1006, seg_dice_t0: 0.4056, seg_t1: 0.8985, seg_dice_t1: 0.3516, seg_t2: 0.8320, seg_dice_t2: 0.3366, seg_t3: 0.8031, seg_dice_t3: 0.3330, total_t0: 1.5062, total_t1: 1.2501, total_t2: 1.1686, total_t3: 1.1362, total_t4: 1.1076, total: 8.2404, cam_bev_norm: 17.8320, sat_bev_norm: 10.8655, seg_sat: 0.8150, seg_dice_sat: 0.3360, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.6315, seg_dice_fused: 0.2892, cam_rel_mean: 0.2181, sat_rel_mean: 0.2290, cam_rel_min: 0.0011, sat_rel_min: 0.0017, grad_norm: 25.1096 2026-04-17 22:47:03,079 - mmdet - INFO - Iter [8800/55932] lr: 4.716e-05, eta: 1 day, 3:05:46, time: 2.082, data_time: 0.086, memory: 34634, seg: 0.7526, seg_dice: 0.3497, seg_t0: 1.0649, seg_dice_t0: 0.4357, seg_t1: 0.8840, seg_dice_t1: 0.3875, seg_t2: 0.8084, seg_dice_t2: 0.3681, seg_t3: 0.7739, seg_dice_t3: 0.3578, total_t0: 1.5006, total_t1: 1.2715, total_t2: 1.1765, total_t3: 1.1317, total_t4: 1.1024, total: 8.2703, cam_bev_norm: 17.7784, sat_bev_norm: 10.9581, seg_sat: 0.8109, seg_dice_sat: 0.3540, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.6190, seg_dice_fused: 0.3038, cam_rel_mean: 0.1979, sat_rel_mean: 0.2334, cam_rel_min: 0.0018, sat_rel_min: 0.0010, grad_norm: 25.4257 2026-04-17 22:48:46,481 - mmdet - INFO - Iter [8850/55932] lr: 4.713e-05, eta: 1 day, 3:04:02, time: 2.068, data_time: 0.085, memory: 34634, seg: 0.7571, seg_dice: 0.3320, seg_t0: 1.0239, seg_dice_t0: 0.3995, seg_t1: 0.8377, seg_dice_t1: 0.3521, seg_t2: 0.7711, seg_dice_t2: 0.3357, seg_t3: 0.7503, seg_dice_t3: 0.3321, total_t0: 1.4233, total_t1: 1.1898, total_t2: 1.1069, total_t3: 1.0824, total_t4: 1.0891, total: 7.9669, cam_bev_norm: 17.8876, sat_bev_norm: 10.9072, seg_sat: 0.8165, seg_dice_sat: 0.3434, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.6223, seg_dice_fused: 0.2932, cam_rel_mean: 0.1998, sat_rel_mean: 0.2293, cam_rel_min: 0.0021, sat_rel_min: 0.0015, grad_norm: 22.4349 2026-04-17 22:50:29,665 - mmdet - INFO - Iter [8900/55932] lr: 4.709e-05, eta: 1 day, 3:02:17, time: 2.064, data_time: 0.084, memory: 34634, seg: 0.6776, seg_dice: 0.3444, seg_t0: 0.9308, seg_dice_t0: 0.4088, seg_t1: 0.7461, seg_dice_t1: 0.3672, seg_t2: 0.7146, seg_dice_t2: 0.3504, seg_t3: 0.6901, seg_dice_t3: 0.3465, total_t0: 1.3396, total_t1: 1.1133, total_t2: 1.0650, total_t3: 1.0366, total_t4: 1.0220, total: 7.6674, cam_bev_norm: 17.8751, sat_bev_norm: 10.8152, seg_sat: 0.8237, seg_dice_sat: 0.3724, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 0.5811, seg_dice_fused: 0.3138, cam_rel_mean: 0.2074, sat_rel_mean: 0.2221, cam_rel_min: 0.0013, sat_rel_min: 0.0022, grad_norm: 21.8340 2026-04-17 22:52:12,650 - mmdet - INFO - Iter [8950/55932] lr: 4.706e-05, eta: 1 day, 3:00:31, time: 2.060, data_time: 0.082, memory: 34634, seg: 0.7119, seg_dice: 0.3419, seg_t0: 0.9823, seg_dice_t0: 0.4112, seg_t1: 0.7994, seg_dice_t1: 0.3659, seg_t2: 0.7541, seg_dice_t2: 0.3517, seg_t3: 0.7276, seg_dice_t3: 0.3423, total_t0: 1.3935, total_t1: 1.1653, total_t2: 1.1058, total_t3: 1.0699, total_t4: 1.0538, total: 7.7603, cam_bev_norm: 17.8152, sat_bev_norm: 10.8908, seg_sat: 0.7730, seg_dice_sat: 0.3509, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.5508, seg_dice_fused: 0.2972, cam_rel_mean: 0.2087, sat_rel_mean: 0.2267, cam_rel_min: 0.0012, sat_rel_min: 0.0017, grad_norm: 22.2343 2026-04-17 22:53:54,720 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-17 22:53:54,721 - mmdet - INFO - Iter [9000/55932] lr: 4.703e-05, eta: 1 day, 2:58:41, time: 2.041, data_time: 0.078, memory: 34634, seg: 0.6857, seg_dice: 0.3512, seg_t0: 0.9607, seg_dice_t0: 0.4195, seg_t1: 0.7675, seg_dice_t1: 0.3692, seg_t2: 0.7238, seg_dice_t2: 0.3585, seg_t3: 0.6813, seg_dice_t3: 0.3513, total_t0: 1.3802, total_t1: 1.1368, total_t2: 1.0823, total_t3: 1.0325, total_t4: 1.0369, total: 7.6865, cam_bev_norm: 17.8555, sat_bev_norm: 10.8769, seg_sat: 0.7486, seg_dice_sat: 0.3611, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.5919, seg_dice_fused: 0.3162, cam_rel_mean: 0.1911, sat_rel_mean: 0.2136, cam_rel_min: 0.0022, sat_rel_min: 0.0022, grad_norm: 20.3249 2026-04-17 22:55:38,204 - mmdet - INFO - Iter [9050/55932] lr: 4.700e-05, eta: 1 day, 2:56:57, time: 2.070, data_time: 0.081, memory: 34634, seg: 0.7629, seg_dice: 0.3482, seg_t0: 1.0068, seg_dice_t0: 0.4237, seg_t1: 0.8462, seg_dice_t1: 0.3803, seg_t2: 0.7899, seg_dice_t2: 0.3633, seg_t3: 0.7636, seg_dice_t3: 0.3539, total_t0: 1.4305, total_t1: 1.2264, total_t2: 1.1532, total_t3: 1.1175, total_t4: 1.1110, total: 8.0745, cam_bev_norm: 17.8100, sat_bev_norm: 10.9029, seg_sat: 0.7845, seg_dice_sat: 0.3470, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 0.6029, seg_dice_fused: 0.3013, cam_rel_mean: 0.1970, sat_rel_mean: 0.2329, cam_rel_min: 0.0023, sat_rel_min: 0.0007, grad_norm: 22.5641 2026-04-17 22:57:22,582 - mmdet - INFO - Iter [9100/55932] lr: 4.697e-05, eta: 1 day, 2:55:18, time: 2.088, data_time: 0.083, memory: 34634, seg: 0.7708, seg_dice: 0.3188, seg_t0: 0.9502, seg_dice_t0: 0.3931, seg_t1: 0.8007, seg_dice_t1: 0.3457, seg_t2: 0.7694, seg_dice_t2: 0.3286, seg_t3: 0.7581, seg_dice_t3: 0.3210, total_t0: 1.3433, total_t1: 1.1464, total_t2: 1.0980, total_t3: 1.0791, total_t4: 1.0896, total: 7.7016, cam_bev_norm: 17.8138, sat_bev_norm: 11.0053, seg_sat: 0.7762, seg_dice_sat: 0.3132, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1800, seg_fused: 0.5888, seg_dice_fused: 0.2670, cam_rel_mean: 0.2251, sat_rel_mean: 0.2350, cam_rel_min: 0.0009, sat_rel_min: 0.0010, grad_norm: 20.0966 2026-04-17 22:59:05,832 - mmdet - INFO - Iter [9150/55932] lr: 4.693e-05, eta: 1 day, 2:53:34, time: 2.065, data_time: 0.085, memory: 34634, seg: 0.7094, seg_dice: 0.3358, seg_t0: 0.9968, seg_dice_t0: 0.4067, seg_t1: 0.8342, seg_dice_t1: 0.3605, seg_t2: 0.7739, seg_dice_t2: 0.3476, seg_t3: 0.7465, seg_dice_t3: 0.3402, total_t0: 1.4035, total_t1: 1.1947, total_t2: 1.1214, total_t3: 1.0867, total_t4: 1.0452, total: 7.7103, cam_bev_norm: 17.6751, sat_bev_norm: 10.9270, seg_sat: 0.6998, seg_dice_sat: 0.3285, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.5461, seg_dice_fused: 0.2844, cam_rel_mean: 0.1996, sat_rel_mean: 0.2155, cam_rel_min: 0.0011, sat_rel_min: 0.0011, grad_norm: 21.9095 2026-04-17 23:00:49,230 - mmdet - INFO - Iter [9200/55932] lr: 4.690e-05, eta: 1 day, 2:51:50, time: 2.068, data_time: 0.084, memory: 34634, seg: 0.7532, seg_dice: 0.3262, seg_t0: 1.0758, seg_dice_t0: 0.4165, seg_t1: 0.8687, seg_dice_t1: 0.3617, seg_t2: 0.7982, seg_dice_t2: 0.3422, seg_t3: 0.7533, seg_dice_t3: 0.3272, total_t0: 1.4922, total_t1: 1.2304, total_t2: 1.1404, total_t3: 1.0805, total_t4: 1.0794, total: 7.9153, cam_bev_norm: 17.6724, sat_bev_norm: 10.9043, seg_sat: 0.7363, seg_dice_sat: 0.3141, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.5728, seg_dice_fused: 0.2692, cam_rel_mean: 0.2093, sat_rel_mean: 0.2251, cam_rel_min: 0.0013, sat_rel_min: 0.0008, grad_norm: 22.4874 2026-04-17 23:02:33,559 - mmdet - INFO - Iter [9250/55932] lr: 4.687e-05, eta: 1 day, 2:50:11, time: 2.087, data_time: 0.083, memory: 34634, seg: 0.7214, seg_dice: 0.3424, seg_t0: 0.9884, seg_dice_t0: 0.4150, seg_t1: 0.8269, seg_dice_t1: 0.3664, seg_t2: 0.7706, seg_dice_t2: 0.3494, seg_t3: 0.7374, seg_dice_t3: 0.3454, total_t0: 1.4034, total_t1: 1.1933, total_t2: 1.1199, total_t3: 1.0828, total_t4: 1.0638, total: 7.9311, cam_bev_norm: 17.7338, sat_bev_norm: 10.8252, seg_sat: 0.8114, seg_dice_sat: 0.3597, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.5926, seg_dice_fused: 0.3042, cam_rel_mean: 0.1851, sat_rel_mean: 0.2249, cam_rel_min: 0.0022, sat_rel_min: 0.0010, grad_norm: 21.9272 2026-04-17 23:04:16,818 - mmdet - INFO - Iter [9300/55932] lr: 4.683e-05, eta: 1 day, 2:48:26, time: 2.065, data_time: 0.085, memory: 34634, seg: 0.7190, seg_dice: 0.3266, seg_t0: 0.9836, seg_dice_t0: 0.4009, seg_t1: 0.8176, seg_dice_t1: 0.3535, seg_t2: 0.7519, seg_dice_t2: 0.3324, seg_t3: 0.7142, seg_dice_t3: 0.3265, total_t0: 1.3845, total_t1: 1.1712, total_t2: 1.0843, total_t3: 1.0408, total_t4: 1.0457, total: 7.5663, cam_bev_norm: 17.7308, sat_bev_norm: 10.9968, seg_sat: 0.6923, seg_dice_sat: 0.3207, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.5462, seg_dice_fused: 0.2807, cam_rel_mean: 0.2097, sat_rel_mean: 0.2301, cam_rel_min: 0.0014, sat_rel_min: 0.0008, grad_norm: 23.2759 2026-04-17 23:05:01,551 - mmdet - INFO - Saving checkpoint at 9322 iterations 2026-04-17 23:14:44,004 - mmdet - INFO - +-----+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +-----+--------------+---------+----------+--------+ | IoU | 0.7458 | 0.6093 | 0.6362 | 0.6638 | +-----+--------------+---------+----------+--------+ 2026-04-17 23:14:44,005 - mmdet - INFO - mIoU = 0.6638 2026-04-17 23:15:00,538 - mmdet - INFO - +---------+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +---------+--------------+---------+----------+--------+ | IoU_cam | 0.5461 | 0.5166 | 0.5587 | 0.5405 | | IoU_sat | 0.7409 | 0.5481 | 0.5201 | 0.603 | +---------+--------------+---------+----------+--------+ 2026-04-17 23:15:00,538 - mmdet - INFO - mIoU_cam = 0.5405 2026-04-17 23:15:00,539 - mmdet - INFO - mIoU_sat = 0.6030 2026-04-17 23:15:30,302 - mmdet - INFO - Logged 8 GT vs Pred visualizations to wandb 2026-04-17 23:15:31,339 - mmdet - INFO - Iter(val) [3010] ped_crossing: 0.7458, divider: 0.6093, boundary: 0.6362, mIoU: 0.6638, mIoU_cam: 0.5405, ped_crossing_cam: 0.5461, divider_cam: 0.5166, boundary_cam: 0.5587, mIoU_sat: 0.6030, ped_crossing_sat: 0.7409, divider_sat: 0.5481, boundary_sat: 0.5201 2026-04-17 23:17:39,250 - mmdet - INFO - Iter [9350/55932] lr: 4.680e-05, eta: 1 day, 4:30:13, time: 27.003, data_time: 25.025, memory: 34634, seg: 0.6756, seg_dice: 0.3454, seg_t0: 0.9555, seg_dice_t0: 0.4120, seg_t1: 0.7871, seg_dice_t1: 0.3683, seg_t2: 0.7187, seg_dice_t2: 0.3565, seg_t3: 0.6900, seg_dice_t3: 0.3471, total_t0: 1.3675, total_t1: 1.1554, total_t2: 1.0752, total_t3: 1.0371, total_t4: 1.0210, total: 7.5209, cam_bev_norm: 17.6567, sat_bev_norm: 10.9562, seg_sat: 0.7010, seg_dice_sat: 0.3434, mask_cam_zeroed: 0.0714, mask_cam_noised: 0.2500, seg_fused: 0.5233, seg_dice_fused: 0.2970, cam_rel_mean: 0.2011, sat_rel_mean: 0.2286, cam_rel_min: 0.0012, sat_rel_min: 0.0003, grad_norm: 22.5879 2026-04-17 23:19:22,168 - mmdet - INFO - Iter [9400/55932] lr: 4.677e-05, eta: 1 day, 4:27:48, time: 2.058, data_time: 0.080, memory: 34634, seg: 0.7165, seg_dice: 0.3302, seg_t0: 0.9899, seg_dice_t0: 0.4066, seg_t1: 0.8057, seg_dice_t1: 0.3559, seg_t2: 0.7554, seg_dice_t2: 0.3428, seg_t3: 0.7282, seg_dice_t3: 0.3353, total_t0: 1.3965, total_t1: 1.1616, total_t2: 1.0982, total_t3: 1.0635, total_t4: 1.0467, total: 7.6319, cam_bev_norm: 17.6699, sat_bev_norm: 10.9862, seg_sat: 0.6945, seg_dice_sat: 0.3204, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1000, seg_fused: 0.5640, seg_dice_fused: 0.2864, cam_rel_mean: 0.2139, sat_rel_mean: 0.2129, cam_rel_min: 0.0008, sat_rel_min: 0.0016, grad_norm: 21.0499 2026-04-17 23:21:04,570 - mmdet - INFO - Iter [9450/55932] lr: 4.673e-05, eta: 1 day, 4:25:20, time: 2.048, data_time: 0.077, memory: 34634, seg: 0.7061, seg_dice: 0.3324, seg_t0: 0.9584, seg_dice_t0: 0.4027, seg_t1: 0.8023, seg_dice_t1: 0.3625, seg_t2: 0.7340, seg_dice_t2: 0.3419, seg_t3: 0.7197, seg_dice_t3: 0.3359, total_t0: 1.3611, total_t1: 1.1648, total_t2: 1.0759, total_t3: 1.0555, total_t4: 1.0385, total: 7.7589, cam_bev_norm: 17.6803, sat_bev_norm: 10.8220, seg_sat: 0.8042, seg_dice_sat: 0.3511, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1600, seg_fused: 0.6075, seg_dice_fused: 0.3003, cam_rel_mean: 0.1913, sat_rel_mean: 0.2297, cam_rel_min: 0.0025, sat_rel_min: 0.0007, grad_norm: 19.9602 2026-04-17 23:22:47,196 - mmdet - INFO - Iter [9500/55932] lr: 4.670e-05, eta: 1 day, 4:22:53, time: 2.053, data_time: 0.075, memory: 34634, seg: 0.6468, seg_dice: 0.3210, seg_t0: 0.8866, seg_dice_t0: 0.3912, seg_t1: 0.7403, seg_dice_t1: 0.3452, seg_t2: 0.6907, seg_dice_t2: 0.3319, seg_t3: 0.6647, seg_dice_t3: 0.3312, total_t0: 1.2778, total_t1: 1.0854, total_t2: 1.0227, total_t3: 0.9959, total_t4: 0.9678, total: 7.1509, cam_bev_norm: 17.7897, sat_bev_norm: 10.9115, seg_sat: 0.6822, seg_dice_sat: 0.3257, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2200, seg_fused: 0.5110, seg_dice_fused: 0.2825, cam_rel_mean: 0.2026, sat_rel_mean: 0.2233, cam_rel_min: 0.0012, sat_rel_min: 0.0011, grad_norm: 19.5622 2026-04-17 23:24:30,205 - mmdet - INFO - Iter [9550/55932] lr: 4.667e-05, eta: 1 day, 4:20:29, time: 2.060, data_time: 0.079, memory: 34634, seg: 0.7143, seg_dice: 0.3145, seg_t0: 1.0204, seg_dice_t0: 0.3990, seg_t1: 0.8288, seg_dice_t1: 0.3483, seg_t2: 0.7438, seg_dice_t2: 0.3257, seg_t3: 0.7180, seg_dice_t3: 0.3197, total_t0: 1.4195, total_t1: 1.1771, total_t2: 1.0695, total_t3: 1.0377, total_t4: 1.0288, total: 7.6657, cam_bev_norm: 17.6841, sat_bev_norm: 10.8803, seg_sat: 0.7474, seg_dice_sat: 0.3124, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.6024, seg_dice_fused: 0.2709, cam_rel_mean: 0.2015, sat_rel_mean: 0.2103, cam_rel_min: 0.0015, sat_rel_min: 0.0025, grad_norm: 21.2464 2026-04-17 23:26:13,263 - mmdet - INFO - Iter [9600/55932] lr: 4.663e-05, eta: 1 day, 4:18:06, time: 2.061, data_time: 0.075, memory: 34634, seg: 0.7411, seg_dice: 0.3482, seg_t0: 0.9740, seg_dice_t0: 0.4171, seg_t1: 0.8120, seg_dice_t1: 0.3745, seg_t2: 0.7633, seg_dice_t2: 0.3540, seg_t3: 0.7586, seg_dice_t3: 0.3498, total_t0: 1.3911, total_t1: 1.1865, total_t2: 1.1173, total_t3: 1.1084, total_t4: 1.0893, total: 7.9325, cam_bev_norm: 17.6445, sat_bev_norm: 10.8848, seg_sat: 0.7781, seg_dice_sat: 0.3477, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0600, seg_fused: 0.6065, seg_dice_fused: 0.3076, cam_rel_mean: 0.1973, sat_rel_mean: 0.2237, cam_rel_min: 0.0023, sat_rel_min: 0.0012, grad_norm: 24.0610 2026-04-17 23:27:55,886 - mmdet - INFO - Iter [9650/55932] lr: 4.660e-05, eta: 1 day, 4:15:40, time: 2.053, data_time: 0.074, memory: 34634, seg: 0.6605, seg_dice: 0.3098, seg_t0: 0.9515, seg_dice_t0: 0.3838, seg_t1: 0.7521, seg_dice_t1: 0.3335, seg_t2: 0.6923, seg_dice_t2: 0.3166, seg_t3: 0.6764, seg_dice_t3: 0.3128, total_t0: 1.3353, total_t1: 1.0856, total_t2: 1.0088, total_t3: 0.9892, total_t4: 0.9703, total: 7.1046, cam_bev_norm: 17.6494, sat_bev_norm: 11.0564, seg_sat: 0.6396, seg_dice_sat: 0.2987, mask_cam_zeroed: 0.2400, mask_cam_noised: 0.1000, seg_fused: 0.5132, seg_dice_fused: 0.2639, cam_rel_mean: 0.1672, sat_rel_mean: 0.2215, cam_rel_min: 0.0037, sat_rel_min: 0.0014, grad_norm: 22.0023 2026-04-17 23:29:39,197 - mmdet - INFO - Iter [9700/55932] lr: 4.656e-05, eta: 1 day, 4:13:19, time: 2.066, data_time: 0.076, memory: 34634, seg: 0.6601, seg_dice: 0.3236, seg_t0: 0.9154, seg_dice_t0: 0.3977, seg_t1: 0.7410, seg_dice_t1: 0.3521, seg_t2: 0.6800, seg_dice_t2: 0.3387, seg_t3: 0.6642, seg_dice_t3: 0.3267, total_t0: 1.3132, total_t1: 1.0931, total_t2: 1.0188, total_t3: 0.9909, total_t4: 0.9837, total: 7.3041, cam_bev_norm: 17.6729, sat_bev_norm: 10.8551, seg_sat: 0.7146, seg_dice_sat: 0.3366, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 0.5614, seg_dice_fused: 0.2919, cam_rel_mean: 0.1868, sat_rel_mean: 0.2182, cam_rel_min: 0.0022, sat_rel_min: 0.0010, grad_norm: 24.0258 2026-04-17 23:31:21,649 - mmdet - INFO - Iter [9750/55932] lr: 4.653e-05, eta: 1 day, 4:10:54, time: 2.049, data_time: 0.074, memory: 34634, seg: 0.6635, seg_dice: 0.3195, seg_t0: 0.9515, seg_dice_t0: 0.3886, seg_t1: 0.7856, seg_dice_t1: 0.3432, seg_t2: 0.7140, seg_dice_t2: 0.3324, seg_t3: 0.6673, seg_dice_t3: 0.3207, total_t0: 1.3401, total_t1: 1.1288, total_t2: 1.0464, total_t3: 0.9880, total_t4: 0.9829, total: 7.4238, cam_bev_norm: 17.7216, sat_bev_norm: 10.8974, seg_sat: 0.7750, seg_dice_sat: 0.3431, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1000, seg_fused: 0.5403, seg_dice_fused: 0.2791, cam_rel_mean: 0.2139, sat_rel_mean: 0.2195, cam_rel_min: 0.0005, sat_rel_min: 0.0011, grad_norm: 23.2544 2026-04-17 23:33:04,210 - mmdet - INFO - Iter [9800/55932] lr: 4.649e-05, eta: 1 day, 4:08:30, time: 2.051, data_time: 0.076, memory: 34634, seg: 0.6353, seg_dice: 0.3306, seg_t0: 0.8985, seg_dice_t0: 0.3973, seg_t1: 0.7363, seg_dice_t1: 0.3547, seg_t2: 0.6782, seg_dice_t2: 0.3322, seg_t3: 0.6577, seg_dice_t3: 0.3268, total_t0: 1.2958, total_t1: 1.0910, total_t2: 1.0103, total_t3: 0.9845, total_t4: 0.9658, total: 7.2062, cam_bev_norm: 17.7108, sat_bev_norm: 10.8505, seg_sat: 0.7165, seg_dice_sat: 0.3511, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.4989, seg_dice_fused: 0.2923, cam_rel_mean: 0.2072, sat_rel_mean: 0.2264, cam_rel_min: 0.0010, sat_rel_min: 0.0008, grad_norm: 21.0428 2026-04-17 23:34:46,685 - mmdet - INFO - Iter [9850/55932] lr: 4.646e-05, eta: 1 day, 4:06:06, time: 2.049, data_time: 0.072, memory: 34634, seg: 0.6539, seg_dice: 0.3219, seg_t0: 0.8933, seg_dice_t0: 0.4099, seg_t1: 0.7093, seg_dice_t1: 0.3578, seg_t2: 0.6701, seg_dice_t2: 0.3416, seg_t3: 0.6548, seg_dice_t3: 0.3299, total_t0: 1.3032, total_t1: 1.0671, total_t2: 1.0117, total_t3: 0.9847, total_t4: 0.9758, total: 7.2302, cam_bev_norm: 17.5937, sat_bev_norm: 10.8566, seg_sat: 0.7391, seg_dice_sat: 0.3353, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0800, seg_fused: 0.5321, seg_dice_fused: 0.2812, cam_rel_mean: 0.2122, sat_rel_mean: 0.2173, cam_rel_min: 0.0007, sat_rel_min: 0.0015, grad_norm: 21.0839 2026-04-17 23:36:29,188 - mmdet - INFO - Iter [9900/55932] lr: 4.642e-05, eta: 1 day, 4:03:42, time: 2.050, data_time: 0.074, memory: 34634, seg: 0.6989, seg_dice: 0.3367, seg_t0: 0.9887, seg_dice_t0: 0.4172, seg_t1: 0.7853, seg_dice_t1: 0.3693, seg_t2: 0.7308, seg_dice_t2: 0.3543, seg_t3: 0.7104, seg_dice_t3: 0.3440, total_t0: 1.4059, total_t1: 1.1547, total_t2: 1.0852, total_t3: 1.0544, total_t4: 1.0356, total: 7.8018, cam_bev_norm: 17.5186, sat_bev_norm: 10.7927, seg_sat: 0.7878, seg_dice_sat: 0.3478, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.6262, seg_dice_fused: 0.3044, cam_rel_mean: 0.2043, sat_rel_mean: 0.2119, cam_rel_min: 0.0020, sat_rel_min: 0.0023, grad_norm: 22.9857 2026-04-17 23:38:11,724 - mmdet - INFO - Iter [9950/55932] lr: 4.639e-05, eta: 1 day, 4:01:19, time: 2.050, data_time: 0.073, memory: 34634, seg: 0.6853, seg_dice: 0.3149, seg_t0: 0.9647, seg_dice_t0: 0.3993, seg_t1: 0.7947, seg_dice_t1: 0.3511, seg_t2: 0.7410, seg_dice_t2: 0.3312, seg_t3: 0.6948, seg_dice_t3: 0.3182, total_t0: 1.3640, total_t1: 1.1458, total_t2: 1.0723, total_t3: 1.0130, total_t4: 1.0003, total: 7.4038, cam_bev_norm: 17.4671, sat_bev_norm: 10.7952, seg_sat: 0.6848, seg_dice_sat: 0.3137, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.5380, seg_dice_fused: 0.2719, cam_rel_mean: 0.2048, sat_rel_mean: 0.2160, cam_rel_min: 0.0014, sat_rel_min: 0.0013, grad_norm: 20.7593 2026-04-17 23:39:54,355 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-17 23:39:54,355 - mmdet - INFO - Iter [10000/55932] lr: 4.635e-05, eta: 1 day, 3:58:57, time: 2.053, data_time: 0.077, memory: 34634, seg: 0.7274, seg_dice: 0.3294, seg_t0: 1.0071, seg_dice_t0: 0.4008, seg_t1: 0.8346, seg_dice_t1: 0.3529, seg_t2: 0.7674, seg_dice_t2: 0.3355, seg_t3: 0.7424, seg_dice_t3: 0.3258, total_t0: 1.4079, total_t1: 1.1876, total_t2: 1.1028, total_t3: 1.0682, total_t4: 1.0567, total: 7.7678, cam_bev_norm: 17.5696, sat_bev_norm: 10.9074, seg_sat: 0.7499, seg_dice_sat: 0.3302, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.5774, seg_dice_fused: 0.2871, cam_rel_mean: 0.2113, sat_rel_mean: 0.2363, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 22.1620 2026-04-17 23:41:37,152 - mmdet - INFO - Iter [10050/55932] lr: 4.632e-05, eta: 1 day, 3:56:36, time: 2.056, data_time: 0.079, memory: 34702, seg: 0.6578, seg_dice: 0.3008, seg_t0: 0.9806, seg_dice_t0: 0.3743, seg_t1: 0.7698, seg_dice_t1: 0.3176, seg_t2: 0.7037, seg_dice_t2: 0.3045, seg_t3: 0.6804, seg_dice_t3: 0.2963, total_t0: 1.3550, total_t1: 1.0875, total_t2: 1.0082, total_t3: 0.9768, total_t4: 0.9585, total: 7.2158, cam_bev_norm: 17.6122, sat_bev_norm: 10.9168, seg_sat: 0.7285, seg_dice_sat: 0.3148, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.5223, seg_dice_fused: 0.2644, cam_rel_mean: 0.2125, sat_rel_mean: 0.2143, cam_rel_min: 0.0012, sat_rel_min: 0.0032, grad_norm: 22.5077 2026-04-17 23:43:19,825 - mmdet - INFO - Iter [10100/55932] lr: 4.628e-05, eta: 1 day, 3:54:15, time: 2.053, data_time: 0.082, memory: 34702, seg: 0.6608, seg_dice: 0.3218, seg_t0: 0.9293, seg_dice_t0: 0.3895, seg_t1: 0.7624, seg_dice_t1: 0.3477, seg_t2: 0.7144, seg_dice_t2: 0.3311, seg_t3: 0.6733, seg_dice_t3: 0.3236, total_t0: 1.3188, total_t1: 1.1101, total_t2: 1.0455, total_t3: 0.9969, total_t4: 0.9826, total: 7.2866, cam_bev_norm: 17.5378, sat_bev_norm: 10.8692, seg_sat: 0.6645, seg_dice_sat: 0.3176, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1600, seg_fused: 0.5642, seg_dice_fused: 0.2864, cam_rel_mean: 0.1780, sat_rel_mean: 0.2214, cam_rel_min: 0.0031, sat_rel_min: 0.0021, grad_norm: 22.1759 2026-04-17 23:45:03,040 - mmdet - INFO - Iter [10150/55932] lr: 4.624e-05, eta: 1 day, 3:51:57, time: 2.064, data_time: 0.074, memory: 34702, seg: 0.6987, seg_dice: 0.3148, seg_t0: 0.9268, seg_dice_t0: 0.3905, seg_t1: 0.7535, seg_dice_t1: 0.3439, seg_t2: 0.7031, seg_dice_t2: 0.3252, seg_t3: 0.7024, seg_dice_t3: 0.3209, total_t0: 1.3172, total_t1: 1.0975, total_t2: 1.0283, total_t3: 1.0234, total_t4: 1.0135, total: 7.3889, cam_bev_norm: 17.4382, sat_bev_norm: 10.8281, seg_sat: 0.7428, seg_dice_sat: 0.3187, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.5705, seg_dice_fused: 0.2771, cam_rel_mean: 0.2094, sat_rel_mean: 0.2164, cam_rel_min: 0.0012, sat_rel_min: 0.0024, grad_norm: 20.0212 2026-04-17 23:46:46,935 - mmdet - INFO - Iter [10200/55932] lr: 4.621e-05, eta: 1 day, 3:49:42, time: 2.078, data_time: 0.077, memory: 34702, seg: 0.5968, seg_dice: 0.2872, seg_t0: 0.8552, seg_dice_t0: 0.3452, seg_t1: 0.6874, seg_dice_t1: 0.3003, seg_t2: 0.6399, seg_dice_t2: 0.2925, seg_t3: 0.6035, seg_dice_t3: 0.2864, total_t0: 1.2004, total_t1: 0.9876, total_t2: 0.9324, total_t3: 0.8899, total_t4: 0.8839, total: 6.5092, cam_bev_norm: 17.5443, sat_bev_norm: 10.9321, seg_sat: 0.6208, seg_dice_sat: 0.2878, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.4605, seg_dice_fused: 0.2457, cam_rel_mean: 0.2112, sat_rel_mean: 0.2193, cam_rel_min: 0.0011, sat_rel_min: 0.0017, grad_norm: 18.3745 2026-04-17 23:48:29,663 - mmdet - INFO - Iter [10250/55932] lr: 4.617e-05, eta: 1 day, 3:47:22, time: 2.055, data_time: 0.075, memory: 34702, seg: 0.6949, seg_dice: 0.3150, seg_t0: 0.9256, seg_dice_t0: 0.3869, seg_t1: 0.7596, seg_dice_t1: 0.3388, seg_t2: 0.7018, seg_dice_t2: 0.3238, seg_t3: 0.6873, seg_dice_t3: 0.3245, total_t0: 1.3125, total_t1: 1.0984, total_t2: 1.0256, total_t3: 1.0118, total_t4: 1.0099, total: 7.2744, cam_bev_norm: 17.4584, sat_bev_norm: 10.9192, seg_sat: 0.7108, seg_dice_sat: 0.3134, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2200, seg_fused: 0.5268, seg_dice_fused: 0.2652, cam_rel_mean: 0.2174, sat_rel_mean: 0.2204, cam_rel_min: 0.0008, sat_rel_min: 0.0019, grad_norm: 22.5122 2026-04-17 23:50:11,858 - mmdet - INFO - Iter [10300/55932] lr: 4.614e-05, eta: 1 day, 3:45:00, time: 2.044, data_time: 0.076, memory: 34702, seg: 0.6594, seg_dice: 0.3410, seg_t0: 0.8976, seg_dice_t0: 0.3960, seg_t1: 0.7347, seg_dice_t1: 0.3537, seg_t2: 0.6879, seg_dice_t2: 0.3435, seg_t3: 0.6717, seg_dice_t3: 0.3432, total_t0: 1.2936, total_t1: 1.0884, total_t2: 1.0314, total_t3: 1.0149, total_t4: 1.0003, total: 7.2230, cam_bev_norm: 17.5437, sat_bev_norm: 10.9318, seg_sat: 0.6581, seg_dice_sat: 0.3383, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.5020, seg_dice_fused: 0.2961, cam_rel_mean: 0.2035, sat_rel_mean: 0.2284, cam_rel_min: 0.0017, sat_rel_min: 0.0014, grad_norm: 21.3529 2026-04-17 23:51:54,123 - mmdet - INFO - Iter [10350/55932] lr: 4.610e-05, eta: 1 day, 3:42:39, time: 2.045, data_time: 0.073, memory: 34702, seg: 0.6743, seg_dice: 0.3032, seg_t0: 0.9403, seg_dice_t0: 0.3769, seg_t1: 0.7683, seg_dice_t1: 0.3267, seg_t2: 0.7326, seg_dice_t2: 0.3101, seg_t3: 0.6827, seg_dice_t3: 0.3045, total_t0: 1.3172, total_t1: 1.0949, total_t2: 1.0427, total_t3: 0.9871, total_t4: 0.9775, total: 7.1605, cam_bev_norm: 17.4519, sat_bev_norm: 10.9456, seg_sat: 0.6730, seg_dice_sat: 0.2952, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.5178, seg_dice_fused: 0.2551, cam_rel_mean: 0.2006, sat_rel_mean: 0.2218, cam_rel_min: 0.0018, sat_rel_min: 0.0012, grad_norm: 22.1674 2026-04-17 23:53:36,712 - mmdet - INFO - Iter [10400/55932] lr: 4.606e-05, eta: 1 day, 3:40:19, time: 2.052, data_time: 0.078, memory: 34702, seg: 0.6381, seg_dice: 0.3388, seg_t0: 0.9304, seg_dice_t0: 0.4165, seg_t1: 0.7561, seg_dice_t1: 0.3702, seg_t2: 0.6865, seg_dice_t2: 0.3490, seg_t3: 0.6543, seg_dice_t3: 0.3376, total_t0: 1.3468, total_t1: 1.1263, total_t2: 1.0355, total_t3: 0.9919, total_t4: 0.9769, total: 7.2352, cam_bev_norm: 17.3562, sat_bev_norm: 10.8051, seg_sat: 0.6466, seg_dice_sat: 0.3371, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.4825, seg_dice_fused: 0.2915, cam_rel_mean: 0.2055, sat_rel_mean: 0.2083, cam_rel_min: 0.0013, sat_rel_min: 0.0014, grad_norm: 18.8948 2026-04-17 23:55:19,139 - mmdet - INFO - Iter [10450/55932] lr: 4.603e-05, eta: 1 day, 3:38:00, time: 2.048, data_time: 0.077, memory: 34702, seg: 0.6586, seg_dice: 0.3348, seg_t0: 0.8779, seg_dice_t0: 0.3928, seg_t1: 0.7387, seg_dice_t1: 0.3558, seg_t2: 0.6757, seg_dice_t2: 0.3399, seg_t3: 0.6465, seg_dice_t3: 0.3353, total_t0: 1.2707, total_t1: 1.0945, total_t2: 1.0156, total_t3: 0.9819, total_t4: 0.9934, total: 7.2011, cam_bev_norm: 17.4517, sat_bev_norm: 10.9273, seg_sat: 0.7010, seg_dice_sat: 0.3408, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.5113, seg_dice_fused: 0.2920, cam_rel_mean: 0.2108, sat_rel_mean: 0.2283, cam_rel_min: 0.0014, sat_rel_min: 0.0003, grad_norm: 20.5289 2026-04-17 23:57:01,455 - mmdet - INFO - Iter [10500/55932] lr: 4.599e-05, eta: 1 day, 3:35:40, time: 2.046, data_time: 0.078, memory: 34702, seg: 0.7092, seg_dice: 0.3231, seg_t0: 0.9628, seg_dice_t0: 0.3910, seg_t1: 0.7804, seg_dice_t1: 0.3393, seg_t2: 0.7370, seg_dice_t2: 0.3256, seg_t3: 0.7132, seg_dice_t3: 0.3256, total_t0: 1.3538, total_t1: 1.1197, total_t2: 1.0626, total_t3: 1.0388, total_t4: 1.0323, total: 7.4439, cam_bev_norm: 17.4332, sat_bev_norm: 10.9521, seg_sat: 0.7001, seg_dice_sat: 0.3198, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.5405, seg_dice_fused: 0.2762, cam_rel_mean: 0.2136, sat_rel_mean: 0.2137, cam_rel_min: 0.0013, sat_rel_min: 0.0017, grad_norm: 19.9493 2026-04-17 23:58:44,904 - mmdet - INFO - Iter [10550/55932] lr: 4.595e-05, eta: 1 day, 3:33:25, time: 2.069, data_time: 0.076, memory: 34719, seg: 0.6595, seg_dice: 0.2942, seg_t0: 0.9496, seg_dice_t0: 0.3763, seg_t1: 0.7608, seg_dice_t1: 0.3271, seg_t2: 0.7009, seg_dice_t2: 0.3092, seg_t3: 0.6619, seg_dice_t3: 0.2995, total_t0: 1.3259, total_t1: 1.0879, total_t2: 1.0102, total_t3: 0.9614, total_t4: 0.9537, total: 7.0249, cam_bev_norm: 17.3654, sat_bev_norm: 10.9013, seg_sat: 0.6341, seg_dice_sat: 0.2832, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2000, seg_fused: 0.5139, seg_dice_fused: 0.2546, cam_rel_mean: 0.1828, sat_rel_mean: 0.2123, cam_rel_min: 0.0026, sat_rel_min: 0.0018, grad_norm: 21.6162 2026-04-18 00:00:27,257 - mmdet - INFO - Iter [10600/55932] lr: 4.591e-05, eta: 1 day, 3:31:06, time: 2.047, data_time: 0.076, memory: 34719, seg: 0.6599, seg_dice: 0.3194, seg_t0: 0.9012, seg_dice_t0: 0.3770, seg_t1: 0.7344, seg_dice_t1: 0.3294, seg_t2: 0.6888, seg_dice_t2: 0.3203, seg_t3: 0.6523, seg_dice_t3: 0.3170, total_t0: 1.2782, total_t1: 1.0638, total_t2: 1.0092, total_t3: 0.9693, total_t4: 0.9793, total: 7.0535, cam_bev_norm: 17.3681, sat_bev_norm: 10.8531, seg_sat: 0.6693, seg_dice_sat: 0.3144, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.5007, seg_dice_fused: 0.2692, cam_rel_mean: 0.2082, sat_rel_mean: 0.2231, cam_rel_min: 0.0013, sat_rel_min: 0.0007, grad_norm: 19.9574 2026-04-18 00:02:09,320 - mmdet - INFO - Iter [10650/55932] lr: 4.588e-05, eta: 1 day, 3:28:46, time: 2.041, data_time: 0.073, memory: 34719, seg: 0.6384, seg_dice: 0.2886, seg_t0: 0.8799, seg_dice_t0: 0.3595, seg_t1: 0.7041, seg_dice_t1: 0.3098, seg_t2: 0.6642, seg_dice_t2: 0.2939, seg_t3: 0.6545, seg_dice_t3: 0.2903, total_t0: 1.2394, total_t1: 1.0139, total_t2: 0.9581, total_t3: 0.9448, total_t4: 0.9270, total: 6.8223, cam_bev_norm: 17.4119, sat_bev_norm: 10.9499, seg_sat: 0.6667, seg_dice_sat: 0.2942, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.5251, seg_dice_fused: 0.2532, cam_rel_mean: 0.1976, sat_rel_mean: 0.2245, cam_rel_min: 0.0022, sat_rel_min: 0.0010, grad_norm: 20.0477 2026-04-18 00:03:52,844 - mmdet - INFO - Iter [10700/55932] lr: 4.584e-05, eta: 1 day, 3:26:33, time: 2.071, data_time: 0.082, memory: 34719, seg: 0.6572, seg_dice: 0.3359, seg_t0: 0.9070, seg_dice_t0: 0.4049, seg_t1: 0.7507, seg_dice_t1: 0.3609, seg_t2: 0.7004, seg_dice_t2: 0.3447, seg_t3: 0.6840, seg_dice_t3: 0.3435, total_t0: 1.3119, total_t1: 1.1116, total_t2: 1.0450, total_t3: 1.0275, total_t4: 0.9931, total: 7.2934, cam_bev_norm: 17.3202, sat_bev_norm: 10.8173, seg_sat: 0.6778, seg_dice_sat: 0.3324, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2600, seg_fused: 0.5065, seg_dice_fused: 0.2874, cam_rel_mean: 0.2051, sat_rel_mean: 0.2082, cam_rel_min: 0.0012, sat_rel_min: 0.0015, grad_norm: 22.5071 2026-04-18 00:05:35,827 - mmdet - INFO - Iter [10750/55932] lr: 4.580e-05, eta: 1 day, 3:24:17, time: 2.059, data_time: 0.081, memory: 34719, seg: 0.6594, seg_dice: 0.3103, seg_t0: 0.9668, seg_dice_t0: 0.3825, seg_t1: 0.7765, seg_dice_t1: 0.3387, seg_t2: 0.7188, seg_dice_t2: 0.3177, seg_t3: 0.6766, seg_dice_t3: 0.3066, total_t0: 1.3493, total_t1: 1.1152, total_t2: 1.0365, total_t3: 0.9832, total_t4: 0.9698, total: 7.1569, cam_bev_norm: 17.2906, sat_bev_norm: 10.9155, seg_sat: 0.6404, seg_dice_sat: 0.3019, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.4984, seg_dice_fused: 0.2622, cam_rel_mean: 0.2072, sat_rel_mean: 0.2180, cam_rel_min: 0.0011, sat_rel_min: 0.0011, grad_norm: 21.8946 2026-04-18 00:07:18,377 - mmdet - INFO - Iter [10800/55932] lr: 4.576e-05, eta: 1 day, 3:22:01, time: 2.051, data_time: 0.082, memory: 34732, seg: 0.6886, seg_dice: 0.3135, seg_t0: 0.9625, seg_dice_t0: 0.3927, seg_t1: 0.7809, seg_dice_t1: 0.3458, seg_t2: 0.7179, seg_dice_t2: 0.3333, seg_t3: 0.6863, seg_dice_t3: 0.3233, total_t0: 1.3551, total_t1: 1.1267, total_t2: 1.0512, total_t3: 1.0096, total_t4: 1.0021, total: 7.3710, cam_bev_norm: 17.4028, sat_bev_norm: 10.9023, seg_sat: 0.6938, seg_dice_sat: 0.3086, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.5534, seg_dice_fused: 0.2706, cam_rel_mean: 0.2004, sat_rel_mean: 0.2289, cam_rel_min: 0.0021, sat_rel_min: 0.0015, grad_norm: 21.6103 2026-04-18 00:09:01,595 - mmdet - INFO - Iter [10850/55932] lr: 4.573e-05, eta: 1 day, 3:19:47, time: 2.064, data_time: 0.083, memory: 34732, seg: 0.6514, seg_dice: 0.3117, seg_t0: 0.8978, seg_dice_t0: 0.3715, seg_t1: 0.7406, seg_dice_t1: 0.3255, seg_t2: 0.6816, seg_dice_t2: 0.3107, seg_t3: 0.6694, seg_dice_t3: 0.3072, total_t0: 1.2693, total_t1: 1.0662, total_t2: 0.9924, total_t3: 0.9767, total_t4: 0.9631, total: 7.0216, cam_bev_norm: 17.3599, sat_bev_norm: 10.9448, seg_sat: 0.6586, seg_dice_sat: 0.3122, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.2000, seg_fused: 0.5113, seg_dice_fused: 0.2719, cam_rel_mean: 0.1842, sat_rel_mean: 0.2257, cam_rel_min: 0.0031, sat_rel_min: 0.0011, grad_norm: 21.3638 2026-04-18 00:10:44,440 - mmdet - INFO - Iter [10900/55932] lr: 4.569e-05, eta: 1 day, 3:17:32, time: 2.057, data_time: 0.081, memory: 34732, seg: 0.6542, seg_dice: 0.3149, seg_t0: 0.9574, seg_dice_t0: 0.3911, seg_t1: 0.7646, seg_dice_t1: 0.3461, seg_t2: 0.7012, seg_dice_t2: 0.3334, seg_t3: 0.6828, seg_dice_t3: 0.3224, total_t0: 1.3485, total_t1: 1.1107, total_t2: 1.0345, total_t3: 1.0052, total_t4: 0.9691, total: 7.4380, cam_bev_norm: 17.3298, sat_bev_norm: 10.8584, seg_sat: 0.7671, seg_dice_sat: 0.3366, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1600, seg_fused: 0.5790, seg_dice_fused: 0.2874, cam_rel_mean: 0.1906, sat_rel_mean: 0.2263, cam_rel_min: 0.0027, sat_rel_min: 0.0017, grad_norm: 20.0320 2026-04-18 00:12:26,704 - mmdet - INFO - Iter [10950/55932] lr: 4.565e-05, eta: 1 day, 3:15:15, time: 2.046, data_time: 0.075, memory: 34732, seg: 0.6492, seg_dice: 0.3148, seg_t0: 0.9179, seg_dice_t0: 0.3873, seg_t1: 0.7384, seg_dice_t1: 0.3461, seg_t2: 0.6856, seg_dice_t2: 0.3230, seg_t3: 0.6706, seg_dice_t3: 0.3156, total_t0: 1.3053, total_t1: 1.0845, total_t2: 1.0086, total_t3: 0.9862, total_t4: 0.9639, total: 7.0964, cam_bev_norm: 17.1959, sat_bev_norm: 10.8571, seg_sat: 0.6694, seg_dice_sat: 0.3141, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.4968, seg_dice_fused: 0.2676, cam_rel_mean: 0.1988, sat_rel_mean: 0.2184, cam_rel_min: 0.0011, sat_rel_min: 0.0008, grad_norm: 21.7954 2026-04-18 00:14:09,957 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 00:14:09,959 - mmdet - INFO - Iter [11000/55932] lr: 4.561e-05, eta: 1 day, 3:13:02, time: 2.065, data_time: 0.078, memory: 34732, seg: 0.5922, seg_dice: 0.2840, seg_t0: 0.8263, seg_dice_t0: 0.3628, seg_t1: 0.6808, seg_dice_t1: 0.3182, seg_t2: 0.6336, seg_dice_t2: 0.2973, seg_t3: 0.6169, seg_dice_t3: 0.2903, total_t0: 1.1892, total_t1: 0.9990, total_t2: 0.9310, total_t3: 0.9072, total_t4: 0.8762, total: 6.4976, cam_bev_norm: 17.3269, sat_bev_norm: 11.0601, seg_sat: 0.6291, seg_dice_sat: 0.2838, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.4445, seg_dice_fused: 0.2377, cam_rel_mean: 0.2040, sat_rel_mean: 0.2204, cam_rel_min: 0.0014, sat_rel_min: 0.0010, grad_norm: 20.5996 2026-04-18 00:15:52,432 - mmdet - INFO - Iter [11050/55932] lr: 4.557e-05, eta: 1 day, 3:10:46, time: 2.050, data_time: 0.077, memory: 34732, seg: 0.6618, seg_dice: 0.3392, seg_t0: 0.9098, seg_dice_t0: 0.4064, seg_t1: 0.7434, seg_dice_t1: 0.3647, seg_t2: 0.6907, seg_dice_t2: 0.3487, seg_t3: 0.6633, seg_dice_t3: 0.3409, total_t0: 1.3163, total_t1: 1.1081, total_t2: 1.0394, total_t3: 1.0042, total_t4: 1.0010, total: 7.3263, cam_bev_norm: 17.2820, sat_bev_norm: 10.9532, seg_sat: 0.6863, seg_dice_sat: 0.3424, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.5270, seg_dice_fused: 0.3016, cam_rel_mean: 0.2046, sat_rel_mean: 0.2151, cam_rel_min: 0.0008, sat_rel_min: 0.0018, grad_norm: 21.8070 2026-04-18 00:17:34,654 - mmdet - INFO - Iter [11100/55932] lr: 4.553e-05, eta: 1 day, 3:08:30, time: 2.044, data_time: 0.075, memory: 34732, seg: 0.6675, seg_dice: 0.3202, seg_t0: 0.9015, seg_dice_t0: 0.3912, seg_t1: 0.7579, seg_dice_t1: 0.3463, seg_t2: 0.7078, seg_dice_t2: 0.3308, seg_t3: 0.6873, seg_dice_t3: 0.3247, total_t0: 1.2927, total_t1: 1.1042, total_t2: 1.0387, total_t3: 1.0120, total_t4: 0.9876, total: 7.4054, cam_bev_norm: 17.2384, sat_bev_norm: 10.8750, seg_sat: 0.7675, seg_dice_sat: 0.3373, mask_cam_zeroed: 0.2200, mask_cam_noised: 0.1000, seg_fused: 0.5760, seg_dice_fused: 0.2895, cam_rel_mean: 0.1754, sat_rel_mean: 0.2219, cam_rel_min: 0.0035, sat_rel_min: 0.0010, grad_norm: 21.4061 2026-04-18 00:19:18,347 - mmdet - INFO - Iter [11150/55932] lr: 4.549e-05, eta: 1 day, 3:06:20, time: 2.074, data_time: 0.080, memory: 34732, seg: 0.6262, seg_dice: 0.3137, seg_t0: 0.8939, seg_dice_t0: 0.3904, seg_t1: 0.6997, seg_dice_t1: 0.3381, seg_t2: 0.6543, seg_dice_t2: 0.3198, seg_t3: 0.6258, seg_dice_t3: 0.3123, total_t0: 1.2843, total_t1: 1.0378, total_t2: 0.9741, total_t3: 0.9381, total_t4: 0.9399, total: 6.9011, cam_bev_norm: 17.1965, sat_bev_norm: 10.9281, seg_sat: 0.6430, seg_dice_sat: 0.3189, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1200, seg_fused: 0.4893, seg_dice_fused: 0.2756, cam_rel_mean: 0.1813, sat_rel_mean: 0.2227, cam_rel_min: 0.0026, sat_rel_min: 0.0008, grad_norm: 17.9775 2026-04-18 00:21:00,945 - mmdet - INFO - Iter [11200/55932] lr: 4.545e-05, eta: 1 day, 3:04:05, time: 2.051, data_time: 0.076, memory: 34732, seg: 0.6359, seg_dice: 0.3053, seg_t0: 0.9622, seg_dice_t0: 0.3854, seg_t1: 0.7689, seg_dice_t1: 0.3340, seg_t2: 0.7027, seg_dice_t2: 0.3155, seg_t3: 0.6582, seg_dice_t3: 0.2997, total_t0: 1.3477, total_t1: 1.1029, total_t2: 1.0183, total_t3: 0.9579, total_t4: 0.9412, total: 7.1400, cam_bev_norm: 17.1781, sat_bev_norm: 10.9068, seg_sat: 0.6814, seg_dice_sat: 0.3088, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.5139, seg_dice_fused: 0.2680, cam_rel_mean: 0.2025, sat_rel_mean: 0.2117, cam_rel_min: 0.0021, sat_rel_min: 0.0019, grad_norm: 20.2336 2026-04-18 00:22:43,862 - mmdet - INFO - Iter [11250/55932] lr: 4.541e-05, eta: 1 day, 3:01:52, time: 2.059, data_time: 0.081, memory: 34732, seg: 0.6169, seg_dice: 0.3211, seg_t0: 0.8461, seg_dice_t0: 0.3945, seg_t1: 0.7011, seg_dice_t1: 0.3455, seg_t2: 0.6375, seg_dice_t2: 0.3274, seg_t3: 0.6209, seg_dice_t3: 0.3212, total_t0: 1.2405, total_t1: 1.0466, total_t2: 0.9648, total_t3: 0.9420, total_t4: 0.9380, total: 6.8587, cam_bev_norm: 17.1786, sat_bev_norm: 10.8442, seg_sat: 0.6331, seg_dice_sat: 0.3249, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.4857, seg_dice_fused: 0.2829, cam_rel_mean: 0.2028, sat_rel_mean: 0.2165, cam_rel_min: 0.0011, sat_rel_min: 0.0011, grad_norm: 20.6634 2026-04-18 00:24:26,666 - mmdet - INFO - Iter [11300/55932] lr: 4.538e-05, eta: 1 day, 2:59:40, time: 2.056, data_time: 0.079, memory: 34732, seg: 0.6212, seg_dice: 0.3106, seg_t0: 0.8938, seg_dice_t0: 0.3796, seg_t1: 0.7193, seg_dice_t1: 0.3334, seg_t2: 0.6670, seg_dice_t2: 0.3172, seg_t3: 0.6346, seg_dice_t3: 0.3073, total_t0: 1.2734, total_t1: 1.0527, total_t2: 0.9842, total_t3: 0.9418, total_t4: 0.9318, total: 6.9036, cam_bev_norm: 17.2439, sat_bev_norm: 10.9091, seg_sat: 0.6627, seg_dice_sat: 0.3149, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.4764, seg_dice_fused: 0.2657, cam_rel_mean: 0.2027, sat_rel_mean: 0.2200, cam_rel_min: 0.0010, sat_rel_min: 0.0007, grad_norm: 19.9712 2026-04-18 00:26:09,399 - mmdet - INFO - Iter [11350/55932] lr: 4.534e-05, eta: 1 day, 2:57:27, time: 2.055, data_time: 0.080, memory: 34732, seg: 0.6571, seg_dice: 0.3182, seg_t0: 0.9305, seg_dice_t0: 0.3864, seg_t1: 0.7368, seg_dice_t1: 0.3403, seg_t2: 0.6901, seg_dice_t2: 0.3267, seg_t3: 0.6750, seg_dice_t3: 0.3175, total_t0: 1.3169, total_t1: 1.0772, total_t2: 1.0168, total_t3: 0.9925, total_t4: 0.9753, total: 7.2010, cam_bev_norm: 17.2865, sat_bev_norm: 10.8061, seg_sat: 0.6918, seg_dice_sat: 0.3238, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.5279, seg_dice_fused: 0.2788, cam_rel_mean: 0.1983, sat_rel_mean: 0.2257, cam_rel_min: 0.0017, sat_rel_min: 0.0011, grad_norm: 22.0948 2026-04-18 00:27:52,283 - mmdet - INFO - Iter [11400/55932] lr: 4.530e-05, eta: 1 day, 2:55:14, time: 2.058, data_time: 0.080, memory: 34732, seg: 0.6354, seg_dice: 0.3096, seg_t0: 0.8947, seg_dice_t0: 0.3850, seg_t1: 0.7122, seg_dice_t1: 0.3329, seg_t2: 0.6567, seg_dice_t2: 0.3248, seg_t3: 0.6407, seg_dice_t3: 0.3147, total_t0: 1.2797, total_t1: 1.0451, total_t2: 0.9815, total_t3: 0.9554, total_t4: 0.9449, total: 6.8888, cam_bev_norm: 17.2527, sat_bev_norm: 10.9096, seg_sat: 0.6471, seg_dice_sat: 0.3095, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.4654, seg_dice_fused: 0.2602, cam_rel_mean: 0.2136, sat_rel_mean: 0.2364, cam_rel_min: 0.0010, sat_rel_min: 0.0007, grad_norm: 23.0181 2026-04-18 00:29:35,654 - mmdet - INFO - Iter [11450/55932] lr: 4.526e-05, eta: 1 day, 2:53:04, time: 2.067, data_time: 0.079, memory: 34732, seg: 0.6812, seg_dice: 0.3288, seg_t0: 0.9668, seg_dice_t0: 0.4096, seg_t1: 0.7958, seg_dice_t1: 0.3646, seg_t2: 0.7272, seg_dice_t2: 0.3406, seg_t3: 0.7042, seg_dice_t3: 0.3350, total_t0: 1.3764, total_t1: 1.1604, total_t2: 1.0678, total_t3: 1.0392, total_t4: 1.0100, total: 7.5159, cam_bev_norm: 17.2172, sat_bev_norm: 10.8830, seg_sat: 0.7015, seg_dice_sat: 0.3326, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.5382, seg_dice_fused: 0.2898, cam_rel_mean: 0.1970, sat_rel_mean: 0.2193, cam_rel_min: 0.0016, sat_rel_min: 0.0018, grad_norm: 21.5519 2026-04-18 00:31:18,102 - mmdet - INFO - Iter [11500/55932] lr: 4.522e-05, eta: 1 day, 2:50:51, time: 2.049, data_time: 0.079, memory: 34732, seg: 0.6554, seg_dice: 0.2929, seg_t0: 0.9573, seg_dice_t0: 0.3754, seg_t1: 0.7433, seg_dice_t1: 0.3198, seg_t2: 0.6782, seg_dice_t2: 0.3027, seg_t3: 0.6631, seg_dice_t3: 0.2960, total_t0: 1.3326, total_t1: 1.0631, total_t2: 0.9809, total_t3: 0.9591, total_t4: 0.9483, total: 6.9755, cam_bev_norm: 17.2767, sat_bev_norm: 10.8021, seg_sat: 0.6421, seg_dice_sat: 0.2959, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.5002, seg_dice_fused: 0.2534, cam_rel_mean: 0.1953, sat_rel_mean: 0.2335, cam_rel_min: 0.0022, sat_rel_min: 0.0015, grad_norm: 19.9721 2026-04-18 00:33:00,597 - mmdet - INFO - Iter [11550/55932] lr: 4.518e-05, eta: 1 day, 2:48:38, time: 2.050, data_time: 0.078, memory: 34732, seg: 0.6449, seg_dice: 0.3192, seg_t0: 0.9224, seg_dice_t0: 0.4034, seg_t1: 0.7298, seg_dice_t1: 0.3527, seg_t2: 0.6725, seg_dice_t2: 0.3376, seg_t3: 0.6501, seg_dice_t3: 0.3278, total_t0: 1.3259, total_t1: 1.0825, total_t2: 1.0101, total_t3: 0.9779, total_t4: 0.9641, total: 7.0674, cam_bev_norm: 17.1704, sat_bev_norm: 10.9216, seg_sat: 0.6205, seg_dice_sat: 0.3060, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.5056, seg_dice_fused: 0.2748, cam_rel_mean: 0.1949, sat_rel_mean: 0.2152, cam_rel_min: 0.0019, sat_rel_min: 0.0017, grad_norm: 22.8763 2026-04-18 00:34:43,286 - mmdet - INFO - Iter [11600/55932] lr: 4.514e-05, eta: 1 day, 2:46:26, time: 2.054, data_time: 0.081, memory: 34732, seg: 0.6664, seg_dice: 0.2971, seg_t0: 0.9245, seg_dice_t0: 0.3694, seg_t1: 0.7482, seg_dice_t1: 0.3194, seg_t2: 0.6859, seg_dice_t2: 0.3048, seg_t3: 0.6637, seg_dice_t3: 0.2995, total_t0: 1.2940, total_t1: 1.0676, total_t2: 0.9907, total_t3: 0.9633, total_t4: 0.9635, total: 7.0160, cam_bev_norm: 17.1325, sat_bev_norm: 11.0226, seg_sat: 0.6666, seg_dice_sat: 0.2900, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.5261, seg_dice_fused: 0.2542, cam_rel_mean: 0.2077, sat_rel_mean: 0.2123, cam_rel_min: 0.0011, sat_rel_min: 0.0016, grad_norm: 24.6653 2026-04-18 00:36:26,251 - mmdet - INFO - Iter [11650/55932] lr: 4.509e-05, eta: 1 day, 2:44:16, time: 2.059, data_time: 0.077, memory: 34732, seg: 0.7051, seg_dice: 0.3448, seg_t0: 0.9070, seg_dice_t0: 0.3921, seg_t1: 0.7609, seg_dice_t1: 0.3465, seg_t2: 0.7172, seg_dice_t2: 0.3392, seg_t3: 0.7061, seg_dice_t3: 0.3401, total_t0: 1.2991, total_t1: 1.1073, total_t2: 1.0564, total_t3: 1.0462, total_t4: 1.0499, total: 7.3922, cam_bev_norm: 17.0838, sat_bev_norm: 10.7641, seg_sat: 0.6897, seg_dice_sat: 0.3379, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2600, seg_fused: 0.5130, seg_dice_fused: 0.2928, cam_rel_mean: 0.2071, sat_rel_mean: 0.2292, cam_rel_min: 0.0011, sat_rel_min: 0.0003, grad_norm: 21.7932 2026-04-18 00:38:08,474 - mmdet - INFO - Iter [11700/55932] lr: 4.505e-05, eta: 1 day, 2:42:03, time: 2.044, data_time: 0.076, memory: 34732, seg: 0.5946, seg_dice: 0.2883, seg_t0: 0.8692, seg_dice_t0: 0.3729, seg_t1: 0.7021, seg_dice_t1: 0.3244, seg_t2: 0.6343, seg_dice_t2: 0.3058, seg_t3: 0.5948, seg_dice_t3: 0.2960, total_t0: 1.2421, total_t1: 1.0265, total_t2: 0.9401, total_t3: 0.8908, total_t4: 0.8829, total: 6.6378, cam_bev_norm: 17.1617, sat_bev_norm: 10.9925, seg_sat: 0.6207, seg_dice_sat: 0.2925, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.4861, seg_dice_fused: 0.2561, cam_rel_mean: 0.1922, sat_rel_mean: 0.2180, cam_rel_min: 0.0024, sat_rel_min: 0.0016, grad_norm: 20.4639 2026-04-18 00:39:51,548 - mmdet - INFO - Iter [11750/55932] lr: 4.501e-05, eta: 1 day, 2:39:53, time: 2.061, data_time: 0.085, memory: 34732, seg: 0.6339, seg_dice: 0.2854, seg_t0: 0.9110, seg_dice_t0: 0.3733, seg_t1: 0.7537, seg_dice_t1: 0.3242, seg_t2: 0.6872, seg_dice_t2: 0.3066, seg_t3: 0.6510, seg_dice_t3: 0.2858, total_t0: 1.2844, total_t1: 1.0779, total_t2: 0.9938, total_t3: 0.9369, total_t4: 0.9193, total: 6.8122, cam_bev_norm: 17.1794, sat_bev_norm: 10.9399, seg_sat: 0.6116, seg_dice_sat: 0.2730, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.4749, seg_dice_fused: 0.2404, cam_rel_mean: 0.2060, sat_rel_mean: 0.2292, cam_rel_min: 0.0020, sat_rel_min: 0.0010, grad_norm: 22.1151 2026-04-18 00:41:34,038 - mmdet - INFO - Iter [11800/55932] lr: 4.497e-05, eta: 1 day, 2:37:42, time: 2.050, data_time: 0.079, memory: 34732, seg: 0.6632, seg_dice: 0.3218, seg_t0: 0.9104, seg_dice_t0: 0.3893, seg_t1: 0.7389, seg_dice_t1: 0.3407, seg_t2: 0.6704, seg_dice_t2: 0.3255, seg_t3: 0.6627, seg_dice_t3: 0.3205, total_t0: 1.2997, total_t1: 1.0795, total_t2: 0.9959, total_t3: 0.9832, total_t4: 0.9850, total: 7.1626, cam_bev_norm: 17.1004, sat_bev_norm: 10.7481, seg_sat: 0.6960, seg_dice_sat: 0.3241, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0600, seg_fused: 0.5206, seg_dice_fused: 0.2784, cam_rel_mean: 0.2053, sat_rel_mean: 0.2241, cam_rel_min: 0.0017, sat_rel_min: 0.0011, grad_norm: 20.1682 2026-04-18 00:43:16,449 - mmdet - INFO - Iter [11850/55932] lr: 4.493e-05, eta: 1 day, 2:35:30, time: 2.048, data_time: 0.079, memory: 34732, seg: 0.6043, seg_dice: 0.2979, seg_t0: 0.8649, seg_dice_t0: 0.3694, seg_t1: 0.6959, seg_dice_t1: 0.3210, seg_t2: 0.6429, seg_dice_t2: 0.3042, seg_t3: 0.6151, seg_dice_t3: 0.2976, total_t0: 1.2342, total_t1: 1.0169, total_t2: 0.9471, total_t3: 0.9127, total_t4: 0.9022, total: 6.6895, cam_bev_norm: 17.1633, sat_bev_norm: 10.8070, seg_sat: 0.6128, seg_dice_sat: 0.3014, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.4952, seg_dice_fused: 0.2670, cam_rel_mean: 0.1940, sat_rel_mean: 0.2072, cam_rel_min: 0.0020, sat_rel_min: 0.0022, grad_norm: 21.0790 2026-04-18 00:44:59,160 - mmdet - INFO - Iter [11900/55932] lr: 4.489e-05, eta: 1 day, 2:33:20, time: 2.054, data_time: 0.076, memory: 34732, seg: 0.6002, seg_dice: 0.3039, seg_t0: 0.8733, seg_dice_t0: 0.3735, seg_t1: 0.6765, seg_dice_t1: 0.3234, seg_t2: 0.6319, seg_dice_t2: 0.3081, seg_t3: 0.6049, seg_dice_t3: 0.3065, total_t0: 1.2468, total_t1: 0.9998, total_t2: 0.9400, total_t3: 0.9114, total_t4: 0.9041, total: 6.7336, cam_bev_norm: 17.0875, sat_bev_norm: 10.9525, seg_sat: 0.6656, seg_dice_sat: 0.3081, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.4916, seg_dice_fused: 0.2662, cam_rel_mean: 0.1973, sat_rel_mean: 0.2316, cam_rel_min: 0.0023, sat_rel_min: 0.0005, grad_norm: 21.8016 2026-04-18 00:46:41,392 - mmdet - INFO - Iter [11950/55932] lr: 4.485e-05, eta: 1 day, 2:31:08, time: 2.045, data_time: 0.076, memory: 34732, seg: 0.5984, seg_dice: 0.2853, seg_t0: 0.8765, seg_dice_t0: 0.3494, seg_t1: 0.7154, seg_dice_t1: 0.3056, seg_t2: 0.6504, seg_dice_t2: 0.2952, seg_t3: 0.6092, seg_dice_t3: 0.2891, total_t0: 1.2259, total_t1: 1.0210, total_t2: 0.9457, total_t3: 0.8983, total_t4: 0.8837, total: 6.5615, cam_bev_norm: 17.1704, sat_bev_norm: 10.9365, seg_sat: 0.5953, seg_dice_sat: 0.2837, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.4608, seg_dice_fused: 0.2472, cam_rel_mean: 0.1984, sat_rel_mean: 0.2160, cam_rel_min: 0.0020, sat_rel_min: 0.0014, grad_norm: 20.6029 2026-04-18 00:48:23,498 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 00:48:23,500 - mmdet - INFO - Iter [12000/55932] lr: 4.481e-05, eta: 1 day, 2:28:56, time: 2.042, data_time: 0.075, memory: 34732, seg: 0.5309, seg_dice: 0.2900, seg_t0: 0.7764, seg_dice_t0: 0.3498, seg_t1: 0.6232, seg_dice_t1: 0.3109, seg_t2: 0.5700, seg_dice_t2: 0.2952, seg_t3: 0.5472, seg_dice_t3: 0.2904, total_t0: 1.1263, total_t1: 0.9340, total_t2: 0.8652, total_t3: 0.8375, total_t4: 0.8209, total: 6.1360, cam_bev_norm: 17.1455, sat_bev_norm: 11.0430, seg_sat: 0.5647, seg_dice_sat: 0.2972, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.4318, seg_dice_fused: 0.2585, cam_rel_mean: 0.1951, sat_rel_mean: 0.2026, cam_rel_min: 0.0020, sat_rel_min: 0.0018, grad_norm: 18.1815 2026-04-18 00:50:05,550 - mmdet - INFO - Iter [12050/55932] lr: 4.477e-05, eta: 1 day, 2:26:44, time: 2.041, data_time: 0.078, memory: 34732, seg: 0.5935, seg_dice: 0.2986, seg_t0: 0.9058, seg_dice_t0: 0.3854, seg_t1: 0.7281, seg_dice_t1: 0.3356, seg_t2: 0.6454, seg_dice_t2: 0.3159, seg_t3: 0.6134, seg_dice_t3: 0.3005, total_t0: 1.2913, total_t1: 1.0638, total_t2: 0.9613, total_t3: 0.9139, total_t4: 0.8922, total: 6.8587, cam_bev_norm: 17.1210, sat_bev_norm: 10.8429, seg_sat: 0.6605, seg_dice_sat: 0.3117, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.4946, seg_dice_fused: 0.2696, cam_rel_mean: 0.2026, sat_rel_mean: 0.2103, cam_rel_min: 0.0020, sat_rel_min: 0.0027, grad_norm: 20.2812 2026-04-18 00:51:47,556 - mmdet - INFO - Iter [12100/55932] lr: 4.472e-05, eta: 1 day, 2:24:32, time: 2.040, data_time: 0.075, memory: 34732, seg: 0.5912, seg_dice: 0.3196, seg_t0: 0.8172, seg_dice_t0: 0.3912, seg_t1: 0.6673, seg_dice_t1: 0.3462, seg_t2: 0.6254, seg_dice_t2: 0.3297, seg_t3: 0.6112, seg_dice_t3: 0.3234, total_t0: 1.2084, total_t1: 1.0135, total_t2: 0.9551, total_t3: 0.9347, total_t4: 0.9108, total: 6.6722, cam_bev_norm: 17.0661, sat_bev_norm: 10.9033, seg_sat: 0.5997, seg_dice_sat: 0.3158, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.4543, seg_dice_fused: 0.2799, cam_rel_mean: 0.1966, sat_rel_mean: 0.2218, cam_rel_min: 0.0020, sat_rel_min: 0.0006, grad_norm: 21.4932 2026-04-18 00:53:30,829 - mmdet - INFO - Iter [12150/55932] lr: 4.468e-05, eta: 1 day, 2:22:25, time: 2.065, data_time: 0.077, memory: 34732, seg: 0.6269, seg_dice: 0.3428, seg_t0: 0.8658, seg_dice_t0: 0.4030, seg_t1: 0.7038, seg_dice_t1: 0.3552, seg_t2: 0.6459, seg_dice_t2: 0.3405, seg_t3: 0.6271, seg_dice_t3: 0.3428, total_t0: 1.2688, total_t1: 1.0590, total_t2: 0.9864, total_t3: 0.9699, total_t4: 0.9698, total: 7.1342, cam_bev_norm: 16.8740, sat_bev_norm: 10.7079, seg_sat: 0.6932, seg_dice_sat: 0.3544, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2200, seg_fused: 0.5233, seg_dice_fused: 0.3095, cam_rel_mean: 0.1899, sat_rel_mean: 0.2208, cam_rel_min: 0.0020, sat_rel_min: 0.0007, grad_norm: 19.2459 2026-04-18 00:55:13,072 - mmdet - INFO - Iter [12200/55932] lr: 4.464e-05, eta: 1 day, 2:20:14, time: 2.045, data_time: 0.076, memory: 34732, seg: 0.6368, seg_dice: 0.3021, seg_t0: 0.9165, seg_dice_t0: 0.3751, seg_t1: 0.7386, seg_dice_t1: 0.3240, seg_t2: 0.6725, seg_dice_t2: 0.3071, seg_t3: 0.6491, seg_dice_t3: 0.2986, total_t0: 1.2916, total_t1: 1.0626, total_t2: 0.9796, total_t3: 0.9477, total_t4: 0.9388, total: 6.9497, cam_bev_norm: 16.9319, sat_bev_norm: 10.8215, seg_sat: 0.6576, seg_dice_sat: 0.3005, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.5059, seg_dice_fused: 0.2653, cam_rel_mean: 0.1962, sat_rel_mean: 0.2126, cam_rel_min: 0.0017, sat_rel_min: 0.0017, grad_norm: 19.1972 2026-04-18 00:56:55,918 - mmdet - INFO - Iter [12250/55932] lr: 4.460e-05, eta: 1 day, 2:18:06, time: 2.057, data_time: 0.081, memory: 34732, seg: 0.5958, seg_dice: 0.2995, seg_t0: 0.8358, seg_dice_t0: 0.3744, seg_t1: 0.6732, seg_dice_t1: 0.3293, seg_t2: 0.6277, seg_dice_t2: 0.3170, seg_t3: 0.6038, seg_dice_t3: 0.3037, total_t0: 1.2101, total_t1: 1.0025, total_t2: 0.9447, total_t3: 0.9075, total_t4: 0.8953, total: 6.5879, cam_bev_norm: 17.0441, sat_bev_norm: 10.9142, seg_sat: 0.6070, seg_dice_sat: 0.3036, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.4573, seg_dice_fused: 0.2598, cam_rel_mean: 0.1961, sat_rel_mean: 0.2134, cam_rel_min: 0.0016, sat_rel_min: 0.0013, grad_norm: 19.5571 2026-04-18 00:58:38,316 - mmdet - INFO - Iter [12300/55932] lr: 4.455e-05, eta: 1 day, 2:15:56, time: 2.048, data_time: 0.077, memory: 34732, seg: 0.6195, seg_dice: 0.3077, seg_t0: 0.9085, seg_dice_t0: 0.3818, seg_t1: 0.7355, seg_dice_t1: 0.3295, seg_t2: 0.6848, seg_dice_t2: 0.3170, seg_t3: 0.6378, seg_dice_t3: 0.3108, total_t0: 1.2903, total_t1: 1.0650, total_t2: 1.0018, total_t3: 0.9485, total_t4: 0.9272, total: 6.9425, cam_bev_norm: 17.0169, sat_bev_norm: 10.8625, seg_sat: 0.6395, seg_dice_sat: 0.3085, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.4905, seg_dice_fused: 0.2713, cam_rel_mean: 0.1985, sat_rel_mean: 0.2256, cam_rel_min: 0.0019, sat_rel_min: 0.0005, grad_norm: 19.9764 2026-04-18 01:00:21,102 - mmdet - INFO - Iter [12350/55932] lr: 4.451e-05, eta: 1 day, 2:13:48, time: 2.056, data_time: 0.075, memory: 34732, seg: 0.5939, seg_dice: 0.2958, seg_t0: 0.8712, seg_dice_t0: 0.3765, seg_t1: 0.6903, seg_dice_t1: 0.3273, seg_t2: 0.6428, seg_dice_t2: 0.3116, seg_t3: 0.6151, seg_dice_t3: 0.3013, total_t0: 1.2477, total_t1: 1.0176, total_t2: 0.9544, total_t3: 0.9165, total_t4: 0.8897, total: 6.6980, cam_bev_norm: 17.0828, sat_bev_norm: 10.8645, seg_sat: 0.6364, seg_dice_sat: 0.2962, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2200, seg_fused: 0.4824, seg_dice_fused: 0.2572, cam_rel_mean: 0.1922, sat_rel_mean: 0.2109, cam_rel_min: 0.0020, sat_rel_min: 0.0018, grad_norm: 19.1956 2026-04-18 01:02:03,394 - mmdet - INFO - Iter [12400/55932] lr: 4.447e-05, eta: 1 day, 2:11:39, time: 2.046, data_time: 0.073, memory: 34732, seg: 0.5915, seg_dice: 0.3026, seg_t0: 0.8728, seg_dice_t0: 0.3778, seg_t1: 0.6926, seg_dice_t1: 0.3323, seg_t2: 0.6350, seg_dice_t2: 0.3149, seg_t3: 0.6057, seg_dice_t3: 0.3069, total_t0: 1.2506, total_t1: 1.0249, total_t2: 0.9499, total_t3: 0.9126, total_t4: 0.8941, total: 6.6606, cam_bev_norm: 16.9911, sat_bev_norm: 10.9318, seg_sat: 0.5821, seg_dice_sat: 0.2979, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.0800, seg_fused: 0.4787, seg_dice_fused: 0.2698, cam_rel_mean: 0.1885, sat_rel_mean: 0.2126, cam_rel_min: 0.0029, sat_rel_min: 0.0021, grad_norm: 21.0619 2026-04-18 01:03:44,991 - mmdet - INFO - Iter [12450/55932] lr: 4.443e-05, eta: 1 day, 2:09:27, time: 2.032, data_time: 0.073, memory: 34732, seg: 0.6191, seg_dice: 0.3230, seg_t0: 0.8528, seg_dice_t0: 0.3864, seg_t1: 0.6745, seg_dice_t1: 0.3420, seg_t2: 0.6278, seg_dice_t2: 0.3245, seg_t3: 0.6205, seg_dice_t3: 0.3214, total_t0: 1.2392, total_t1: 1.0166, total_t2: 0.9523, total_t3: 0.9418, total_t4: 0.9421, total: 6.8425, cam_bev_norm: 16.9992, sat_bev_norm: 10.8209, seg_sat: 0.6490, seg_dice_sat: 0.3283, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.4885, seg_dice_fused: 0.2846, cam_rel_mean: 0.2038, sat_rel_mean: 0.2182, cam_rel_min: 0.0014, sat_rel_min: 0.0009, grad_norm: 20.6481 2026-04-18 01:05:27,069 - mmdet - INFO - Iter [12500/55932] lr: 4.438e-05, eta: 1 day, 2:07:17, time: 2.041, data_time: 0.073, memory: 34732, seg: 0.6230, seg_dice: 0.3079, seg_t0: 0.8625, seg_dice_t0: 0.3808, seg_t1: 0.7123, seg_dice_t1: 0.3388, seg_t2: 0.6681, seg_dice_t2: 0.3246, seg_t3: 0.6482, seg_dice_t3: 0.3167, total_t0: 1.2432, total_t1: 1.0510, total_t2: 0.9927, total_t3: 0.9649, total_t4: 0.9308, total: 6.8708, cam_bev_norm: 16.9290, sat_bev_norm: 10.8586, seg_sat: 0.6336, seg_dice_sat: 0.3125, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.4749, seg_dice_fused: 0.2672, cam_rel_mean: 0.2027, sat_rel_mean: 0.2212, cam_rel_min: 0.0014, sat_rel_min: 0.0005, grad_norm: 21.0621 2026-04-18 01:07:09,003 - mmdet - INFO - Iter [12550/55932] lr: 4.434e-05, eta: 1 day, 2:05:07, time: 2.039, data_time: 0.071, memory: 34732, seg: 0.6311, seg_dice: 0.2975, seg_t0: 0.8388, seg_dice_t0: 0.3709, seg_t1: 0.6667, seg_dice_t1: 0.3253, seg_t2: 0.6165, seg_dice_t2: 0.3086, seg_t3: 0.6091, seg_dice_t3: 0.3011, total_t0: 1.2098, total_t1: 0.9920, total_t2: 0.9251, total_t3: 0.9102, total_t4: 0.9286, total: 6.6627, cam_bev_norm: 16.9413, sat_bev_norm: 11.0072, seg_sat: 0.6379, seg_dice_sat: 0.2885, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 0.5130, seg_dice_fused: 0.2576, cam_rel_mean: 0.1967, sat_rel_mean: 0.2132, cam_rel_min: 0.0022, sat_rel_min: 0.0018, grad_norm: 20.6975 2026-04-18 01:08:51,059 - mmdet - INFO - Iter [12600/55932] lr: 4.430e-05, eta: 1 day, 2:02:57, time: 2.041, data_time: 0.075, memory: 34732, seg: 0.6527, seg_dice: 0.3038, seg_t0: 0.8865, seg_dice_t0: 0.3802, seg_t1: 0.7222, seg_dice_t1: 0.3318, seg_t2: 0.6640, seg_dice_t2: 0.3162, seg_t3: 0.6560, seg_dice_t3: 0.3086, total_t0: 1.2667, total_t1: 1.0540, total_t2: 0.9802, total_t3: 0.9645, total_t4: 0.9565, total: 6.9378, cam_bev_norm: 16.9491, sat_bev_norm: 10.8415, seg_sat: 0.6678, seg_dice_sat: 0.3040, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.4858, seg_dice_fused: 0.2583, cam_rel_mean: 0.2051, sat_rel_mean: 0.2239, cam_rel_min: 0.0014, sat_rel_min: 0.0006, grad_norm: 21.6739 2026-04-18 01:10:32,489 - mmdet - INFO - Iter [12650/55932] lr: 4.425e-05, eta: 1 day, 2:00:46, time: 2.028, data_time: 0.072, memory: 34732, seg: 0.5805, seg_dice: 0.2941, seg_t0: 0.8387, seg_dice_t0: 0.3635, seg_t1: 0.6769, seg_dice_t1: 0.3207, seg_t2: 0.6264, seg_dice_t2: 0.3058, seg_t3: 0.5918, seg_dice_t3: 0.2991, total_t0: 1.2021, total_t1: 0.9976, total_t2: 0.9322, total_t3: 0.8909, total_t4: 0.8746, total: 6.5861, cam_bev_norm: 16.8481, sat_bev_norm: 10.8248, seg_sat: 0.6441, seg_dice_sat: 0.2982, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2000, seg_fused: 0.4890, seg_dice_fused: 0.2572, cam_rel_mean: 0.1825, sat_rel_mean: 0.2166, cam_rel_min: 0.0027, sat_rel_min: 0.0010, grad_norm: 21.7740 2026-04-18 01:12:17,315 - mmdet - INFO - Iter [12700/55932] lr: 4.421e-05, eta: 1 day, 1:58:46, time: 2.097, data_time: 0.069, memory: 34732, seg: 0.6000, seg_dice: 0.3013, seg_t0: 0.8522, seg_dice_t0: 0.3668, seg_t1: 0.6829, seg_dice_t1: 0.3256, seg_t2: 0.6286, seg_dice_t2: 0.3141, seg_t3: 0.6100, seg_dice_t3: 0.3051, total_t0: 1.2189, total_t1: 1.0085, total_t2: 0.9427, total_t3: 0.9151, total_t4: 0.9013, total: 6.7864, cam_bev_norm: 16.9627, sat_bev_norm: 10.8680, seg_sat: 0.6769, seg_dice_sat: 0.3159, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1400, seg_fused: 0.5285, seg_dice_fused: 0.2784, cam_rel_mean: 0.1748, sat_rel_mean: 0.2150, cam_rel_min: 0.0032, sat_rel_min: 0.0014, grad_norm: 19.4964 2026-04-18 01:14:01,068 - mmdet - INFO - Iter [12750/55932] lr: 4.417e-05, eta: 1 day, 1:56:43, time: 2.075, data_time: 0.073, memory: 34732, seg: 0.6319, seg_dice: 0.2887, seg_t0: 0.9592, seg_dice_t0: 0.3718, seg_t1: 0.7660, seg_dice_t1: 0.3209, seg_t2: 0.6705, seg_dice_t2: 0.2994, seg_t3: 0.6385, seg_dice_t3: 0.2904, total_t0: 1.3310, total_t1: 1.0869, total_t2: 0.9700, total_t3: 0.9289, total_t4: 0.9206, total: 6.9479, cam_bev_norm: 16.8888, sat_bev_norm: 10.7929, seg_sat: 0.6801, seg_dice_sat: 0.2956, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1600, seg_fused: 0.4876, seg_dice_fused: 0.2473, cam_rel_mean: 0.2239, sat_rel_mean: 0.2286, cam_rel_min: 0.0005, sat_rel_min: 0.0010, grad_norm: 20.9349 2026-04-18 01:15:45,273 - mmdet - INFO - Iter [12800/55932] lr: 4.412e-05, eta: 1 day, 1:54:42, time: 2.084, data_time: 0.068, memory: 34732, seg: 0.5828, seg_dice: 0.3118, seg_t0: 0.8314, seg_dice_t0: 0.3717, seg_t1: 0.6628, seg_dice_t1: 0.3291, seg_t2: 0.6200, seg_dice_t2: 0.3151, seg_t3: 0.5987, seg_dice_t3: 0.3081, total_t0: 1.2030, total_t1: 0.9919, total_t2: 0.9351, total_t3: 0.9067, total_t4: 0.8947, total: 6.6170, cam_bev_norm: 16.9090, sat_bev_norm: 10.8543, seg_sat: 0.6266, seg_dice_sat: 0.3202, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.4620, seg_dice_fused: 0.2768, cam_rel_mean: 0.2004, sat_rel_mean: 0.2252, cam_rel_min: 0.0017, sat_rel_min: 0.0006, grad_norm: 22.3804 2026-04-18 01:17:27,722 - mmdet - INFO - Iter [12850/55932] lr: 4.408e-05, eta: 1 day, 1:52:35, time: 2.049, data_time: 0.075, memory: 34732, seg: 0.5833, seg_dice: 0.3199, seg_t0: 0.7997, seg_dice_t0: 0.3862, seg_t1: 0.6644, seg_dice_t1: 0.3429, seg_t2: 0.6210, seg_dice_t2: 0.3268, seg_t3: 0.5941, seg_dice_t3: 0.3250, total_t0: 1.1859, total_t1: 1.0074, total_t2: 0.9477, total_t3: 0.9191, total_t4: 0.9032, total: 6.6459, cam_bev_norm: 16.8754, sat_bev_norm: 10.8830, seg_sat: 0.6042, seg_dice_sat: 0.3183, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1200, seg_fused: 0.4746, seg_dice_fused: 0.2855, cam_rel_mean: 0.1769, sat_rel_mean: 0.2156, cam_rel_min: 0.0033, sat_rel_min: 0.0009, grad_norm: 21.1063 2026-04-18 01:19:10,551 - mmdet - INFO - Iter [12900/55932] lr: 4.403e-05, eta: 1 day, 1:50:29, time: 2.057, data_time: 0.075, memory: 34732, seg: 0.5973, seg_dice: 0.2775, seg_t0: 0.8705, seg_dice_t0: 0.3686, seg_t1: 0.6942, seg_dice_t1: 0.3168, seg_t2: 0.6331, seg_dice_t2: 0.2921, seg_t3: 0.6184, seg_dice_t3: 0.2823, total_t0: 1.2392, total_t1: 1.0110, total_t2: 0.9252, total_t3: 0.9007, total_t4: 0.8748, total: 6.5696, cam_bev_norm: 16.8835, sat_bev_norm: 10.9216, seg_sat: 0.6138, seg_dice_sat: 0.2713, mask_cam_zeroed: 0.2200, mask_cam_noised: 0.2000, seg_fused: 0.4946, seg_dice_fused: 0.2391, cam_rel_mean: 0.1777, sat_rel_mean: 0.2138, cam_rel_min: 0.0036, sat_rel_min: 0.0013, grad_norm: 20.9500 2026-04-18 01:20:52,810 - mmdet - INFO - Iter [12950/55932] lr: 4.399e-05, eta: 1 day, 1:48:21, time: 2.045, data_time: 0.074, memory: 34732, seg: 0.5733, seg_dice: 0.2894, seg_t0: 0.7994, seg_dice_t0: 0.3534, seg_t1: 0.6466, seg_dice_t1: 0.3063, seg_t2: 0.5924, seg_dice_t2: 0.2942, seg_t3: 0.5754, seg_dice_t3: 0.2905, total_t0: 1.1528, total_t1: 0.9529, total_t2: 0.8866, total_t3: 0.8659, total_t4: 0.8627, total: 6.3399, cam_bev_norm: 16.8836, sat_bev_norm: 10.9455, seg_sat: 0.5911, seg_dice_sat: 0.2920, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.4768, seg_dice_fused: 0.2591, cam_rel_mean: 0.1925, sat_rel_mean: 0.2094, cam_rel_min: 0.0020, sat_rel_min: 0.0013, grad_norm: 18.5092 2026-04-18 01:22:34,945 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 01:22:34,946 - mmdet - INFO - Iter [13000/55932] lr: 4.395e-05, eta: 1 day, 1:46:14, time: 2.043, data_time: 0.073, memory: 34732, seg: 0.5839, seg_dice: 0.2983, seg_t0: 0.8310, seg_dice_t0: 0.3841, seg_t1: 0.6603, seg_dice_t1: 0.3303, seg_t2: 0.5925, seg_dice_t2: 0.3153, seg_t3: 0.5735, seg_dice_t3: 0.3037, total_t0: 1.2151, total_t1: 0.9906, total_t2: 0.9078, total_t3: 0.8772, total_t4: 0.8822, total: 6.4857, cam_bev_norm: 16.8208, sat_bev_norm: 10.8815, seg_sat: 0.6190, seg_dice_sat: 0.2990, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.4422, seg_dice_fused: 0.2525, cam_rel_mean: 0.1972, sat_rel_mean: 0.2137, cam_rel_min: 0.0014, sat_rel_min: 0.0010, grad_norm: 17.8879 2026-04-18 01:24:17,047 - mmdet - INFO - Iter [13050/55932] lr: 4.390e-05, eta: 1 day, 1:44:06, time: 2.042, data_time: 0.073, memory: 34732, seg: 0.6404, seg_dice: 0.3106, seg_t0: 0.8743, seg_dice_t0: 0.3872, seg_t1: 0.7080, seg_dice_t1: 0.3400, seg_t2: 0.6631, seg_dice_t2: 0.3228, seg_t3: 0.6429, seg_dice_t3: 0.3162, total_t0: 1.2615, total_t1: 1.0481, total_t2: 0.9859, total_t3: 0.9591, total_t4: 0.9511, total: 6.9743, cam_bev_norm: 16.7905, sat_bev_norm: 10.7310, seg_sat: 0.6976, seg_dice_sat: 0.3173, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.4882, seg_dice_fused: 0.2657, cam_rel_mean: 0.2120, sat_rel_mean: 0.2311, cam_rel_min: 0.0014, sat_rel_min: 0.0007, grad_norm: 17.9845 2026-04-18 01:25:59,022 - mmdet - INFO - Iter [13100/55932] lr: 4.386e-05, eta: 1 day, 1:41:58, time: 2.039, data_time: 0.072, memory: 34732, seg: 0.6142, seg_dice: 0.3128, seg_t0: 0.8143, seg_dice_t0: 0.3711, seg_t1: 0.6565, seg_dice_t1: 0.3310, seg_t2: 0.6246, seg_dice_t2: 0.3187, seg_t3: 0.6173, seg_dice_t3: 0.3159, total_t0: 1.1854, total_t1: 0.9875, total_t2: 0.9432, total_t3: 0.9332, total_t4: 0.9270, total: 6.7855, cam_bev_norm: 16.8450, sat_bev_norm: 10.7733, seg_sat: 0.6982, seg_dice_sat: 0.3304, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.5011, seg_dice_fused: 0.2795, cam_rel_mean: 0.2036, sat_rel_mean: 0.2190, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 19.9099 2026-04-18 01:27:41,087 - mmdet - INFO - Iter [13150/55932] lr: 4.381e-05, eta: 1 day, 1:39:51, time: 2.041, data_time: 0.073, memory: 34732, seg: 0.6137, seg_dice: 0.3056, seg_t0: 0.8562, seg_dice_t0: 0.3648, seg_t1: 0.7027, seg_dice_t1: 0.3202, seg_t2: 0.6495, seg_dice_t2: 0.3105, seg_t3: 0.6249, seg_dice_t3: 0.3038, total_t0: 1.2210, total_t1: 1.0229, total_t2: 0.9600, total_t3: 0.9287, total_t4: 0.9193, total: 6.7919, cam_bev_norm: 16.8669, sat_bev_norm: 10.8604, seg_sat: 0.6509, seg_dice_sat: 0.3174, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.4951, seg_dice_fused: 0.2766, cam_rel_mean: 0.2000, sat_rel_mean: 0.2203, cam_rel_min: 0.0017, sat_rel_min: 0.0014, grad_norm: 20.0655 2026-04-18 01:29:24,335 - mmdet - INFO - Iter [13200/55932] lr: 4.377e-05, eta: 1 day, 1:37:48, time: 2.065, data_time: 0.074, memory: 34732, seg: 0.6081, seg_dice: 0.3002, seg_t0: 0.8587, seg_dice_t0: 0.3746, seg_t1: 0.7065, seg_dice_t1: 0.3296, seg_t2: 0.6617, seg_dice_t2: 0.3143, seg_t3: 0.6349, seg_dice_t3: 0.3046, total_t0: 1.2333, total_t1: 1.0361, total_t2: 0.9760, total_t3: 0.9395, total_t4: 0.9083, total: 6.7839, cam_bev_norm: 16.7717, sat_bev_norm: 10.8237, seg_sat: 0.6410, seg_dice_sat: 0.2998, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.4920, seg_dice_fused: 0.2578, cam_rel_mean: 0.1931, sat_rel_mean: 0.2171, cam_rel_min: 0.0020, sat_rel_min: 0.0009, grad_norm: 20.1422 2026-04-18 01:31:07,803 - mmdet - INFO - Iter [13250/55932] lr: 4.372e-05, eta: 1 day, 1:35:45, time: 2.069, data_time: 0.077, memory: 34732, seg: 0.6223, seg_dice: 0.3025, seg_t0: 0.8431, seg_dice_t0: 0.3592, seg_t1: 0.6764, seg_dice_t1: 0.3153, seg_t2: 0.6287, seg_dice_t2: 0.3042, seg_t3: 0.6145, seg_dice_t3: 0.3003, total_t0: 1.2022, total_t1: 0.9917, total_t2: 0.9329, total_t3: 0.9148, total_t4: 0.9247, total: 6.5920, cam_bev_norm: 16.7753, sat_bev_norm: 10.8959, seg_sat: 0.5933, seg_dice_sat: 0.2935, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0800, seg_fused: 0.4775, seg_dice_fused: 0.2614, cam_rel_mean: 0.1944, sat_rel_mean: 0.2205, cam_rel_min: 0.0022, sat_rel_min: 0.0009, grad_norm: 19.4777 2026-04-18 01:32:50,485 - mmdet - INFO - Iter [13300/55932] lr: 4.368e-05, eta: 1 day, 1:33:40, time: 2.054, data_time: 0.078, memory: 34732, seg: 0.6368, seg_dice: 0.2927, seg_t0: 0.8653, seg_dice_t0: 0.3551, seg_t1: 0.7165, seg_dice_t1: 0.3112, seg_t2: 0.6511, seg_dice_t2: 0.2908, seg_t3: 0.6485, seg_dice_t3: 0.2879, total_t0: 1.2204, total_t1: 1.0277, total_t2: 0.9420, total_t3: 0.9364, total_t4: 0.9295, total: 6.7640, cam_bev_norm: 16.7784, sat_bev_norm: 10.8251, seg_sat: 0.6547, seg_dice_sat: 0.2930, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.5058, seg_dice_fused: 0.2546, cam_rel_mean: 0.2026, sat_rel_mean: 0.2282, cam_rel_min: 0.0016, sat_rel_min: 0.0005, grad_norm: 20.3728 2026-04-18 01:34:32,810 - mmdet - INFO - Iter [13350/55932] lr: 4.363e-05, eta: 1 day, 1:31:35, time: 2.046, data_time: 0.075, memory: 34732, seg: 0.6322, seg_dice: 0.3028, seg_t0: 0.8622, seg_dice_t0: 0.3801, seg_t1: 0.6915, seg_dice_t1: 0.3387, seg_t2: 0.6378, seg_dice_t2: 0.3235, seg_t3: 0.6217, seg_dice_t3: 0.3049, total_t0: 1.2423, total_t1: 1.0302, total_t2: 0.9613, total_t3: 0.9266, total_t4: 0.9350, total: 6.7871, cam_bev_norm: 16.7650, sat_bev_norm: 10.8679, seg_sat: 0.6359, seg_dice_sat: 0.2997, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.4904, seg_dice_fused: 0.2656, cam_rel_mean: 0.2032, sat_rel_mean: 0.2312, cam_rel_min: 0.0019, sat_rel_min: 0.0010, grad_norm: 19.0244 2026-04-18 01:36:15,612 - mmdet - INFO - Iter [13400/55932] lr: 4.359e-05, eta: 1 day, 1:29:31, time: 2.056, data_time: 0.074, memory: 34732, seg: 0.6039, seg_dice: 0.3014, seg_t0: 0.8888, seg_dice_t0: 0.3659, seg_t1: 0.6999, seg_dice_t1: 0.3205, seg_t2: 0.6399, seg_dice_t2: 0.3061, seg_t3: 0.6100, seg_dice_t3: 0.2939, total_t0: 1.2547, total_t1: 1.0204, total_t2: 0.9459, total_t3: 0.9039, total_t4: 0.9053, total: 6.6585, cam_bev_norm: 16.6968, sat_bev_norm: 10.8927, seg_sat: 0.6075, seg_dice_sat: 0.2934, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.4693, seg_dice_fused: 0.2581, cam_rel_mean: 0.2101, sat_rel_mean: 0.2152, cam_rel_min: 0.0013, sat_rel_min: 0.0018, grad_norm: 19.9521 2026-04-18 01:37:58,182 - mmdet - INFO - Iter [13450/55932] lr: 4.354e-05, eta: 1 day, 1:27:26, time: 2.051, data_time: 0.077, memory: 34732, seg: 0.5830, seg_dice: 0.3103, seg_t0: 0.8271, seg_dice_t0: 0.3743, seg_t1: 0.6602, seg_dice_t1: 0.3255, seg_t2: 0.5964, seg_dice_t2: 0.3131, seg_t3: 0.5842, seg_dice_t3: 0.3069, total_t0: 1.2014, total_t1: 0.9857, total_t2: 0.9094, total_t3: 0.8911, total_t4: 0.8933, total: 6.5058, cam_bev_norm: 16.6862, sat_bev_norm: 10.8672, seg_sat: 0.6091, seg_dice_sat: 0.3134, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.4346, seg_dice_fused: 0.2679, cam_rel_mean: 0.2083, sat_rel_mean: 0.2182, cam_rel_min: 0.0007, sat_rel_min: 0.0006, grad_norm: 17.5843 2026-04-18 01:39:41,086 - mmdet - INFO - Iter [13500/55932] lr: 4.349e-05, eta: 1 day, 1:25:22, time: 2.058, data_time: 0.077, memory: 34732, seg: 0.6370, seg_dice: 0.3044, seg_t0: 0.8785, seg_dice_t0: 0.3930, seg_t1: 0.7171, seg_dice_t1: 0.3438, seg_t2: 0.6707, seg_dice_t2: 0.3218, seg_t3: 0.6338, seg_dice_t3: 0.3138, total_t0: 1.2715, total_t1: 1.0609, total_t2: 0.9925, total_t3: 0.9475, total_t4: 0.9414, total: 6.9548, cam_bev_norm: 16.6321, sat_bev_norm: 10.6761, seg_sat: 0.6653, seg_dice_sat: 0.3106, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.5006, seg_dice_fused: 0.2646, cam_rel_mean: 0.1906, sat_rel_mean: 0.2165, cam_rel_min: 0.0019, sat_rel_min: 0.0010, grad_norm: 21.6937 2026-04-18 01:41:24,268 - mmdet - INFO - Iter [13550/55932] lr: 4.345e-05, eta: 1 day, 1:23:20, time: 2.064, data_time: 0.075, memory: 34732, seg: 0.5839, seg_dice: 0.3150, seg_t0: 0.8349, seg_dice_t0: 0.3773, seg_t1: 0.6601, seg_dice_t1: 0.3301, seg_t2: 0.6234, seg_dice_t2: 0.3206, seg_t3: 0.6023, seg_dice_t3: 0.3159, total_t0: 1.2122, total_t1: 0.9902, total_t2: 0.9440, total_t3: 0.9182, total_t4: 0.8989, total: 6.7161, cam_bev_norm: 16.6760, sat_bev_norm: 10.7823, seg_sat: 0.6573, seg_dice_sat: 0.3303, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.4823, seg_dice_fused: 0.2828, cam_rel_mean: 0.1844, sat_rel_mean: 0.2209, cam_rel_min: 0.0024, sat_rel_min: 0.0007, grad_norm: 19.6743 2026-04-18 01:43:06,564 - mmdet - INFO - Iter [13600/55932] lr: 4.340e-05, eta: 1 day, 1:21:15, time: 2.046, data_time: 0.076, memory: 34732, seg: 0.5809, seg_dice: 0.2769, seg_t0: 0.8019, seg_dice_t0: 0.3441, seg_t1: 0.6560, seg_dice_t1: 0.3025, seg_t2: 0.6046, seg_dice_t2: 0.2879, seg_t3: 0.5952, seg_dice_t3: 0.2789, total_t0: 1.1460, total_t1: 0.9585, total_t2: 0.8926, total_t3: 0.8741, total_t4: 0.8579, total: 6.2501, cam_bev_norm: 16.6863, sat_bev_norm: 10.8753, seg_sat: 0.5767, seg_dice_sat: 0.2729, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.4385, seg_dice_fused: 0.2330, cam_rel_mean: 0.2058, sat_rel_mean: 0.2204, cam_rel_min: 0.0011, sat_rel_min: 0.0011, grad_norm: 18.4073 2026-04-18 01:44:49,269 - mmdet - INFO - Iter [13650/55932] lr: 4.336e-05, eta: 1 day, 1:19:11, time: 2.054, data_time: 0.078, memory: 34732, seg: 0.5649, seg_dice: 0.3073, seg_t0: 0.7735, seg_dice_t0: 0.3671, seg_t1: 0.6326, seg_dice_t1: 0.3254, seg_t2: 0.5795, seg_dice_t2: 0.3190, seg_t3: 0.5617, seg_dice_t3: 0.3097, total_t0: 1.1406, total_t1: 0.9580, total_t2: 0.8985, total_t3: 0.8714, total_t4: 0.8723, total: 6.4129, cam_bev_norm: 16.6847, sat_bev_norm: 10.8408, seg_sat: 0.6129, seg_dice_sat: 0.3190, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.4630, seg_dice_fused: 0.2773, cam_rel_mean: 0.2044, sat_rel_mean: 0.2031, cam_rel_min: 0.0010, sat_rel_min: 0.0023, grad_norm: 18.4611 2026-04-18 01:46:32,427 - mmdet - INFO - Iter [13700/55932] lr: 4.331e-05, eta: 1 day, 1:17:09, time: 2.063, data_time: 0.078, memory: 34732, seg: 0.5626, seg_dice: 0.2964, seg_t0: 0.8127, seg_dice_t0: 0.3672, seg_t1: 0.6636, seg_dice_t1: 0.3179, seg_t2: 0.6093, seg_dice_t2: 0.2970, seg_t3: 0.5735, seg_dice_t3: 0.2975, total_t0: 1.1799, total_t1: 0.9814, total_t2: 0.9063, total_t3: 0.8709, total_t4: 0.8590, total: 6.3668, cam_bev_norm: 16.7176, sat_bev_norm: 10.7863, seg_sat: 0.5899, seg_dice_sat: 0.2985, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.4255, seg_dice_fused: 0.2555, cam_rel_mean: 0.1949, sat_rel_mean: 0.2227, cam_rel_min: 0.0016, sat_rel_min: 0.0006, grad_norm: 18.8275 2026-04-18 01:48:15,399 - mmdet - INFO - Iter [13750/55932] lr: 4.326e-05, eta: 1 day, 1:15:07, time: 2.059, data_time: 0.074, memory: 34732, seg: 0.5712, seg_dice: 0.3065, seg_t0: 0.8266, seg_dice_t0: 0.3846, seg_t1: 0.6646, seg_dice_t1: 0.3361, seg_t2: 0.6094, seg_dice_t2: 0.3206, seg_t3: 0.5731, seg_dice_t3: 0.3116, total_t0: 1.2112, total_t1: 1.0007, total_t2: 0.9300, total_t3: 0.8846, total_t4: 0.8777, total: 6.4791, cam_bev_norm: 16.7017, sat_bev_norm: 10.8322, seg_sat: 0.5587, seg_dice_sat: 0.3051, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.0800, seg_fused: 0.4428, seg_dice_fused: 0.2683, cam_rel_mean: 0.1738, sat_rel_mean: 0.2162, cam_rel_min: 0.0032, sat_rel_min: 0.0010, grad_norm: 19.8979 2026-04-18 01:49:57,751 - mmdet - INFO - Iter [13800/55932] lr: 4.322e-05, eta: 1 day, 1:13:03, time: 2.047, data_time: 0.074, memory: 34732, seg: 0.5492, seg_dice: 0.2859, seg_t0: 0.8277, seg_dice_t0: 0.3667, seg_t1: 0.6715, seg_dice_t1: 0.3192, seg_t2: 0.5982, seg_dice_t2: 0.2978, seg_t3: 0.5648, seg_dice_t3: 0.2887, total_t0: 1.1944, total_t1: 0.9907, total_t2: 0.8960, total_t3: 0.8534, total_t4: 0.8351, total: 6.3151, cam_bev_norm: 16.6406, sat_bev_norm: 10.7766, seg_sat: 0.5652, seg_dice_sat: 0.2852, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.4426, seg_dice_fused: 0.2525, cam_rel_mean: 0.2015, sat_rel_mean: 0.2095, cam_rel_min: 0.0011, sat_rel_min: 0.0019, grad_norm: 19.2639 2026-04-18 01:51:40,240 - mmdet - INFO - Iter [13850/55932] lr: 4.317e-05, eta: 1 day, 1:10:59, time: 2.050, data_time: 0.078, memory: 34732, seg: 0.5916, seg_dice: 0.2910, seg_t0: 0.8692, seg_dice_t0: 0.3717, seg_t1: 0.6903, seg_dice_t1: 0.3160, seg_t2: 0.6400, seg_dice_t2: 0.2997, seg_t3: 0.6001, seg_dice_t3: 0.2899, total_t0: 1.2409, total_t1: 1.0062, total_t2: 0.9397, total_t3: 0.8900, total_t4: 0.8825, total: 6.6442, cam_bev_norm: 16.6603, sat_bev_norm: 10.7988, seg_sat: 0.6603, seg_dice_sat: 0.2996, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.4730, seg_dice_fused: 0.2519, cam_rel_mean: 0.1980, sat_rel_mean: 0.2306, cam_rel_min: 0.0020, sat_rel_min: 0.0002, grad_norm: 20.8285 2026-04-18 01:53:22,252 - mmdet - INFO - Iter [13900/55932] lr: 4.312e-05, eta: 1 day, 1:08:54, time: 2.040, data_time: 0.072, memory: 34732, seg: 0.6143, seg_dice: 0.3186, seg_t0: 0.8706, seg_dice_t0: 0.3923, seg_t1: 0.6987, seg_dice_t1: 0.3445, seg_t2: 0.6300, seg_dice_t2: 0.3217, seg_t3: 0.6080, seg_dice_t3: 0.3160, total_t0: 1.2629, total_t1: 1.0432, total_t2: 0.9516, total_t3: 0.9240, total_t4: 0.9329, total: 6.8456, cam_bev_norm: 16.6042, sat_bev_norm: 10.7780, seg_sat: 0.6350, seg_dice_sat: 0.3172, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.4959, seg_dice_fused: 0.2828, cam_rel_mean: 0.1930, sat_rel_mean: 0.2108, cam_rel_min: 0.0017, sat_rel_min: 0.0018, grad_norm: 19.6153 2026-04-18 01:55:04,664 - mmdet - INFO - Iter [13950/55932] lr: 4.308e-05, eta: 1 day, 1:06:50, time: 2.049, data_time: 0.075, memory: 34732, seg: 0.5594, seg_dice: 0.2999, seg_t0: 0.7906, seg_dice_t0: 0.3612, seg_t1: 0.6327, seg_dice_t1: 0.3153, seg_t2: 0.5968, seg_dice_t2: 0.3034, seg_t3: 0.5698, seg_dice_t3: 0.2976, total_t0: 1.1517, total_t1: 0.9481, total_t2: 0.9002, total_t3: 0.8674, total_t4: 0.8593, total: 6.3693, cam_bev_norm: 16.6714, sat_bev_norm: 10.8049, seg_sat: 0.6068, seg_dice_sat: 0.3117, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.4540, seg_dice_fused: 0.2700, cam_rel_mean: 0.2035, sat_rel_mean: 0.2181, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 18.3876 2026-04-18 01:57:56,264 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 01:57:56,266 - mmdet - INFO - Iter [14000/55932] lr: 4.303e-05, eta: 1 day, 1:08:14, time: 3.432, data_time: 1.464, memory: 34732, seg: 0.5917, seg_dice: 0.2990, seg_t0: 0.8042, seg_dice_t0: 0.3643, seg_t1: 0.6484, seg_dice_t1: 0.3165, seg_t2: 0.6058, seg_dice_t2: 0.3011, seg_t3: 0.5888, seg_dice_t3: 0.2930, total_t0: 1.1685, total_t1: 0.9648, total_t2: 0.9069, total_t3: 0.8818, total_t4: 0.8907, total: 6.4067, cam_bev_norm: 16.7166, sat_bev_norm: 10.8938, seg_sat: 0.5814, seg_dice_sat: 0.2924, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.4602, seg_dice_fused: 0.2599, cam_rel_mean: 0.2030, sat_rel_mean: 0.2128, cam_rel_min: 0.0017, sat_rel_min: 0.0018, grad_norm: 19.5182 2026-04-18 01:59:39,568 - mmdet - INFO - Iter [14050/55932] lr: 4.298e-05, eta: 1 day, 1:06:12, time: 2.066, data_time: 0.080, memory: 34732, seg: 0.5751, seg_dice: 0.2617, seg_t0: 0.8738, seg_dice_t0: 0.3464, seg_t1: 0.7039, seg_dice_t1: 0.2992, seg_t2: 0.6231, seg_dice_t2: 0.2793, seg_t3: 0.5941, seg_dice_t3: 0.2682, total_t0: 1.2202, total_t1: 1.0031, total_t2: 0.9024, total_t3: 0.8623, total_t4: 0.8368, total: 6.3057, cam_bev_norm: 16.7008, sat_bev_norm: 10.7899, seg_sat: 0.5694, seg_dice_sat: 0.2569, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.4347, seg_dice_fused: 0.2199, cam_rel_mean: 0.2099, sat_rel_mean: 0.2122, cam_rel_min: 0.0010, sat_rel_min: 0.0022, grad_norm: 19.1286 2026-04-18 02:01:23,678 - mmdet - INFO - Iter [14100/55932] lr: 4.293e-05, eta: 1 day, 1:04:13, time: 2.082, data_time: 0.098, memory: 34732, seg: 0.5593, seg_dice: 0.3002, seg_t0: 0.8646, seg_dice_t0: 0.3789, seg_t1: 0.6840, seg_dice_t1: 0.3370, seg_t2: 0.6355, seg_dice_t2: 0.3211, seg_t3: 0.5941, seg_dice_t3: 0.3116, total_t0: 1.2435, total_t1: 1.0210, total_t2: 0.9566, total_t3: 0.9057, total_t4: 0.8595, total: 6.5380, cam_bev_norm: 16.5894, sat_bev_norm: 10.7920, seg_sat: 0.5589, seg_dice_sat: 0.2989, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.4311, seg_dice_fused: 0.2628, cam_rel_mean: 0.2014, sat_rel_mean: 0.2135, cam_rel_min: 0.0013, sat_rel_min: 0.0009, grad_norm: 20.2797 2026-04-18 02:03:06,696 - mmdet - INFO - Iter [14150/55932] lr: 4.289e-05, eta: 1 day, 1:02:11, time: 2.060, data_time: 0.076, memory: 34732, seg: 0.5736, seg_dice: 0.2881, seg_t0: 0.7985, seg_dice_t0: 0.3667, seg_t1: 0.6423, seg_dice_t1: 0.3173, seg_t2: 0.5987, seg_dice_t2: 0.3044, seg_t3: 0.5812, seg_dice_t3: 0.2959, total_t0: 1.1652, total_t1: 0.9596, total_t2: 0.9032, total_t3: 0.8771, total_t4: 0.8617, total: 6.2915, cam_bev_norm: 16.5322, sat_bev_norm: 10.9275, seg_sat: 0.5420, seg_dice_sat: 0.2741, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2400, seg_fused: 0.4582, seg_dice_fused: 0.2505, cam_rel_mean: 0.1879, sat_rel_mean: 0.2024, cam_rel_min: 0.0023, sat_rel_min: 0.0018, grad_norm: 19.8388 2026-04-18 02:04:50,175 - mmdet - INFO - Iter [14200/55932] lr: 4.284e-05, eta: 1 day, 1:00:10, time: 2.070, data_time: 0.077, memory: 34732, seg: 0.5507, seg_dice: 0.3014, seg_t0: 0.7686, seg_dice_t0: 0.3668, seg_t1: 0.6316, seg_dice_t1: 0.3218, seg_t2: 0.5910, seg_dice_t2: 0.3077, seg_t3: 0.5631, seg_dice_t3: 0.2987, total_t0: 1.1354, total_t1: 0.9534, total_t2: 0.8986, total_t3: 0.8618, total_t4: 0.8521, total: 6.2783, cam_bev_norm: 16.5999, sat_bev_norm: 10.8929, seg_sat: 0.5831, seg_dice_sat: 0.3029, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.4282, seg_dice_fused: 0.2629, cam_rel_mean: 0.2028, sat_rel_mean: 0.2167, cam_rel_min: 0.0013, sat_rel_min: 0.0009, grad_norm: 20.5114 2026-04-18 02:06:33,301 - mmdet - INFO - Iter [14250/55932] lr: 4.279e-05, eta: 1 day, 0:58:09, time: 2.062, data_time: 0.079, memory: 34732, seg: 0.5695, seg_dice: 0.2913, seg_t0: 0.8996, seg_dice_t0: 0.3630, seg_t1: 0.6950, seg_dice_t1: 0.3122, seg_t2: 0.6368, seg_dice_t2: 0.2930, seg_t3: 0.5989, seg_dice_t3: 0.2871, total_t0: 1.2626, total_t1: 1.0072, total_t2: 0.9298, total_t3: 0.8860, total_t4: 0.8607, total: 6.3951, cam_bev_norm: 16.5212, sat_bev_norm: 10.8614, seg_sat: 0.5223, seg_dice_sat: 0.2768, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2400, seg_fused: 0.4037, seg_dice_fused: 0.2460, cam_rel_mean: 0.2025, sat_rel_mean: 0.2168, cam_rel_min: 0.0011, sat_rel_min: 0.0014, grad_norm: 19.8276 2026-04-18 02:08:16,321 - mmdet - INFO - Iter [14300/55932] lr: 4.274e-05, eta: 1 day, 0:56:07, time: 2.061, data_time: 0.078, memory: 34732, seg: 0.5895, seg_dice: 0.2965, seg_t0: 0.7747, seg_dice_t0: 0.3612, seg_t1: 0.6350, seg_dice_t1: 0.3168, seg_t2: 0.5981, seg_dice_t2: 0.3044, seg_t3: 0.5883, seg_dice_t3: 0.3018, total_t0: 1.1359, total_t1: 0.9517, total_t2: 0.9025, total_t3: 0.8901, total_t4: 0.8860, total: 6.3659, cam_bev_norm: 16.5902, sat_bev_norm: 10.7754, seg_sat: 0.5935, seg_dice_sat: 0.2877, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.4627, seg_dice_fused: 0.2557, cam_rel_mean: 0.1990, sat_rel_mean: 0.1997, cam_rel_min: 0.0017, sat_rel_min: 0.0027, grad_norm: 20.4701 2026-04-18 02:10:00,205 - mmdet - INFO - Iter [14350/55932] lr: 4.270e-05, eta: 1 day, 0:54:08, time: 2.078, data_time: 0.080, memory: 34732, seg: 0.5798, seg_dice: 0.2912, seg_t0: 0.8047, seg_dice_t0: 0.3673, seg_t1: 0.6564, seg_dice_t1: 0.3281, seg_t2: 0.6040, seg_dice_t2: 0.3049, seg_t3: 0.6018, seg_dice_t3: 0.2980, total_t0: 1.1720, total_t1: 0.9845, total_t2: 0.9089, total_t3: 0.8998, total_t4: 0.8710, total: 6.3482, cam_bev_norm: 16.5964, sat_bev_norm: 10.8303, seg_sat: 0.5561, seg_dice_sat: 0.2831, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.4265, seg_dice_fused: 0.2462, cam_rel_mean: 0.1902, sat_rel_mean: 0.2235, cam_rel_min: 0.0020, sat_rel_min: 0.0000, grad_norm: 19.9493 2026-04-18 02:11:42,676 - mmdet - INFO - Iter [14400/55932] lr: 4.265e-05, eta: 1 day, 0:52:05, time: 2.049, data_time: 0.076, memory: 34732, seg: 0.5935, seg_dice: 0.2727, seg_t0: 0.8446, seg_dice_t0: 0.3452, seg_t1: 0.6754, seg_dice_t1: 0.2976, seg_t2: 0.6281, seg_dice_t2: 0.2886, seg_t3: 0.5958, seg_dice_t3: 0.2784, total_t0: 1.1898, total_t1: 0.9730, total_t2: 0.9167, total_t3: 0.8742, total_t4: 0.8662, total: 6.2938, cam_bev_norm: 16.5961, sat_bev_norm: 10.9099, seg_sat: 0.5636, seg_dice_sat: 0.2572, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.4291, seg_dice_fused: 0.2239, cam_rel_mean: 0.2120, sat_rel_mean: 0.2388, cam_rel_min: 0.0017, sat_rel_min: 0.0000, grad_norm: 18.9648 2026-04-18 02:13:25,192 - mmdet - INFO - Iter [14450/55932] lr: 4.260e-05, eta: 1 day, 0:50:02, time: 2.050, data_time: 0.075, memory: 34732, seg: 0.5598, seg_dice: 0.3172, seg_t0: 0.7704, seg_dice_t0: 0.3759, seg_t1: 0.6439, seg_dice_t1: 0.3368, seg_t2: 0.5994, seg_dice_t2: 0.3234, seg_t3: 0.5667, seg_dice_t3: 0.3157, total_t0: 1.1463, total_t1: 0.9807, total_t2: 0.9228, total_t3: 0.8824, total_t4: 0.8770, total: 6.4149, cam_bev_norm: 16.4952, sat_bev_norm: 10.7954, seg_sat: 0.5779, seg_dice_sat: 0.3156, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.4333, seg_dice_fused: 0.2789, cam_rel_mean: 0.1915, sat_rel_mean: 0.2110, cam_rel_min: 0.0018, sat_rel_min: 0.0009, grad_norm: 17.9935 2026-04-18 02:15:08,145 - mmdet - INFO - Iter [14500/55932] lr: 4.255e-05, eta: 1 day, 0:48:00, time: 2.059, data_time: 0.082, memory: 34732, seg: 0.5695, seg_dice: 0.2837, seg_t0: 0.8629, seg_dice_t0: 0.3512, seg_t1: 0.6703, seg_dice_t1: 0.3026, seg_t2: 0.6035, seg_dice_t2: 0.2908, seg_t3: 0.5705, seg_dice_t3: 0.2895, total_t0: 1.2141, total_t1: 0.9729, total_t2: 0.8943, total_t3: 0.8599, total_t4: 0.8532, total: 6.3654, cam_bev_norm: 16.5464, sat_bev_norm: 10.9008, seg_sat: 0.5787, seg_dice_sat: 0.2825, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2200, seg_fused: 0.4591, seg_dice_fused: 0.2508, cam_rel_mean: 0.1963, sat_rel_mean: 0.2216, cam_rel_min: 0.0020, sat_rel_min: 0.0009, grad_norm: 20.8645 2026-04-18 02:16:50,235 - mmdet - INFO - Iter [14550/55932] lr: 4.250e-05, eta: 1 day, 0:45:56, time: 2.042, data_time: 0.073, memory: 34732, seg: 0.5751, seg_dice: 0.2899, seg_t0: 0.8165, seg_dice_t0: 0.3723, seg_t1: 0.6628, seg_dice_t1: 0.3233, seg_t2: 0.6157, seg_dice_t2: 0.3026, seg_t3: 0.5792, seg_dice_t3: 0.2942, total_t0: 1.1888, total_t1: 0.9861, total_t2: 0.9183, total_t3: 0.8734, total_t4: 0.8650, total: 6.3464, cam_bev_norm: 16.5188, sat_bev_norm: 10.7049, seg_sat: 0.5501, seg_dice_sat: 0.2804, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.4360, seg_dice_fused: 0.2484, cam_rel_mean: 0.2011, sat_rel_mean: 0.2109, cam_rel_min: 0.0011, sat_rel_min: 0.0018, grad_norm: 17.7379 2026-04-18 02:18:33,808 - mmdet - INFO - Iter [14600/55932] lr: 4.245e-05, eta: 1 day, 0:43:57, time: 2.071, data_time: 0.077, memory: 34732, seg: 0.5349, seg_dice: 0.2833, seg_t0: 0.8052, seg_dice_t0: 0.3498, seg_t1: 0.6525, seg_dice_t1: 0.3126, seg_t2: 0.5908, seg_dice_t2: 0.2967, seg_t3: 0.5601, seg_dice_t3: 0.2873, total_t0: 1.1550, total_t1: 0.9651, total_t2: 0.8875, total_t3: 0.8474, total_t4: 0.8183, total: 6.1425, cam_bev_norm: 16.5756, sat_bev_norm: 10.9020, seg_sat: 0.5325, seg_dice_sat: 0.2785, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.4108, seg_dice_fused: 0.2475, cam_rel_mean: 0.2046, sat_rel_mean: 0.2092, cam_rel_min: 0.0017, sat_rel_min: 0.0018, grad_norm: 18.5027 2026-04-18 02:20:16,694 - mmdet - INFO - Iter [14650/55932] lr: 4.240e-05, eta: 1 day, 0:41:56, time: 2.058, data_time: 0.081, memory: 34732, seg: 0.5882, seg_dice: 0.2872, seg_t0: 0.8871, seg_dice_t0: 0.3559, seg_t1: 0.6903, seg_dice_t1: 0.3027, seg_t2: 0.6258, seg_dice_t2: 0.2919, seg_t3: 0.5998, seg_dice_t3: 0.2860, total_t0: 1.2430, total_t1: 0.9930, total_t2: 0.9178, total_t3: 0.8858, total_t4: 0.8754, total: 6.4589, cam_bev_norm: 16.4248, sat_bev_norm: 10.8169, seg_sat: 0.5731, seg_dice_sat: 0.2768, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.0600, seg_fused: 0.4509, seg_dice_fused: 0.2431, cam_rel_mean: 0.1941, sat_rel_mean: 0.2246, cam_rel_min: 0.0028, sat_rel_min: 0.0009, grad_norm: 21.1970 2026-04-18 02:21:59,319 - mmdet - INFO - Iter [14700/55932] lr: 4.236e-05, eta: 1 day, 0:39:54, time: 2.052, data_time: 0.078, memory: 34732, seg: 0.5502, seg_dice: 0.2697, seg_t0: 0.8097, seg_dice_t0: 0.3479, seg_t1: 0.6308, seg_dice_t1: 0.2979, seg_t2: 0.5832, seg_dice_t2: 0.2870, seg_t3: 0.5538, seg_dice_t3: 0.2696, total_t0: 1.1576, total_t1: 0.9288, total_t2: 0.8702, total_t3: 0.8234, total_t4: 0.8199, total: 6.0358, cam_bev_norm: 16.4813, sat_bev_norm: 10.9732, seg_sat: 0.5384, seg_dice_sat: 0.2553, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.4153, seg_dice_fused: 0.2270, cam_rel_mean: 0.1928, sat_rel_mean: 0.2135, cam_rel_min: 0.0020, sat_rel_min: 0.0014, grad_norm: 19.5945 2026-04-18 02:23:42,464 - mmdet - INFO - Iter [14750/55932] lr: 4.231e-05, eta: 1 day, 0:37:53, time: 2.063, data_time: 0.074, memory: 34732, seg: 0.5697, seg_dice: 0.2882, seg_t0: 0.7732, seg_dice_t0: 0.3510, seg_t1: 0.6249, seg_dice_t1: 0.3125, seg_t2: 0.5891, seg_dice_t2: 0.3036, seg_t3: 0.5697, seg_dice_t3: 0.2892, total_t0: 1.1241, total_t1: 0.9375, total_t2: 0.8927, total_t3: 0.8589, total_t4: 0.8579, total: 6.3379, cam_bev_norm: 16.5346, sat_bev_norm: 10.7904, seg_sat: 0.6518, seg_dice_sat: 0.3091, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1800, seg_fused: 0.4500, seg_dice_fused: 0.2559, cam_rel_mean: 0.2147, sat_rel_mean: 0.2276, cam_rel_min: 0.0007, sat_rel_min: 0.0005, grad_norm: 20.2061 2026-04-18 02:25:25,083 - mmdet - INFO - Iter [14800/55932] lr: 4.226e-05, eta: 1 day, 0:35:52, time: 2.052, data_time: 0.079, memory: 34732, seg: 0.5377, seg_dice: 0.2696, seg_t0: 0.7737, seg_dice_t0: 0.3443, seg_t1: 0.6256, seg_dice_t1: 0.2997, seg_t2: 0.5848, seg_dice_t2: 0.2826, seg_t3: 0.5693, seg_dice_t3: 0.2758, total_t0: 1.1181, total_t1: 0.9253, total_t2: 0.8674, total_t3: 0.8451, total_t4: 0.8073, total: 6.0900, cam_bev_norm: 16.4898, sat_bev_norm: 10.8085, seg_sat: 0.5701, seg_dice_sat: 0.2751, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.4398, seg_dice_fused: 0.2417, cam_rel_mean: 0.2020, sat_rel_mean: 0.2257, cam_rel_min: 0.0021, sat_rel_min: 0.0010, grad_norm: 17.3943 2026-04-18 02:27:06,973 - mmdet - INFO - Iter [14850/55932] lr: 4.221e-05, eta: 1 day, 0:33:48, time: 2.038, data_time: 0.074, memory: 34732, seg: 0.5783, seg_dice: 0.2922, seg_t0: 0.8067, seg_dice_t0: 0.3566, seg_t1: 0.6551, seg_dice_t1: 0.3097, seg_t2: 0.5851, seg_dice_t2: 0.2890, seg_t3: 0.5793, seg_dice_t3: 0.2873, total_t0: 1.1633, total_t1: 0.9649, total_t2: 0.8741, total_t3: 0.8666, total_t4: 0.8705, total: 6.2541, cam_bev_norm: 16.4223, sat_bev_norm: 10.8234, seg_sat: 0.5451, seg_dice_sat: 0.2775, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.4428, seg_dice_fused: 0.2494, cam_rel_mean: 0.1933, sat_rel_mean: 0.2164, cam_rel_min: 0.0024, sat_rel_min: 0.0010, grad_norm: 17.7252 2026-04-18 02:28:50,550 - mmdet - INFO - Iter [14900/55932] lr: 4.216e-05, eta: 1 day, 0:31:49, time: 2.072, data_time: 0.084, memory: 34732, seg: 0.5709, seg_dice: 0.3012, seg_t0: 0.7870, seg_dice_t0: 0.3569, seg_t1: 0.6419, seg_dice_t1: 0.3180, seg_t2: 0.6038, seg_dice_t2: 0.3047, seg_t3: 0.5841, seg_dice_t3: 0.2976, total_t0: 1.1438, total_t1: 0.9599, total_t2: 0.9085, total_t3: 0.8817, total_t4: 0.8721, total: 6.3200, cam_bev_norm: 16.3879, sat_bev_norm: 10.8941, seg_sat: 0.5684, seg_dice_sat: 0.2925, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.4328, seg_dice_fused: 0.2603, cam_rel_mean: 0.2007, sat_rel_mean: 0.2142, cam_rel_min: 0.0014, sat_rel_min: 0.0010, grad_norm: 17.8480 2026-04-18 02:30:34,064 - mmdet - INFO - Iter [14950/55932] lr: 4.211e-05, eta: 1 day, 0:29:50, time: 2.070, data_time: 0.083, memory: 34732, seg: 0.5303, seg_dice: 0.2700, seg_t0: 0.7825, seg_dice_t0: 0.3322, seg_t1: 0.6115, seg_dice_t1: 0.2841, seg_t2: 0.5793, seg_dice_t2: 0.2730, seg_t3: 0.5377, seg_dice_t3: 0.2726, total_t0: 1.1147, total_t1: 0.8955, total_t2: 0.8523, total_t3: 0.8103, total_t4: 0.8003, total: 5.8690, cam_bev_norm: 16.4620, sat_bev_norm: 10.8289, seg_sat: 0.5098, seg_dice_sat: 0.2613, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.3962, seg_dice_fused: 0.2287, cam_rel_mean: 0.1976, sat_rel_mean: 0.2150, cam_rel_min: 0.0017, sat_rel_min: 0.0010, grad_norm: 18.1520 2026-04-18 02:32:17,551 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 02:32:17,552 - mmdet - INFO - Iter [15000/55932] lr: 4.206e-05, eta: 1 day, 0:27:52, time: 2.070, data_time: 0.083, memory: 34732, seg: 0.5650, seg_dice: 0.2858, seg_t0: 0.7765, seg_dice_t0: 0.3453, seg_t1: 0.6398, seg_dice_t1: 0.3056, seg_t2: 0.5776, seg_dice_t2: 0.2862, seg_t3: 0.5635, seg_dice_t3: 0.2835, total_t0: 1.1218, total_t1: 0.9453, total_t2: 0.8638, total_t3: 0.8470, total_t4: 0.8508, total: 6.2049, cam_bev_norm: 16.4752, sat_bev_norm: 10.8870, seg_sat: 0.6035, seg_dice_sat: 0.2863, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.4427, seg_dice_fused: 0.2437, cam_rel_mean: 0.2159, sat_rel_mean: 0.2236, cam_rel_min: 0.0007, sat_rel_min: 0.0010, grad_norm: 19.0342 2026-04-18 02:34:00,966 - mmdet - INFO - Iter [15050/55932] lr: 4.201e-05, eta: 1 day, 0:25:53, time: 2.068, data_time: 0.079, memory: 34732, seg: 0.5600, seg_dice: 0.2919, seg_t0: 0.7687, seg_dice_t0: 0.3470, seg_t1: 0.6103, seg_dice_t1: 0.3028, seg_t2: 0.5782, seg_dice_t2: 0.2947, seg_t3: 0.5654, seg_dice_t3: 0.2915, total_t0: 1.1157, total_t1: 0.9131, total_t2: 0.8729, total_t3: 0.8569, total_t4: 0.8519, total: 6.2015, cam_bev_norm: 16.4612, sat_bev_norm: 10.7618, seg_sat: 0.5844, seg_dice_sat: 0.2967, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2800, seg_fused: 0.4481, seg_dice_fused: 0.2618, cam_rel_mean: 0.2010, sat_rel_mean: 0.2214, cam_rel_min: 0.0013, sat_rel_min: 0.0011, grad_norm: 17.3184 2026-04-18 02:35:45,618 - mmdet - INFO - Iter [15100/55932] lr: 4.196e-05, eta: 1 day, 0:23:57, time: 2.093, data_time: 0.084, memory: 34732, seg: 0.5468, seg_dice: 0.2620, seg_t0: 0.8150, seg_dice_t0: 0.3348, seg_t1: 0.6431, seg_dice_t1: 0.2887, seg_t2: 0.5732, seg_dice_t2: 0.2704, seg_t3: 0.5467, seg_dice_t3: 0.2649, total_t0: 1.1497, total_t1: 0.9317, total_t2: 0.8437, total_t3: 0.8116, total_t4: 0.8089, total: 6.0093, cam_bev_norm: 16.4657, sat_bev_norm: 10.9208, seg_sat: 0.5544, seg_dice_sat: 0.2584, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.4241, seg_dice_fused: 0.2268, cam_rel_mean: 0.2062, sat_rel_mean: 0.2194, cam_rel_min: 0.0017, sat_rel_min: 0.0014, grad_norm: 17.9534 2026-04-18 02:37:28,940 - mmdet - INFO - Iter [15150/55932] lr: 4.191e-05, eta: 1 day, 0:21:58, time: 2.066, data_time: 0.081, memory: 34732, seg: 0.5604, seg_dice: 0.3019, seg_t0: 0.7669, seg_dice_t0: 0.3528, seg_t1: 0.6098, seg_dice_t1: 0.3134, seg_t2: 0.5716, seg_dice_t2: 0.3020, seg_t3: 0.5528, seg_dice_t3: 0.2983, total_t0: 1.1197, total_t1: 0.9232, total_t2: 0.8735, total_t3: 0.8512, total_t4: 0.8623, total: 6.2025, cam_bev_norm: 16.3546, sat_bev_norm: 10.8640, seg_sat: 0.5620, seg_dice_sat: 0.2993, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.4453, seg_dice_fused: 0.2661, cam_rel_mean: 0.1908, sat_rel_mean: 0.2049, cam_rel_min: 0.0020, sat_rel_min: 0.0023, grad_norm: 17.5834 2026-04-18 02:39:12,890 - mmdet - INFO - Iter [15200/55932] lr: 4.186e-05, eta: 1 day, 0:20:01, time: 2.079, data_time: 0.078, memory: 34732, seg: 0.4899, seg_dice: 0.2549, seg_t0: 0.7734, seg_dice_t0: 0.3345, seg_t1: 0.5958, seg_dice_t1: 0.2859, seg_t2: 0.5302, seg_dice_t2: 0.2692, seg_t3: 0.5057, seg_dice_t3: 0.2629, total_t0: 1.1079, total_t1: 0.8817, total_t2: 0.7994, total_t3: 0.7687, total_t4: 0.7447, total: 5.6348, cam_bev_norm: 16.4593, sat_bev_norm: 10.9537, seg_sat: 0.4945, seg_dice_sat: 0.2510, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.3689, seg_dice_fused: 0.2180, cam_rel_mean: 0.2106, sat_rel_mean: 0.2190, cam_rel_min: 0.0007, sat_rel_min: 0.0005, grad_norm: 16.7202 2026-04-18 02:40:55,913 - mmdet - INFO - Iter [15250/55932] lr: 4.181e-05, eta: 1 day, 0:18:02, time: 2.060, data_time: 0.080, memory: 34732, seg: 0.5351, seg_dice: 0.2868, seg_t0: 0.7486, seg_dice_t0: 0.3478, seg_t1: 0.6098, seg_dice_t1: 0.3054, seg_t2: 0.5628, seg_dice_t2: 0.2939, seg_t3: 0.5413, seg_dice_t3: 0.2855, total_t0: 1.0964, total_t1: 0.9152, total_t2: 0.8566, total_t3: 0.8269, total_t4: 0.8219, total: 6.0507, cam_bev_norm: 16.4042, sat_bev_norm: 10.8155, seg_sat: 0.5468, seg_dice_sat: 0.2863, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.0800, seg_fused: 0.4404, seg_dice_fused: 0.2601, cam_rel_mean: 0.1868, sat_rel_mean: 0.2190, cam_rel_min: 0.0030, sat_rel_min: 0.0011, grad_norm: 19.1350 2026-04-18 02:42:39,370 - mmdet - INFO - Iter [15300/55932] lr: 4.176e-05, eta: 1 day, 0:16:03, time: 2.069, data_time: 0.083, memory: 34732, seg: 0.5766, seg_dice: 0.2741, seg_t0: 0.8043, seg_dice_t0: 0.3605, seg_t1: 0.6333, seg_dice_t1: 0.3119, seg_t2: 0.5893, seg_dice_t2: 0.2950, seg_t3: 0.5823, seg_dice_t3: 0.2810, total_t0: 1.1648, total_t1: 0.9452, total_t2: 0.8843, total_t3: 0.8633, total_t4: 0.8507, total: 6.2165, cam_bev_norm: 16.3192, sat_bev_norm: 10.7355, seg_sat: 0.5830, seg_dice_sat: 0.2713, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0800, seg_fused: 0.4221, seg_dice_fused: 0.2317, cam_rel_mean: 0.2128, sat_rel_mean: 0.2110, cam_rel_min: 0.0007, sat_rel_min: 0.0020, grad_norm: 18.9466 2026-04-18 02:44:22,289 - mmdet - INFO - Iter [15350/55932] lr: 4.171e-05, eta: 1 day, 0:14:04, time: 2.059, data_time: 0.078, memory: 34732, seg: 0.5544, seg_dice: 0.2904, seg_t0: 0.8301, seg_dice_t0: 0.3575, seg_t1: 0.6568, seg_dice_t1: 0.3073, seg_t2: 0.5968, seg_dice_t2: 0.2935, seg_t3: 0.5780, seg_dice_t3: 0.2936, total_t0: 1.1875, total_t1: 0.9641, total_t2: 0.8903, total_t3: 0.8716, total_t4: 0.8448, total: 6.2552, cam_bev_norm: 16.3673, sat_bev_norm: 10.9083, seg_sat: 0.5332, seg_dice_sat: 0.2815, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2000, seg_fused: 0.4286, seg_dice_fused: 0.2536, cam_rel_mean: 0.1865, sat_rel_mean: 0.2054, cam_rel_min: 0.0023, sat_rel_min: 0.0023, grad_norm: 21.5486 2026-04-18 02:46:05,405 - mmdet - INFO - Iter [15400/55932] lr: 4.166e-05, eta: 1 day, 0:12:05, time: 2.062, data_time: 0.079, memory: 34732, seg: 0.5420, seg_dice: 0.3091, seg_t0: 0.7885, seg_dice_t0: 0.3725, seg_t1: 0.6019, seg_dice_t1: 0.3254, seg_t2: 0.5464, seg_dice_t2: 0.3162, seg_t3: 0.5422, seg_dice_t3: 0.3122, total_t0: 1.1610, total_t1: 0.9273, total_t2: 0.8626, total_t3: 0.8543, total_t4: 0.8511, total: 6.1753, cam_bev_norm: 16.3235, sat_bev_norm: 10.8869, seg_sat: 0.5273, seg_dice_sat: 0.3005, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.4212, seg_dice_fused: 0.2700, cam_rel_mean: 0.1879, sat_rel_mean: 0.2101, cam_rel_min: 0.0020, sat_rel_min: 0.0010, grad_norm: 18.1951 2026-04-18 02:47:48,786 - mmdet - INFO - Iter [15450/55932] lr: 4.161e-05, eta: 1 day, 0:10:06, time: 2.067, data_time: 0.077, memory: 34732, seg: 0.5595, seg_dice: 0.2921, seg_t0: 0.8692, seg_dice_t0: 0.3752, seg_t1: 0.6659, seg_dice_t1: 0.3270, seg_t2: 0.5979, seg_dice_t2: 0.3068, seg_t3: 0.5543, seg_dice_t3: 0.2944, total_t0: 1.2444, total_t1: 0.9929, total_t2: 0.9046, total_t3: 0.8487, total_t4: 0.8516, total: 6.3376, cam_bev_norm: 16.3500, sat_bev_norm: 10.8855, seg_sat: 0.5324, seg_dice_sat: 0.2818, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.4261, seg_dice_fused: 0.2550, cam_rel_mean: 0.1948, sat_rel_mean: 0.2164, cam_rel_min: 0.0025, sat_rel_min: 0.0014, grad_norm: 17.9211 2026-04-18 02:49:31,729 - mmdet - INFO - Iter [15500/55932] lr: 4.155e-05, eta: 1 day, 0:08:07, time: 2.059, data_time: 0.077, memory: 34732, seg: 0.5430, seg_dice: 0.2725, seg_t0: 0.8005, seg_dice_t0: 0.3564, seg_t1: 0.6296, seg_dice_t1: 0.3067, seg_t2: 0.5702, seg_dice_t2: 0.2948, seg_t3: 0.5526, seg_dice_t3: 0.2774, total_t0: 1.1569, total_t1: 0.9364, total_t2: 0.8650, total_t3: 0.8300, total_t4: 0.8155, total: 6.0308, cam_bev_norm: 16.3852, sat_bev_norm: 10.8733, seg_sat: 0.5241, seg_dice_sat: 0.2584, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2000, seg_fused: 0.4129, seg_dice_fused: 0.2316, cam_rel_mean: 0.1877, sat_rel_mean: 0.2241, cam_rel_min: 0.0028, sat_rel_min: 0.0005, grad_norm: 19.4160 2026-04-18 02:51:14,570 - mmdet - INFO - Iter [15550/55932] lr: 4.150e-05, eta: 1 day, 0:06:08, time: 2.057, data_time: 0.076, memory: 34732, seg: 0.5277, seg_dice: 0.2757, seg_t0: 0.7893, seg_dice_t0: 0.3527, seg_t1: 0.6245, seg_dice_t1: 0.3101, seg_t2: 0.5739, seg_dice_t2: 0.2916, seg_t3: 0.5416, seg_dice_t3: 0.2743, total_t0: 1.1420, total_t1: 0.9346, total_t2: 0.8655, total_t3: 0.8160, total_t4: 0.8035, total: 5.9955, cam_bev_norm: 16.3127, sat_bev_norm: 10.8834, seg_sat: 0.5206, seg_dice_sat: 0.2711, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0600, seg_fused: 0.4021, seg_dice_fused: 0.2402, cam_rel_mean: 0.2049, sat_rel_mean: 0.2060, cam_rel_min: 0.0014, sat_rel_min: 0.0018, grad_norm: 19.6817 2026-04-18 02:52:57,840 - mmdet - INFO - Iter [15600/55932] lr: 4.145e-05, eta: 1 day, 0:04:10, time: 2.065, data_time: 0.079, memory: 34732, seg: 0.5367, seg_dice: 0.2642, seg_t0: 0.7343, seg_dice_t0: 0.3310, seg_t1: 0.5934, seg_dice_t1: 0.2863, seg_t2: 0.5482, seg_dice_t2: 0.2731, seg_t3: 0.5238, seg_dice_t3: 0.2601, total_t0: 1.0652, total_t1: 0.8797, total_t2: 0.8213, total_t3: 0.7839, total_t4: 0.8009, total: 5.7188, cam_bev_norm: 16.3118, sat_bev_norm: 10.9154, seg_sat: 0.5028, seg_dice_sat: 0.2511, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.3919, seg_dice_fused: 0.2220, cam_rel_mean: 0.1920, sat_rel_mean: 0.2161, cam_rel_min: 0.0024, sat_rel_min: 0.0009, grad_norm: 19.2565 2026-04-18 02:54:41,803 - mmdet - INFO - Iter [15650/55932] lr: 4.140e-05, eta: 1 day, 0:02:13, time: 2.079, data_time: 0.078, memory: 34732, seg: 0.5453, seg_dice: 0.3001, seg_t0: 0.8286, seg_dice_t0: 0.3664, seg_t1: 0.6511, seg_dice_t1: 0.3164, seg_t2: 0.5909, seg_dice_t2: 0.3028, seg_t3: 0.5604, seg_dice_t3: 0.3025, total_t0: 1.1950, total_t1: 0.9674, total_t2: 0.8937, total_t3: 0.8629, total_t4: 0.8454, total: 6.2413, cam_bev_norm: 16.2366, sat_bev_norm: 10.8182, seg_sat: 0.5256, seg_dice_sat: 0.2927, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.4001, seg_dice_fused: 0.2585, cam_rel_mean: 0.1820, sat_rel_mean: 0.2122, cam_rel_min: 0.0024, sat_rel_min: 0.0010, grad_norm: 22.0804 2026-04-18 02:56:24,429 - mmdet - INFO - Iter [15700/55932] lr: 4.135e-05, eta: 1 day, 0:00:14, time: 2.053, data_time: 0.077, memory: 34732, seg: 0.5147, seg_dice: 0.2974, seg_t0: 0.8088, seg_dice_t0: 0.3507, seg_t1: 0.6378, seg_dice_t1: 0.3092, seg_t2: 0.5701, seg_dice_t2: 0.2969, seg_t3: 0.5291, seg_dice_t3: 0.2911, total_t0: 1.1595, total_t1: 0.9469, total_t2: 0.8670, total_t3: 0.8202, total_t4: 0.8121, total: 6.0527, cam_bev_norm: 16.1806, sat_bev_norm: 10.9114, seg_sat: 0.5123, seg_dice_sat: 0.2950, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1200, seg_fused: 0.3793, seg_dice_fused: 0.2603, cam_rel_mean: 0.2027, sat_rel_mean: 0.2020, cam_rel_min: 0.0007, sat_rel_min: 0.0019, grad_norm: 18.8057 2026-04-18 02:58:07,036 - mmdet - INFO - Iter [15750/55932] lr: 4.130e-05, eta: 23:58:14, time: 2.052, data_time: 0.078, memory: 34732, seg: 0.5200, seg_dice: 0.2787, seg_t0: 0.8243, seg_dice_t0: 0.3598, seg_t1: 0.6303, seg_dice_t1: 0.3142, seg_t2: 0.5584, seg_dice_t2: 0.2908, seg_t3: 0.5260, seg_dice_t3: 0.2787, total_t0: 1.1841, total_t1: 0.9445, total_t2: 0.8492, total_t3: 0.8047, total_t4: 0.7987, total: 6.0002, cam_bev_norm: 16.2589, sat_bev_norm: 10.8512, seg_sat: 0.5088, seg_dice_sat: 0.2748, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.3912, seg_dice_fused: 0.2444, cam_rel_mean: 0.1966, sat_rel_mean: 0.2134, cam_rel_min: 0.0017, sat_rel_min: 0.0015, grad_norm: 17.5780 2026-04-18 02:59:50,091 - mmdet - INFO - Iter [15800/55932] lr: 4.125e-05, eta: 23:56:16, time: 2.061, data_time: 0.079, memory: 34732, seg: 0.5744, seg_dice: 0.2851, seg_t0: 0.8376, seg_dice_t0: 0.3573, seg_t1: 0.6565, seg_dice_t1: 0.3065, seg_t2: 0.5918, seg_dice_t2: 0.2907, seg_t3: 0.5756, seg_dice_t3: 0.2818, total_t0: 1.1949, total_t1: 0.9630, total_t2: 0.8825, total_t3: 0.8573, total_t4: 0.8595, total: 6.2656, cam_bev_norm: 16.1899, sat_bev_norm: 10.7998, seg_sat: 0.5696, seg_dice_sat: 0.2804, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.4174, seg_dice_fused: 0.2410, cam_rel_mean: 0.2025, sat_rel_mean: 0.2229, cam_rel_min: 0.0014, sat_rel_min: 0.0005, grad_norm: 19.9576 2026-04-18 03:01:33,193 - mmdet - INFO - Iter [15850/55932] lr: 4.119e-05, eta: 23:54:17, time: 2.062, data_time: 0.082, memory: 34732, seg: 0.5169, seg_dice: 0.2781, seg_t0: 0.7744, seg_dice_t0: 0.3500, seg_t1: 0.5911, seg_dice_t1: 0.3019, seg_t2: 0.5342, seg_dice_t2: 0.2871, seg_t3: 0.5148, seg_dice_t3: 0.2779, total_t0: 1.1244, total_t1: 0.8930, total_t2: 0.8213, total_t3: 0.7927, total_t4: 0.7949, total: 5.8450, cam_bev_norm: 16.2302, sat_bev_norm: 10.9061, seg_sat: 0.5140, seg_dice_sat: 0.2739, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.3901, seg_dice_fused: 0.2406, cam_rel_mean: 0.2002, sat_rel_mean: 0.2078, cam_rel_min: 0.0017, sat_rel_min: 0.0019, grad_norm: 18.6151 2026-04-18 03:03:16,143 - mmdet - INFO - Iter [15900/55932] lr: 4.114e-05, eta: 23:52:19, time: 2.059, data_time: 0.079, memory: 34732, seg: 0.5203, seg_dice: 0.2810, seg_t0: 0.7408, seg_dice_t0: 0.3513, seg_t1: 0.6327, seg_dice_t1: 0.3105, seg_t2: 0.5861, seg_dice_t2: 0.2987, seg_t3: 0.5477, seg_dice_t3: 0.2883, total_t0: 1.0921, total_t1: 0.9432, total_t2: 0.8848, total_t3: 0.8360, total_t4: 0.8013, total: 6.0433, cam_bev_norm: 16.2586, sat_bev_norm: 10.7716, seg_sat: 0.5489, seg_dice_sat: 0.2816, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.4100, seg_dice_fused: 0.2454, cam_rel_mean: 0.1979, sat_rel_mean: 0.2143, cam_rel_min: 0.0017, sat_rel_min: 0.0014, grad_norm: 15.8501 2026-04-18 03:04:58,915 - mmdet - INFO - Iter [15950/55932] lr: 4.109e-05, eta: 23:50:20, time: 2.055, data_time: 0.080, memory: 34732, seg: 0.5374, seg_dice: 0.3190, seg_t0: 0.7905, seg_dice_t0: 0.3903, seg_t1: 0.5932, seg_dice_t1: 0.3406, seg_t2: 0.5486, seg_dice_t2: 0.3231, seg_t3: 0.5407, seg_dice_t3: 0.3169, total_t0: 1.1807, total_t1: 0.9338, total_t2: 0.8717, total_t3: 0.8576, total_t4: 0.8564, total: 6.2150, cam_bev_norm: 16.1982, sat_bev_norm: 10.7568, seg_sat: 0.5249, seg_dice_sat: 0.3137, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1200, seg_fused: 0.3966, seg_dice_fused: 0.2796, cam_rel_mean: 0.2081, sat_rel_mean: 0.2155, cam_rel_min: 0.0007, sat_rel_min: 0.0010, grad_norm: 19.0075 2026-04-18 03:06:42,288 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 03:06:42,289 - mmdet - INFO - Iter [16000/55932] lr: 4.104e-05, eta: 23:48:23, time: 2.068, data_time: 0.077, memory: 34732, seg: 0.5271, seg_dice: 0.2925, seg_t0: 0.7351, seg_dice_t0: 0.3618, seg_t1: 0.5950, seg_dice_t1: 0.3234, seg_t2: 0.5574, seg_dice_t2: 0.3045, seg_t3: 0.5245, seg_dice_t3: 0.2951, total_t0: 1.0968, total_t1: 0.9185, total_t2: 0.8620, total_t3: 0.8196, total_t4: 0.8196, total: 6.0385, cam_bev_norm: 16.2462, sat_bev_norm: 10.8477, seg_sat: 0.5551, seg_dice_sat: 0.2933, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.4167, seg_dice_fused: 0.2570, cam_rel_mean: 0.2032, sat_rel_mean: 0.2074, cam_rel_min: 0.0010, sat_rel_min: 0.0015, grad_norm: 18.8335 2026-04-18 03:08:25,439 - mmdet - INFO - Iter [16050/55932] lr: 4.099e-05, eta: 23:46:25, time: 2.063, data_time: 0.082, memory: 34732, seg: 0.5490, seg_dice: 0.2800, seg_t0: 0.8115, seg_dice_t0: 0.3420, seg_t1: 0.6301, seg_dice_t1: 0.2945, seg_t2: 0.5752, seg_dice_t2: 0.2859, seg_t3: 0.5440, seg_dice_t3: 0.2758, total_t0: 1.1535, total_t1: 0.9246, total_t2: 0.8611, total_t3: 0.8198, total_t4: 0.8290, total: 6.0689, cam_bev_norm: 16.2115, sat_bev_norm: 10.8203, seg_sat: 0.5364, seg_dice_sat: 0.2783, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.4192, seg_dice_fused: 0.2472, cam_rel_mean: 0.1976, sat_rel_mean: 0.2173, cam_rel_min: 0.0020, sat_rel_min: 0.0014, grad_norm: 17.7906 2026-04-18 03:10:07,979 - mmdet - INFO - Iter [16100/55932] lr: 4.093e-05, eta: 23:44:26, time: 2.051, data_time: 0.075, memory: 34732, seg: 0.5217, seg_dice: 0.2914, seg_t0: 0.7628, seg_dice_t0: 0.3323, seg_t1: 0.6148, seg_dice_t1: 0.2964, seg_t2: 0.5413, seg_dice_t2: 0.2841, seg_t3: 0.5115, seg_dice_t3: 0.2858, total_t0: 1.0951, total_t1: 0.9113, total_t2: 0.8254, total_t3: 0.7974, total_t4: 0.8131, total: 5.8378, cam_bev_norm: 16.2492, sat_bev_norm: 10.8922, seg_sat: 0.4908, seg_dice_sat: 0.2817, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2600, seg_fused: 0.3722, seg_dice_fused: 0.2509, cam_rel_mean: 0.2112, sat_rel_mean: 0.2302, cam_rel_min: 0.0011, sat_rel_min: 0.0000, grad_norm: 16.9614 2026-04-18 03:11:51,022 - mmdet - INFO - Iter [16150/55932] lr: 4.088e-05, eta: 23:42:29, time: 2.061, data_time: 0.080, memory: 34732, seg: 0.5668, seg_dice: 0.2998, seg_t0: 0.8467, seg_dice_t0: 0.3660, seg_t1: 0.6520, seg_dice_t1: 0.3208, seg_t2: 0.5939, seg_dice_t2: 0.3068, seg_t3: 0.5660, seg_dice_t3: 0.3035, total_t0: 1.2127, total_t1: 0.9728, total_t2: 0.9007, total_t3: 0.8696, total_t4: 0.8666, total: 6.3786, cam_bev_norm: 16.1767, sat_bev_norm: 10.7419, seg_sat: 0.5848, seg_dice_sat: 0.2985, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1200, seg_fused: 0.4140, seg_dice_fused: 0.2589, cam_rel_mean: 0.2220, sat_rel_mean: 0.2244, cam_rel_min: 0.0007, sat_rel_min: 0.0010, grad_norm: 18.4239 2026-04-18 03:13:33,794 - mmdet - INFO - Iter [16200/55932] lr: 4.083e-05, eta: 23:40:30, time: 2.055, data_time: 0.079, memory: 34732, seg: 0.5009, seg_dice: 0.2711, seg_t0: 0.6881, seg_dice_t0: 0.3305, seg_t1: 0.5725, seg_dice_t1: 0.2936, seg_t2: 0.5292, seg_dice_t2: 0.2808, seg_t3: 0.5022, seg_dice_t3: 0.2698, total_t0: 1.0186, total_t1: 0.8661, total_t2: 0.8101, total_t3: 0.7720, total_t4: 0.7720, total: 5.6738, cam_bev_norm: 16.3186, sat_bev_norm: 10.9414, seg_sat: 0.4948, seg_dice_sat: 0.2693, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.4222, seg_dice_fused: 0.2486, cam_rel_mean: 0.2058, sat_rel_mean: 0.2044, cam_rel_min: 0.0017, sat_rel_min: 0.0033, grad_norm: 17.9528 2026-04-18 03:15:17,669 - mmdet - INFO - Iter [16250/55932] lr: 4.078e-05, eta: 23:38:35, time: 2.077, data_time: 0.082, memory: 34732, seg: 0.4799, seg_dice: 0.2902, seg_t0: 0.7152, seg_dice_t0: 0.3542, seg_t1: 0.5536, seg_dice_t1: 0.3072, seg_t2: 0.5049, seg_dice_t2: 0.2926, seg_t3: 0.4779, seg_dice_t3: 0.2825, total_t0: 1.0694, total_t1: 0.8608, total_t2: 0.7974, total_t3: 0.7605, total_t4: 0.7701, total: 5.7460, cam_bev_norm: 16.1898, sat_bev_norm: 10.8126, seg_sat: 0.5293, seg_dice_sat: 0.2956, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1200, seg_fused: 0.3998, seg_dice_fused: 0.2631, cam_rel_mean: 0.1847, sat_rel_mean: 0.2057, cam_rel_min: 0.0027, sat_rel_min: 0.0019, grad_norm: 17.0080 2026-04-18 03:17:00,887 - mmdet - INFO - Iter [16300/55932] lr: 4.072e-05, eta: 23:36:38, time: 2.065, data_time: 0.082, memory: 34732, seg: 0.5169, seg_dice: 0.2706, seg_t0: 0.7683, seg_dice_t0: 0.3473, seg_t1: 0.5802, seg_dice_t1: 0.2953, seg_t2: 0.5441, seg_dice_t2: 0.2854, seg_t3: 0.5249, seg_dice_t3: 0.2762, total_t0: 1.1156, total_t1: 0.8755, total_t2: 0.8296, total_t3: 0.8011, total_t4: 0.7875, total: 5.8376, cam_bev_norm: 16.1620, sat_bev_norm: 10.8330, seg_sat: 0.5258, seg_dice_sat: 0.2743, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.3912, seg_dice_fused: 0.2370, cam_rel_mean: 0.1897, sat_rel_mean: 0.2118, cam_rel_min: 0.0020, sat_rel_min: 0.0015, grad_norm: 21.2248 2026-04-18 03:18:43,535 - mmdet - INFO - Iter [16350/55932] lr: 4.067e-05, eta: 23:34:39, time: 2.053, data_time: 0.077, memory: 34732, seg: 0.5065, seg_dice: 0.2860, seg_t0: 0.7387, seg_dice_t0: 0.3563, seg_t1: 0.5734, seg_dice_t1: 0.3123, seg_t2: 0.5300, seg_dice_t2: 0.3018, seg_t3: 0.5083, seg_dice_t3: 0.2928, total_t0: 1.0950, total_t1: 0.8857, total_t2: 0.8318, total_t3: 0.8011, total_t4: 0.7925, total: 5.8864, cam_bev_norm: 16.1535, sat_bev_norm: 10.8136, seg_sat: 0.5447, seg_dice_sat: 0.2881, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.3955, seg_dice_fused: 0.2520, cam_rel_mean: 0.2124, sat_rel_mean: 0.2020, cam_rel_min: 0.0007, sat_rel_min: 0.0029, grad_norm: 16.7357 2026-04-18 03:20:26,448 - mmdet - INFO - Iter [16400/55932] lr: 4.062e-05, eta: 23:32:42, time: 2.058, data_time: 0.078, memory: 34732, seg: 0.5183, seg_dice: 0.2981, seg_t0: 0.7783, seg_dice_t0: 0.3671, seg_t1: 0.6190, seg_dice_t1: 0.3211, seg_t2: 0.5616, seg_dice_t2: 0.3083, seg_t3: 0.5381, seg_dice_t3: 0.3037, total_t0: 1.1454, total_t1: 0.9401, total_t2: 0.8699, total_t3: 0.8418, total_t4: 0.8164, total: 6.0582, cam_bev_norm: 16.0644, sat_bev_norm: 10.8123, seg_sat: 0.5096, seg_dice_sat: 0.2898, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1800, seg_fused: 0.3877, seg_dice_fused: 0.2575, cam_rel_mean: 0.2061, sat_rel_mean: 0.2054, cam_rel_min: 0.0007, sat_rel_min: 0.0015, grad_norm: 18.7289 2026-04-18 03:22:09,518 - mmdet - INFO - Iter [16450/55932] lr: 4.056e-05, eta: 23:30:44, time: 2.061, data_time: 0.080, memory: 34732, seg: 0.5268, seg_dice: 0.2745, seg_t0: 0.7385, seg_dice_t0: 0.3357, seg_t1: 0.5770, seg_dice_t1: 0.2930, seg_t2: 0.5425, seg_dice_t2: 0.2759, seg_t3: 0.5272, seg_dice_t3: 0.2745, total_t0: 1.0741, total_t1: 0.8699, total_t2: 0.8183, total_t3: 0.8016, total_t4: 0.8012, total: 5.7805, cam_bev_norm: 16.1551, sat_bev_norm: 10.8781, seg_sat: 0.5250, seg_dice_sat: 0.2718, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.3842, seg_dice_fused: 0.2344, cam_rel_mean: 0.2048, sat_rel_mean: 0.2266, cam_rel_min: 0.0014, sat_rel_min: 0.0001, grad_norm: 18.9708 2026-04-18 03:23:52,741 - mmdet - INFO - Iter [16500/55932] lr: 4.051e-05, eta: 23:28:48, time: 2.065, data_time: 0.075, memory: 34732, seg: 0.5343, seg_dice: 0.3052, seg_t0: 0.7163, seg_dice_t0: 0.3591, seg_t1: 0.5929, seg_dice_t1: 0.3217, seg_t2: 0.5535, seg_dice_t2: 0.3065, seg_t3: 0.5358, seg_dice_t3: 0.3005, total_t0: 1.0754, total_t1: 0.9146, total_t2: 0.8600, total_t3: 0.8362, total_t4: 0.8396, total: 6.0222, cam_bev_norm: 16.1452, sat_bev_norm: 10.8516, seg_sat: 0.5399, seg_dice_sat: 0.3046, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2400, seg_fused: 0.3876, seg_dice_fused: 0.2643, cam_rel_mean: 0.1981, sat_rel_mean: 0.2160, cam_rel_min: 0.0011, sat_rel_min: 0.0000, grad_norm: 17.5237 2026-04-18 03:25:35,773 - mmdet - INFO - Iter [16550/55932] lr: 4.046e-05, eta: 23:26:51, time: 2.061, data_time: 0.077, memory: 34732, seg: 0.5190, seg_dice: 0.2620, seg_t0: 0.7377, seg_dice_t0: 0.3163, seg_t1: 0.5757, seg_dice_t1: 0.2775, seg_t2: 0.5462, seg_dice_t2: 0.2703, seg_t3: 0.5296, seg_dice_t3: 0.2694, total_t0: 1.0541, total_t1: 0.8532, total_t2: 0.8165, total_t3: 0.7990, total_t4: 0.7810, total: 5.7017, cam_bev_norm: 16.2978, sat_bev_norm: 10.9593, seg_sat: 0.5042, seg_dice_sat: 0.2547, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.4101, seg_dice_fused: 0.2291, cam_rel_mean: 0.2080, sat_rel_mean: 0.2162, cam_rel_min: 0.0017, sat_rel_min: 0.0024, grad_norm: 19.2495 2026-04-18 03:27:18,587 - mmdet - INFO - Iter [16600/55932] lr: 4.040e-05, eta: 23:24:53, time: 2.056, data_time: 0.080, memory: 34732, seg: 0.5118, seg_dice: 0.2737, seg_t0: 0.7411, seg_dice_t0: 0.3276, seg_t1: 0.6087, seg_dice_t1: 0.2934, seg_t2: 0.5527, seg_dice_t2: 0.2800, seg_t3: 0.5349, seg_dice_t3: 0.2754, total_t0: 1.0686, total_t1: 0.9021, total_t2: 0.8328, total_t3: 0.8104, total_t4: 0.7855, total: 5.8213, cam_bev_norm: 16.2454, sat_bev_norm: 10.7737, seg_sat: 0.5169, seg_dice_sat: 0.2740, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.3905, seg_dice_fused: 0.2407, cam_rel_mean: 0.2106, sat_rel_mean: 0.2211, cam_rel_min: 0.0011, sat_rel_min: 0.0010, grad_norm: 18.8433 2026-04-18 03:29:01,305 - mmdet - INFO - Iter [16650/55932] lr: 4.035e-05, eta: 23:22:56, time: 2.054, data_time: 0.080, memory: 34732, seg: 0.4953, seg_dice: 0.2818, seg_t0: 0.7019, seg_dice_t0: 0.3400, seg_t1: 0.5454, seg_dice_t1: 0.3008, seg_t2: 0.4926, seg_dice_t2: 0.2911, seg_t3: 0.4886, seg_dice_t3: 0.2834, total_t0: 1.0419, total_t1: 0.8462, total_t2: 0.7838, total_t3: 0.7720, total_t4: 0.7771, total: 5.6463, cam_bev_norm: 16.1845, sat_bev_norm: 10.7810, seg_sat: 0.5095, seg_dice_sat: 0.2851, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.3811, seg_dice_fused: 0.2497, cam_rel_mean: 0.1962, sat_rel_mean: 0.2006, cam_rel_min: 0.0011, sat_rel_min: 0.0019, grad_norm: 17.2169 2026-04-18 03:30:43,919 - mmdet - INFO - Iter [16700/55932] lr: 4.030e-05, eta: 23:20:58, time: 2.052, data_time: 0.077, memory: 34732, seg: 0.5494, seg_dice: 0.2937, seg_t0: 0.7738, seg_dice_t0: 0.3624, seg_t1: 0.6013, seg_dice_t1: 0.3130, seg_t2: 0.5524, seg_dice_t2: 0.2968, seg_t3: 0.5428, seg_dice_t3: 0.2923, total_t0: 1.1362, total_t1: 0.9143, total_t2: 0.8492, total_t3: 0.8351, total_t4: 0.8431, total: 6.0705, cam_bev_norm: 16.0893, sat_bev_norm: 10.8291, seg_sat: 0.5354, seg_dice_sat: 0.2880, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.4132, seg_dice_fused: 0.2558, cam_rel_mean: 0.2122, sat_rel_mean: 0.2142, cam_rel_min: 0.0007, sat_rel_min: 0.0019, grad_norm: 19.6679 2026-04-18 03:32:26,932 - mmdet - INFO - Iter [16750/55932] lr: 4.024e-05, eta: 23:19:01, time: 2.061, data_time: 0.081, memory: 34732, seg: 0.4965, seg_dice: 0.2823, seg_t0: 0.7520, seg_dice_t0: 0.3507, seg_t1: 0.5764, seg_dice_t1: 0.2997, seg_t2: 0.5268, seg_dice_t2: 0.2853, seg_t3: 0.5094, seg_dice_t3: 0.2780, total_t0: 1.1027, total_t1: 0.8761, total_t2: 0.8121, total_t3: 0.7874, total_t4: 0.7787, total: 5.7455, cam_bev_norm: 16.1043, sat_bev_norm: 10.8468, seg_sat: 0.4989, seg_dice_sat: 0.2774, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.3686, seg_dice_fused: 0.2434, cam_rel_mean: 0.1954, sat_rel_mean: 0.2209, cam_rel_min: 0.0017, sat_rel_min: 0.0000, grad_norm: 17.0969 2026-04-18 03:34:10,045 - mmdet - INFO - Iter [16800/55932] lr: 4.019e-05, eta: 23:17:05, time: 2.062, data_time: 0.076, memory: 34732, seg: 0.5130, seg_dice: 0.2819, seg_t0: 0.7412, seg_dice_t0: 0.3429, seg_t1: 0.5796, seg_dice_t1: 0.2935, seg_t2: 0.5310, seg_dice_t2: 0.2855, seg_t3: 0.5097, seg_dice_t3: 0.2818, total_t0: 1.0841, total_t1: 0.8732, total_t2: 0.8165, total_t3: 0.7915, total_t4: 0.7949, total: 5.8315, cam_bev_norm: 16.1247, sat_bev_norm: 10.8894, seg_sat: 0.5344, seg_dice_sat: 0.2803, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.4088, seg_dice_fused: 0.2478, cam_rel_mean: 0.2137, sat_rel_mean: 0.2095, cam_rel_min: 0.0007, sat_rel_min: 0.0014, grad_norm: 17.5653 2026-04-18 03:35:52,745 - mmdet - INFO - Iter [16850/55932] lr: 4.013e-05, eta: 23:15:07, time: 2.054, data_time: 0.081, memory: 34732, seg: 0.5297, seg_dice: 0.2703, seg_t0: 0.7446, seg_dice_t0: 0.3518, seg_t1: 0.5756, seg_dice_t1: 0.3029, seg_t2: 0.5307, seg_dice_t2: 0.2795, seg_t3: 0.5170, seg_dice_t3: 0.2718, total_t0: 1.0964, total_t1: 0.8785, total_t2: 0.8102, total_t3: 0.7888, total_t4: 0.7999, total: 5.7948, cam_bev_norm: 16.1280, sat_bev_norm: 10.8663, seg_sat: 0.5339, seg_dice_sat: 0.2691, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1800, seg_fused: 0.3879, seg_dice_fused: 0.2301, cam_rel_mean: 0.2117, sat_rel_mean: 0.2159, cam_rel_min: 0.0007, sat_rel_min: 0.0010, grad_norm: 18.0651 2026-04-18 03:37:35,568 - mmdet - INFO - Iter [16900/55932] lr: 4.008e-05, eta: 23:13:10, time: 2.057, data_time: 0.080, memory: 34732, seg: 0.5356, seg_dice: 0.2695, seg_t0: 0.8162, seg_dice_t0: 0.3423, seg_t1: 0.6463, seg_dice_t1: 0.2976, seg_t2: 0.5719, seg_dice_t2: 0.2780, seg_t3: 0.5411, seg_dice_t3: 0.2669, total_t0: 1.1585, total_t1: 0.9439, total_t2: 0.8499, total_t3: 0.8080, total_t4: 0.8051, total: 5.9731, cam_bev_norm: 16.1442, sat_bev_norm: 10.8272, seg_sat: 0.5209, seg_dice_sat: 0.2599, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.3995, seg_dice_fused: 0.2273, cam_rel_mean: 0.2042, sat_rel_mean: 0.2176, cam_rel_min: 0.0014, sat_rel_min: 0.0015, grad_norm: 19.8694 2026-04-18 03:39:17,802 - mmdet - INFO - Iter [16950/55932] lr: 4.003e-05, eta: 23:11:12, time: 2.045, data_time: 0.077, memory: 34732, seg: 0.5467, seg_dice: 0.2779, seg_t0: 0.8448, seg_dice_t0: 0.3605, seg_t1: 0.6584, seg_dice_t1: 0.3109, seg_t2: 0.5821, seg_dice_t2: 0.2892, seg_t3: 0.5482, seg_dice_t3: 0.2802, total_t0: 1.2053, total_t1: 0.9694, total_t2: 0.8713, total_t3: 0.8285, total_t4: 0.8246, total: 6.0874, cam_bev_norm: 16.0909, sat_bev_norm: 10.7857, seg_sat: 0.5040, seg_dice_sat: 0.2612, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.3919, seg_dice_fused: 0.2313, cam_rel_mean: 0.2144, sat_rel_mean: 0.2147, cam_rel_min: 0.0007, sat_rel_min: 0.0015, grad_norm: 19.0365 2026-04-18 03:41:01,749 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 03:41:01,750 - mmdet - INFO - Iter [17000/55932] lr: 3.997e-05, eta: 23:09:18, time: 2.079, data_time: 0.084, memory: 34732, seg: 0.5145, seg_dice: 0.2657, seg_t0: 0.7643, seg_dice_t0: 0.3326, seg_t1: 0.5989, seg_dice_t1: 0.2901, seg_t2: 0.5445, seg_dice_t2: 0.2738, seg_t3: 0.5221, seg_dice_t3: 0.2697, total_t0: 1.0969, total_t1: 0.8889, total_t2: 0.8183, total_t3: 0.7918, total_t4: 0.7801, total: 5.7677, cam_bev_norm: 16.1136, sat_bev_norm: 10.9390, seg_sat: 0.4996, seg_dice_sat: 0.2612, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.3968, seg_dice_fused: 0.2339, cam_rel_mean: 0.1901, sat_rel_mean: 0.2117, cam_rel_min: 0.0024, sat_rel_min: 0.0015, grad_norm: 19.8185 2026-04-18 03:42:45,451 - mmdet - INFO - Iter [17050/55932] lr: 3.992e-05, eta: 23:07:23, time: 2.074, data_time: 0.080, memory: 34732, seg: 0.4978, seg_dice: 0.2613, seg_t0: 0.7523, seg_dice_t0: 0.3365, seg_t1: 0.6005, seg_dice_t1: 0.2879, seg_t2: 0.5383, seg_dice_t2: 0.2748, seg_t3: 0.5034, seg_dice_t3: 0.2624, total_t0: 1.0889, total_t1: 0.8883, total_t2: 0.8131, total_t3: 0.7658, total_t4: 0.7591, total: 5.7254, cam_bev_norm: 16.1394, sat_bev_norm: 10.8028, seg_sat: 0.5333, seg_dice_sat: 0.2656, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.3843, seg_dice_fused: 0.2270, cam_rel_mean: 0.2076, sat_rel_mean: 0.2248, cam_rel_min: 0.0011, sat_rel_min: 0.0005, grad_norm: 19.2788 2026-04-18 03:44:28,958 - mmdet - INFO - Iter [17100/55932] lr: 3.986e-05, eta: 23:05:28, time: 2.070, data_time: 0.081, memory: 34732, seg: 0.5300, seg_dice: 0.2759, seg_t0: 0.8318, seg_dice_t0: 0.3505, seg_t1: 0.6445, seg_dice_t1: 0.3038, seg_t2: 0.5743, seg_dice_t2: 0.2804, seg_t3: 0.5401, seg_dice_t3: 0.2762, total_t0: 1.1824, total_t1: 0.9483, total_t2: 0.8547, total_t3: 0.8163, total_t4: 0.8059, total: 6.0287, cam_bev_norm: 16.0577, sat_bev_norm: 10.8360, seg_sat: 0.5219, seg_dice_sat: 0.2716, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2200, seg_fused: 0.3922, seg_dice_fused: 0.2355, cam_rel_mean: 0.2055, sat_rel_mean: 0.2292, cam_rel_min: 0.0014, sat_rel_min: 0.0005, grad_norm: 18.4213 2026-04-18 03:46:12,801 - mmdet - INFO - Iter [17150/55932] lr: 3.981e-05, eta: 23:03:34, time: 2.077, data_time: 0.082, memory: 34732, seg: 0.5218, seg_dice: 0.2856, seg_t0: 0.7285, seg_dice_t0: 0.3493, seg_t1: 0.5791, seg_dice_t1: 0.3064, seg_t2: 0.5310, seg_dice_t2: 0.2889, seg_t3: 0.5144, seg_dice_t3: 0.2831, total_t0: 1.0778, total_t1: 0.8855, total_t2: 0.8198, total_t3: 0.7975, total_t4: 0.8074, total: 5.8355, cam_bev_norm: 16.0476, sat_bev_norm: 10.8899, seg_sat: 0.5095, seg_dice_sat: 0.2795, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.4063, seg_dice_fused: 0.2520, cam_rel_mean: 0.1888, sat_rel_mean: 0.2092, cam_rel_min: 0.0021, sat_rel_min: 0.0015, grad_norm: 21.0428 2026-04-18 03:47:56,827 - mmdet - INFO - Iter [17200/55932] lr: 3.975e-05, eta: 23:01:40, time: 2.080, data_time: 0.084, memory: 34732, seg: 0.5311, seg_dice: 0.2824, seg_t0: 0.7812, seg_dice_t0: 0.3548, seg_t1: 0.6196, seg_dice_t1: 0.3063, seg_t2: 0.5583, seg_dice_t2: 0.2875, seg_t3: 0.5345, seg_dice_t3: 0.2806, total_t0: 1.1361, total_t1: 0.9259, total_t2: 0.8457, total_t3: 0.8151, total_t4: 0.8135, total: 6.0303, cam_bev_norm: 16.0009, sat_bev_norm: 10.8224, seg_sat: 0.5533, seg_dice_sat: 0.2863, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.4077, seg_dice_fused: 0.2467, cam_rel_mean: 0.1937, sat_rel_mean: 0.2213, cam_rel_min: 0.0021, sat_rel_min: 0.0005, grad_norm: 20.1043 2026-04-18 03:49:40,534 - mmdet - INFO - Iter [17250/55932] lr: 3.970e-05, eta: 22:59:46, time: 2.074, data_time: 0.087, memory: 34732, seg: 0.4694, seg_dice: 0.2749, seg_t0: 0.6891, seg_dice_t0: 0.3372, seg_t1: 0.5307, seg_dice_t1: 0.2913, seg_t2: 0.4838, seg_dice_t2: 0.2789, seg_t3: 0.4702, seg_dice_t3: 0.2775, total_t0: 1.0263, total_t1: 0.8220, total_t2: 0.7627, total_t3: 0.7477, total_t4: 0.7443, total: 5.4744, cam_bev_norm: 16.0956, sat_bev_norm: 10.9003, seg_sat: 0.4901, seg_dice_sat: 0.2783, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.3615, seg_dice_fused: 0.2413, cam_rel_mean: 0.2078, sat_rel_mean: 0.2203, cam_rel_min: 0.0014, sat_rel_min: 0.0010, grad_norm: 16.8825 2026-04-18 03:51:25,003 - mmdet - INFO - Iter [17300/55932] lr: 3.964e-05, eta: 22:57:53, time: 2.090, data_time: 0.083, memory: 34732, seg: 0.5622, seg_dice: 0.2880, seg_t0: 0.7978, seg_dice_t0: 0.3592, seg_t1: 0.6345, seg_dice_t1: 0.3065, seg_t2: 0.5803, seg_dice_t2: 0.2930, seg_t3: 0.5536, seg_dice_t3: 0.2860, total_t0: 1.1570, total_t1: 0.9410, total_t2: 0.8733, total_t3: 0.8397, total_t4: 0.8503, total: 6.2073, cam_bev_norm: 15.9624, sat_bev_norm: 10.7563, seg_sat: 0.5589, seg_dice_sat: 0.2823, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.4508, seg_dice_fused: 0.2540, cam_rel_mean: 0.1900, sat_rel_mean: 0.2143, cam_rel_min: 0.0021, sat_rel_min: 0.0010, grad_norm: 17.9099 2026-04-18 03:53:09,465 - mmdet - INFO - Iter [17350/55932] lr: 3.959e-05, eta: 22:56:00, time: 2.089, data_time: 0.085, memory: 34732, seg: 0.5118, seg_dice: 0.2614, seg_t0: 0.7141, seg_dice_t0: 0.3391, seg_t1: 0.5652, seg_dice_t1: 0.2989, seg_t2: 0.5351, seg_dice_t2: 0.2856, seg_t3: 0.5214, seg_dice_t3: 0.2731, total_t0: 1.0531, total_t1: 0.8641, total_t2: 0.8207, total_t3: 0.7944, total_t4: 0.7732, total: 5.7025, cam_bev_norm: 16.0704, sat_bev_norm: 10.9219, seg_sat: 0.5190, seg_dice_sat: 0.2626, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.3876, seg_dice_fused: 0.2278, cam_rel_mean: 0.2064, sat_rel_mean: 0.2270, cam_rel_min: 0.0014, sat_rel_min: 0.0005, grad_norm: 18.3812 2026-04-18 03:54:52,887 - mmdet - INFO - Iter [17400/55932] lr: 3.953e-05, eta: 22:54:05, time: 2.068, data_time: 0.082, memory: 34732, seg: 0.4984, seg_dice: 0.2860, seg_t0: 0.6950, seg_dice_t0: 0.3423, seg_t1: 0.5510, seg_dice_t1: 0.2998, seg_t2: 0.5145, seg_dice_t2: 0.2842, seg_t3: 0.5008, seg_dice_t3: 0.2838, total_t0: 1.0374, total_t1: 0.8508, total_t2: 0.7987, total_t3: 0.7846, total_t4: 0.7844, total: 5.6293, cam_bev_norm: 16.0195, sat_bev_norm: 10.8789, seg_sat: 0.4858, seg_dice_sat: 0.2840, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1200, seg_fused: 0.3567, seg_dice_fused: 0.2469, cam_rel_mean: 0.2037, sat_rel_mean: 0.2166, cam_rel_min: 0.0007, sat_rel_min: 0.0000, grad_norm: 17.2532 2026-04-18 03:56:36,431 - mmdet - INFO - Iter [17450/55932] lr: 3.948e-05, eta: 22:52:11, time: 2.071, data_time: 0.083, memory: 34732, seg: 0.5306, seg_dice: 0.2590, seg_t0: 0.7419, seg_dice_t0: 0.3142, seg_t1: 0.5945, seg_dice_t1: 0.2766, seg_t2: 0.5401, seg_dice_t2: 0.2624, seg_t3: 0.5281, seg_dice_t3: 0.2559, total_t0: 1.0561, total_t1: 0.8711, total_t2: 0.8025, total_t3: 0.7841, total_t4: 0.7895, total: 5.7687, cam_bev_norm: 16.0505, sat_bev_norm: 10.8896, seg_sat: 0.5460, seg_dice_sat: 0.2601, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1000, seg_fused: 0.4279, seg_dice_fused: 0.2314, cam_rel_mean: 0.1919, sat_rel_mean: 0.2296, cam_rel_min: 0.0032, sat_rel_min: 0.0010, grad_norm: 17.9426 2026-04-18 03:58:20,048 - mmdet - INFO - Iter [17500/55932] lr: 3.942e-05, eta: 22:50:17, time: 2.072, data_time: 0.080, memory: 34732, seg: 0.5218, seg_dice: 0.2880, seg_t0: 0.7543, seg_dice_t0: 0.3473, seg_t1: 0.5920, seg_dice_t1: 0.2994, seg_t2: 0.5509, seg_dice_t2: 0.2873, seg_t3: 0.5286, seg_dice_t3: 0.2885, total_t0: 1.1015, total_t1: 0.8914, total_t2: 0.8382, total_t3: 0.8171, total_t4: 0.8098, total: 5.9226, cam_bev_norm: 15.9632, sat_bev_norm: 10.8298, seg_sat: 0.5384, seg_dice_sat: 0.2848, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.3930, seg_dice_fused: 0.2483, cam_rel_mean: 0.1909, sat_rel_mean: 0.2154, cam_rel_min: 0.0021, sat_rel_min: 0.0010, grad_norm: 18.1604 2026-04-18 04:00:03,355 - mmdet - INFO - Iter [17550/55932] lr: 3.937e-05, eta: 22:48:22, time: 2.066, data_time: 0.080, memory: 34732, seg: 0.5344, seg_dice: 0.2641, seg_t0: 0.7878, seg_dice_t0: 0.3384, seg_t1: 0.6144, seg_dice_t1: 0.2936, seg_t2: 0.5562, seg_dice_t2: 0.2760, seg_t3: 0.5458, seg_dice_t3: 0.2638, total_t0: 1.1262, total_t1: 0.9080, total_t2: 0.8322, total_t3: 0.8096, total_t4: 0.7985, total: 5.9505, cam_bev_norm: 15.9756, sat_bev_norm: 10.8340, seg_sat: 0.5463, seg_dice_sat: 0.2639, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.4323, seg_dice_fused: 0.2335, cam_rel_mean: 0.1941, sat_rel_mean: 0.2185, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 19.1646 2026-04-18 04:01:46,698 - mmdet - INFO - Iter [17600/55932] lr: 3.931e-05, eta: 22:46:27, time: 2.067, data_time: 0.081, memory: 34732, seg: 0.5011, seg_dice: 0.2907, seg_t0: 0.7352, seg_dice_t0: 0.3508, seg_t1: 0.5706, seg_dice_t1: 0.3073, seg_t2: 0.5226, seg_dice_t2: 0.2924, seg_t3: 0.5005, seg_dice_t3: 0.2880, total_t0: 1.0861, total_t1: 0.8779, total_t2: 0.8150, total_t3: 0.7885, total_t4: 0.7918, total: 5.7704, cam_bev_norm: 15.9559, sat_bev_norm: 10.8920, seg_sat: 0.5024, seg_dice_sat: 0.2869, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.3701, seg_dice_fused: 0.2518, cam_rel_mean: 0.1912, sat_rel_mean: 0.2146, cam_rel_min: 0.0018, sat_rel_min: 0.0000, grad_norm: 17.5135 2026-04-18 04:03:29,935 - mmdet - INFO - Iter [17650/55932] lr: 3.926e-05, eta: 22:44:32, time: 2.064, data_time: 0.081, memory: 34732, seg: 0.5125, seg_dice: 0.2567, seg_t0: 0.7617, seg_dice_t0: 0.3317, seg_t1: 0.5868, seg_dice_t1: 0.2858, seg_t2: 0.5317, seg_dice_t2: 0.2659, seg_t3: 0.5085, seg_dice_t3: 0.2561, total_t0: 1.0934, total_t1: 0.8725, total_t2: 0.7976, total_t3: 0.7646, total_t4: 0.7692, total: 5.6982, cam_bev_norm: 16.0160, sat_bev_norm: 10.9202, seg_sat: 0.5349, seg_dice_sat: 0.2579, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.3885, seg_dice_fused: 0.2195, cam_rel_mean: 0.2152, sat_rel_mean: 0.2190, cam_rel_min: 0.0007, sat_rel_min: 0.0015, grad_norm: 17.3484 2026-04-18 04:05:13,374 - mmdet - INFO - Iter [17700/55932] lr: 3.920e-05, eta: 22:42:37, time: 2.069, data_time: 0.082, memory: 34732, seg: 0.4778, seg_dice: 0.2784, seg_t0: 0.6575, seg_dice_t0: 0.3305, seg_t1: 0.5198, seg_dice_t1: 0.2866, seg_t2: 0.4817, seg_dice_t2: 0.2803, seg_t3: 0.4771, seg_dice_t3: 0.2742, total_t0: 0.9880, total_t1: 0.8064, total_t2: 0.7620, total_t3: 0.7513, total_t4: 0.7562, total: 5.4184, cam_bev_norm: 15.9499, sat_bev_norm: 10.8714, seg_sat: 0.4793, seg_dice_sat: 0.2722, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0800, seg_fused: 0.3603, seg_dice_fused: 0.2427, cam_rel_mean: 0.1887, sat_rel_mean: 0.2148, cam_rel_min: 0.0025, sat_rel_min: 0.0010, grad_norm: 17.5337 2026-04-18 04:06:56,907 - mmdet - INFO - Iter [17750/55932] lr: 3.914e-05, eta: 22:40:43, time: 2.071, data_time: 0.085, memory: 34732, seg: 0.5190, seg_dice: 0.2841, seg_t0: 0.7292, seg_dice_t0: 0.3327, seg_t1: 0.5931, seg_dice_t1: 0.2964, seg_t2: 0.5530, seg_dice_t2: 0.2844, seg_t3: 0.5254, seg_dice_t3: 0.2809, total_t0: 1.0619, total_t1: 0.8895, total_t2: 0.8374, total_t3: 0.8063, total_t4: 0.8031, total: 5.8479, cam_bev_norm: 16.0014, sat_bev_norm: 10.7877, seg_sat: 0.5161, seg_dice_sat: 0.2835, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0600, seg_fused: 0.3987, seg_dice_fused: 0.2513, cam_rel_mean: 0.2102, sat_rel_mean: 0.2007, cam_rel_min: 0.0011, sat_rel_min: 0.0030, grad_norm: 19.0233 2026-04-18 04:08:41,037 - mmdet - INFO - Iter [17800/55932] lr: 3.909e-05, eta: 22:38:50, time: 2.083, data_time: 0.082, memory: 34732, seg: 0.5029, seg_dice: 0.2678, seg_t0: 0.7076, seg_dice_t0: 0.3330, seg_t1: 0.5543, seg_dice_t1: 0.2911, seg_t2: 0.5107, seg_dice_t2: 0.2725, seg_t3: 0.5037, seg_dice_t3: 0.2708, total_t0: 1.0406, total_t1: 0.8454, total_t2: 0.7832, total_t3: 0.7745, total_t4: 0.7707, total: 5.5518, cam_bev_norm: 15.9295, sat_bev_norm: 10.8865, seg_sat: 0.4671, seg_dice_sat: 0.2538, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.0800, seg_fused: 0.3848, seg_dice_fused: 0.2319, cam_rel_mean: 0.1911, sat_rel_mean: 0.2095, cam_rel_min: 0.0029, sat_rel_min: 0.0015, grad_norm: 16.8264 2026-04-18 04:10:25,278 - mmdet - INFO - Iter [17850/55932] lr: 3.903e-05, eta: 22:36:58, time: 2.085, data_time: 0.082, memory: 34732, seg: 0.5167, seg_dice: 0.2973, seg_t0: 0.7651, seg_dice_t0: 0.3645, seg_t1: 0.5939, seg_dice_t1: 0.3157, seg_t2: 0.5478, seg_dice_t2: 0.3072, seg_t3: 0.5243, seg_dice_t3: 0.2983, total_t0: 1.1296, total_t1: 0.9096, total_t2: 0.8550, total_t3: 0.8226, total_t4: 0.8141, total: 5.9891, cam_bev_norm: 15.8497, sat_bev_norm: 10.8755, seg_sat: 0.5134, seg_dice_sat: 0.2934, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.3912, seg_dice_fused: 0.2603, cam_rel_mean: 0.2023, sat_rel_mean: 0.2121, cam_rel_min: 0.0007, sat_rel_min: 0.0010, grad_norm: 19.0063 2026-04-18 04:12:09,216 - mmdet - INFO - Iter [17900/55932] lr: 3.898e-05, eta: 22:35:04, time: 2.079, data_time: 0.084, memory: 34732, seg: 0.5099, seg_dice: 0.2923, seg_t0: 0.7494, seg_dice_t0: 0.3569, seg_t1: 0.5777, seg_dice_t1: 0.3067, seg_t2: 0.5259, seg_dice_t2: 0.2880, seg_t3: 0.5087, seg_dice_t3: 0.2918, total_t0: 1.1064, total_t1: 0.8844, total_t2: 0.8139, total_t3: 0.8004, total_t4: 0.8022, total: 5.8472, cam_bev_norm: 15.8587, sat_bev_norm: 10.8042, seg_sat: 0.5028, seg_dice_sat: 0.2905, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.3884, seg_dice_fused: 0.2582, cam_rel_mean: 0.1999, sat_rel_mean: 0.2136, cam_rel_min: 0.0014, sat_rel_min: 0.0010, grad_norm: 19.8197 2026-04-18 04:13:53,004 - mmdet - INFO - Iter [17950/55932] lr: 3.892e-05, eta: 22:33:11, time: 2.076, data_time: 0.085, memory: 34732, seg: 0.5061, seg_dice: 0.2879, seg_t0: 0.7254, seg_dice_t0: 0.3584, seg_t1: 0.5840, seg_dice_t1: 0.3188, seg_t2: 0.5347, seg_dice_t2: 0.3060, seg_t3: 0.5140, seg_dice_t3: 0.2970, total_t0: 1.0838, total_t1: 0.9028, total_t2: 0.8406, total_t3: 0.8110, total_t4: 0.7940, total: 5.9350, cam_bev_norm: 15.9162, sat_bev_norm: 10.8927, seg_sat: 0.5273, seg_dice_sat: 0.2860, mask_cam_zeroed: 0.2400, mask_cam_noised: 0.1200, seg_fused: 0.4290, seg_dice_fused: 0.2605, cam_rel_mean: 0.1688, sat_rel_mean: 0.2166, cam_rel_min: 0.0043, sat_rel_min: 0.0005, grad_norm: 17.3267 2026-04-18 04:15:36,833 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 04:15:36,833 - mmdet - INFO - Iter [18000/55932] lr: 3.886e-05, eta: 22:31:18, time: 2.077, data_time: 0.087, memory: 34732, seg: 0.4853, seg_dice: 0.2576, seg_t0: 0.7083, seg_dice_t0: 0.3202, seg_t1: 0.5580, seg_dice_t1: 0.2753, seg_t2: 0.5267, seg_dice_t2: 0.2645, seg_t3: 0.5023, seg_dice_t3: 0.2616, total_t0: 1.0285, total_t1: 0.8334, total_t2: 0.7912, total_t3: 0.7639, total_t4: 0.7429, total: 5.4972, cam_bev_norm: 15.9963, sat_bev_norm: 10.8934, seg_sat: 0.4766, seg_dice_sat: 0.2521, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.3813, seg_dice_fused: 0.2272, cam_rel_mean: 0.1986, sat_rel_mean: 0.2058, cam_rel_min: 0.0018, sat_rel_min: 0.0025, grad_norm: 17.3892 2026-04-18 04:17:20,283 - mmdet - INFO - Iter [18050/55932] lr: 3.881e-05, eta: 22:29:24, time: 2.069, data_time: 0.084, memory: 34732, seg: 0.4884, seg_dice: 0.2726, seg_t0: 0.7296, seg_dice_t0: 0.3366, seg_t1: 0.5751, seg_dice_t1: 0.2911, seg_t2: 0.5210, seg_dice_t2: 0.2796, seg_t3: 0.5080, seg_dice_t3: 0.2757, total_t0: 1.0662, total_t1: 0.8663, total_t2: 0.8005, total_t3: 0.7837, total_t4: 0.7610, total: 5.6362, cam_bev_norm: 15.8721, sat_bev_norm: 10.9041, seg_sat: 0.4772, seg_dice_sat: 0.2629, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.3793, seg_dice_fused: 0.2391, cam_rel_mean: 0.1944, sat_rel_mean: 0.2137, cam_rel_min: 0.0018, sat_rel_min: 0.0010, grad_norm: 16.0217 2026-04-18 04:19:04,085 - mmdet - INFO - Iter [18100/55932] lr: 3.875e-05, eta: 22:27:30, time: 2.076, data_time: 0.082, memory: 34732, seg: 0.4952, seg_dice: 0.2412, seg_t0: 0.6991, seg_dice_t0: 0.3019, seg_t1: 0.5511, seg_dice_t1: 0.2619, seg_t2: 0.5193, seg_dice_t2: 0.2479, seg_t3: 0.5091, seg_dice_t3: 0.2402, total_t0: 1.0010, total_t1: 0.8130, total_t2: 0.7672, total_t3: 0.7493, total_t4: 0.7364, total: 5.3025, cam_bev_norm: 15.9964, sat_bev_norm: 11.0285, seg_sat: 0.4521, seg_dice_sat: 0.2308, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.3509, seg_dice_fused: 0.2017, cam_rel_mean: 0.2102, sat_rel_mean: 0.2195, cam_rel_min: 0.0011, sat_rel_min: 0.0015, grad_norm: 17.3508 2026-04-18 04:20:48,238 - mmdet - INFO - Iter [18150/55932] lr: 3.869e-05, eta: 22:25:38, time: 2.083, data_time: 0.086, memory: 34732, seg: 0.4749, seg_dice: 0.2955, seg_t0: 0.7374, seg_dice_t0: 0.3631, seg_t1: 0.5669, seg_dice_t1: 0.3248, seg_t2: 0.5045, seg_dice_t2: 0.3121, seg_t3: 0.4828, seg_dice_t3: 0.3027, total_t0: 1.1004, total_t1: 0.8917, total_t2: 0.8166, total_t3: 0.7855, total_t4: 0.7703, total: 5.8096, cam_bev_norm: 15.9061, sat_bev_norm: 10.8263, seg_sat: 0.5058, seg_dice_sat: 0.2981, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.3762, seg_dice_fused: 0.2650, cam_rel_mean: 0.2012, sat_rel_mean: 0.2135, cam_rel_min: 0.0015, sat_rel_min: 0.0010, grad_norm: 16.9921 2026-04-18 04:22:31,806 - mmdet - INFO - Iter [18200/55932] lr: 3.864e-05, eta: 22:23:44, time: 2.071, data_time: 0.083, memory: 34732, seg: 0.4752, seg_dice: 0.2620, seg_t0: 0.7577, seg_dice_t0: 0.3366, seg_t1: 0.5760, seg_dice_t1: 0.2876, seg_t2: 0.5303, seg_dice_t2: 0.2686, seg_t3: 0.4948, seg_dice_t3: 0.2600, total_t0: 1.0943, total_t1: 0.8636, total_t2: 0.7989, total_t3: 0.7548, total_t4: 0.7372, total: 5.6792, cam_bev_norm: 15.8678, sat_bev_norm: 10.8268, seg_sat: 0.5290, seg_dice_sat: 0.2704, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.3933, seg_dice_fused: 0.2379, cam_rel_mean: 0.1871, sat_rel_mean: 0.2096, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 18.3059 2026-04-18 04:24:15,835 - mmdet - INFO - Iter [18250/55932] lr: 3.858e-05, eta: 22:21:52, time: 2.080, data_time: 0.083, memory: 34732, seg: 0.4743, seg_dice: 0.2929, seg_t0: 0.6856, seg_dice_t0: 0.3486, seg_t1: 0.5476, seg_dice_t1: 0.3099, seg_t2: 0.5113, seg_dice_t2: 0.3031, seg_t3: 0.4841, seg_dice_t3: 0.2970, total_t0: 1.0341, total_t1: 0.8575, total_t2: 0.8144, total_t3: 0.7811, total_t4: 0.7672, total: 5.6957, cam_bev_norm: 15.9148, sat_bev_norm: 10.8808, seg_sat: 0.5029, seg_dice_sat: 0.2977, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.3748, seg_dice_fused: 0.2660, cam_rel_mean: 0.1949, sat_rel_mean: 0.2015, cam_rel_min: 0.0018, sat_rel_min: 0.0025, grad_norm: 15.8319 2026-04-18 04:25:59,301 - mmdet - INFO - Iter [18300/55932] lr: 3.852e-05, eta: 22:19:58, time: 2.069, data_time: 0.080, memory: 34732, seg: 0.4613, seg_dice: 0.2553, seg_t0: 0.6550, seg_dice_t0: 0.3168, seg_t1: 0.5221, seg_dice_t1: 0.2745, seg_t2: 0.4752, seg_dice_t2: 0.2616, seg_t3: 0.4630, seg_dice_t3: 0.2530, total_t0: 0.9718, total_t1: 0.7966, total_t2: 0.7369, total_t3: 0.7160, total_t4: 0.7166, total: 5.3024, cam_bev_norm: 15.9715, sat_bev_norm: 10.9442, seg_sat: 0.5069, seg_dice_sat: 0.2607, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.3701, seg_dice_fused: 0.2269, cam_rel_mean: 0.2059, sat_rel_mean: 0.2144, cam_rel_min: 0.0011, sat_rel_min: 0.0015, grad_norm: 17.5244 2026-04-18 04:27:43,464 - mmdet - INFO - Iter [18350/55932] lr: 3.846e-05, eta: 22:18:06, time: 2.083, data_time: 0.082, memory: 34732, seg: 0.5107, seg_dice: 0.2785, seg_t0: 0.7063, seg_dice_t0: 0.3383, seg_t1: 0.5655, seg_dice_t1: 0.2977, seg_t2: 0.5227, seg_dice_t2: 0.2845, seg_t3: 0.4973, seg_dice_t3: 0.2771, total_t0: 1.0447, total_t1: 0.8631, total_t2: 0.8072, total_t3: 0.7744, total_t4: 0.7893, total: 5.7331, cam_bev_norm: 15.8465, sat_bev_norm: 10.7617, seg_sat: 0.5154, seg_dice_sat: 0.2844, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.4051, seg_dice_fused: 0.2495, cam_rel_mean: 0.2044, sat_rel_mean: 0.2206, cam_rel_min: 0.0018, sat_rel_min: 0.0005, grad_norm: 17.1331 2026-04-18 04:29:26,872 - mmdet - INFO - Iter [18400/55932] lr: 3.841e-05, eta: 22:16:12, time: 2.068, data_time: 0.082, memory: 34732, seg: 0.5154, seg_dice: 0.2568, seg_t0: 0.7172, seg_dice_t0: 0.3216, seg_t1: 0.5595, seg_dice_t1: 0.2755, seg_t2: 0.5234, seg_dice_t2: 0.2651, seg_t3: 0.5033, seg_dice_t3: 0.2532, total_t0: 1.0389, total_t1: 0.8350, total_t2: 0.7886, total_t3: 0.7565, total_t4: 0.7722, total: 5.5572, cam_bev_norm: 15.7881, sat_bev_norm: 10.7887, seg_sat: 0.4969, seg_dice_sat: 0.2504, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.3965, seg_dice_fused: 0.2223, cam_rel_mean: 0.2021, sat_rel_mean: 0.2079, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 16.5060 2026-04-18 04:31:10,101 - mmdet - INFO - Iter [18450/55932] lr: 3.835e-05, eta: 22:14:18, time: 2.065, data_time: 0.082, memory: 34732, seg: 0.5287, seg_dice: 0.2341, seg_t0: 0.7957, seg_dice_t0: 0.3079, seg_t1: 0.6338, seg_dice_t1: 0.2596, seg_t2: 0.5590, seg_dice_t2: 0.2440, seg_t3: 0.5365, seg_dice_t3: 0.2358, total_t0: 1.1036, total_t1: 0.8935, total_t2: 0.8030, total_t3: 0.7723, total_t4: 0.7628, total: 5.5919, cam_bev_norm: 15.8686, sat_bev_norm: 10.9033, seg_sat: 0.4636, seg_dice_sat: 0.2183, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.3792, seg_dice_fused: 0.1956, cam_rel_mean: 0.2099, sat_rel_mean: 0.2192, cam_rel_min: 0.0018, sat_rel_min: 0.0015, grad_norm: 20.2494 2026-04-18 04:32:53,451 - mmdet - INFO - Iter [18500/55932] lr: 3.829e-05, eta: 22:12:24, time: 2.067, data_time: 0.082, memory: 34732, seg: 0.5161, seg_dice: 0.2917, seg_t0: 0.7627, seg_dice_t0: 0.3538, seg_t1: 0.5850, seg_dice_t1: 0.3087, seg_t2: 0.5350, seg_dice_t2: 0.2940, seg_t3: 0.5061, seg_dice_t3: 0.2895, total_t0: 1.1165, total_t1: 0.8937, total_t2: 0.8291, total_t3: 0.7956, total_t4: 0.8079, total: 5.8441, cam_bev_norm: 15.7545, sat_bev_norm: 10.8500, seg_sat: 0.4974, seg_dice_sat: 0.2819, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1200, seg_fused: 0.3703, seg_dice_fused: 0.2517, cam_rel_mean: 0.2113, sat_rel_mean: 0.2103, cam_rel_min: 0.0007, sat_rel_min: 0.0015, grad_norm: 16.8450 2026-04-18 04:34:36,469 - mmdet - INFO - Iter [18550/55932] lr: 3.823e-05, eta: 22:10:30, time: 2.060, data_time: 0.082, memory: 34732, seg: 0.4926, seg_dice: 0.2669, seg_t0: 0.7026, seg_dice_t0: 0.3349, seg_t1: 0.5661, seg_dice_t1: 0.2960, seg_t2: 0.5129, seg_dice_t2: 0.2828, seg_t3: 0.4858, seg_dice_t3: 0.2718, total_t0: 1.0376, total_t1: 0.8620, total_t2: 0.7957, total_t3: 0.7577, total_t4: 0.7594, total: 5.6023, cam_bev_norm: 15.8231, sat_bev_norm: 10.8258, seg_sat: 0.5059, seg_dice_sat: 0.2613, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.0800, seg_fused: 0.3872, seg_dice_fused: 0.2354, cam_rel_mean: 0.1916, sat_rel_mean: 0.2094, cam_rel_min: 0.0029, sat_rel_min: 0.0025, grad_norm: 17.4200 2026-04-18 04:36:19,963 - mmdet - INFO - Iter [18600/55932] lr: 3.818e-05, eta: 22:08:36, time: 2.070, data_time: 0.084, memory: 34732, seg: 0.5178, seg_dice: 0.2609, seg_t0: 0.7433, seg_dice_t0: 0.3314, seg_t1: 0.5704, seg_dice_t1: 0.2803, seg_t2: 0.5301, seg_dice_t2: 0.2729, seg_t3: 0.5086, seg_dice_t3: 0.2576, total_t0: 1.0746, total_t1: 0.8506, total_t2: 0.8030, total_t3: 0.7662, total_t4: 0.7786, total: 5.6885, cam_bev_norm: 15.7713, sat_bev_norm: 10.8037, seg_sat: 0.5226, seg_dice_sat: 0.2541, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.4116, seg_dice_fused: 0.2272, cam_rel_mean: 0.2039, sat_rel_mean: 0.2108, cam_rel_min: 0.0022, sat_rel_min: 0.0025, grad_norm: 17.2175 2026-04-18 04:37:50,835 - mmdet - INFO - Saving checkpoint at 18644 iterations 2026-04-18 04:47:36,406 - mmdet - INFO - +-----+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +-----+--------------+---------+----------+--------+ | IoU | 0.7775 | 0.6562 | 0.6736 | 0.7024 | +-----+--------------+---------+----------+--------+ 2026-04-18 04:47:36,406 - mmdet - INFO - mIoU = 0.7024 2026-04-18 04:47:53,703 - mmdet - INFO - +---------+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +---------+--------------+---------+----------+--------+ | IoU_cam | 0.6113 | 0.5517 | 0.5907 | 0.5846 | | IoU_sat | 0.7757 | 0.619 | 0.5716 | 0.6554 | +---------+--------------+---------+----------+--------+ 2026-04-18 04:47:53,703 - mmdet - INFO - mIoU_cam = 0.5846 2026-04-18 04:47:53,704 - mmdet - INFO - mIoU_sat = 0.6554 2026-04-18 04:48:23,542 - mmdet - INFO - Logged 8 GT vs Pred visualizations to wandb 2026-04-18 04:48:24,507 - mmdet - INFO - Iter(val) [3010] ped_crossing: 0.7775, divider: 0.6562, boundary: 0.6736, mIoU: 0.7024, mIoU_cam: 0.5846, ped_crossing_cam: 0.6113, divider_cam: 0.5517, boundary_cam: 0.5907, mIoU_sat: 0.6554, ped_crossing_sat: 0.7757, divider_sat: 0.6190, boundary_sat: 0.5716 2026-04-18 04:49:46,068 - mmdet - INFO - Iter [18650/55932] lr: 3.812e-05, eta: 1 day, 1:21:21, time: 118.912, data_time: 116.922, memory: 34732, seg: 0.4408, seg_dice: 0.3882, seg_t0: 0.7553, seg_dice_t0: 0.4068, seg_t1: 0.5862, seg_dice_t1: 0.3701, seg_t2: 0.4833, seg_dice_t2: 0.3831, seg_t3: 0.4756, seg_dice_t3: 0.3968, total_t0: 1.1621, total_t1: 0.9563, total_t2: 0.8664, total_t3: 0.8724, total_t4: 0.8290, total: 6.4127, cam_bev_norm: 15.6361, sat_bev_norm: 10.4727, seg_sat: 0.5805, seg_dice_sat: 0.4343, mask_cam_zeroed: 0.0000, mask_cam_noised: 0.3333, seg_fused: 0.3442, seg_dice_fused: 0.3675, cam_rel_mean: 0.2087, sat_rel_mean: 0.2073, cam_rel_min: 0.0000, sat_rel_min: 0.0000, grad_norm: 16.0703 2026-04-18 04:51:31,057 - mmdet - INFO - Iter [18700/55932] lr: 3.806e-05, eta: 1 day, 1:18:44, time: 2.100, data_time: 0.086, memory: 34732, seg: 0.4435, seg_dice: 0.2700, seg_t0: 0.7072, seg_dice_t0: 0.3323, seg_t1: 0.5311, seg_dice_t1: 0.2925, seg_t2: 0.4789, seg_dice_t2: 0.2742, seg_t3: 0.4648, seg_dice_t3: 0.2687, total_t0: 1.0395, total_t1: 0.8236, total_t2: 0.7531, total_t3: 0.7335, total_t4: 0.7135, total: 5.3290, cam_bev_norm: 15.8717, sat_bev_norm: 10.9065, seg_sat: 0.4342, seg_dice_sat: 0.2616, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2000, seg_fused: 0.3313, seg_dice_fused: 0.2387, cam_rel_mean: 0.1830, sat_rel_mean: 0.2250, cam_rel_min: 0.0029, sat_rel_min: 0.0000, grad_norm: 15.2417 2026-04-18 04:53:14,675 - mmdet - INFO - Iter [18750/55932] lr: 3.800e-05, eta: 1 day, 1:16:05, time: 2.072, data_time: 0.080, memory: 34732, seg: 0.5043, seg_dice: 0.2559, seg_t0: 0.7428, seg_dice_t0: 0.3184, seg_t1: 0.5901, seg_dice_t1: 0.2720, seg_t2: 0.5541, seg_dice_t2: 0.2603, seg_t3: 0.5175, seg_dice_t3: 0.2560, total_t0: 1.0612, total_t1: 0.8621, total_t2: 0.8145, total_t3: 0.7735, total_t4: 0.7602, total: 5.5351, cam_bev_norm: 15.7795, sat_bev_norm: 10.9287, seg_sat: 0.4440, seg_dice_sat: 0.2358, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.3682, seg_dice_fused: 0.2158, cam_rel_mean: 0.2115, sat_rel_mean: 0.2238, cam_rel_min: 0.0018, sat_rel_min: 0.0015, grad_norm: 16.0096 2026-04-18 04:54:56,910 - mmdet - INFO - Iter [18800/55932] lr: 3.795e-05, eta: 1 day, 1:13:23, time: 2.045, data_time: 0.077, memory: 34732, seg: 0.4618, seg_dice: 0.2401, seg_t0: 0.6729, seg_dice_t0: 0.2961, seg_t1: 0.5179, seg_dice_t1: 0.2573, seg_t2: 0.4882, seg_dice_t2: 0.2458, seg_t3: 0.4843, seg_dice_t3: 0.2381, total_t0: 0.9690, total_t1: 0.7752, total_t2: 0.7340, total_t3: 0.7224, total_t4: 0.7019, total: 5.1484, cam_bev_norm: 15.7952, sat_bev_norm: 10.8477, seg_sat: 0.4600, seg_dice_sat: 0.2352, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.3440, seg_dice_fused: 0.2067, cam_rel_mean: 0.2070, sat_rel_mean: 0.2170, cam_rel_min: 0.0011, sat_rel_min: 0.0010, grad_norm: 17.0006 2026-04-18 04:56:42,049 - mmdet - INFO - Iter [18850/55932] lr: 3.789e-05, eta: 1 day, 1:10:47, time: 2.103, data_time: 0.089, memory: 34732, seg: 0.4712, seg_dice: 0.2792, seg_t0: 0.7037, seg_dice_t0: 0.3384, seg_t1: 0.5559, seg_dice_t1: 0.2993, seg_t2: 0.5169, seg_dice_t2: 0.2886, seg_t3: 0.4801, seg_dice_t3: 0.2838, total_t0: 1.0421, total_t1: 0.8552, total_t2: 0.8055, total_t3: 0.7640, total_t4: 0.7505, total: 5.5415, cam_bev_norm: 15.7788, sat_bev_norm: 10.8572, seg_sat: 0.4584, seg_dice_sat: 0.2710, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.3524, seg_dice_fused: 0.2424, cam_rel_mean: 0.2036, sat_rel_mean: 0.2185, cam_rel_min: 0.0018, sat_rel_min: 0.0010, grad_norm: 18.4010 2026-04-18 04:58:26,153 - mmdet - INFO - Iter [18900/55932] lr: 3.783e-05, eta: 1 day, 1:08:09, time: 2.082, data_time: 0.090, memory: 34732, seg: 0.5043, seg_dice: 0.2861, seg_t0: 0.7548, seg_dice_t0: 0.3552, seg_t1: 0.5907, seg_dice_t1: 0.3133, seg_t2: 0.5275, seg_dice_t2: 0.2923, seg_t3: 0.5169, seg_dice_t3: 0.2873, total_t0: 1.1100, total_t1: 0.9040, total_t2: 0.8198, total_t3: 0.8041, total_t4: 0.7904, total: 5.8275, cam_bev_norm: 15.7446, sat_bev_norm: 10.7159, seg_sat: 0.4958, seg_dice_sat: 0.2803, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.3737, seg_dice_fused: 0.2494, cam_rel_mean: 0.2047, sat_rel_mean: 0.2121, cam_rel_min: 0.0011, sat_rel_min: 0.0015, grad_norm: 16.7559 2026-04-18 05:00:10,006 - mmdet - INFO - Iter [18950/55932] lr: 3.777e-05, eta: 1 day, 1:05:31, time: 2.077, data_time: 0.085, memory: 34732, seg: 0.5062, seg_dice: 0.2675, seg_t0: 0.6883, seg_dice_t0: 0.3276, seg_t1: 0.5439, seg_dice_t1: 0.2885, seg_t2: 0.5044, seg_dice_t2: 0.2740, seg_t3: 0.5088, seg_dice_t3: 0.2692, total_t0: 1.0158, total_t1: 0.8324, total_t2: 0.7784, total_t3: 0.7780, total_t4: 0.7737, total: 5.5086, cam_bev_norm: 15.8007, sat_bev_norm: 10.8504, seg_sat: 0.4658, seg_dice_sat: 0.2560, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0800, seg_fused: 0.3757, seg_dice_fused: 0.2327, cam_rel_mean: 0.1903, sat_rel_mean: 0.2023, cam_rel_min: 0.0025, sat_rel_min: 0.0026, grad_norm: 17.2405 2026-04-18 05:01:53,714 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 05:01:53,715 - mmdet - INFO - Iter [19000/55932] lr: 3.771e-05, eta: 1 day, 1:02:53, time: 2.074, data_time: 0.086, memory: 34732, seg: 0.4951, seg_dice: 0.2665, seg_t0: 0.7096, seg_dice_t0: 0.3436, seg_t1: 0.5618, seg_dice_t1: 0.3009, seg_t2: 0.5185, seg_dice_t2: 0.2836, seg_t3: 0.5072, seg_dice_t3: 0.2750, total_t0: 1.0532, total_t1: 0.8628, total_t2: 0.8021, total_t3: 0.7822, total_t4: 0.7616, total: 5.5430, cam_bev_norm: 15.7346, sat_bev_norm: 10.9171, seg_sat: 0.4467, seg_dice_sat: 0.2474, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1000, seg_fused: 0.3610, seg_dice_fused: 0.2261, cam_rel_mean: 0.1914, sat_rel_mean: 0.2164, cam_rel_min: 0.0029, sat_rel_min: 0.0010, grad_norm: 18.0300 2026-04-18 05:03:37,282 - mmdet - INFO - Iter [19050/55932] lr: 3.765e-05, eta: 1 day, 1:00:15, time: 2.071, data_time: 0.084, memory: 34732, seg: 0.4827, seg_dice: 0.2755, seg_t0: 0.7083, seg_dice_t0: 0.3390, seg_t1: 0.5433, seg_dice_t1: 0.2907, seg_t2: 0.4944, seg_dice_t2: 0.2738, seg_t3: 0.4931, seg_dice_t3: 0.2776, total_t0: 1.0473, total_t1: 0.8340, total_t2: 0.7682, total_t3: 0.7707, total_t4: 0.7582, total: 5.4925, cam_bev_norm: 15.7804, sat_bev_norm: 10.9527, seg_sat: 0.4513, seg_dice_sat: 0.2642, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.3600, seg_dice_fused: 0.2387, cam_rel_mean: 0.2004, sat_rel_mean: 0.2100, cam_rel_min: 0.0019, sat_rel_min: 0.0015, grad_norm: 19.1936 2026-04-18 05:05:21,120 - mmdet - INFO - Iter [19100/55932] lr: 3.760e-05, eta: 1 day, 0:57:38, time: 2.077, data_time: 0.092, memory: 34732, seg: 0.5227, seg_dice: 0.2663, seg_t0: 0.7344, seg_dice_t0: 0.3415, seg_t1: 0.5930, seg_dice_t1: 0.2969, seg_t2: 0.5377, seg_dice_t2: 0.2802, seg_t3: 0.5132, seg_dice_t3: 0.2727, total_t0: 1.0759, total_t1: 0.8899, total_t2: 0.8179, total_t3: 0.7858, total_t4: 0.7890, total: 5.6643, cam_bev_norm: 15.7383, sat_bev_norm: 10.9028, seg_sat: 0.4545, seg_dice_sat: 0.2479, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2000, seg_fused: 0.3786, seg_dice_fused: 0.2249, cam_rel_mean: 0.1826, sat_rel_mean: 0.2050, cam_rel_min: 0.0026, sat_rel_min: 0.0015, grad_norm: 18.0593 2026-04-18 05:07:04,770 - mmdet - INFO - Iter [19150/55932] lr: 3.754e-05, eta: 1 day, 0:55:01, time: 2.073, data_time: 0.082, memory: 34732, seg: 0.5032, seg_dice: 0.2578, seg_t0: 0.7281, seg_dice_t0: 0.3286, seg_t1: 0.5542, seg_dice_t1: 0.2823, seg_t2: 0.5151, seg_dice_t2: 0.2689, seg_t3: 0.5039, seg_dice_t3: 0.2554, total_t0: 1.0567, total_t1: 0.8365, total_t2: 0.7840, total_t3: 0.7594, total_t4: 0.7610, total: 5.4833, cam_bev_norm: 15.7862, sat_bev_norm: 10.8942, seg_sat: 0.4671, seg_dice_sat: 0.2485, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.3518, seg_dice_fused: 0.2184, cam_rel_mean: 0.2179, sat_rel_mean: 0.2338, cam_rel_min: 0.0011, sat_rel_min: 0.0000, grad_norm: 17.2545 2026-04-18 05:08:50,047 - mmdet - INFO - Iter [19200/55932] lr: 3.748e-05, eta: 1 day, 0:52:27, time: 2.106, data_time: 0.085, memory: 34732, seg: 0.4630, seg_dice: 0.2506, seg_t0: 0.7100, seg_dice_t0: 0.3189, seg_t1: 0.5402, seg_dice_t1: 0.2711, seg_t2: 0.4896, seg_dice_t2: 0.2554, seg_t3: 0.4745, seg_dice_t3: 0.2555, total_t0: 1.0289, total_t1: 0.8114, total_t2: 0.7450, total_t3: 0.7300, total_t4: 0.7136, total: 5.2452, cam_bev_norm: 15.7691, sat_bev_norm: 10.9624, seg_sat: 0.4257, seg_dice_sat: 0.2360, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.3396, seg_dice_fused: 0.2150, cam_rel_mean: 0.1881, sat_rel_mean: 0.2137, cam_rel_min: 0.0026, sat_rel_min: 0.0010, grad_norm: 18.0181 2026-04-18 05:10:33,078 - mmdet - INFO - Iter [19250/55932] lr: 3.742e-05, eta: 1 day, 0:49:49, time: 2.060, data_time: 0.080, memory: 34732, seg: 0.4598, seg_dice: 0.2693, seg_t0: 0.6750, seg_dice_t0: 0.3215, seg_t1: 0.5424, seg_dice_t1: 0.2874, seg_t2: 0.4964, seg_dice_t2: 0.2815, seg_t3: 0.4759, seg_dice_t3: 0.2707, total_t0: 0.9965, total_t1: 0.8298, total_t2: 0.7780, total_t3: 0.7466, total_t4: 0.7290, total: 5.3318, cam_bev_norm: 15.7102, sat_bev_norm: 10.8925, seg_sat: 0.4263, seg_dice_sat: 0.2574, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.3364, seg_dice_fused: 0.2317, cam_rel_mean: 0.1872, sat_rel_mean: 0.2045, cam_rel_min: 0.0022, sat_rel_min: 0.0016, grad_norm: 16.2223 2026-04-18 05:12:16,328 - mmdet - INFO - Iter [19300/55932] lr: 3.736e-05, eta: 1 day, 0:47:12, time: 2.065, data_time: 0.082, memory: 34732, seg: 0.4790, seg_dice: 0.2767, seg_t0: 0.7094, seg_dice_t0: 0.3267, seg_t1: 0.5533, seg_dice_t1: 0.2889, seg_t2: 0.5016, seg_dice_t2: 0.2803, seg_t3: 0.4736, seg_dice_t3: 0.2752, total_t0: 1.0361, total_t1: 0.8422, total_t2: 0.7820, total_t3: 0.7488, total_t4: 0.7557, total: 5.4904, cam_bev_norm: 15.6967, sat_bev_norm: 10.8764, seg_sat: 0.4470, seg_dice_sat: 0.2661, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.3689, seg_dice_fused: 0.2436, cam_rel_mean: 0.1945, sat_rel_mean: 0.2008, cam_rel_min: 0.0018, sat_rel_min: 0.0026, grad_norm: 17.4026 2026-04-18 05:13:59,471 - mmdet - INFO - Iter [19350/55932] lr: 3.730e-05, eta: 1 day, 0:44:35, time: 2.063, data_time: 0.077, memory: 34732, seg: 0.4739, seg_dice: 0.2897, seg_t0: 0.6710, seg_dice_t0: 0.3392, seg_t1: 0.5520, seg_dice_t1: 0.2957, seg_t2: 0.4996, seg_dice_t2: 0.2895, seg_t3: 0.4738, seg_dice_t3: 0.2854, total_t0: 1.0102, total_t1: 0.8477, total_t2: 0.7890, total_t3: 0.7592, total_t4: 0.7636, total: 5.5509, cam_bev_norm: 15.6484, sat_bev_norm: 10.7405, seg_sat: 0.4683, seg_dice_sat: 0.2873, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 0.3660, seg_dice_fused: 0.2595, cam_rel_mean: 0.1861, sat_rel_mean: 0.2083, cam_rel_min: 0.0026, sat_rel_min: 0.0010, grad_norm: 16.7259 2026-04-18 05:15:43,073 - mmdet - INFO - Iter [19400/55932] lr: 3.724e-05, eta: 1 day, 0:41:59, time: 2.072, data_time: 0.077, memory: 34732, seg: 0.4451, seg_dice: 0.2627, seg_t0: 0.6211, seg_dice_t0: 0.3231, seg_t1: 0.5002, seg_dice_t1: 0.2889, seg_t2: 0.4654, seg_dice_t2: 0.2743, seg_t3: 0.4486, seg_dice_t3: 0.2689, total_t0: 0.9442, total_t1: 0.7891, total_t2: 0.7397, total_t3: 0.7174, total_t4: 0.7079, total: 5.2830, cam_bev_norm: 15.7794, sat_bev_norm: 10.8245, seg_sat: 0.4935, seg_dice_sat: 0.2751, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.3719, seg_dice_fused: 0.2440, cam_rel_mean: 0.1902, sat_rel_mean: 0.2051, cam_rel_min: 0.0022, sat_rel_min: 0.0021, grad_norm: 16.4647 2026-04-18 05:17:26,124 - mmdet - INFO - Iter [19450/55932] lr: 3.718e-05, eta: 1 day, 0:39:22, time: 2.061, data_time: 0.081, memory: 34732, seg: 0.4728, seg_dice: 0.2625, seg_t0: 0.7542, seg_dice_t0: 0.3418, seg_t1: 0.5722, seg_dice_t1: 0.2929, seg_t2: 0.5071, seg_dice_t2: 0.2747, seg_t3: 0.4873, seg_dice_t3: 0.2633, total_t0: 1.0960, total_t1: 0.8651, total_t2: 0.7818, total_t3: 0.7506, total_t4: 0.7353, total: 5.5496, cam_bev_norm: 15.7156, sat_bev_norm: 10.8372, seg_sat: 0.4784, seg_dice_sat: 0.2607, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.3528, seg_dice_fused: 0.2290, cam_rel_mean: 0.2123, sat_rel_mean: 0.2214, cam_rel_min: 0.0007, sat_rel_min: 0.0005, grad_norm: 17.2220 2026-04-18 05:19:09,003 - mmdet - INFO - Iter [19500/55932] lr: 3.712e-05, eta: 1 day, 0:36:46, time: 2.058, data_time: 0.081, memory: 34732, seg: 0.4823, seg_dice: 0.2460, seg_t0: 0.7357, seg_dice_t0: 0.3176, seg_t1: 0.5518, seg_dice_t1: 0.2727, seg_t2: 0.5016, seg_dice_t2: 0.2583, seg_t3: 0.4805, seg_dice_t3: 0.2485, total_t0: 1.0534, total_t1: 0.8245, total_t2: 0.7599, total_t3: 0.7291, total_t4: 0.7283, total: 5.4018, cam_bev_norm: 15.7196, sat_bev_norm: 10.8628, seg_sat: 0.4834, seg_dice_sat: 0.2439, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.3646, seg_dice_fused: 0.2148, cam_rel_mean: 0.2116, sat_rel_mean: 0.2216, cam_rel_min: 0.0018, sat_rel_min: 0.0016, grad_norm: 17.0041 2026-04-18 05:20:52,339 - mmdet - INFO - Iter [19550/55932] lr: 3.706e-05, eta: 1 day, 0:34:10, time: 2.067, data_time: 0.082, memory: 34732, seg: 0.5132, seg_dice: 0.2569, seg_t0: 0.7529, seg_dice_t0: 0.3103, seg_t1: 0.6042, seg_dice_t1: 0.2734, seg_t2: 0.5379, seg_dice_t2: 0.2603, seg_t3: 0.5143, seg_dice_t3: 0.2539, total_t0: 1.0632, total_t1: 0.8776, total_t2: 0.7982, total_t3: 0.7682, total_t4: 0.7701, total: 5.5742, cam_bev_norm: 15.6847, sat_bev_norm: 10.8613, seg_sat: 0.4669, seg_dice_sat: 0.2416, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.3713, seg_dice_fused: 0.2172, cam_rel_mean: 0.2169, sat_rel_mean: 0.2194, cam_rel_min: 0.0011, sat_rel_min: 0.0016, grad_norm: 17.6079 2026-04-18 05:22:36,149 - mmdet - INFO - Iter [19600/55932] lr: 3.701e-05, eta: 1 day, 0:31:36, time: 2.076, data_time: 0.082, memory: 34732, seg: 0.4855, seg_dice: 0.2708, seg_t0: 0.6985, seg_dice_t0: 0.3249, seg_t1: 0.5485, seg_dice_t1: 0.2863, seg_t2: 0.5132, seg_dice_t2: 0.2743, seg_t3: 0.4938, seg_dice_t3: 0.2685, total_t0: 1.0234, total_t1: 0.8347, total_t2: 0.7875, total_t3: 0.7623, total_t4: 0.7563, total: 5.5268, cam_bev_norm: 15.6039, sat_bev_norm: 10.7321, seg_sat: 0.4894, seg_dice_sat: 0.2697, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.3660, seg_dice_fused: 0.2375, cam_rel_mean: 0.1966, sat_rel_mean: 0.2103, cam_rel_min: 0.0015, sat_rel_min: 0.0016, grad_norm: 15.9019 2026-04-18 05:24:20,058 - mmdet - INFO - Iter [19650/55932] lr: 3.695e-05, eta: 1 day, 0:29:02, time: 2.078, data_time: 0.080, memory: 34732, seg: 0.4885, seg_dice: 0.2816, seg_t0: 0.7253, seg_dice_t0: 0.3489, seg_t1: 0.5775, seg_dice_t1: 0.3122, seg_t2: 0.5118, seg_dice_t2: 0.2973, seg_t3: 0.4862, seg_dice_t3: 0.2899, total_t0: 1.0742, total_t1: 0.8897, total_t2: 0.8091, total_t3: 0.7761, total_t4: 0.7701, total: 5.6756, cam_bev_norm: 15.6069, sat_bev_norm: 10.8018, seg_sat: 0.4739, seg_dice_sat: 0.2734, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.3641, seg_dice_fused: 0.2450, cam_rel_mean: 0.1995, sat_rel_mean: 0.2058, cam_rel_min: 0.0015, sat_rel_min: 0.0016, grad_norm: 16.7784 2026-04-18 05:26:03,193 - mmdet - INFO - Iter [19700/55932] lr: 3.689e-05, eta: 1 day, 0:26:26, time: 2.063, data_time: 0.084, memory: 34732, seg: 0.4775, seg_dice: 0.2641, seg_t0: 0.7003, seg_dice_t0: 0.3236, seg_t1: 0.5545, seg_dice_t1: 0.2866, seg_t2: 0.5036, seg_dice_t2: 0.2697, seg_t3: 0.4860, seg_dice_t3: 0.2628, total_t0: 1.0239, total_t1: 0.8411, total_t2: 0.7734, total_t3: 0.7488, total_t4: 0.7416, total: 5.5290, cam_bev_norm: 15.6678, sat_bev_norm: 10.7893, seg_sat: 0.4905, seg_dice_sat: 0.2616, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.2400, seg_fused: 0.4086, seg_dice_fused: 0.2396, cam_rel_mean: 0.1821, sat_rel_mean: 0.2055, cam_rel_min: 0.0037, sat_rel_min: 0.0031, grad_norm: 18.4749 2026-04-18 05:27:46,384 - mmdet - INFO - Iter [19750/55932] lr: 3.683e-05, eta: 1 day, 0:23:52, time: 2.064, data_time: 0.079, memory: 34732, seg: 0.4551, seg_dice: 0.2798, seg_t0: 0.6612, seg_dice_t0: 0.3244, seg_t1: 0.5144, seg_dice_t1: 0.2877, seg_t2: 0.4693, seg_dice_t2: 0.2719, seg_t3: 0.4550, seg_dice_t3: 0.2693, total_t0: 0.9856, total_t1: 0.8021, total_t2: 0.7412, total_t3: 0.7243, total_t4: 0.7350, total: 5.2943, cam_bev_norm: 15.6525, sat_bev_norm: 10.8675, seg_sat: 0.4451, seg_dice_sat: 0.2755, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.3378, seg_dice_fused: 0.2477, cam_rel_mean: 0.2066, sat_rel_mean: 0.2125, cam_rel_min: 0.0011, sat_rel_min: 0.0016, grad_norm: 15.9423 2026-04-18 05:29:30,098 - mmdet - INFO - Iter [19800/55932] lr: 3.677e-05, eta: 1 day, 0:21:18, time: 2.075, data_time: 0.086, memory: 34732, seg: 0.4745, seg_dice: 0.2647, seg_t0: 0.7143, seg_dice_t0: 0.3184, seg_t1: 0.5509, seg_dice_t1: 0.2749, seg_t2: 0.4991, seg_dice_t2: 0.2606, seg_t3: 0.4727, seg_dice_t3: 0.2625, total_t0: 1.0327, total_t1: 0.8259, total_t2: 0.7596, total_t3: 0.7353, total_t4: 0.7392, total: 5.3996, cam_bev_norm: 15.6323, sat_bev_norm: 10.8316, seg_sat: 0.4681, seg_dice_sat: 0.2587, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2400, seg_fused: 0.3521, seg_dice_fused: 0.2282, cam_rel_mean: 0.2004, sat_rel_mean: 0.2187, cam_rel_min: 0.0018, sat_rel_min: 0.0005, grad_norm: 16.0184 2026-04-18 05:31:13,032 - mmdet - INFO - Iter [19850/55932] lr: 3.671e-05, eta: 1 day, 0:18:43, time: 2.059, data_time: 0.079, memory: 34732, seg: 0.4450, seg_dice: 0.2411, seg_t0: 0.6819, seg_dice_t0: 0.3104, seg_t1: 0.5232, seg_dice_t1: 0.2721, seg_t2: 0.4659, seg_dice_t2: 0.2537, seg_t3: 0.4559, seg_dice_t3: 0.2435, total_t0: 0.9923, total_t1: 0.7952, total_t2: 0.7197, total_t3: 0.6994, total_t4: 0.6861, total: 5.1442, cam_bev_norm: 15.6729, sat_bev_norm: 10.8165, seg_sat: 0.4574, seg_dice_sat: 0.2443, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.3368, seg_dice_fused: 0.2131, cam_rel_mean: 0.1899, sat_rel_mean: 0.2235, cam_rel_min: 0.0026, sat_rel_min: 0.0000, grad_norm: 15.4441 2026-04-18 05:32:55,935 - mmdet - INFO - Iter [19900/55932] lr: 3.665e-05, eta: 1 day, 0:16:09, time: 2.058, data_time: 0.082, memory: 34732, seg: 0.4689, seg_dice: 0.2470, seg_t0: 0.6740, seg_dice_t0: 0.3174, seg_t1: 0.5276, seg_dice_t1: 0.2738, seg_t2: 0.4697, seg_dice_t2: 0.2549, seg_t3: 0.4659, seg_dice_t3: 0.2461, total_t0: 0.9914, total_t1: 0.8014, total_t2: 0.7246, total_t3: 0.7121, total_t4: 0.7159, total: 5.2391, cam_bev_norm: 15.7063, sat_bev_norm: 10.8451, seg_sat: 0.4587, seg_dice_sat: 0.2458, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.3000, seg_fused: 0.3687, seg_dice_fused: 0.2206, cam_rel_mean: 0.1806, sat_rel_mean: 0.2142, cam_rel_min: 0.0030, sat_rel_min: 0.0010, grad_norm: 16.2800 2026-04-18 05:34:39,561 - mmdet - INFO - Iter [19950/55932] lr: 3.659e-05, eta: 1 day, 0:13:36, time: 2.073, data_time: 0.084, memory: 34732, seg: 0.4664, seg_dice: 0.2474, seg_t0: 0.6825, seg_dice_t0: 0.3085, seg_t1: 0.5331, seg_dice_t1: 0.2596, seg_t2: 0.4971, seg_dice_t2: 0.2519, seg_t3: 0.4707, seg_dice_t3: 0.2471, total_t0: 0.9910, total_t1: 0.7927, total_t2: 0.7490, total_t3: 0.7179, total_t4: 0.7139, total: 5.1774, cam_bev_norm: 15.6536, sat_bev_norm: 10.9141, seg_sat: 0.4280, seg_dice_sat: 0.2337, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.3395, seg_dice_fused: 0.2118, cam_rel_mean: 0.2084, sat_rel_mean: 0.2067, cam_rel_min: 0.0011, sat_rel_min: 0.0021, grad_norm: 18.6941 2026-04-18 05:36:22,821 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 05:36:22,822 - mmdet - INFO - Iter [20000/55932] lr: 3.653e-05, eta: 1 day, 0:11:02, time: 2.065, data_time: 0.082, memory: 34732, seg: 0.4598, seg_dice: 0.2462, seg_t0: 0.6668, seg_dice_t0: 0.3012, seg_t1: 0.5065, seg_dice_t1: 0.2631, seg_t2: 0.4654, seg_dice_t2: 0.2473, seg_t3: 0.4585, seg_dice_t3: 0.2468, total_t0: 0.9679, total_t1: 0.7696, total_t2: 0.7127, total_t3: 0.7053, total_t4: 0.7060, total: 5.0463, cam_bev_norm: 15.6192, sat_bev_norm: 10.9380, seg_sat: 0.4152, seg_dice_sat: 0.2341, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.3248, seg_dice_fused: 0.2107, cam_rel_mean: 0.1916, sat_rel_mean: 0.2128, cam_rel_min: 0.0022, sat_rel_min: 0.0010, grad_norm: 16.4369 2026-04-18 05:38:06,959 - mmdet - INFO - Iter [20050/55932] lr: 3.647e-05, eta: 1 day, 0:08:31, time: 2.083, data_time: 0.082, memory: 34732, seg: 0.4749, seg_dice: 0.2671, seg_t0: 0.6973, seg_dice_t0: 0.3276, seg_t1: 0.5442, seg_dice_t1: 0.2909, seg_t2: 0.5063, seg_dice_t2: 0.2801, seg_t3: 0.4846, seg_dice_t3: 0.2746, total_t0: 1.0249, total_t1: 0.8352, total_t2: 0.7865, total_t3: 0.7592, total_t4: 0.7420, total: 5.4261, cam_bev_norm: 15.5357, sat_bev_norm: 10.8126, seg_sat: 0.4503, seg_dice_sat: 0.2592, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 0.3386, seg_dice_fused: 0.2302, cam_rel_mean: 0.2063, sat_rel_mean: 0.2150, cam_rel_min: 0.0011, sat_rel_min: 0.0010, grad_norm: 15.4414 2026-04-18 05:39:50,462 - mmdet - INFO - Iter [20100/55932] lr: 3.641e-05, eta: 1 day, 0:05:58, time: 2.070, data_time: 0.084, memory: 34732, seg: 0.4801, seg_dice: 0.2843, seg_t0: 0.7525, seg_dice_t0: 0.3365, seg_t1: 0.5773, seg_dice_t1: 0.2880, seg_t2: 0.5133, seg_dice_t2: 0.2813, seg_t3: 0.4842, seg_dice_t3: 0.2813, total_t0: 1.0889, total_t1: 0.8653, total_t2: 0.7945, total_t3: 0.7655, total_t4: 0.7643, total: 5.6127, cam_bev_norm: 15.5811, sat_bev_norm: 10.8446, seg_sat: 0.4564, seg_dice_sat: 0.2746, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.3556, seg_dice_fused: 0.2474, cam_rel_mean: 0.1986, sat_rel_mean: 0.2127, cam_rel_min: 0.0015, sat_rel_min: 0.0010, grad_norm: 16.0656 2026-04-18 05:41:34,382 - mmdet - INFO - Iter [20150/55932] lr: 3.635e-05, eta: 1 day, 0:03:27, time: 2.078, data_time: 0.085, memory: 34732, seg: 0.4658, seg_dice: 0.2659, seg_t0: 0.6922, seg_dice_t0: 0.3373, seg_t1: 0.5451, seg_dice_t1: 0.2979, seg_t2: 0.5005, seg_dice_t2: 0.2833, seg_t3: 0.4730, seg_dice_t3: 0.2725, total_t0: 1.0296, total_t1: 0.8430, total_t2: 0.7839, total_t3: 0.7455, total_t4: 0.7317, total: 5.4353, cam_bev_norm: 15.5628, sat_bev_norm: 10.8459, seg_sat: 0.4486, seg_dice_sat: 0.2623, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.2400, seg_fused: 0.3553, seg_dice_fused: 0.2354, cam_rel_mean: 0.1795, sat_rel_mean: 0.2051, cam_rel_min: 0.0034, sat_rel_min: 0.0021, grad_norm: 17.3662 2026-04-18 05:43:17,830 - mmdet - INFO - Iter [20200/55932] lr: 3.629e-05, eta: 1 day, 0:00:55, time: 2.069, data_time: 0.086, memory: 34732, seg: 0.4608, seg_dice: 0.2628, seg_t0: 0.6744, seg_dice_t0: 0.3423, seg_t1: 0.5275, seg_dice_t1: 0.2977, seg_t2: 0.4934, seg_dice_t2: 0.2827, seg_t3: 0.4774, seg_dice_t3: 0.2673, total_t0: 1.0168, total_t1: 0.8252, total_t2: 0.7760, total_t3: 0.7447, total_t4: 0.7235, total: 5.3419, cam_bev_norm: 15.6366, sat_bev_norm: 10.8897, seg_sat: 0.4463, seg_dice_sat: 0.2524, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.3310, seg_dice_fused: 0.2260, cam_rel_mean: 0.2115, sat_rel_mean: 0.2214, cam_rel_min: 0.0015, sat_rel_min: 0.0011, grad_norm: 16.4665 2026-04-18 05:45:01,240 - mmdet - INFO - Iter [20250/55932] lr: 3.623e-05, eta: 23:58:23, time: 2.068, data_time: 0.086, memory: 34732, seg: 0.4917, seg_dice: 0.2614, seg_t0: 0.7306, seg_dice_t0: 0.3367, seg_t1: 0.5729, seg_dice_t1: 0.2889, seg_t2: 0.5291, seg_dice_t2: 0.2826, seg_t3: 0.5067, seg_dice_t3: 0.2721, total_t0: 1.0674, total_t1: 0.8618, total_t2: 0.8117, total_t3: 0.7788, total_t4: 0.7532, total: 5.5826, cam_bev_norm: 15.5074, sat_bev_norm: 10.8110, seg_sat: 0.4778, seg_dice_sat: 0.2509, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.3610, seg_dice_fused: 0.2201, cam_rel_mean: 0.2059, sat_rel_mean: 0.1997, cam_rel_min: 0.0008, sat_rel_min: 0.0021, grad_norm: 19.9914 2026-04-18 05:46:44,821 - mmdet - INFO - Iter [20300/55932] lr: 3.616e-05, eta: 23:55:51, time: 2.071, data_time: 0.084, memory: 34732, seg: 0.4671, seg_dice: 0.2688, seg_t0: 0.7018, seg_dice_t0: 0.3263, seg_t1: 0.5589, seg_dice_t1: 0.2886, seg_t2: 0.5016, seg_dice_t2: 0.2787, seg_t3: 0.4781, seg_dice_t3: 0.2749, total_t0: 1.0281, total_t1: 0.8474, total_t2: 0.7803, total_t3: 0.7530, total_t4: 0.7359, total: 5.4778, cam_bev_norm: 15.6290, sat_bev_norm: 10.8619, seg_sat: 0.4706, seg_dice_sat: 0.2651, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2400, seg_fused: 0.3599, seg_dice_fused: 0.2376, cam_rel_mean: 0.1913, sat_rel_mean: 0.2258, cam_rel_min: 0.0022, sat_rel_min: 0.0005, grad_norm: 16.3824 2026-04-18 05:48:28,205 - mmdet - INFO - Iter [20350/55932] lr: 3.610e-05, eta: 23:53:20, time: 2.068, data_time: 0.082, memory: 34732, seg: 0.4398, seg_dice: 0.2649, seg_t0: 0.7063, seg_dice_t0: 0.3271, seg_t1: 0.5329, seg_dice_t1: 0.2821, seg_t2: 0.4713, seg_dice_t2: 0.2708, seg_t3: 0.4397, seg_dice_t3: 0.2659, total_t0: 1.0334, total_t1: 0.8150, total_t2: 0.7421, total_t3: 0.7056, total_t4: 0.7046, total: 5.2414, cam_bev_norm: 15.5028, sat_bev_norm: 10.8562, seg_sat: 0.4351, seg_dice_sat: 0.2576, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.3194, seg_dice_fused: 0.2286, cam_rel_mean: 0.2131, sat_rel_mean: 0.2191, cam_rel_min: 0.0008, sat_rel_min: 0.0005, grad_norm: 16.2463 2026-04-18 05:50:11,423 - mmdet - INFO - Iter [20400/55932] lr: 3.604e-05, eta: 23:50:48, time: 2.065, data_time: 0.083, memory: 34732, seg: 0.4577, seg_dice: 0.2656, seg_t0: 0.6605, seg_dice_t0: 0.3185, seg_t1: 0.5021, seg_dice_t1: 0.2790, seg_t2: 0.4571, seg_dice_t2: 0.2683, seg_t3: 0.4591, seg_dice_t3: 0.2675, total_t0: 0.9789, total_t1: 0.7811, total_t2: 0.7254, total_t3: 0.7266, total_t4: 0.7233, total: 5.2030, cam_bev_norm: 15.5472, sat_bev_norm: 10.7720, seg_sat: 0.4422, seg_dice_sat: 0.2602, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0600, seg_fused: 0.3346, seg_dice_fused: 0.2306, cam_rel_mean: 0.1963, sat_rel_mean: 0.2111, cam_rel_min: 0.0019, sat_rel_min: 0.0011, grad_norm: 15.1162 2026-04-18 05:51:55,206 - mmdet - INFO - Iter [20450/55932] lr: 3.598e-05, eta: 23:48:18, time: 2.076, data_time: 0.081, memory: 34732, seg: 0.4685, seg_dice: 0.2641, seg_t0: 0.6833, seg_dice_t0: 0.3236, seg_t1: 0.5205, seg_dice_t1: 0.2786, seg_t2: 0.4934, seg_dice_t2: 0.2645, seg_t3: 0.4794, seg_dice_t3: 0.2627, total_t0: 1.0070, total_t1: 0.7991, total_t2: 0.7579, total_t3: 0.7421, total_t4: 0.7326, total: 5.3269, cam_bev_norm: 15.5210, sat_bev_norm: 10.8741, seg_sat: 0.4480, seg_dice_sat: 0.2554, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.3532, seg_dice_fused: 0.2315, cam_rel_mean: 0.1950, sat_rel_mean: 0.2116, cam_rel_min: 0.0019, sat_rel_min: 0.0016, grad_norm: 16.6158 2026-04-18 05:53:38,312 - mmdet - INFO - Iter [20500/55932] lr: 3.592e-05, eta: 23:45:47, time: 2.062, data_time: 0.082, memory: 34732, seg: 0.4943, seg_dice: 0.2649, seg_t0: 0.7102, seg_dice_t0: 0.3235, seg_t1: 0.5535, seg_dice_t1: 0.2777, seg_t2: 0.4984, seg_dice_t2: 0.2704, seg_t3: 0.4926, seg_dice_t3: 0.2680, total_t0: 1.0337, total_t1: 0.8312, total_t2: 0.7688, total_t3: 0.7606, total_t4: 0.7592, total: 5.4289, cam_bev_norm: 15.4861, sat_bev_norm: 10.8941, seg_sat: 0.4423, seg_dice_sat: 0.2505, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.3552, seg_dice_fused: 0.2274, cam_rel_mean: 0.1996, sat_rel_mean: 0.2076, cam_rel_min: 0.0015, sat_rel_min: 0.0016, grad_norm: 15.3492 2026-04-18 05:55:21,583 - mmdet - INFO - Iter [20550/55932] lr: 3.586e-05, eta: 23:43:16, time: 2.065, data_time: 0.080, memory: 34732, seg: 0.4593, seg_dice: 0.2990, seg_t0: 0.6340, seg_dice_t0: 0.3517, seg_t1: 0.5249, seg_dice_t1: 0.3158, seg_t2: 0.4798, seg_dice_t2: 0.3092, seg_t3: 0.4601, seg_dice_t3: 0.3062, total_t0: 0.9857, total_t1: 0.8407, total_t2: 0.7890, total_t3: 0.7662, total_t4: 0.7583, total: 5.5395, cam_bev_norm: 15.4217, sat_bev_norm: 10.7239, seg_sat: 0.4690, seg_dice_sat: 0.3001, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.3603, seg_dice_fused: 0.2700, cam_rel_mean: 0.1900, sat_rel_mean: 0.2041, cam_rel_min: 0.0023, sat_rel_min: 0.0016, grad_norm: 17.1666 2026-04-18 05:57:04,789 - mmdet - INFO - Iter [20600/55932] lr: 3.580e-05, eta: 23:40:45, time: 2.064, data_time: 0.080, memory: 34732, seg: 0.4704, seg_dice: 0.2459, seg_t0: 0.6527, seg_dice_t0: 0.3022, seg_t1: 0.5258, seg_dice_t1: 0.2703, seg_t2: 0.4863, seg_dice_t2: 0.2568, seg_t3: 0.4771, seg_dice_t3: 0.2498, total_t0: 0.9549, total_t1: 0.7961, total_t2: 0.7431, total_t3: 0.7269, total_t4: 0.7164, total: 5.1679, cam_bev_norm: 15.5236, sat_bev_norm: 10.8561, seg_sat: 0.4475, seg_dice_sat: 0.2406, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.3334, seg_dice_fused: 0.2090, cam_rel_mean: 0.2087, sat_rel_mean: 0.2184, cam_rel_min: 0.0011, sat_rel_min: 0.0011, grad_norm: 15.0941 2026-04-18 05:58:47,863 - mmdet - INFO - Iter [20650/55932] lr: 3.574e-05, eta: 23:38:14, time: 2.061, data_time: 0.084, memory: 34732, seg: 0.4312, seg_dice: 0.2587, seg_t0: 0.6193, seg_dice_t0: 0.3058, seg_t1: 0.4864, seg_dice_t1: 0.2676, seg_t2: 0.4398, seg_dice_t2: 0.2565, seg_t3: 0.4217, seg_dice_t3: 0.2523, total_t0: 0.9251, total_t1: 0.7540, total_t2: 0.6963, total_t3: 0.6741, total_t4: 0.6898, total: 4.9580, cam_bev_norm: 15.5512, sat_bev_norm: 10.9121, seg_sat: 0.4195, seg_dice_sat: 0.2553, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.3168, seg_dice_fused: 0.2272, cam_rel_mean: 0.1971, sat_rel_mean: 0.2182, cam_rel_min: 0.0019, sat_rel_min: 0.0005, grad_norm: 16.9139 2026-04-18 06:00:31,626 - mmdet - INFO - Iter [20700/55932] lr: 3.568e-05, eta: 23:35:45, time: 2.076, data_time: 0.079, memory: 34732, seg: 0.4437, seg_dice: 0.2464, seg_t0: 0.6551, seg_dice_t0: 0.3121, seg_t1: 0.5113, seg_dice_t1: 0.2714, seg_t2: 0.4837, seg_dice_t2: 0.2570, seg_t3: 0.4455, seg_dice_t3: 0.2519, total_t0: 0.9672, total_t1: 0.7827, total_t2: 0.7407, total_t3: 0.6974, total_t4: 0.6902, total: 5.0629, cam_bev_norm: 15.5686, sat_bev_norm: 10.9285, seg_sat: 0.4080, seg_dice_sat: 0.2334, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1200, seg_fused: 0.3286, seg_dice_fused: 0.2147, cam_rel_mean: 0.1877, sat_rel_mean: 0.2218, cam_rel_min: 0.0030, sat_rel_min: 0.0005, grad_norm: 15.1875 2026-04-18 06:02:15,041 - mmdet - INFO - Iter [20750/55932] lr: 3.562e-05, eta: 23:33:16, time: 2.068, data_time: 0.086, memory: 34732, seg: 0.4615, seg_dice: 0.2555, seg_t0: 0.6968, seg_dice_t0: 0.3162, seg_t1: 0.5368, seg_dice_t1: 0.2774, seg_t2: 0.4839, seg_dice_t2: 0.2529, seg_t3: 0.4625, seg_dice_t3: 0.2571, total_t0: 1.0130, total_t1: 0.8142, total_t2: 0.7368, total_t3: 0.7197, total_t4: 0.7171, total: 5.2879, cam_bev_norm: 15.4753, sat_bev_norm: 10.8477, seg_sat: 0.4619, seg_dice_sat: 0.2528, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.3482, seg_dice_fused: 0.2242, cam_rel_mean: 0.1937, sat_rel_mean: 0.2208, cam_rel_min: 0.0023, sat_rel_min: 0.0000, grad_norm: 16.2480 2026-04-18 06:03:57,861 - mmdet - INFO - Iter [20800/55932] lr: 3.555e-05, eta: 23:30:45, time: 2.056, data_time: 0.079, memory: 34732, seg: 0.4709, seg_dice: 0.2757, seg_t0: 0.6705, seg_dice_t0: 0.3157, seg_t1: 0.5315, seg_dice_t1: 0.2764, seg_t2: 0.4924, seg_dice_t2: 0.2621, seg_t3: 0.4738, seg_dice_t3: 0.2633, total_t0: 0.9863, total_t1: 0.8079, total_t2: 0.7545, total_t3: 0.7371, total_t4: 0.7465, total: 5.2943, cam_bev_norm: 15.5033, sat_bev_norm: 10.8233, seg_sat: 0.4441, seg_dice_sat: 0.2636, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.0800, seg_fused: 0.3210, seg_dice_fused: 0.2333, cam_rel_mean: 0.2189, sat_rel_mean: 0.2320, cam_rel_min: 0.0004, sat_rel_min: 0.0000, grad_norm: 16.6528 2026-04-18 06:05:40,324 - mmdet - INFO - Iter [20850/55932] lr: 3.549e-05, eta: 23:28:15, time: 2.049, data_time: 0.075, memory: 34732, seg: 0.4604, seg_dice: 0.2449, seg_t0: 0.6700, seg_dice_t0: 0.2986, seg_t1: 0.5269, seg_dice_t1: 0.2610, seg_t2: 0.4794, seg_dice_t2: 0.2485, seg_t3: 0.4714, seg_dice_t3: 0.2510, total_t0: 0.9687, total_t1: 0.7879, total_t2: 0.7279, total_t3: 0.7224, total_t4: 0.7053, total: 5.1148, cam_bev_norm: 15.4959, sat_bev_norm: 10.8522, seg_sat: 0.4231, seg_dice_sat: 0.2365, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.3319, seg_dice_fused: 0.2111, cam_rel_mean: 0.1932, sat_rel_mean: 0.2243, cam_rel_min: 0.0026, sat_rel_min: 0.0005, grad_norm: 15.3821 2026-04-18 06:07:24,968 - mmdet - INFO - Iter [20900/55932] lr: 3.543e-05, eta: 23:25:48, time: 2.093, data_time: 0.084, memory: 34732, seg: 0.4529, seg_dice: 0.2544, seg_t0: 0.6757, seg_dice_t0: 0.3066, seg_t1: 0.5345, seg_dice_t1: 0.2616, seg_t2: 0.4928, seg_dice_t2: 0.2533, seg_t3: 0.4667, seg_dice_t3: 0.2509, total_t0: 0.9824, total_t1: 0.7960, total_t2: 0.7461, total_t3: 0.7177, total_t4: 0.7073, total: 5.2539, cam_bev_norm: 15.4334, sat_bev_norm: 10.8833, seg_sat: 0.4595, seg_dice_sat: 0.2465, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.3720, seg_dice_fused: 0.2264, cam_rel_mean: 0.1870, sat_rel_mean: 0.2118, cam_rel_min: 0.0026, sat_rel_min: 0.0016, grad_norm: 16.6236 2026-04-18 06:09:08,453 - mmdet - INFO - Iter [20950/55932] lr: 3.537e-05, eta: 23:23:19, time: 2.070, data_time: 0.082, memory: 34732, seg: 0.4671, seg_dice: 0.2550, seg_t0: 0.6780, seg_dice_t0: 0.3204, seg_t1: 0.5293, seg_dice_t1: 0.2767, seg_t2: 0.4846, seg_dice_t2: 0.2641, seg_t3: 0.4763, seg_dice_t3: 0.2590, total_t0: 0.9983, total_t1: 0.8060, total_t2: 0.7486, total_t3: 0.7353, total_t4: 0.7221, total: 5.3477, cam_bev_norm: 15.4613, sat_bev_norm: 10.8531, seg_sat: 0.4803, seg_dice_sat: 0.2539, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1400, seg_fused: 0.3759, seg_dice_fused: 0.2273, cam_rel_mean: 0.1766, sat_rel_mean: 0.2189, cam_rel_min: 0.0038, sat_rel_min: 0.0005, grad_norm: 17.1331 2026-04-18 06:10:51,612 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 06:10:51,613 - mmdet - INFO - Iter [21000/55932] lr: 3.531e-05, eta: 23:20:50, time: 2.063, data_time: 0.081, memory: 34732, seg: 0.4559, seg_dice: 0.2546, seg_t0: 0.7243, seg_dice_t0: 0.3236, seg_t1: 0.5630, seg_dice_t1: 0.2758, seg_t2: 0.5132, seg_dice_t2: 0.2644, seg_t3: 0.4760, seg_dice_t3: 0.2559, total_t0: 1.0480, total_t1: 0.8388, total_t2: 0.7775, total_t3: 0.7319, total_t4: 0.7105, total: 5.4438, cam_bev_norm: 15.4556, sat_bev_norm: 10.7725, seg_sat: 0.4802, seg_dice_sat: 0.2540, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1000, seg_fused: 0.3735, seg_dice_fused: 0.2295, cam_rel_mean: 0.1929, sat_rel_mean: 0.2145, cam_rel_min: 0.0030, sat_rel_min: 0.0021, grad_norm: 15.4613 2026-04-18 06:12:34,755 - mmdet - INFO - Iter [21050/55932] lr: 3.525e-05, eta: 23:18:21, time: 2.063, data_time: 0.082, memory: 34732, seg: 0.5012, seg_dice: 0.2758, seg_t0: 0.7255, seg_dice_t0: 0.3362, seg_t1: 0.5900, seg_dice_t1: 0.2981, seg_t2: 0.5319, seg_dice_t2: 0.2864, seg_t3: 0.5007, seg_dice_t3: 0.2773, total_t0: 1.0617, total_t1: 0.8881, total_t2: 0.8183, total_t3: 0.7780, total_t4: 0.7770, total: 5.7206, cam_bev_norm: 15.3965, sat_bev_norm: 10.7408, seg_sat: 0.5047, seg_dice_sat: 0.2734, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1600, seg_fused: 0.4164, seg_dice_fused: 0.2029, cam_rel_mean: 0.1832, sat_rel_mean: 0.2164, cam_rel_min: 0.0034, sat_rel_min: 0.0011, grad_norm: 16.7921 2026-04-18 06:14:17,564 - mmdet - INFO - Iter [21100/55932] lr: 3.519e-05, eta: 23:15:52, time: 2.056, data_time: 0.079, memory: 34732, seg: 0.4745, seg_dice: 0.2512, seg_t0: 0.7181, seg_dice_t0: 0.3209, seg_t1: 0.5546, seg_dice_t1: 0.2767, seg_t2: 0.5118, seg_dice_t2: 0.2604, seg_t3: 0.4818, seg_dice_t3: 0.2566, total_t0: 1.0391, total_t1: 0.8313, total_t2: 0.7722, total_t3: 0.7385, total_t4: 0.7256, total: 5.2999, cam_bev_norm: 15.4484, sat_bev_norm: 10.8649, seg_sat: 0.4397, seg_dice_sat: 0.2412, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.3782, seg_dice_fused: 0.1341, cam_rel_mean: 0.2133, sat_rel_mean: 0.2151, cam_rel_min: 0.0011, sat_rel_min: 0.0021, grad_norm: 17.7821 2026-04-18 06:16:00,728 - mmdet - INFO - Iter [21150/55932] lr: 3.512e-05, eta: 23:13:24, time: 2.063, data_time: 0.081, memory: 34732, seg: 0.4300, seg_dice: 0.2217, seg_t0: 0.6506, seg_dice_t0: 0.2939, seg_t1: 0.4865, seg_dice_t1: 0.2482, seg_t2: 0.4350, seg_dice_t2: 0.2302, seg_t3: 0.4290, seg_dice_t3: 0.2268, total_t0: 0.9444, total_t1: 0.7347, total_t2: 0.6652, total_t3: 0.6558, total_t4: 0.6517, total: 4.8672, cam_bev_norm: 15.4829, sat_bev_norm: 10.9321, seg_sat: 0.4785, seg_dice_sat: 0.2284, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2400, seg_fused: 0.3800, seg_dice_fused: 0.1284, cam_rel_mean: 0.1828, sat_rel_mean: 0.2208, cam_rel_min: 0.0030, sat_rel_min: 0.0005, grad_norm: 16.3039 2026-04-18 06:17:44,952 - mmdet - INFO - Iter [21200/55932] lr: 3.506e-05, eta: 23:10:58, time: 2.085, data_time: 0.078, memory: 34732, seg: 0.4711, seg_dice: 0.2856, seg_t0: 0.7085, seg_dice_t0: 0.3465, seg_t1: 0.5387, seg_dice_t1: 0.3035, seg_t2: 0.4954, seg_dice_t2: 0.2917, seg_t3: 0.4850, seg_dice_t3: 0.2890, total_t0: 1.0550, total_t1: 0.8422, total_t2: 0.7871, total_t3: 0.7740, total_t4: 0.7568, total: 5.5833, cam_bev_norm: 15.4219, sat_bev_norm: 10.8157, seg_sat: 0.5349, seg_dice_sat: 0.2966, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2200, seg_fused: 0.4023, seg_dice_fused: 0.1345, cam_rel_mean: 0.1988, sat_rel_mean: 0.2146, cam_rel_min: 0.0023, sat_rel_min: 0.0022, grad_norm: 16.7384 2026-04-18 06:19:27,948 - mmdet - INFO - Iter [21250/55932] lr: 3.500e-05, eta: 23:08:30, time: 2.060, data_time: 0.084, memory: 34732, seg: 0.4367, seg_dice: 0.2547, seg_t0: 0.6304, seg_dice_t0: 0.3190, seg_t1: 0.5047, seg_dice_t1: 0.2806, seg_t2: 0.4659, seg_dice_t2: 0.2664, seg_t3: 0.4484, seg_dice_t3: 0.2580, total_t0: 0.9494, total_t1: 0.7853, total_t2: 0.7322, total_t3: 0.7064, total_t4: 0.6913, total: 5.0963, cam_bev_norm: 15.5237, sat_bev_norm: 10.8877, seg_sat: 0.4865, seg_dice_sat: 0.2676, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2200, seg_fused: 0.3600, seg_dice_fused: 0.1174, cam_rel_mean: 0.1975, sat_rel_mean: 0.2140, cam_rel_min: 0.0015, sat_rel_min: 0.0016, grad_norm: 18.6012 2026-04-18 06:21:11,012 - mmdet - INFO - Iter [21300/55932] lr: 3.494e-05, eta: 23:06:02, time: 2.061, data_time: 0.078, memory: 34732, seg: 0.4442, seg_dice: 0.2618, seg_t0: 0.6695, seg_dice_t0: 0.3317, seg_t1: 0.5257, seg_dice_t1: 0.2912, seg_t2: 0.4673, seg_dice_t2: 0.2719, seg_t3: 0.4585, seg_dice_t3: 0.2634, total_t0: 1.0012, total_t1: 0.8168, total_t2: 0.7392, total_t3: 0.7219, total_t4: 0.7060, total: 5.2092, cam_bev_norm: 15.4646, sat_bev_norm: 10.9305, seg_sat: 0.4508, seg_dice_sat: 0.2651, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2200, seg_fused: 0.3741, seg_dice_fused: 0.1341, cam_rel_mean: 0.1785, sat_rel_mean: 0.1987, cam_rel_min: 0.0027, sat_rel_min: 0.0022, grad_norm: 18.5255 2026-04-18 06:22:55,120 - mmdet - INFO - Iter [21350/55932] lr: 3.488e-05, eta: 23:03:36, time: 2.082, data_time: 0.081, memory: 34732, seg: 0.4903, seg_dice: 0.2664, seg_t0: 0.6755, seg_dice_t0: 0.3377, seg_t1: 0.5469, seg_dice_t1: 0.2914, seg_t2: 0.5260, seg_dice_t2: 0.2820, seg_t3: 0.5074, seg_dice_t3: 0.2712, total_t0: 1.0132, total_t1: 0.8383, total_t2: 0.8081, total_t3: 0.7786, total_t4: 0.7567, total: 5.4270, cam_bev_norm: 15.3956, sat_bev_norm: 10.7816, seg_sat: 0.4897, seg_dice_sat: 0.2617, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.3696, seg_dice_fused: 0.1112, cam_rel_mean: 0.1986, sat_rel_mean: 0.2085, cam_rel_min: 0.0011, sat_rel_min: 0.0016, grad_norm: 17.0046 2026-04-18 06:24:37,983 - mmdet - INFO - Iter [21400/55932] lr: 3.481e-05, eta: 23:01:08, time: 2.058, data_time: 0.080, memory: 34732, seg: 0.4398, seg_dice: 0.2518, seg_t0: 0.6377, seg_dice_t0: 0.3083, seg_t1: 0.4861, seg_dice_t1: 0.2648, seg_t2: 0.4464, seg_dice_t2: 0.2659, seg_t3: 0.4307, seg_dice_t3: 0.2578, total_t0: 0.9460, total_t1: 0.7509, total_t2: 0.7123, total_t3: 0.6884, total_t4: 0.6916, total: 4.8976, cam_bev_norm: 15.5049, sat_bev_norm: 10.9685, seg_sat: 0.4352, seg_dice_sat: 0.2489, mask_cam_zeroed: 0.0000, mask_cam_noised: 0.1200, seg_fused: 0.3271, seg_dice_fused: 0.0972, cam_rel_mean: 0.2260, sat_rel_mean: 0.2165, cam_rel_min: 0.0000, sat_rel_min: 0.0022, grad_norm: 16.2051 2026-04-18 06:26:20,994 - mmdet - INFO - Iter [21450/55932] lr: 3.475e-05, eta: 22:58:41, time: 2.060, data_time: 0.082, memory: 34732, seg: 0.4193, seg_dice: 0.2824, seg_t0: 0.6471, seg_dice_t0: 0.3104, seg_t1: 0.5088, seg_dice_t1: 0.2764, seg_t2: 0.4624, seg_dice_t2: 0.2721, seg_t3: 0.4309, seg_dice_t3: 0.2761, total_t0: 0.9575, total_t1: 0.7851, total_t2: 0.7345, total_t3: 0.7070, total_t4: 0.7017, total: 5.0670, cam_bev_norm: 15.4033, sat_bev_norm: 10.9095, seg_sat: 0.4309, seg_dice_sat: 0.2833, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.3417, seg_dice_fused: 0.1252, cam_rel_mean: 0.1884, sat_rel_mean: 0.2017, cam_rel_min: 0.0023, sat_rel_min: 0.0016, grad_norm: 16.7619 2026-04-18 06:28:04,342 - mmdet - INFO - Iter [21500/55932] lr: 3.469e-05, eta: 22:56:14, time: 2.067, data_time: 0.083, memory: 34732, seg: 0.4486, seg_dice: 0.2430, seg_t0: 0.7135, seg_dice_t0: 0.3189, seg_t1: 0.5429, seg_dice_t1: 0.2716, seg_t2: 0.4950, seg_dice_t2: 0.2563, seg_t3: 0.4505, seg_dice_t3: 0.2509, total_t0: 1.0324, total_t1: 0.8145, total_t2: 0.7514, total_t3: 0.7014, total_t4: 0.6916, total: 5.2425, cam_bev_norm: 15.4134, sat_bev_norm: 10.9256, seg_sat: 0.5118, seg_dice_sat: 0.2568, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.3734, seg_dice_fused: 0.1094, cam_rel_mean: 0.1960, sat_rel_mean: 0.2123, cam_rel_min: 0.0019, sat_rel_min: 0.0016, grad_norm: 17.6740 2026-04-18 06:29:47,579 - mmdet - INFO - Iter [21550/55932] lr: 3.463e-05, eta: 22:53:48, time: 2.065, data_time: 0.082, memory: 34732, seg: 0.4569, seg_dice: 0.2836, seg_t0: 0.6901, seg_dice_t0: 0.3487, seg_t1: 0.5172, seg_dice_t1: 0.3041, seg_t2: 0.4624, seg_dice_t2: 0.2856, seg_t3: 0.4507, seg_dice_t3: 0.2812, total_t0: 1.0388, total_t1: 0.8213, total_t2: 0.7481, total_t3: 0.7318, total_t4: 0.7405, total: 5.3846, cam_bev_norm: 15.4322, sat_bev_norm: 10.7595, seg_sat: 0.5414, seg_dice_sat: 0.2985, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.3601, seg_dice_fused: 0.1041, cam_rel_mean: 0.2034, sat_rel_mean: 0.2170, cam_rel_min: 0.0012, sat_rel_min: 0.0006, grad_norm: 16.5503 2026-04-18 06:31:30,528 - mmdet - INFO - Iter [21600/55932] lr: 3.456e-05, eta: 22:51:21, time: 2.059, data_time: 0.082, memory: 34732, seg: 0.4150, seg_dice: 0.2455, seg_t0: 0.6750, seg_dice_t0: 0.3087, seg_t1: 0.5032, seg_dice_t1: 0.2655, seg_t2: 0.4462, seg_dice_t2: 0.2562, seg_t3: 0.4237, seg_dice_t3: 0.2492, total_t0: 0.9837, total_t1: 0.7687, total_t2: 0.7024, total_t3: 0.6729, total_t4: 0.6606, total: 4.9536, cam_bev_norm: 15.5535, sat_bev_norm: 10.9466, seg_sat: 0.4530, seg_dice_sat: 0.2531, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1400, seg_fused: 0.3394, seg_dice_fused: 0.1199, cam_rel_mean: 0.1957, sat_rel_mean: 0.2282, cam_rel_min: 0.0034, sat_rel_min: 0.0005, grad_norm: 16.7881 2026-04-18 06:33:13,774 - mmdet - INFO - Iter [21650/55932] lr: 3.450e-05, eta: 22:48:55, time: 2.065, data_time: 0.082, memory: 34732, seg: 0.4368, seg_dice: 0.2681, seg_t0: 0.6524, seg_dice_t0: 0.3268, seg_t1: 0.5010, seg_dice_t1: 0.2880, seg_t2: 0.4577, seg_dice_t2: 0.2741, seg_t3: 0.4441, seg_dice_t3: 0.2704, total_t0: 0.9792, total_t1: 0.7889, total_t2: 0.7318, total_t3: 0.7144, total_t4: 0.7049, total: 5.1240, cam_bev_norm: 15.3849, sat_bev_norm: 10.8361, seg_sat: 0.4635, seg_dice_sat: 0.2750, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.3593, seg_dice_fused: 0.1068, cam_rel_mean: 0.1897, sat_rel_mean: 0.2077, cam_rel_min: 0.0023, sat_rel_min: 0.0016, grad_norm: 15.3990 2026-04-18 06:34:56,376 - mmdet - INFO - Iter [21700/55932] lr: 3.444e-05, eta: 22:46:28, time: 2.052, data_time: 0.080, memory: 34732, seg: 0.4504, seg_dice: 0.2814, seg_t0: 0.6945, seg_dice_t0: 0.3349, seg_t1: 0.5346, seg_dice_t1: 0.2900, seg_t2: 0.4747, seg_dice_t2: 0.2818, seg_t3: 0.4544, seg_dice_t3: 0.2741, total_t0: 1.0294, total_t1: 0.8247, total_t2: 0.7564, total_t3: 0.7285, total_t4: 0.7318, total: 5.3116, cam_bev_norm: 15.4159, sat_bev_norm: 10.8504, seg_sat: 0.4943, seg_dice_sat: 0.2911, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.3545, seg_dice_fused: 0.1007, cam_rel_mean: 0.1908, sat_rel_mean: 0.2174, cam_rel_min: 0.0023, sat_rel_min: 0.0006, grad_norm: 15.6316 2026-04-18 06:36:40,741 - mmdet - INFO - Iter [21750/55932] lr: 3.438e-05, eta: 22:44:04, time: 2.087, data_time: 0.081, memory: 34732, seg: 0.4449, seg_dice: 0.2636, seg_t0: 0.6852, seg_dice_t0: 0.3368, seg_t1: 0.5059, seg_dice_t1: 0.2880, seg_t2: 0.4640, seg_dice_t2: 0.2762, seg_t3: 0.4402, seg_dice_t3: 0.2674, total_t0: 1.0220, total_t1: 0.7939, total_t2: 0.7402, total_t3: 0.7075, total_t4: 0.7085, total: 5.1560, cam_bev_norm: 15.4727, sat_bev_norm: 10.8405, seg_sat: 0.4519, seg_dice_sat: 0.2627, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.3580, seg_dice_fused: 0.1112, cam_rel_mean: 0.2018, sat_rel_mean: 0.2077, cam_rel_min: 0.0019, sat_rel_min: 0.0027, grad_norm: 17.2613 2026-04-18 06:38:23,646 - mmdet - INFO - Iter [21800/55932] lr: 3.431e-05, eta: 22:41:38, time: 2.058, data_time: 0.082, memory: 34732, seg: 0.4153, seg_dice: 0.2550, seg_t0: 0.6354, seg_dice_t0: 0.3281, seg_t1: 0.4856, seg_dice_t1: 0.2852, seg_t2: 0.4362, seg_dice_t2: 0.2680, seg_t3: 0.4156, seg_dice_t3: 0.2589, total_t0: 0.9635, total_t1: 0.7708, total_t2: 0.7042, total_t3: 0.6745, total_t4: 0.6703, total: 4.9070, cam_bev_norm: 15.3747, sat_bev_norm: 10.8403, seg_sat: 0.4334, seg_dice_sat: 0.2601, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.3411, seg_dice_fused: 0.0891, cam_rel_mean: 0.1820, sat_rel_mean: 0.2001, cam_rel_min: 0.0019, sat_rel_min: 0.0016, grad_norm: 16.4607 2026-04-18 06:40:06,812 - mmdet - INFO - Iter [21850/55932] lr: 3.425e-05, eta: 22:39:12, time: 2.063, data_time: 0.082, memory: 34732, seg: 0.4248, seg_dice: 0.2515, seg_t0: 0.6522, seg_dice_t0: 0.3112, seg_t1: 0.5072, seg_dice_t1: 0.2711, seg_t2: 0.4540, seg_dice_t2: 0.2530, seg_t3: 0.4294, seg_dice_t3: 0.2459, total_t0: 0.9634, total_t1: 0.7783, total_t2: 0.7070, total_t3: 0.6753, total_t4: 0.6763, total: 4.9761, cam_bev_norm: 15.3630, sat_bev_norm: 10.8033, seg_sat: 0.4745, seg_dice_sat: 0.2606, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.3490, seg_dice_fused: 0.0917, cam_rel_mean: 0.1985, sat_rel_mean: 0.2136, cam_rel_min: 0.0019, sat_rel_min: 0.0011, grad_norm: 15.5949 2026-04-18 06:41:49,497 - mmdet - INFO - Iter [21900/55932] lr: 3.419e-05, eta: 22:36:47, time: 2.054, data_time: 0.080, memory: 34732, seg: 0.4329, seg_dice: 0.2618, seg_t0: 0.6271, seg_dice_t0: 0.3229, seg_t1: 0.4938, seg_dice_t1: 0.2824, seg_t2: 0.4532, seg_dice_t2: 0.2636, seg_t3: 0.4380, seg_dice_t3: 0.2646, total_t0: 0.9500, total_t1: 0.7762, total_t2: 0.7168, total_t3: 0.7026, total_t4: 0.6947, total: 5.0316, cam_bev_norm: 15.4713, sat_bev_norm: 10.8702, seg_sat: 0.4744, seg_dice_sat: 0.2738, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.3435, seg_dice_fused: 0.0997, cam_rel_mean: 0.2020, sat_rel_mean: 0.2167, cam_rel_min: 0.0012, sat_rel_min: 0.0011, grad_norm: 15.5089 2026-04-18 06:43:32,857 - mmdet - INFO - Iter [21950/55932] lr: 3.412e-05, eta: 22:34:22, time: 2.067, data_time: 0.082, memory: 34732, seg: 0.4424, seg_dice: 0.2704, seg_t0: 0.6889, seg_dice_t0: 0.3334, seg_t1: 0.5233, seg_dice_t1: 0.2889, seg_t2: 0.4649, seg_dice_t2: 0.2794, seg_t3: 0.4481, seg_dice_t3: 0.2696, total_t0: 1.0223, total_t1: 0.8123, total_t2: 0.7443, total_t3: 0.7177, total_t4: 0.7128, total: 5.1697, cam_bev_norm: 15.4004, sat_bev_norm: 10.9310, seg_sat: 0.4427, seg_dice_sat: 0.2655, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.3493, seg_dice_fused: 0.1028, cam_rel_mean: 0.1961, sat_rel_mean: 0.2024, cam_rel_min: 0.0019, sat_rel_min: 0.0022, grad_norm: 15.9514 2026-04-18 06:45:15,727 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 06:45:15,728 - mmdet - INFO - Iter [22000/55932] lr: 3.406e-05, eta: 22:31:56, time: 2.058, data_time: 0.081, memory: 34732, seg: 0.4625, seg_dice: 0.2724, seg_t0: 0.6749, seg_dice_t0: 0.3394, seg_t1: 0.5205, seg_dice_t1: 0.2952, seg_t2: 0.4818, seg_dice_t2: 0.2784, seg_t3: 0.4555, seg_dice_t3: 0.2688, total_t0: 1.0143, total_t1: 0.8157, total_t2: 0.7602, total_t3: 0.7243, total_t4: 0.7349, total: 5.2388, cam_bev_norm: 15.3759, sat_bev_norm: 10.9521, seg_sat: 0.4519, seg_dice_sat: 0.2671, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.3524, seg_dice_fused: 0.1181, cam_rel_mean: 0.1932, sat_rel_mean: 0.2128, cam_rel_min: 0.0023, sat_rel_min: 0.0011, grad_norm: 16.3344 2026-04-18 06:46:58,947 - mmdet - INFO - Iter [22050/55932] lr: 3.400e-05, eta: 22:29:32, time: 2.064, data_time: 0.082, memory: 34732, seg: 0.4318, seg_dice: 0.2347, seg_t0: 0.6325, seg_dice_t0: 0.2932, seg_t1: 0.4970, seg_dice_t1: 0.2513, seg_t2: 0.4514, seg_dice_t2: 0.2360, seg_t3: 0.4379, seg_dice_t3: 0.2336, total_t0: 0.9257, total_t1: 0.7483, total_t2: 0.6874, total_t3: 0.6716, total_t4: 0.6666, total: 4.8969, cam_bev_norm: 15.4673, sat_bev_norm: 10.8645, seg_sat: 0.4653, seg_dice_sat: 0.2369, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2400, seg_fused: 0.3843, seg_dice_fused: 0.1109, cam_rel_mean: 0.1976, sat_rel_mean: 0.2079, cam_rel_min: 0.0023, sat_rel_min: 0.0027, grad_norm: 17.5869 2026-04-18 06:48:41,739 - mmdet - INFO - Iter [22100/55932] lr: 3.394e-05, eta: 22:27:07, time: 2.056, data_time: 0.079, memory: 34732, seg: 0.4561, seg_dice: 0.2657, seg_t0: 0.6214, seg_dice_t0: 0.3142, seg_t1: 0.5000, seg_dice_t1: 0.2782, seg_t2: 0.4637, seg_dice_t2: 0.2711, seg_t3: 0.4501, seg_dice_t3: 0.2666, total_t0: 0.9357, total_t1: 0.7782, total_t2: 0.7348, total_t3: 0.7167, total_t4: 0.7218, total: 5.1070, cam_bev_norm: 15.4182, sat_bev_norm: 10.7894, seg_sat: 0.4792, seg_dice_sat: 0.2696, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.3690, seg_dice_fused: 0.1020, cam_rel_mean: 0.1963, sat_rel_mean: 0.2018, cam_rel_min: 0.0015, sat_rel_min: 0.0022, grad_norm: 16.7682 2026-04-18 06:50:24,930 - mmdet - INFO - Iter [22150/55932] lr: 3.387e-05, eta: 22:24:43, time: 2.064, data_time: 0.085, memory: 34732, seg: 0.4312, seg_dice: 0.2513, seg_t0: 0.6456, seg_dice_t0: 0.3079, seg_t1: 0.5035, seg_dice_t1: 0.2709, seg_t2: 0.4484, seg_dice_t2: 0.2537, seg_t3: 0.4281, seg_dice_t3: 0.2537, total_t0: 0.9535, total_t1: 0.7744, total_t2: 0.7020, total_t3: 0.6818, total_t4: 0.6824, total: 4.9913, cam_bev_norm: 15.5330, sat_bev_norm: 10.8823, seg_sat: 0.4671, seg_dice_sat: 0.2564, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.3675, seg_dice_fused: 0.1061, cam_rel_mean: 0.2009, sat_rel_mean: 0.2156, cam_rel_min: 0.0023, sat_rel_min: 0.0017, grad_norm: 16.5033 2026-04-18 06:52:08,566 - mmdet - INFO - Iter [22200/55932] lr: 3.381e-05, eta: 22:22:19, time: 2.073, data_time: 0.080, memory: 34732, seg: 0.4118, seg_dice: 0.2639, seg_t0: 0.6197, seg_dice_t0: 0.3315, seg_t1: 0.4919, seg_dice_t1: 0.2941, seg_t2: 0.4463, seg_dice_t2: 0.2778, seg_t3: 0.4389, seg_dice_t3: 0.2709, total_t0: 0.9511, total_t1: 0.7860, total_t2: 0.7241, total_t3: 0.7098, total_t4: 0.6757, total: 5.0402, cam_bev_norm: 15.4123, sat_bev_norm: 10.9023, seg_sat: 0.4833, seg_dice_sat: 0.2816, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.3412, seg_dice_fused: 0.0873, cam_rel_mean: 0.1960, sat_rel_mean: 0.2211, cam_rel_min: 0.0023, sat_rel_min: 0.0006, grad_norm: 16.1679 2026-04-18 06:53:51,806 - mmdet - INFO - Iter [22250/55932] lr: 3.375e-05, eta: 22:19:55, time: 2.064, data_time: 0.086, memory: 34732, seg: 0.4317, seg_dice: 0.2551, seg_t0: 0.6386, seg_dice_t0: 0.3027, seg_t1: 0.4868, seg_dice_t1: 0.2670, seg_t2: 0.4441, seg_dice_t2: 0.2532, seg_t3: 0.4267, seg_dice_t3: 0.2479, total_t0: 0.9413, total_t1: 0.7537, total_t2: 0.6973, total_t3: 0.6746, total_t4: 0.6868, total: 4.9568, cam_bev_norm: 15.4105, sat_bev_norm: 10.8737, seg_sat: 0.4835, seg_dice_sat: 0.2665, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.3681, seg_dice_fused: 0.0849, cam_rel_mean: 0.2110, sat_rel_mean: 0.2227, cam_rel_min: 0.0016, sat_rel_min: 0.0017, grad_norm: 15.3490 2026-04-18 06:55:36,458 - mmdet - INFO - Iter [22300/55932] lr: 3.368e-05, eta: 22:17:34, time: 2.093, data_time: 0.089, memory: 34732, seg: 0.4678, seg_dice: 0.2475, seg_t0: 0.6599, seg_dice_t0: 0.3233, seg_t1: 0.5196, seg_dice_t1: 0.2802, seg_t2: 0.4793, seg_dice_t2: 0.2630, seg_t3: 0.4547, seg_dice_t3: 0.2564, total_t0: 0.9831, total_t1: 0.7998, total_t2: 0.7423, total_t3: 0.7111, total_t4: 0.7153, total: 5.1395, cam_bev_norm: 15.4003, sat_bev_norm: 10.8682, seg_sat: 0.4758, seg_dice_sat: 0.2458, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.3672, seg_dice_fused: 0.0992, cam_rel_mean: 0.1941, sat_rel_mean: 0.2234, cam_rel_min: 0.0027, sat_rel_min: 0.0011, grad_norm: 17.4826 2026-04-18 06:57:19,292 - mmdet - INFO - Iter [22350/55932] lr: 3.362e-05, eta: 22:15:10, time: 2.057, data_time: 0.084, memory: 34732, seg: 0.4384, seg_dice: 0.2405, seg_t0: 0.6891, seg_dice_t0: 0.2991, seg_t1: 0.5351, seg_dice_t1: 0.2623, seg_t2: 0.4735, seg_dice_t2: 0.2460, seg_t3: 0.4560, seg_dice_t3: 0.2380, total_t0: 0.9882, total_t1: 0.7975, total_t2: 0.7194, total_t3: 0.6940, total_t4: 0.6788, total: 5.0811, cam_bev_norm: 15.3817, sat_bev_norm: 10.8629, seg_sat: 0.4786, seg_dice_sat: 0.2458, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.0400, seg_fused: 0.3668, seg_dice_fused: 0.1120, cam_rel_mean: 0.1835, sat_rel_mean: 0.2206, cam_rel_min: 0.0039, sat_rel_min: 0.0011, grad_norm: 17.5008 2026-04-18 06:59:02,526 - mmdet - INFO - Iter [22400/55932] lr: 3.356e-05, eta: 22:12:46, time: 2.065, data_time: 0.084, memory: 34732, seg: 0.4356, seg_dice: 0.2631, seg_t0: 0.6686, seg_dice_t0: 0.3074, seg_t1: 0.5264, seg_dice_t1: 0.2697, seg_t2: 0.4771, seg_dice_t2: 0.2580, seg_t3: 0.4496, seg_dice_t3: 0.2619, total_t0: 0.9760, total_t1: 0.7962, total_t2: 0.7351, total_t3: 0.7115, total_t4: 0.6987, total: 5.0603, cam_bev_norm: 15.3804, sat_bev_norm: 10.8818, seg_sat: 0.4428, seg_dice_sat: 0.2621, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1400, seg_fused: 0.3381, seg_dice_fused: 0.0997, cam_rel_mean: 0.1855, sat_rel_mean: 0.2258, cam_rel_min: 0.0031, sat_rel_min: 0.0000, grad_norm: 16.7762 2026-04-18 07:00:45,337 - mmdet - INFO - Iter [22450/55932] lr: 3.349e-05, eta: 22:10:23, time: 2.056, data_time: 0.085, memory: 34732, seg: 0.4509, seg_dice: 0.2657, seg_t0: 0.6701, seg_dice_t0: 0.3354, seg_t1: 0.5139, seg_dice_t1: 0.2923, seg_t2: 0.4661, seg_dice_t2: 0.2791, seg_t3: 0.4568, seg_dice_t3: 0.2642, total_t0: 1.0055, total_t1: 0.8062, total_t2: 0.7452, total_t3: 0.7210, total_t4: 0.7166, total: 5.1579, cam_bev_norm: 15.3462, sat_bev_norm: 10.8412, seg_sat: 0.4697, seg_dice_sat: 0.2679, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 0.3385, seg_dice_fused: 0.0873, cam_rel_mean: 0.2088, sat_rel_mean: 0.2304, cam_rel_min: 0.0016, sat_rel_min: 0.0000, grad_norm: 15.8367 2026-04-18 07:02:28,539 - mmdet - INFO - Iter [22500/55932] lr: 3.343e-05, eta: 22:08:00, time: 2.064, data_time: 0.084, memory: 34732, seg: 0.4525, seg_dice: 0.2752, seg_t0: 0.7017, seg_dice_t0: 0.3464, seg_t1: 0.5235, seg_dice_t1: 0.3004, seg_t2: 0.4894, seg_dice_t2: 0.2864, seg_t3: 0.4563, seg_dice_t3: 0.2759, total_t0: 1.0481, total_t1: 0.8239, total_t2: 0.7758, total_t3: 0.7322, total_t4: 0.7277, total: 5.2710, cam_bev_norm: 15.2651, sat_bev_norm: 10.8055, seg_sat: 0.4571, seg_dice_sat: 0.2678, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.3385, seg_dice_fused: 0.0997, cam_rel_mean: 0.2046, sat_rel_mean: 0.2129, cam_rel_min: 0.0012, sat_rel_min: 0.0011, grad_norm: 17.1117 2026-04-18 07:04:10,995 - mmdet - INFO - Iter [22550/55932] lr: 3.337e-05, eta: 22:05:36, time: 2.049, data_time: 0.079, memory: 34736, seg: 0.4679, seg_dice: 0.2726, seg_t0: 0.7046, seg_dice_t0: 0.3594, seg_t1: 0.5279, seg_dice_t1: 0.3182, seg_t2: 0.4834, seg_dice_t2: 0.2966, seg_t3: 0.4653, seg_dice_t3: 0.2859, total_t0: 1.0640, total_t1: 0.8461, total_t2: 0.7801, total_t3: 0.7512, total_t4: 0.7405, total: 5.3460, cam_bev_norm: 15.2935, sat_bev_norm: 10.7662, seg_sat: 0.4660, seg_dice_sat: 0.2644, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.3452, seg_dice_fused: 0.0886, cam_rel_mean: 0.1975, sat_rel_mean: 0.2187, cam_rel_min: 0.0019, sat_rel_min: 0.0006, grad_norm: 16.6039 2026-04-18 07:05:54,166 - mmdet - INFO - Iter [22600/55932] lr: 3.330e-05, eta: 22:03:13, time: 2.064, data_time: 0.083, memory: 34736, seg: 0.4270, seg_dice: 0.2502, seg_t0: 0.6089, seg_dice_t0: 0.3085, seg_t1: 0.4789, seg_dice_t1: 0.2754, seg_t2: 0.4553, seg_dice_t2: 0.2656, seg_t3: 0.4351, seg_dice_t3: 0.2518, total_t0: 0.9174, total_t1: 0.7543, total_t2: 0.7209, total_t3: 0.6869, total_t4: 0.6772, total: 4.8123, cam_bev_norm: 15.3548, sat_bev_norm: 11.0041, seg_sat: 0.4108, seg_dice_sat: 0.2466, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.3223, seg_dice_fused: 0.0757, cam_rel_mean: 0.1921, sat_rel_mean: 0.2206, cam_rel_min: 0.0023, sat_rel_min: 0.0006, grad_norm: 16.3561 2026-04-18 07:07:38,641 - mmdet - INFO - Iter [22650/55932] lr: 3.324e-05, eta: 22:00:53, time: 2.089, data_time: 0.090, memory: 34736, seg: 0.4249, seg_dice: 0.2383, seg_t0: 0.6572, seg_dice_t0: 0.2922, seg_t1: 0.5051, seg_dice_t1: 0.2498, seg_t2: 0.4544, seg_dice_t2: 0.2384, seg_t3: 0.4273, seg_dice_t3: 0.2380, total_t0: 0.9494, total_t1: 0.7549, total_t2: 0.6928, total_t3: 0.6653, total_t4: 0.6632, total: 4.8753, cam_bev_norm: 15.3538, sat_bev_norm: 10.8593, seg_sat: 0.4679, seg_dice_sat: 0.2468, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0600, seg_fused: 0.3541, seg_dice_fused: 0.0809, cam_rel_mean: 0.2050, sat_rel_mean: 0.2259, cam_rel_min: 0.0020, sat_rel_min: 0.0006, grad_norm: 16.5517 2026-04-18 07:09:21,805 - mmdet - INFO - Iter [22700/55932] lr: 3.317e-05, eta: 21:58:30, time: 2.064, data_time: 0.086, memory: 34736, seg: 0.4454, seg_dice: 0.2374, seg_t0: 0.6795, seg_dice_t0: 0.2923, seg_t1: 0.5281, seg_dice_t1: 0.2499, seg_t2: 0.4767, seg_dice_t2: 0.2384, seg_t3: 0.4500, seg_dice_t3: 0.2381, total_t0: 0.9719, total_t1: 0.7780, total_t2: 0.7151, total_t3: 0.6881, total_t4: 0.6827, total: 4.9269, cam_bev_norm: 15.3480, sat_bev_norm: 10.9630, seg_sat: 0.4230, seg_dice_sat: 0.2320, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2000, seg_fused: 0.3466, seg_dice_fused: 0.0895, cam_rel_mean: 0.1985, sat_rel_mean: 0.2257, cam_rel_min: 0.0027, sat_rel_min: 0.0006, grad_norm: 16.4787 2026-04-18 07:11:05,009 - mmdet - INFO - Iter [22750/55932] lr: 3.311e-05, eta: 21:56:08, time: 2.064, data_time: 0.088, memory: 34736, seg: 0.4337, seg_dice: 0.2333, seg_t0: 0.6589, seg_dice_t0: 0.2912, seg_t1: 0.5097, seg_dice_t1: 0.2485, seg_t2: 0.4782, seg_dice_t2: 0.2351, seg_t3: 0.4446, seg_dice_t3: 0.2304, total_t0: 0.9501, total_t1: 0.7582, total_t2: 0.7132, total_t3: 0.6750, total_t4: 0.6670, total: 4.8596, cam_bev_norm: 15.3192, sat_bev_norm: 10.8768, seg_sat: 0.4446, seg_dice_sat: 0.2320, mask_cam_zeroed: 0.0000, mask_cam_noised: 0.2000, seg_fused: 0.3281, seg_dice_fused: 0.0914, cam_rel_mean: 0.2263, sat_rel_mean: 0.2183, cam_rel_min: 0.0000, sat_rel_min: 0.0017, grad_norm: 16.8817 2026-04-18 07:12:48,572 - mmdet - INFO - Iter [22800/55932] lr: 3.305e-05, eta: 21:53:47, time: 2.071, data_time: 0.086, memory: 34736, seg: 0.4156, seg_dice: 0.2641, seg_t0: 0.6480, seg_dice_t0: 0.3265, seg_t1: 0.5052, seg_dice_t1: 0.2848, seg_t2: 0.4504, seg_dice_t2: 0.2686, seg_t3: 0.4199, seg_dice_t3: 0.2655, total_t0: 0.9744, total_t1: 0.7900, total_t2: 0.7190, total_t3: 0.6854, total_t4: 0.6797, total: 4.9025, cam_bev_norm: 15.2499, sat_bev_norm: 10.8975, seg_sat: 0.4034, seg_dice_sat: 0.2593, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 0.3072, seg_dice_fused: 0.0840, cam_rel_mean: 0.2058, sat_rel_mean: 0.2177, cam_rel_min: 0.0016, sat_rel_min: 0.0006, grad_norm: 16.0488 2026-04-18 07:14:32,001 - mmdet - INFO - Iter [22850/55932] lr: 3.298e-05, eta: 21:51:25, time: 2.069, data_time: 0.082, memory: 34736, seg: 0.4202, seg_dice: 0.2652, seg_t0: 0.5813, seg_dice_t0: 0.3185, seg_t1: 0.4530, seg_dice_t1: 0.2809, seg_t2: 0.4174, seg_dice_t2: 0.2649, seg_t3: 0.4020, seg_dice_t3: 0.2600, total_t0: 0.8997, total_t1: 0.7339, total_t2: 0.6822, total_t3: 0.6620, total_t4: 0.6854, total: 4.7928, cam_bev_norm: 15.2704, sat_bev_norm: 10.7458, seg_sat: 0.4232, seg_dice_sat: 0.2650, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1400, seg_fused: 0.3546, seg_dice_fused: 0.0867, cam_rel_mean: 0.1711, sat_rel_mean: 0.2055, cam_rel_min: 0.0035, sat_rel_min: 0.0011, grad_norm: 15.2160 2026-04-18 07:16:15,524 - mmdet - INFO - Iter [22900/55932] lr: 3.292e-05, eta: 21:49:04, time: 2.070, data_time: 0.081, memory: 34736, seg: 0.4281, seg_dice: 0.2755, seg_t0: 0.6619, seg_dice_t0: 0.3378, seg_t1: 0.5171, seg_dice_t1: 0.2976, seg_t2: 0.4537, seg_dice_t2: 0.2830, seg_t3: 0.4482, seg_dice_t3: 0.2744, total_t0: 0.9997, total_t1: 0.8147, total_t2: 0.7367, total_t3: 0.7226, total_t4: 0.7036, total: 5.1215, cam_bev_norm: 15.2547, sat_bev_norm: 10.8707, seg_sat: 0.4397, seg_dice_sat: 0.2706, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.3415, seg_dice_fused: 0.0924, cam_rel_mean: 0.2045, sat_rel_mean: 0.1993, cam_rel_min: 0.0020, sat_rel_min: 0.0034, grad_norm: 18.1035 2026-04-18 07:17:59,095 - mmdet - INFO - Iter [22950/55932] lr: 3.285e-05, eta: 21:46:43, time: 2.071, data_time: 0.083, memory: 34736, seg: 0.4388, seg_dice: 0.2421, seg_t0: 0.6141, seg_dice_t0: 0.2917, seg_t1: 0.4959, seg_dice_t1: 0.2558, seg_t2: 0.4556, seg_dice_t2: 0.2472, seg_t3: 0.4405, seg_dice_t3: 0.2455, total_t0: 0.9058, total_t1: 0.7517, total_t2: 0.7028, total_t3: 0.6859, total_t4: 0.6809, total: 4.9069, cam_bev_norm: 15.2908, sat_bev_norm: 10.8025, seg_sat: 0.4654, seg_dice_sat: 0.2422, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.3639, seg_dice_fused: 0.1084, cam_rel_mean: 0.1872, sat_rel_mean: 0.2214, cam_rel_min: 0.0027, sat_rel_min: 0.0006, grad_norm: 16.6390 2026-04-18 07:19:43,111 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 07:19:43,112 - mmdet - INFO - Iter [23000/55932] lr: 3.279e-05, eta: 21:44:23, time: 2.080, data_time: 0.088, memory: 34736, seg: 0.4465, seg_dice: 0.2427, seg_t0: 0.6670, seg_dice_t0: 0.3027, seg_t1: 0.5091, seg_dice_t1: 0.2671, seg_t2: 0.4717, seg_dice_t2: 0.2543, seg_t3: 0.4469, seg_dice_t3: 0.2400, total_t0: 0.9697, total_t1: 0.7762, total_t2: 0.7260, total_t3: 0.6870, total_t4: 0.6892, total: 4.9493, cam_bev_norm: 15.2934, sat_bev_norm: 10.9226, seg_sat: 0.4316, seg_dice_sat: 0.2386, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.3400, seg_dice_fused: 0.0910, cam_rel_mean: 0.2026, sat_rel_mean: 0.2177, cam_rel_min: 0.0012, sat_rel_min: 0.0011, grad_norm: 16.9705 2026-04-18 07:21:26,668 - mmdet - INFO - Iter [23050/55932] lr: 3.273e-05, eta: 21:42:03, time: 2.071, data_time: 0.088, memory: 34736, seg: 0.4281, seg_dice: 0.2450, seg_t0: 0.6998, seg_dice_t0: 0.3263, seg_t1: 0.5290, seg_dice_t1: 0.2770, seg_t2: 0.4793, seg_dice_t2: 0.2612, seg_t3: 0.4477, seg_dice_t3: 0.2494, total_t0: 1.0261, total_t1: 0.8060, total_t2: 0.7406, total_t3: 0.6971, total_t4: 0.6731, total: 4.9961, cam_bev_norm: 15.2881, sat_bev_norm: 11.0229, seg_sat: 0.4081, seg_dice_sat: 0.2369, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.3194, seg_dice_fused: 0.0889, cam_rel_mean: 0.2087, sat_rel_mean: 0.2212, cam_rel_min: 0.0020, sat_rel_min: 0.0017, grad_norm: 15.9081 2026-04-18 07:23:10,559 - mmdet - INFO - Iter [23100/55932] lr: 3.266e-05, eta: 21:39:43, time: 2.078, data_time: 0.089, memory: 34736, seg: 0.3955, seg_dice: 0.2719, seg_t0: 0.6094, seg_dice_t0: 0.3218, seg_t1: 0.4673, seg_dice_t1: 0.2803, seg_t2: 0.4386, seg_dice_t2: 0.2724, seg_t3: 0.4114, seg_dice_t3: 0.2634, total_t0: 0.9312, total_t1: 0.7476, total_t2: 0.7110, total_t3: 0.6749, total_t4: 0.6674, total: 4.8463, cam_bev_norm: 15.1958, sat_bev_norm: 10.9011, seg_sat: 0.4308, seg_dice_sat: 0.2739, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.3185, seg_dice_fused: 0.0910, cam_rel_mean: 0.1913, sat_rel_mean: 0.2066, cam_rel_min: 0.0024, sat_rel_min: 0.0011, grad_norm: 15.2699 2026-04-18 07:24:55,277 - mmdet - INFO - Iter [23150/55932] lr: 3.260e-05, eta: 21:37:24, time: 2.094, data_time: 0.084, memory: 34736, seg: 0.4293, seg_dice: 0.2806, seg_t0: 0.6008, seg_dice_t0: 0.3217, seg_t1: 0.4687, seg_dice_t1: 0.2909, seg_t2: 0.4324, seg_dice_t2: 0.2817, seg_t3: 0.4132, seg_dice_t3: 0.2748, total_t0: 0.9225, total_t1: 0.7596, total_t2: 0.7140, total_t3: 0.6880, total_t4: 0.7099, total: 4.9988, cam_bev_norm: 15.2539, sat_bev_norm: 10.8613, seg_sat: 0.4527, seg_dice_sat: 0.2904, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.3614, seg_dice_fused: 0.1002, cam_rel_mean: 0.2014, sat_rel_mean: 0.1973, cam_rel_min: 0.0012, sat_rel_min: 0.0028, grad_norm: 15.4005 2026-04-18 07:26:39,284 - mmdet - INFO - Iter [23200/55932] lr: 3.253e-05, eta: 21:35:04, time: 2.081, data_time: 0.085, memory: 34736, seg: 0.4513, seg_dice: 0.2626, seg_t0: 0.6468, seg_dice_t0: 0.3137, seg_t1: 0.5030, seg_dice_t1: 0.2789, seg_t2: 0.4581, seg_dice_t2: 0.2690, seg_t3: 0.4522, seg_dice_t3: 0.2628, total_t0: 0.9605, total_t1: 0.7820, total_t2: 0.7271, total_t3: 0.7150, total_t4: 0.7139, total: 5.0698, cam_bev_norm: 15.1530, sat_bev_norm: 10.8920, seg_sat: 0.4534, seg_dice_sat: 0.2610, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2200, seg_fused: 0.3529, seg_dice_fused: 0.1040, cam_rel_mean: 0.2045, sat_rel_mean: 0.2002, cam_rel_min: 0.0008, sat_rel_min: 0.0029, grad_norm: 16.2181 2026-04-18 07:28:23,093 - mmdet - INFO - Iter [23250/55932] lr: 3.247e-05, eta: 21:32:45, time: 2.076, data_time: 0.082, memory: 34736, seg: 0.4254, seg_dice: 0.2793, seg_t0: 0.6060, seg_dice_t0: 0.3192, seg_t1: 0.4874, seg_dice_t1: 0.2862, seg_t2: 0.4286, seg_dice_t2: 0.2746, seg_t3: 0.4087, seg_dice_t3: 0.2741, total_t0: 0.9252, total_t1: 0.7735, total_t2: 0.7032, total_t3: 0.6828, total_t4: 0.7046, total: 4.8716, cam_bev_norm: 15.0977, sat_bev_norm: 10.8213, seg_sat: 0.3994, seg_dice_sat: 0.2720, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0000, seg_fused: 0.3308, seg_dice_fused: 0.0800, cam_rel_mean: 0.1942, sat_rel_mean: 0.2132, cam_rel_min: 0.0020, sat_rel_min: 0.0006, grad_norm: 15.9664 2026-04-18 07:30:06,651 - mmdet - INFO - Iter [23300/55932] lr: 3.240e-05, eta: 21:30:25, time: 2.071, data_time: 0.082, memory: 34736, seg: 0.4116, seg_dice: 0.2529, seg_t0: 0.6354, seg_dice_t0: 0.3250, seg_t1: 0.4749, seg_dice_t1: 0.2817, seg_t2: 0.4270, seg_dice_t2: 0.2682, seg_t3: 0.4109, seg_dice_t3: 0.2628, total_t0: 0.9605, total_t1: 0.7566, total_t2: 0.6951, total_t3: 0.6738, total_t4: 0.6645, total: 4.8151, cam_bev_norm: 15.1705, sat_bev_norm: 10.9494, seg_sat: 0.3988, seg_dice_sat: 0.2479, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1400, seg_fused: 0.3318, seg_dice_fused: 0.0860, cam_rel_mean: 0.1812, sat_rel_mean: 0.2107, cam_rel_min: 0.0032, sat_rel_min: 0.0006, grad_norm: 16.9408 2026-04-18 07:33:04,196 - mmdet - INFO - Iter [23350/55932] lr: 3.234e-05, eta: 21:29:48, time: 3.551, data_time: 1.555, memory: 34736, seg: 0.4118, seg_dice: 0.2518, seg_t0: 0.6504, seg_dice_t0: 0.3225, seg_t1: 0.4760, seg_dice_t1: 0.2786, seg_t2: 0.4186, seg_dice_t2: 0.2556, seg_t3: 0.4139, seg_dice_t3: 0.2519, total_t0: 0.9729, total_t1: 0.7545, total_t2: 0.6742, total_t3: 0.6658, total_t4: 0.6636, total: 4.7598, cam_bev_norm: 15.2188, sat_bev_norm: 10.9114, seg_sat: 0.3931, seg_dice_sat: 0.2485, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0800, seg_fused: 0.3041, seg_dice_fused: 0.0831, cam_rel_mean: 0.2095, sat_rel_mean: 0.2050, cam_rel_min: 0.0008, sat_rel_min: 0.0023, grad_norm: 16.1767 2026-04-18 07:34:48,727 - mmdet - INFO - Iter [23400/55932] lr: 3.228e-05, eta: 21:27:30, time: 2.091, data_time: 0.079, memory: 34736, seg: 0.4292, seg_dice: 0.2650, seg_t0: 0.7065, seg_dice_t0: 0.3286, seg_t1: 0.5093, seg_dice_t1: 0.2808, seg_t2: 0.4477, seg_dice_t2: 0.2677, seg_t3: 0.4380, seg_dice_t3: 0.2626, total_t0: 1.0351, total_t1: 0.7901, total_t2: 0.7154, total_t3: 0.7006, total_t4: 0.6942, total: 5.0225, cam_bev_norm: 15.0888, sat_bev_norm: 10.8877, seg_sat: 0.4094, seg_dice_sat: 0.2578, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0600, seg_fused: 0.3234, seg_dice_fused: 0.0964, cam_rel_mean: 0.1903, sat_rel_mean: 0.2057, cam_rel_min: 0.0028, sat_rel_min: 0.0017, grad_norm: 16.5487 2026-04-18 07:36:32,075 - mmdet - INFO - Iter [23450/55932] lr: 3.221e-05, eta: 21:25:10, time: 2.067, data_time: 0.078, memory: 34736, seg: 0.4218, seg_dice: 0.2427, seg_t0: 0.6742, seg_dice_t0: 0.3025, seg_t1: 0.4923, seg_dice_t1: 0.2504, seg_t2: 0.4509, seg_dice_t2: 0.2460, seg_t3: 0.4325, seg_dice_t3: 0.2423, total_t0: 0.9767, total_t1: 0.7427, total_t2: 0.6970, total_t3: 0.6748, total_t4: 0.6645, total: 4.8272, cam_bev_norm: 15.1254, sat_bev_norm: 10.9409, seg_sat: 0.4135, seg_dice_sat: 0.2389, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.3275, seg_dice_fused: 0.0917, cam_rel_mean: 0.2002, sat_rel_mean: 0.2129, cam_rel_min: 0.0020, sat_rel_min: 0.0011, grad_norm: 16.1247 2026-04-18 07:38:15,766 - mmdet - INFO - Iter [23500/55932] lr: 3.215e-05, eta: 21:22:51, time: 2.074, data_time: 0.080, memory: 34736, seg: 0.4515, seg_dice: 0.2590, seg_t0: 0.6606, seg_dice_t0: 0.3225, seg_t1: 0.4871, seg_dice_t1: 0.2779, seg_t2: 0.4521, seg_dice_t2: 0.2682, seg_t3: 0.4555, seg_dice_t3: 0.2601, total_t0: 0.9831, total_t1: 0.7650, total_t2: 0.7203, total_t3: 0.7156, total_t4: 0.7105, total: 4.9767, cam_bev_norm: 15.1761, sat_bev_norm: 10.8809, seg_sat: 0.4056, seg_dice_sat: 0.2475, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.3499, seg_dice_fused: 0.0792, cam_rel_mean: 0.2036, sat_rel_mean: 0.2121, cam_rel_min: 0.0024, sat_rel_min: 0.0029, grad_norm: 15.9312 2026-04-18 07:39:59,595 - mmdet - INFO - Iter [23550/55932] lr: 3.208e-05, eta: 21:20:31, time: 2.077, data_time: 0.079, memory: 34736, seg: 0.4349, seg_dice: 0.2418, seg_t0: 0.6239, seg_dice_t0: 0.3037, seg_t1: 0.5048, seg_dice_t1: 0.2690, seg_t2: 0.4521, seg_dice_t2: 0.2600, seg_t3: 0.4406, seg_dice_t3: 0.2502, total_t0: 0.9276, total_t1: 0.7738, total_t2: 0.7121, total_t3: 0.6908, total_t4: 0.6767, total: 4.8502, cam_bev_norm: 15.1069, sat_bev_norm: 10.8350, seg_sat: 0.4186, seg_dice_sat: 0.2386, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.2400, seg_fused: 0.3281, seg_dice_fused: 0.0838, cam_rel_mean: 0.2072, sat_rel_mean: 0.2105, cam_rel_min: 0.0004, sat_rel_min: 0.0017, grad_norm: 16.8234 2026-04-18 07:41:44,562 - mmdet - INFO - Iter [23600/55932] lr: 3.202e-05, eta: 21:18:14, time: 2.099, data_time: 0.083, memory: 34736, seg: 0.4431, seg_dice: 0.2406, seg_t0: 0.7096, seg_dice_t0: 0.3136, seg_t1: 0.5446, seg_dice_t1: 0.2682, seg_t2: 0.4959, seg_dice_t2: 0.2487, seg_t3: 0.4674, seg_dice_t3: 0.2391, total_t0: 1.0232, total_t1: 0.8128, total_t2: 0.7446, total_t3: 0.7065, total_t4: 0.6837, total: 5.0488, cam_bev_norm: 15.0892, sat_bev_norm: 10.8076, seg_sat: 0.4151, seg_dice_sat: 0.2245, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2200, seg_fused: 0.3513, seg_dice_fused: 0.0871, cam_rel_mean: 0.2105, sat_rel_mean: 0.2131, cam_rel_min: 0.0008, sat_rel_min: 0.0017, grad_norm: 16.7021 2026-04-18 07:43:28,743 - mmdet - INFO - Iter [23650/55932] lr: 3.195e-05, eta: 21:15:56, time: 2.084, data_time: 0.082, memory: 34736, seg: 0.4384, seg_dice: 0.2438, seg_t0: 0.6748, seg_dice_t0: 0.3004, seg_t1: 0.5131, seg_dice_t1: 0.2586, seg_t2: 0.4649, seg_dice_t2: 0.2449, seg_t3: 0.4407, seg_dice_t3: 0.2457, total_t0: 0.9752, total_t1: 0.7717, total_t2: 0.7098, total_t3: 0.6864, total_t4: 0.6822, total: 4.8446, cam_bev_norm: 15.1365, sat_bev_norm: 10.9278, seg_sat: 0.3829, seg_dice_sat: 0.2260, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.3270, seg_dice_fused: 0.0834, cam_rel_mean: 0.2098, sat_rel_mean: 0.2128, cam_rel_min: 0.0016, sat_rel_min: 0.0029, grad_norm: 16.7476 2026-04-18 07:45:13,812 - mmdet - INFO - Iter [23700/55932] lr: 3.189e-05, eta: 21:13:39, time: 2.101, data_time: 0.081, memory: 34736, seg: 0.3897, seg_dice: 0.2599, seg_t0: 0.5802, seg_dice_t0: 0.3074, seg_t1: 0.4545, seg_dice_t1: 0.2732, seg_t2: 0.4077, seg_dice_t2: 0.2612, seg_t3: 0.4042, seg_dice_t3: 0.2596, total_t0: 0.8876, total_t1: 0.7277, total_t2: 0.6689, total_t3: 0.6638, total_t4: 0.6496, total: 4.5872, cam_bev_norm: 15.1104, sat_bev_norm: 10.9046, seg_sat: 0.3636, seg_dice_sat: 0.2523, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.2942, seg_dice_fused: 0.0795, cam_rel_mean: 0.1814, sat_rel_mean: 0.2069, cam_rel_min: 0.0024, sat_rel_min: 0.0011, grad_norm: 14.8200 2026-04-18 07:46:58,208 - mmdet - INFO - Iter [23750/55932] lr: 3.182e-05, eta: 21:11:21, time: 2.088, data_time: 0.084, memory: 34736, seg: 0.4295, seg_dice: 0.2516, seg_t0: 0.6045, seg_dice_t0: 0.2957, seg_t1: 0.4610, seg_dice_t1: 0.2617, seg_t2: 0.4295, seg_dice_t2: 0.2543, seg_t3: 0.4277, seg_dice_t3: 0.2497, total_t0: 0.9002, total_t1: 0.7227, total_t2: 0.6838, total_t3: 0.6774, total_t4: 0.6811, total: 4.7212, cam_bev_norm: 15.0965, sat_bev_norm: 10.9152, seg_sat: 0.4088, seg_dice_sat: 0.2394, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.3251, seg_dice_fused: 0.0828, cam_rel_mean: 0.1957, sat_rel_mean: 0.2153, cam_rel_min: 0.0024, sat_rel_min: 0.0011, grad_norm: 16.5478 2026-04-18 07:48:42,957 - mmdet - INFO - Iter [23800/55932] lr: 3.176e-05, eta: 21:09:04, time: 2.094, data_time: 0.086, memory: 34736, seg: 0.4252, seg_dice: 0.2425, seg_t0: 0.6097, seg_dice_t0: 0.2923, seg_t1: 0.4684, seg_dice_t1: 0.2555, seg_t2: 0.4205, seg_dice_t2: 0.2491, seg_t3: 0.4095, seg_dice_t3: 0.2452, total_t0: 0.9020, total_t1: 0.7239, total_t2: 0.6696, total_t3: 0.6547, total_t4: 0.6677, total: 4.5860, cam_bev_norm: 15.1686, sat_bev_norm: 11.0037, seg_sat: 0.3736, seg_dice_sat: 0.2303, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 0.2996, seg_dice_fused: 0.0646, cam_rel_mean: 0.2091, sat_rel_mean: 0.2238, cam_rel_min: 0.0016, sat_rel_min: 0.0006, grad_norm: 15.6294 2026-04-18 07:50:26,915 - mmdet - INFO - Iter [23850/55932] lr: 3.169e-05, eta: 21:06:46, time: 2.080, data_time: 0.085, memory: 34736, seg: 0.3690, seg_dice: 0.2309, seg_t0: 0.5805, seg_dice_t0: 0.2735, seg_t1: 0.4266, seg_dice_t1: 0.2363, seg_t2: 0.3821, seg_dice_t2: 0.2291, seg_t3: 0.3652, seg_dice_t3: 0.2279, total_t0: 0.8539, total_t1: 0.6629, total_t2: 0.6112, total_t3: 0.5931, total_t4: 0.5999, total: 4.3492, cam_bev_norm: 15.2244, sat_bev_norm: 11.0304, seg_sat: 0.4081, seg_dice_sat: 0.2369, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.2976, seg_dice_fused: 0.0856, cam_rel_mean: 0.2170, sat_rel_mean: 0.2320, cam_rel_min: 0.0016, sat_rel_min: 0.0006, grad_norm: 16.2403 2026-04-18 07:52:11,190 - mmdet - INFO - Iter [23900/55932] lr: 3.163e-05, eta: 21:04:29, time: 2.085, data_time: 0.088, memory: 34736, seg: 0.4320, seg_dice: 0.2499, seg_t0: 0.6680, seg_dice_t0: 0.3070, seg_t1: 0.5182, seg_dice_t1: 0.2671, seg_t2: 0.4582, seg_dice_t2: 0.2534, seg_t3: 0.4388, seg_dice_t3: 0.2483, total_t0: 0.9750, total_t1: 0.7853, total_t2: 0.7116, total_t3: 0.6872, total_t4: 0.6819, total: 5.0448, cam_bev_norm: 15.1333, sat_bev_norm: 10.7606, seg_sat: 0.4904, seg_dice_sat: 0.2613, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.3571, seg_dice_fused: 0.0951, cam_rel_mean: 0.1935, sat_rel_mean: 0.2207, cam_rel_min: 0.0028, sat_rel_min: 0.0006, grad_norm: 16.8776 2026-04-18 07:53:54,860 - mmdet - INFO - Iter [23950/55932] lr: 3.156e-05, eta: 21:02:10, time: 2.073, data_time: 0.081, memory: 34736, seg: 0.4085, seg_dice: 0.2212, seg_t0: 0.6177, seg_dice_t0: 0.2823, seg_t1: 0.4764, seg_dice_t1: 0.2413, seg_t2: 0.4298, seg_dice_t2: 0.2247, seg_t3: 0.4125, seg_dice_t3: 0.2169, total_t0: 0.9001, total_t1: 0.7177, total_t2: 0.6545, total_t3: 0.6294, total_t4: 0.6297, total: 4.5706, cam_bev_norm: 15.1350, sat_bev_norm: 10.8573, seg_sat: 0.4061, seg_dice_sat: 0.2165, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.3340, seg_dice_fused: 0.0826, cam_rel_mean: 0.1998, sat_rel_mean: 0.2036, cam_rel_min: 0.0020, sat_rel_min: 0.0029, grad_norm: 15.8265 2026-04-18 07:55:38,661 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 07:55:38,662 - mmdet - INFO - Iter [24000/55932] lr: 3.150e-05, eta: 20:59:53, time: 2.076, data_time: 0.085, memory: 34736, seg: 0.4290, seg_dice: 0.2666, seg_t0: 0.6930, seg_dice_t0: 0.3281, seg_t1: 0.5202, seg_dice_t1: 0.2844, seg_t2: 0.4670, seg_dice_t2: 0.2726, seg_t3: 0.4358, seg_dice_t3: 0.2701, total_t0: 1.0211, total_t1: 0.8046, total_t2: 0.7397, total_t3: 0.7059, total_t4: 0.6956, total: 5.0553, cam_bev_norm: 15.0576, sat_bev_norm: 10.8557, seg_sat: 0.4274, seg_dice_sat: 0.2599, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.3196, seg_dice_fused: 0.0814, cam_rel_mean: 0.2019, sat_rel_mean: 0.2217, cam_rel_min: 0.0024, sat_rel_min: 0.0012, grad_norm: 15.4665 2026-04-18 07:57:22,209 - mmdet - INFO - Iter [24050/55932] lr: 3.143e-05, eta: 20:57:35, time: 2.071, data_time: 0.082, memory: 34736, seg: 0.4326, seg_dice: 0.2410, seg_t0: 0.6606, seg_dice_t0: 0.3091, seg_t1: 0.5082, seg_dice_t1: 0.2677, seg_t2: 0.4663, seg_dice_t2: 0.2497, seg_t3: 0.4454, seg_dice_t3: 0.2403, total_t0: 0.9697, total_t1: 0.7759, total_t2: 0.7159, total_t3: 0.6857, total_t4: 0.6737, total: 4.8423, cam_bev_norm: 15.1004, sat_bev_norm: 10.8669, seg_sat: 0.4063, seg_dice_sat: 0.2295, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.3047, seg_dice_fused: 0.0808, cam_rel_mean: 0.2002, sat_rel_mean: 0.2266, cam_rel_min: 0.0024, sat_rel_min: 0.0000, grad_norm: 16.4163 2026-04-18 07:59:05,693 - mmdet - INFO - Iter [24100/55932] lr: 3.137e-05, eta: 20:55:17, time: 2.070, data_time: 0.078, memory: 34736, seg: 0.4066, seg_dice: 0.2411, seg_t0: 0.5842, seg_dice_t0: 0.2847, seg_t1: 0.4613, seg_dice_t1: 0.2472, seg_t2: 0.4223, seg_dice_t2: 0.2413, seg_t3: 0.4127, seg_dice_t3: 0.2410, total_t0: 0.8689, total_t1: 0.7086, total_t2: 0.6636, total_t3: 0.6537, total_t4: 0.6477, total: 4.5313, cam_bev_norm: 15.1326, sat_bev_norm: 10.9091, seg_sat: 0.3750, seg_dice_sat: 0.2304, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.3037, seg_dice_fused: 0.0797, cam_rel_mean: 0.1984, sat_rel_mean: 0.2108, cam_rel_min: 0.0020, sat_rel_min: 0.0017, grad_norm: 15.3525 2026-04-18 08:00:49,659 - mmdet - INFO - Iter [24150/55932] lr: 3.130e-05, eta: 20:52:59, time: 2.079, data_time: 0.082, memory: 34736, seg: 0.4091, seg_dice: 0.1256, seg_t0: 0.6222, seg_dice_t0: 0.2266, seg_t1: 0.4718, seg_dice_t1: 0.1586, seg_t2: 0.4173, seg_dice_t2: 0.1458, seg_t3: 0.4162, seg_dice_t3: 0.1366, total_t0: 0.8488, total_t1: 0.6304, total_t2: 0.5631, total_t3: 0.5528, total_t4: 0.5347, total: 4.1361, cam_bev_norm: 15.1599, sat_bev_norm: 10.9800, seg_sat: 0.3904, seg_dice_sat: 0.2475, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1000, seg_fused: 0.2964, seg_dice_fused: 0.0720, cam_rel_mean: 0.2166, sat_rel_mean: 0.2080, cam_rel_min: 0.0008, sat_rel_min: 0.0023, grad_norm: 21.6650 2026-04-18 08:02:33,517 - mmdet - INFO - Iter [24200/55932] lr: 3.124e-05, eta: 20:50:42, time: 2.078, data_time: 0.083, memory: 34736, seg: 0.4985, seg_dice: 0.1532, seg_t0: 0.7151, seg_dice_t0: 0.2290, seg_t1: 0.5597, seg_dice_t1: 0.1786, seg_t2: 0.5241, seg_dice_t2: 0.1559, seg_t3: 0.4808, seg_dice_t3: 0.1551, total_t0: 0.9442, total_t1: 0.7383, total_t2: 0.6800, total_t3: 0.6359, total_t4: 0.6518, total: 4.7249, cam_bev_norm: 15.1429, sat_bev_norm: 10.8855, seg_sat: 0.4127, seg_dice_sat: 0.2317, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.3346, seg_dice_fused: 0.0958, cam_rel_mean: 0.2000, sat_rel_mean: 0.2150, cam_rel_min: 0.0020, sat_rel_min: 0.0012, grad_norm: 29.6788 2026-04-18 08:04:16,591 - mmdet - INFO - Iter [24250/55932] lr: 3.117e-05, eta: 20:48:24, time: 2.061, data_time: 0.079, memory: 34736, seg: 0.4668, seg_dice: 0.1445, seg_t0: 0.7031, seg_dice_t0: 0.2425, seg_t1: 0.5349, seg_dice_t1: 0.1636, seg_t2: 0.4926, seg_dice_t2: 0.1537, seg_t3: 0.4774, seg_dice_t3: 0.1392, total_t0: 0.9456, total_t1: 0.6984, total_t2: 0.6463, total_t3: 0.6165, total_t4: 0.6114, total: 4.5981, cam_bev_norm: 15.1753, sat_bev_norm: 10.9796, seg_sat: 0.4212, seg_dice_sat: 0.2360, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.3316, seg_dice_fused: 0.0910, cam_rel_mean: 0.1951, sat_rel_mean: 0.2178, cam_rel_min: 0.0024, sat_rel_min: 0.0006, grad_norm: 26.2429 2026-04-18 08:05:59,884 - mmdet - INFO - Iter [24300/55932] lr: 3.111e-05, eta: 20:46:07, time: 2.066, data_time: 0.084, memory: 34736, seg: 0.4621, seg_dice: 0.1453, seg_t0: 0.7238, seg_dice_t0: 0.2410, seg_t1: 0.5386, seg_dice_t1: 0.1820, seg_t2: 0.4939, seg_dice_t2: 0.1593, seg_t3: 0.4682, seg_dice_t3: 0.1431, total_t0: 0.9647, total_t1: 0.7205, total_t2: 0.6532, total_t3: 0.6113, total_t4: 0.6074, total: 4.6487, cam_bev_norm: 15.1130, sat_bev_norm: 10.8212, seg_sat: 0.4140, seg_dice_sat: 0.2557, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.3301, seg_dice_fused: 0.0917, cam_rel_mean: 0.2037, sat_rel_mean: 0.2128, cam_rel_min: 0.0016, sat_rel_min: 0.0018, grad_norm: 24.1601 2026-04-18 08:07:43,046 - mmdet - INFO - Iter [24350/55932] lr: 3.104e-05, eta: 20:43:49, time: 2.063, data_time: 0.079, memory: 34736, seg: 0.4663, seg_dice: 0.1390, seg_t0: 0.7697, seg_dice_t0: 0.2313, seg_t1: 0.5560, seg_dice_t1: 0.1673, seg_t2: 0.4974, seg_dice_t2: 0.1451, seg_t3: 0.4598, seg_dice_t3: 0.1388, total_t0: 1.0010, total_t1: 0.7233, total_t2: 0.6425, total_t3: 0.5985, total_t4: 0.6053, total: 4.6109, cam_bev_norm: 15.1295, sat_bev_norm: 10.8888, seg_sat: 0.3764, seg_dice_sat: 0.2446, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.3301, seg_dice_fused: 0.0891, cam_rel_mean: 0.1984, sat_rel_mean: 0.1928, cam_rel_min: 0.0012, sat_rel_min: 0.0035, grad_norm: 28.0226 2026-04-18 08:09:26,244 - mmdet - INFO - Iter [24400/55932] lr: 3.098e-05, eta: 20:41:31, time: 2.064, data_time: 0.082, memory: 34736, seg: 0.4772, seg_dice: 0.1381, seg_t0: 0.6893, seg_dice_t0: 0.2233, seg_t1: 0.5601, seg_dice_t1: 0.1728, seg_t2: 0.5043, seg_dice_t2: 0.1473, seg_t3: 0.4655, seg_dice_t3: 0.1374, total_t0: 0.9126, total_t1: 0.7329, total_t2: 0.6516, total_t3: 0.6028, total_t4: 0.6153, total: 4.6290, cam_bev_norm: 15.1292, sat_bev_norm: 10.9213, seg_sat: 0.4113, seg_dice_sat: 0.2416, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.3556, seg_dice_fused: 0.1053, cam_rel_mean: 0.1945, sat_rel_mean: 0.2083, cam_rel_min: 0.0024, sat_rel_min: 0.0018, grad_norm: 23.6498 2026-04-18 08:11:09,786 - mmdet - INFO - Iter [24450/55932] lr: 3.091e-05, eta: 20:39:15, time: 2.071, data_time: 0.082, memory: 34736, seg: 0.4672, seg_dice: 0.1397, seg_t0: 0.7085, seg_dice_t0: 0.2119, seg_t1: 0.5312, seg_dice_t1: 0.1486, seg_t2: 0.4789, seg_dice_t2: 0.1342, seg_t3: 0.4674, seg_dice_t3: 0.1345, total_t0: 0.9204, total_t1: 0.6798, total_t2: 0.6131, total_t3: 0.6019, total_t4: 0.6069, total: 4.4858, cam_bev_norm: 15.1494, sat_bev_norm: 10.8864, seg_sat: 0.3927, seg_dice_sat: 0.2491, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.3313, seg_dice_fused: 0.0905, cam_rel_mean: 0.1905, sat_rel_mean: 0.2025, cam_rel_min: 0.0020, sat_rel_min: 0.0024, grad_norm: 25.2951 2026-04-18 08:12:53,064 - mmdet - INFO - Iter [24500/55932] lr: 3.085e-05, eta: 20:36:57, time: 2.065, data_time: 0.081, memory: 34736, seg: 0.4720, seg_dice: 0.1307, seg_t0: 0.7086, seg_dice_t0: 0.2226, seg_t1: 0.5191, seg_dice_t1: 0.1568, seg_t2: 0.4622, seg_dice_t2: 0.1335, seg_t3: 0.4509, seg_dice_t3: 0.1282, total_t0: 0.9313, total_t1: 0.6759, total_t2: 0.5957, total_t3: 0.5792, total_t4: 0.6027, total: 4.4128, cam_bev_norm: 15.1024, sat_bev_norm: 10.8664, seg_sat: 0.3999, seg_dice_sat: 0.2172, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.3278, seg_dice_fused: 0.0833, cam_rel_mean: 0.2082, sat_rel_mean: 0.2119, cam_rel_min: 0.0012, sat_rel_min: 0.0024, grad_norm: 21.1600 2026-04-18 08:14:36,140 - mmdet - INFO - Iter [24550/55932] lr: 3.078e-05, eta: 20:34:40, time: 2.062, data_time: 0.081, memory: 34736, seg: 0.4735, seg_dice: 0.1306, seg_t0: 0.7762, seg_dice_t0: 0.2265, seg_t1: 0.5495, seg_dice_t1: 0.1628, seg_t2: 0.4901, seg_dice_t2: 0.1444, seg_t3: 0.5037, seg_dice_t3: 0.1337, total_t0: 1.0026, total_t1: 0.7123, total_t2: 0.6345, total_t3: 0.6374, total_t4: 0.6040, total: 4.6478, cam_bev_norm: 15.1528, sat_bev_norm: 10.9277, seg_sat: 0.4009, seg_dice_sat: 0.2371, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.3261, seg_dice_fused: 0.0928, cam_rel_mean: 0.2111, sat_rel_mean: 0.1972, cam_rel_min: 0.0012, sat_rel_min: 0.0041, grad_norm: 25.9261 2026-04-18 08:16:19,855 - mmdet - INFO - Iter [24600/55932] lr: 3.071e-05, eta: 20:32:24, time: 2.074, data_time: 0.082, memory: 34736, seg: 0.4355, seg_dice: 0.1199, seg_t0: 0.6642, seg_dice_t0: 0.2198, seg_t1: 0.5191, seg_dice_t1: 0.1546, seg_t2: 0.4357, seg_dice_t2: 0.1377, seg_t3: 0.4370, seg_dice_t3: 0.1316, total_t0: 0.8840, total_t1: 0.6737, total_t2: 0.5733, total_t3: 0.5686, total_t4: 0.5553, total: 4.1892, cam_bev_norm: 15.1281, sat_bev_norm: 10.9686, seg_sat: 0.3617, seg_dice_sat: 0.2328, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0800, seg_fused: 0.2717, seg_dice_fused: 0.0681, cam_rel_mean: 0.2146, sat_rel_mean: 0.2258, cam_rel_min: 0.0008, sat_rel_min: 0.0000, grad_norm: 22.9070 2026-04-18 08:18:03,508 - mmdet - INFO - Iter [24650/55932] lr: 3.065e-05, eta: 20:30:08, time: 2.073, data_time: 0.080, memory: 34736, seg: 0.4906, seg_dice: 0.1238, seg_t0: 0.7527, seg_dice_t0: 0.2195, seg_t1: 0.5660, seg_dice_t1: 0.1562, seg_t2: 0.5091, seg_dice_t2: 0.1356, seg_t3: 0.4941, seg_dice_t3: 0.1287, total_t0: 0.9723, total_t1: 0.7222, total_t2: 0.6447, total_t3: 0.6228, total_t4: 0.6144, total: 4.5845, cam_bev_norm: 15.0631, sat_bev_norm: 10.8611, seg_sat: 0.3827, seg_dice_sat: 0.2345, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.3159, seg_dice_fused: 0.0751, cam_rel_mean: 0.2116, sat_rel_mean: 0.2144, cam_rel_min: 0.0012, sat_rel_min: 0.0018, grad_norm: 22.9275 2026-04-18 08:19:46,905 - mmdet - INFO - Iter [24700/55932] lr: 3.058e-05, eta: 20:27:51, time: 2.068, data_time: 0.081, memory: 34736, seg: 0.4454, seg_dice: 0.1235, seg_t0: 0.6861, seg_dice_t0: 0.2199, seg_t1: 0.5431, seg_dice_t1: 0.1638, seg_t2: 0.4883, seg_dice_t2: 0.1359, seg_t3: 0.4525, seg_dice_t3: 0.1320, total_t0: 0.9061, total_t1: 0.7069, total_t2: 0.6242, total_t3: 0.5844, total_t4: 0.5689, total: 4.4277, cam_bev_norm: 15.0308, sat_bev_norm: 10.9446, seg_sat: 0.3785, seg_dice_sat: 0.2529, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.3188, seg_dice_fused: 0.0871, cam_rel_mean: 0.2012, sat_rel_mean: 0.1994, cam_rel_min: 0.0016, sat_rel_min: 0.0024, grad_norm: 23.7137 2026-04-18 08:21:30,484 - mmdet - INFO - Iter [24750/55932] lr: 3.052e-05, eta: 20:25:35, time: 2.071, data_time: 0.085, memory: 34736, seg: 0.4651, seg_dice: 0.1344, seg_t0: 0.7021, seg_dice_t0: 0.2259, seg_t1: 0.5374, seg_dice_t1: 0.1607, seg_t2: 0.4894, seg_dice_t2: 0.1360, seg_t3: 0.4807, seg_dice_t3: 0.1345, total_t0: 0.9281, total_t1: 0.6981, total_t2: 0.6254, total_t3: 0.6151, total_t4: 0.5995, total: 4.4730, cam_bev_norm: 15.0392, sat_bev_norm: 11.0097, seg_sat: 0.3724, seg_dice_sat: 0.2333, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 0.3082, seg_dice_fused: 0.0928, cam_rel_mean: 0.1975, sat_rel_mean: 0.2059, cam_rel_min: 0.0016, sat_rel_min: 0.0012, grad_norm: 21.8405 2026-04-18 08:23:14,477 - mmdet - INFO - Iter [24800/55932] lr: 3.045e-05, eta: 20:23:20, time: 2.080, data_time: 0.083, memory: 34736, seg: 0.4405, seg_dice: 0.1231, seg_t0: 0.6661, seg_dice_t0: 0.2044, seg_t1: 0.5194, seg_dice_t1: 0.1415, seg_t2: 0.4606, seg_dice_t2: 0.1345, seg_t3: 0.4414, seg_dice_t3: 0.1305, total_t0: 0.8705, total_t1: 0.6609, total_t2: 0.5951, total_t3: 0.5719, total_t4: 0.5637, total: 4.2818, cam_bev_norm: 15.1028, sat_bev_norm: 10.9360, seg_sat: 0.3894, seg_dice_sat: 0.2448, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.3056, seg_dice_fused: 0.0800, cam_rel_mean: 0.2051, sat_rel_mean: 0.2077, cam_rel_min: 0.0008, sat_rel_min: 0.0018, grad_norm: 21.2174 2026-04-18 08:24:58,117 - mmdet - INFO - Iter [24850/55932] lr: 3.039e-05, eta: 20:21:04, time: 2.073, data_time: 0.083, memory: 34736, seg: 0.4658, seg_dice: 0.1202, seg_t0: 0.6847, seg_dice_t0: 0.2061, seg_t1: 0.5059, seg_dice_t1: 0.1356, seg_t2: 0.4695, seg_dice_t2: 0.1277, seg_t3: 0.4570, seg_dice_t3: 0.1238, total_t0: 0.8908, total_t1: 0.6415, total_t2: 0.5971, total_t3: 0.5808, total_t4: 0.5861, total: 4.3268, cam_bev_norm: 14.9942, sat_bev_norm: 10.9350, seg_sat: 0.4010, seg_dice_sat: 0.2438, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2600, seg_fused: 0.3153, seg_dice_fused: 0.0705, cam_rel_mean: 0.2007, sat_rel_mean: 0.2230, cam_rel_min: 0.0020, sat_rel_min: 0.0000, grad_norm: 21.0024 2026-04-18 08:26:39,994 - mmdet - INFO - Iter [24900/55932] lr: 3.032e-05, eta: 20:18:46, time: 2.037, data_time: 0.075, memory: 34736, seg: 0.4312, seg_dice: 0.1242, seg_t0: 0.7345, seg_dice_t0: 0.2286, seg_t1: 0.5577, seg_dice_t1: 0.1622, seg_t2: 0.4878, seg_dice_t2: 0.1360, seg_t3: 0.4464, seg_dice_t3: 0.1307, total_t0: 0.9630, total_t1: 0.7199, total_t2: 0.6238, total_t3: 0.5771, total_t4: 0.5553, total: 4.4198, cam_bev_norm: 15.1199, sat_bev_norm: 10.8818, seg_sat: 0.3803, seg_dice_sat: 0.2180, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.2400, seg_fused: 0.2997, seg_dice_fused: 0.0828, cam_rel_mean: 0.2169, sat_rel_mean: 0.2187, cam_rel_min: 0.0004, sat_rel_min: 0.0012, grad_norm: 21.0900 2026-04-18 08:28:23,204 - mmdet - INFO - Iter [24950/55932] lr: 3.026e-05, eta: 20:16:30, time: 2.064, data_time: 0.088, memory: 34736, seg: 0.4428, seg_dice: 0.1219, seg_t0: 0.6772, seg_dice_t0: 0.2065, seg_t1: 0.5080, seg_dice_t1: 0.1451, seg_t2: 0.4733, seg_dice_t2: 0.1314, seg_t3: 0.4651, seg_dice_t3: 0.1251, total_t0: 0.8837, total_t1: 0.6531, total_t2: 0.6047, total_t3: 0.5902, total_t4: 0.5647, total: 4.2948, cam_bev_norm: 15.0105, sat_bev_norm: 10.9734, seg_sat: 0.3849, seg_dice_sat: 0.2418, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.2928, seg_dice_fused: 0.0790, cam_rel_mean: 0.2051, sat_rel_mean: 0.2146, cam_rel_min: 0.0008, sat_rel_min: 0.0000, grad_norm: 22.7567 2026-04-18 08:30:07,771 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 08:30:07,771 - mmdet - INFO - Iter [25000/55932] lr: 3.019e-05, eta: 20:14:16, time: 2.091, data_time: 0.086, memory: 34736, seg: 0.4598, seg_dice: 0.1283, seg_t0: 0.6813, seg_dice_t0: 0.2178, seg_t1: 0.5226, seg_dice_t1: 0.1489, seg_t2: 0.4676, seg_dice_t2: 0.1350, seg_t3: 0.4514, seg_dice_t3: 0.1297, total_t0: 0.8991, total_t1: 0.6714, total_t2: 0.6026, total_t3: 0.5811, total_t4: 0.5881, total: 4.4067, cam_bev_norm: 15.0535, sat_bev_norm: 10.8712, seg_sat: 0.4047, seg_dice_sat: 0.2297, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.3398, seg_dice_fused: 0.0901, cam_rel_mean: 0.1856, sat_rel_mean: 0.2072, cam_rel_min: 0.0028, sat_rel_min: 0.0018, grad_norm: 21.5811 2026-04-18 08:31:51,399 - mmdet - INFO - Iter [25050/55932] lr: 3.012e-05, eta: 20:12:01, time: 2.073, data_time: 0.089, memory: 34736, seg: 0.4152, seg_dice: 0.1233, seg_t0: 0.6210, seg_dice_t0: 0.1957, seg_t1: 0.4722, seg_dice_t1: 0.1420, seg_t2: 0.4253, seg_dice_t2: 0.1342, seg_t3: 0.4158, seg_dice_t3: 0.1227, total_t0: 0.8167, total_t1: 0.6142, total_t2: 0.5595, total_t3: 0.5385, total_t4: 0.5385, total: 4.1225, cam_bev_norm: 14.9981, sat_bev_norm: 10.8182, seg_sat: 0.3954, seg_dice_sat: 0.2640, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.3080, seg_dice_fused: 0.0877, cam_rel_mean: 0.1909, sat_rel_mean: 0.1991, cam_rel_min: 0.0012, sat_rel_min: 0.0018, grad_norm: 20.7813 2026-04-18 08:33:35,590 - mmdet - INFO - Iter [25100/55932] lr: 3.006e-05, eta: 20:09:47, time: 2.084, data_time: 0.093, memory: 34736, seg: 0.4292, seg_dice: 0.1134, seg_t0: 0.7080, seg_dice_t0: 0.2177, seg_t1: 0.5187, seg_dice_t1: 0.1493, seg_t2: 0.4613, seg_dice_t2: 0.1274, seg_t3: 0.4370, seg_dice_t3: 0.1169, total_t0: 0.9257, total_t1: 0.6680, total_t2: 0.5887, total_t3: 0.5539, total_t4: 0.5426, total: 4.3252, cam_bev_norm: 15.0677, sat_bev_norm: 10.9228, seg_sat: 0.3876, seg_dice_sat: 0.2256, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1800, seg_fused: 0.3438, seg_dice_fused: 0.0893, cam_rel_mean: 0.1854, sat_rel_mean: 0.2143, cam_rel_min: 0.0033, sat_rel_min: 0.0018, grad_norm: 22.3088 2026-04-18 08:35:19,141 - mmdet - INFO - Iter [25150/55932] lr: 2.999e-05, eta: 20:07:32, time: 2.071, data_time: 0.092, memory: 34736, seg: 0.4106, seg_dice: 0.1169, seg_t0: 0.6502, seg_dice_t0: 0.1900, seg_t1: 0.4833, seg_dice_t1: 0.1276, seg_t2: 0.4225, seg_dice_t2: 0.1122, seg_t3: 0.4145, seg_dice_t3: 0.1197, total_t0: 0.8401, total_t1: 0.6108, total_t2: 0.5347, total_t3: 0.5342, total_t4: 0.5274, total: 4.0428, cam_bev_norm: 15.0399, sat_bev_norm: 10.9390, seg_sat: 0.3593, seg_dice_sat: 0.2351, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1000, seg_fused: 0.3162, seg_dice_fused: 0.0847, cam_rel_mean: 0.1752, sat_rel_mean: 0.2046, cam_rel_min: 0.0041, sat_rel_min: 0.0024, grad_norm: 22.7380 2026-04-18 08:37:03,597 - mmdet - INFO - Iter [25200/55932] lr: 2.993e-05, eta: 20:05:18, time: 2.089, data_time: 0.086, memory: 34736, seg: 0.4283, seg_dice: 0.1112, seg_t0: 0.6875, seg_dice_t0: 0.1861, seg_t1: 0.5109, seg_dice_t1: 0.1347, seg_t2: 0.4661, seg_dice_t2: 0.1207, seg_t3: 0.4376, seg_dice_t3: 0.1111, total_t0: 0.8736, total_t1: 0.6456, total_t2: 0.5868, total_t3: 0.5486, total_t4: 0.5395, total: 4.1863, cam_bev_norm: 15.0582, sat_bev_norm: 10.9668, seg_sat: 0.3736, seg_dice_sat: 0.2283, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.3114, seg_dice_fused: 0.0788, cam_rel_mean: 0.2013, sat_rel_mean: 0.2079, cam_rel_min: 0.0024, sat_rel_min: 0.0030, grad_norm: 20.4674 2026-04-18 08:38:47,165 - mmdet - INFO - Iter [25250/55932] lr: 2.986e-05, eta: 20:03:03, time: 2.072, data_time: 0.089, memory: 34736, seg: 0.4589, seg_dice: 0.1265, seg_t0: 0.6511, seg_dice_t0: 0.1798, seg_t1: 0.4984, seg_dice_t1: 0.1348, seg_t2: 0.4409, seg_dice_t2: 0.1177, seg_t3: 0.4351, seg_dice_t3: 0.1138, total_t0: 0.8310, total_t1: 0.6332, total_t2: 0.5586, total_t3: 0.5489, total_t4: 0.5854, total: 4.1861, cam_bev_norm: 15.0796, sat_bev_norm: 10.9657, seg_sat: 0.4005, seg_dice_sat: 0.2102, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.3286, seg_dice_fused: 0.0896, cam_rel_mean: 0.2040, sat_rel_mean: 0.2208, cam_rel_min: 0.0025, sat_rel_min: 0.0018, grad_norm: 21.5771 2026-04-18 08:40:30,277 - mmdet - INFO - Iter [25300/55932] lr: 2.979e-05, eta: 20:00:48, time: 2.062, data_time: 0.086, memory: 34736, seg: 0.4293, seg_dice: 0.1271, seg_t0: 0.6817, seg_dice_t0: 0.2090, seg_t1: 0.5228, seg_dice_t1: 0.1492, seg_t2: 0.4605, seg_dice_t2: 0.1320, seg_t3: 0.4425, seg_dice_t3: 0.1215, total_t0: 0.8908, total_t1: 0.6720, total_t2: 0.5925, total_t3: 0.5640, total_t4: 0.5564, total: 4.3122, cam_bev_norm: 14.9597, sat_bev_norm: 10.9451, seg_sat: 0.3849, seg_dice_sat: 0.2618, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.2997, seg_dice_fused: 0.0902, cam_rel_mean: 0.2046, sat_rel_mean: 0.2095, cam_rel_min: 0.0012, sat_rel_min: 0.0012, grad_norm: 20.4029 2026-04-18 08:42:13,957 - mmdet - INFO - Iter [25350/55932] lr: 2.973e-05, eta: 19:58:33, time: 2.074, data_time: 0.091, memory: 34736, seg: 0.4213, seg_dice: 0.1100, seg_t0: 0.6690, seg_dice_t0: 0.1762, seg_t1: 0.5125, seg_dice_t1: 0.1367, seg_t2: 0.4701, seg_dice_t2: 0.1274, seg_t3: 0.4327, seg_dice_t3: 0.1126, total_t0: 0.8452, total_t1: 0.6492, total_t2: 0.5975, total_t3: 0.5453, total_t4: 0.5313, total: 4.1943, cam_bev_norm: 14.9462, sat_bev_norm: 10.8954, seg_sat: 0.3955, seg_dice_sat: 0.2586, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.2999, seg_dice_fused: 0.0719, cam_rel_mean: 0.2049, sat_rel_mean: 0.2155, cam_rel_min: 0.0012, sat_rel_min: 0.0012, grad_norm: 24.0767 2026-04-18 08:43:57,709 - mmdet - INFO - Iter [25400/55932] lr: 2.966e-05, eta: 19:56:19, time: 2.075, data_time: 0.090, memory: 34736, seg: 0.4267, seg_dice: 0.1215, seg_t0: 0.6933, seg_dice_t0: 0.2138, seg_t1: 0.5317, seg_dice_t1: 0.1461, seg_t2: 0.4595, seg_dice_t2: 0.1279, seg_t3: 0.4387, seg_dice_t3: 0.1182, total_t0: 0.9071, total_t1: 0.6778, total_t2: 0.5874, total_t3: 0.5568, total_t4: 0.5482, total: 4.3362, cam_bev_norm: 14.8867, sat_bev_norm: 10.9701, seg_sat: 0.3959, seg_dice_sat: 0.2742, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.3097, seg_dice_fused: 0.0791, cam_rel_mean: 0.1930, sat_rel_mean: 0.1936, cam_rel_min: 0.0016, sat_rel_min: 0.0030, grad_norm: 20.3960 2026-04-18 08:45:42,122 - mmdet - INFO - Iter [25450/55932] lr: 2.960e-05, eta: 19:54:06, time: 2.088, data_time: 0.088, memory: 34736, seg: 0.3930, seg_dice: 0.0998, seg_t0: 0.6779, seg_dice_t0: 0.2003, seg_t1: 0.4873, seg_dice_t1: 0.1325, seg_t2: 0.4087, seg_dice_t2: 0.1142, seg_t3: 0.3903, seg_dice_t3: 0.0979, total_t0: 0.8782, total_t1: 0.6198, total_t2: 0.5229, total_t3: 0.4882, total_t4: 0.4928, total: 3.9354, cam_bev_norm: 14.9584, sat_bev_norm: 10.9543, seg_sat: 0.3580, seg_dice_sat: 0.2344, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2778, seg_dice_fused: 0.0634, cam_rel_mean: 0.2018, sat_rel_mean: 0.2128, cam_rel_min: 0.0013, sat_rel_min: 0.0012, grad_norm: 23.1708 2026-04-18 08:47:26,695 - mmdet - INFO - Iter [25500/55932] lr: 2.953e-05, eta: 19:51:53, time: 2.091, data_time: 0.091, memory: 34736, seg: 0.4636, seg_dice: 0.1258, seg_t0: 0.7371, seg_dice_t0: 0.2328, seg_t1: 0.5766, seg_dice_t1: 0.1563, seg_t2: 0.5106, seg_dice_t2: 0.1361, seg_t3: 0.4887, seg_dice_t3: 0.1253, total_t0: 0.9700, total_t1: 0.7329, total_t2: 0.6467, total_t3: 0.6139, total_t4: 0.5894, total: 4.6154, cam_bev_norm: 14.9417, sat_bev_norm: 10.8354, seg_sat: 0.4141, seg_dice_sat: 0.2539, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.3141, seg_dice_fused: 0.0804, cam_rel_mean: 0.1985, sat_rel_mean: 0.2097, cam_rel_min: 0.0021, sat_rel_min: 0.0012, grad_norm: 22.2742 2026-04-18 08:49:10,677 - mmdet - INFO - Iter [25550/55932] lr: 2.946e-05, eta: 19:49:39, time: 2.080, data_time: 0.091, memory: 34736, seg: 0.4003, seg_dice: 0.1100, seg_t0: 0.6430, seg_dice_t0: 0.1892, seg_t1: 0.4770, seg_dice_t1: 0.1290, seg_t2: 0.4356, seg_dice_t2: 0.1192, seg_t3: 0.4119, seg_dice_t3: 0.1131, total_t0: 0.8322, total_t1: 0.6059, total_t2: 0.5547, total_t3: 0.5251, total_t4: 0.5103, total: 3.9652, cam_bev_norm: 15.0420, sat_bev_norm: 11.0113, seg_sat: 0.3474, seg_dice_sat: 0.2217, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2800, seg_fused: 0.2946, seg_dice_fused: 0.0734, cam_rel_mean: 0.1960, sat_rel_mean: 0.2140, cam_rel_min: 0.0025, sat_rel_min: 0.0018, grad_norm: 20.2239 2026-04-18 08:50:55,329 - mmdet - INFO - Iter [25600/55932] lr: 2.940e-05, eta: 19:47:27, time: 2.093, data_time: 0.092, memory: 34736, seg: 0.4014, seg_dice: 0.1141, seg_t0: 0.6768, seg_dice_t0: 0.2131, seg_t1: 0.5125, seg_dice_t1: 0.1412, seg_t2: 0.4526, seg_dice_t2: 0.1289, seg_t3: 0.4183, seg_dice_t3: 0.1206, total_t0: 0.8899, total_t1: 0.6536, total_t2: 0.5815, total_t3: 0.5388, total_t4: 0.5155, total: 4.1813, cam_bev_norm: 14.9222, sat_bev_norm: 10.9247, seg_sat: 0.3792, seg_dice_sat: 0.2413, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.3010, seg_dice_fused: 0.0804, cam_rel_mean: 0.2031, sat_rel_mean: 0.2019, cam_rel_min: 0.0016, sat_rel_min: 0.0030, grad_norm: 20.2842 2026-04-18 08:52:39,859 - mmdet - INFO - Iter [25650/55932] lr: 2.933e-05, eta: 19:45:14, time: 2.091, data_time: 0.086, memory: 34736, seg: 0.4158, seg_dice: 0.1097, seg_t0: 0.6201, seg_dice_t0: 0.1909, seg_t1: 0.4702, seg_dice_t1: 0.1423, seg_t2: 0.4289, seg_dice_t2: 0.1180, seg_t3: 0.4214, seg_dice_t3: 0.1138, total_t0: 0.8110, total_t1: 0.6125, total_t2: 0.5470, total_t3: 0.5351, total_t4: 0.5255, total: 4.0968, cam_bev_norm: 14.9219, sat_bev_norm: 10.9169, seg_sat: 0.4072, seg_dice_sat: 0.2575, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.3094, seg_dice_fused: 0.0915, cam_rel_mean: 0.1909, sat_rel_mean: 0.2133, cam_rel_min: 0.0029, sat_rel_min: 0.0006, grad_norm: 17.6757 2026-04-18 08:54:24,206 - mmdet - INFO - Iter [25700/55932] lr: 2.927e-05, eta: 19:43:01, time: 2.087, data_time: 0.088, memory: 34736, seg: 0.4070, seg_dice: 0.1197, seg_t0: 0.6675, seg_dice_t0: 0.1908, seg_t1: 0.5084, seg_dice_t1: 0.1377, seg_t2: 0.4541, seg_dice_t2: 0.1183, seg_t3: 0.4301, seg_dice_t3: 0.1189, total_t0: 0.8583, total_t1: 0.6462, total_t2: 0.5724, total_t3: 0.5490, total_t4: 0.5267, total: 4.1954, cam_bev_norm: 14.9565, sat_bev_norm: 10.9587, seg_sat: 0.3828, seg_dice_sat: 0.2687, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.3014, seg_dice_fused: 0.0899, cam_rel_mean: 0.1900, sat_rel_mean: 0.2102, cam_rel_min: 0.0025, sat_rel_min: 0.0012, grad_norm: 19.0605 2026-04-18 08:56:09,425 - mmdet - INFO - Iter [25750/55932] lr: 2.920e-05, eta: 19:40:50, time: 2.104, data_time: 0.090, memory: 34736, seg: 0.4143, seg_dice: 0.1194, seg_t0: 0.6245, seg_dice_t0: 0.2018, seg_t1: 0.4802, seg_dice_t1: 0.1408, seg_t2: 0.4483, seg_dice_t2: 0.1224, seg_t3: 0.4260, seg_dice_t3: 0.1240, total_t0: 0.8262, total_t1: 0.6210, total_t2: 0.5707, total_t3: 0.5500, total_t4: 0.5337, total: 4.1498, cam_bev_norm: 14.8940, sat_bev_norm: 10.9089, seg_sat: 0.4015, seg_dice_sat: 0.2643, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.3006, seg_dice_fused: 0.0816, cam_rel_mean: 0.1998, sat_rel_mean: 0.2164, cam_rel_min: 0.0012, sat_rel_min: 0.0006, grad_norm: 18.6519 2026-04-18 08:57:54,090 - mmdet - INFO - Iter [25800/55932] lr: 2.913e-05, eta: 19:38:37, time: 2.093, data_time: 0.090, memory: 34736, seg: 0.4305, seg_dice: 0.1256, seg_t0: 0.7014, seg_dice_t0: 0.2244, seg_t1: 0.5202, seg_dice_t1: 0.1514, seg_t2: 0.4618, seg_dice_t2: 0.1306, seg_t3: 0.4389, seg_dice_t3: 0.1218, total_t0: 0.9258, total_t1: 0.6716, total_t2: 0.5924, total_t3: 0.5607, total_t4: 0.5561, total: 4.2757, cam_bev_norm: 14.8823, sat_bev_norm: 10.9114, seg_sat: 0.3697, seg_dice_sat: 0.2209, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.2953, seg_dice_fused: 0.0834, cam_rel_mean: 0.2064, sat_rel_mean: 0.2144, cam_rel_min: 0.0012, sat_rel_min: 0.0006, grad_norm: 16.9304 2026-04-18 08:59:39,256 - mmdet - INFO - Iter [25850/55932] lr: 2.907e-05, eta: 19:36:26, time: 2.103, data_time: 0.088, memory: 34736, seg: 0.4262, seg_dice: 0.1138, seg_t0: 0.6733, seg_dice_t0: 0.1970, seg_t1: 0.4909, seg_dice_t1: 0.1248, seg_t2: 0.4527, seg_dice_t2: 0.1159, seg_t3: 0.4402, seg_dice_t3: 0.1114, total_t0: 0.8703, total_t1: 0.6158, total_t2: 0.5686, total_t3: 0.5517, total_t4: 0.5400, total: 4.1883, cam_bev_norm: 14.9383, sat_bev_norm: 10.8891, seg_sat: 0.4135, seg_dice_sat: 0.2488, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.3042, seg_dice_fused: 0.0755, cam_rel_mean: 0.2107, sat_rel_mean: 0.2160, cam_rel_min: 0.0013, sat_rel_min: 0.0006, grad_norm: 19.6315 2026-04-18 09:01:23,915 - mmdet - INFO - Iter [25900/55932] lr: 2.900e-05, eta: 19:34:14, time: 2.093, data_time: 0.091, memory: 34736, seg: 0.4174, seg_dice: 0.1232, seg_t0: 0.6840, seg_dice_t0: 0.2037, seg_t1: 0.4863, seg_dice_t1: 0.1436, seg_t2: 0.4802, seg_dice_t2: 0.1266, seg_t3: 0.4567, seg_dice_t3: 0.1258, total_t0: 0.8877, total_t1: 0.6299, total_t2: 0.6067, total_t3: 0.5826, total_t4: 0.5406, total: 4.2491, cam_bev_norm: 14.9288, sat_bev_norm: 11.0000, seg_sat: 0.3739, seg_dice_sat: 0.2389, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.3008, seg_dice_fused: 0.0881, cam_rel_mean: 0.2062, sat_rel_mean: 0.2067, cam_rel_min: 0.0017, sat_rel_min: 0.0024, grad_norm: 19.7584 2026-04-18 09:03:08,114 - mmdet - INFO - Iter [25950/55932] lr: 2.893e-05, eta: 19:32:01, time: 2.085, data_time: 0.090, memory: 34736, seg: 0.4102, seg_dice: 0.1103, seg_t0: 0.6854, seg_dice_t0: 0.1852, seg_t1: 0.5272, seg_dice_t1: 0.1391, seg_t2: 0.4464, seg_dice_t2: 0.1224, seg_t3: 0.4182, seg_dice_t3: 0.1168, total_t0: 0.8705, total_t1: 0.6662, total_t2: 0.5688, total_t3: 0.5351, total_t4: 0.5205, total: 4.1481, cam_bev_norm: 14.8732, sat_bev_norm: 10.9083, seg_sat: 0.3804, seg_dice_sat: 0.2448, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.2862, seg_dice_fused: 0.0755, cam_rel_mean: 0.1968, sat_rel_mean: 0.2217, cam_rel_min: 0.0021, sat_rel_min: 0.0000, grad_norm: 18.2002 2026-04-18 09:04:52,545 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 09:04:52,546 - mmdet - INFO - Iter [26000/55932] lr: 2.887e-05, eta: 19:29:49, time: 2.088, data_time: 0.090, memory: 34736, seg: 0.4014, seg_dice: 0.0977, seg_t0: 0.6657, seg_dice_t0: 0.2091, seg_t1: 0.4898, seg_dice_t1: 0.1343, seg_t2: 0.4254, seg_dice_t2: 0.1046, seg_t3: 0.4104, seg_dice_t3: 0.0986, total_t0: 0.8748, total_t1: 0.6241, total_t2: 0.5300, total_t3: 0.5090, total_t4: 0.4991, total: 4.0045, cam_bev_norm: 14.9869, sat_bev_norm: 11.0494, seg_sat: 0.3735, seg_dice_sat: 0.2217, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.3058, seg_dice_fused: 0.0664, cam_rel_mean: 0.2104, sat_rel_mean: 0.2169, cam_rel_min: 0.0013, sat_rel_min: 0.0018, grad_norm: 18.0894 2026-04-18 09:06:36,738 - mmdet - INFO - Iter [26050/55932] lr: 2.880e-05, eta: 19:27:37, time: 2.084, data_time: 0.088, memory: 34736, seg: 0.4203, seg_dice: 0.1185, seg_t0: 0.7316, seg_dice_t0: 0.1911, seg_t1: 0.5352, seg_dice_t1: 0.1372, seg_t2: 0.4681, seg_dice_t2: 0.1243, seg_t3: 0.4257, seg_dice_t3: 0.1157, total_t0: 0.9227, total_t1: 0.6725, total_t2: 0.5924, total_t3: 0.5415, total_t4: 0.5388, total: 4.3647, cam_bev_norm: 14.8757, sat_bev_norm: 10.8887, seg_sat: 0.4126, seg_dice_sat: 0.2580, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1000, seg_fused: 0.3316, seg_dice_fused: 0.0946, cam_rel_mean: 0.1928, sat_rel_mean: 0.2042, cam_rel_min: 0.0033, sat_rel_min: 0.0030, grad_norm: 20.7469 2026-04-18 09:08:20,745 - mmdet - INFO - Iter [26100/55932] lr: 2.874e-05, eta: 19:25:25, time: 2.080, data_time: 0.086, memory: 34736, seg: 0.3934, seg_dice: 0.1087, seg_t0: 0.6084, seg_dice_t0: 0.1767, seg_t1: 0.4553, seg_dice_t1: 0.1257, seg_t2: 0.4281, seg_dice_t2: 0.1193, seg_t3: 0.3879, seg_dice_t3: 0.1102, total_t0: 0.7851, total_t1: 0.5810, total_t2: 0.5474, total_t3: 0.4981, total_t4: 0.5020, total: 3.8436, cam_bev_norm: 14.9584, sat_bev_norm: 11.0660, seg_sat: 0.3529, seg_dice_sat: 0.2267, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.2728, seg_dice_fused: 0.0776, cam_rel_mean: 0.1949, sat_rel_mean: 0.2087, cam_rel_min: 0.0017, sat_rel_min: 0.0012, grad_norm: 20.9599 2026-04-18 09:10:05,147 - mmdet - INFO - Iter [26150/55932] lr: 2.867e-05, eta: 19:23:13, time: 2.088, data_time: 0.087, memory: 34736, seg: 0.4367, seg_dice: 0.1160, seg_t0: 0.7206, seg_dice_t0: 0.2037, seg_t1: 0.5353, seg_dice_t1: 0.1562, seg_t2: 0.4805, seg_dice_t2: 0.1320, seg_t3: 0.4476, seg_dice_t3: 0.1223, total_t0: 0.9243, total_t1: 0.6915, total_t2: 0.6125, total_t3: 0.5698, total_t4: 0.5526, total: 4.3225, cam_bev_norm: 14.8789, sat_bev_norm: 10.9537, seg_sat: 0.3844, seg_dice_sat: 0.2012, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.3066, seg_dice_fused: 0.0795, cam_rel_mean: 0.2040, sat_rel_mean: 0.2231, cam_rel_min: 0.0021, sat_rel_min: 0.0006, grad_norm: 20.0666 2026-04-18 09:11:49,039 - mmdet - INFO - Iter [26200/55932] lr: 2.860e-05, eta: 19:21:01, time: 2.078, data_time: 0.087, memory: 34736, seg: 0.4508, seg_dice: 0.1154, seg_t0: 0.6148, seg_dice_t0: 0.1698, seg_t1: 0.4792, seg_dice_t1: 0.1264, seg_t2: 0.4501, seg_dice_t2: 0.1167, seg_t3: 0.4422, seg_dice_t3: 0.1141, total_t0: 0.7846, total_t1: 0.6056, total_t2: 0.5667, total_t3: 0.5563, total_t4: 0.5661, total: 4.1008, cam_bev_norm: 14.8878, sat_bev_norm: 10.9474, seg_sat: 0.3964, seg_dice_sat: 0.2315, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.3191, seg_dice_fused: 0.0743, cam_rel_mean: 0.1981, sat_rel_mean: 0.2162, cam_rel_min: 0.0021, sat_rel_min: 0.0012, grad_norm: 18.4189 2026-04-18 09:13:32,953 - mmdet - INFO - Iter [26250/55932] lr: 2.854e-05, eta: 19:18:49, time: 2.078, data_time: 0.089, memory: 34736, seg: 0.4030, seg_dice: 0.1055, seg_t0: 0.6129, seg_dice_t0: 0.1736, seg_t1: 0.5118, seg_dice_t1: 0.1434, seg_t2: 0.4623, seg_dice_t2: 0.1233, seg_t3: 0.4198, seg_dice_t3: 0.1168, total_t0: 0.7864, total_t1: 0.6552, total_t2: 0.5856, total_t3: 0.5366, total_t4: 0.5085, total: 4.0373, cam_bev_norm: 14.9914, sat_bev_norm: 10.9780, seg_sat: 0.3758, seg_dice_sat: 0.2210, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0600, seg_fused: 0.2943, seg_dice_fused: 0.0738, cam_rel_mean: 0.2098, sat_rel_mean: 0.2158, cam_rel_min: 0.0017, sat_rel_min: 0.0018, grad_norm: 17.2573 2026-04-18 09:15:18,758 - mmdet - INFO - Iter [26300/55932] lr: 2.847e-05, eta: 19:16:39, time: 2.116, data_time: 0.085, memory: 34736, seg: 0.4116, seg_dice: 0.1056, seg_t0: 0.6995, seg_dice_t0: 0.1837, seg_t1: 0.4907, seg_dice_t1: 0.1309, seg_t2: 0.4335, seg_dice_t2: 0.1096, seg_t3: 0.4073, seg_dice_t3: 0.1051, total_t0: 0.8832, total_t1: 0.6215, total_t2: 0.5431, total_t3: 0.5123, total_t4: 0.5172, total: 4.1011, cam_bev_norm: 14.9064, sat_bev_norm: 10.9030, seg_sat: 0.3943, seg_dice_sat: 0.2562, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.2970, seg_dice_fused: 0.0763, cam_rel_mean: 0.2070, sat_rel_mean: 0.2190, cam_rel_min: 0.0008, sat_rel_min: 0.0006, grad_norm: 21.1566 2026-04-18 09:17:02,914 - mmdet - INFO - Iter [26350/55932] lr: 2.840e-05, eta: 19:14:27, time: 2.083, data_time: 0.089, memory: 34736, seg: 0.4246, seg_dice: 0.1238, seg_t0: 0.6738, seg_dice_t0: 0.1901, seg_t1: 0.4942, seg_dice_t1: 0.1411, seg_t2: 0.4429, seg_dice_t2: 0.1198, seg_t3: 0.4247, seg_dice_t3: 0.1183, total_t0: 0.8638, total_t1: 0.6352, total_t2: 0.5627, total_t3: 0.5429, total_t4: 0.5484, total: 4.1542, cam_bev_norm: 14.9194, sat_bev_norm: 10.9918, seg_sat: 0.3621, seg_dice_sat: 0.2334, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.3157, seg_dice_fused: 0.0900, cam_rel_mean: 0.2017, sat_rel_mean: 0.2029, cam_rel_min: 0.0017, sat_rel_min: 0.0024, grad_norm: 20.3209 2026-04-18 09:18:47,023 - mmdet - INFO - Iter [26400/55932] lr: 2.834e-05, eta: 19:12:16, time: 2.082, data_time: 0.090, memory: 34736, seg: 0.4109, seg_dice: 0.1074, seg_t0: 0.6195, seg_dice_t0: 0.1693, seg_t1: 0.4720, seg_dice_t1: 0.1174, seg_t2: 0.4284, seg_dice_t2: 0.1065, seg_t3: 0.4275, seg_dice_t3: 0.1050, total_t0: 0.7888, total_t1: 0.5893, total_t2: 0.5349, total_t3: 0.5325, total_t4: 0.5183, total: 3.9892, cam_bev_norm: 14.8755, sat_bev_norm: 10.9683, seg_sat: 0.4010, seg_dice_sat: 0.2391, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.0200, seg_fused: 0.3014, seg_dice_fused: 0.0837, cam_rel_mean: 0.1934, sat_rel_mean: 0.2159, cam_rel_min: 0.0033, sat_rel_min: 0.0012, grad_norm: 18.8413 2026-04-18 09:20:31,287 - mmdet - INFO - Iter [26450/55932] lr: 2.827e-05, eta: 19:10:04, time: 2.085, data_time: 0.089, memory: 34736, seg: 0.4092, seg_dice: 0.1077, seg_t0: 0.6447, seg_dice_t0: 0.1862, seg_t1: 0.4723, seg_dice_t1: 0.1373, seg_t2: 0.4250, seg_dice_t2: 0.1128, seg_t3: 0.4094, seg_dice_t3: 0.1134, total_t0: 0.8310, total_t1: 0.6095, total_t2: 0.5378, total_t3: 0.5228, total_t4: 0.5169, total: 4.1394, cam_bev_norm: 14.9607, sat_bev_norm: 10.8229, seg_sat: 0.4458, seg_dice_sat: 0.2621, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.3286, seg_dice_fused: 0.0850, cam_rel_mean: 0.2074, sat_rel_mean: 0.2160, cam_rel_min: 0.0017, sat_rel_min: 0.0018, grad_norm: 20.2355 2026-04-18 09:22:15,257 - mmdet - INFO - Iter [26500/55932] lr: 2.820e-05, eta: 19:07:53, time: 2.079, data_time: 0.084, memory: 34736, seg: 0.4066, seg_dice: 0.1045, seg_t0: 0.6557, seg_dice_t0: 0.1822, seg_t1: 0.4778, seg_dice_t1: 0.1372, seg_t2: 0.4268, seg_dice_t2: 0.1149, seg_t3: 0.4120, seg_dice_t3: 0.1100, total_t0: 0.8379, total_t1: 0.6150, total_t2: 0.5417, total_t3: 0.5220, total_t4: 0.5111, total: 4.0641, cam_bev_norm: 14.8650, sat_bev_norm: 10.8408, seg_sat: 0.3979, seg_dice_sat: 0.2502, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.3103, seg_dice_fused: 0.0780, cam_rel_mean: 0.1883, sat_rel_mean: 0.2120, cam_rel_min: 0.0029, sat_rel_min: 0.0018, grad_norm: 18.4122 2026-04-18 09:23:59,107 - mmdet - INFO - Iter [26550/55932] lr: 2.814e-05, eta: 19:05:41, time: 2.077, data_time: 0.086, memory: 34736, seg: 0.4266, seg_dice: 0.1179, seg_t0: 0.6425, seg_dice_t0: 0.1831, seg_t1: 0.5034, seg_dice_t1: 0.1373, seg_t2: 0.4538, seg_dice_t2: 0.1189, seg_t3: 0.4379, seg_dice_t3: 0.1163, total_t0: 0.8256, total_t1: 0.6407, total_t2: 0.5727, total_t3: 0.5542, total_t4: 0.5444, total: 4.2071, cam_bev_norm: 14.8983, sat_bev_norm: 10.8784, seg_sat: 0.4235, seg_dice_sat: 0.2534, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1800, seg_fused: 0.3091, seg_dice_fused: 0.0835, cam_rel_mean: 0.2138, sat_rel_mean: 0.2144, cam_rel_min: 0.0004, sat_rel_min: 0.0012, grad_norm: 19.7420 2026-04-18 09:25:43,030 - mmdet - INFO - Iter [26600/55932] lr: 2.807e-05, eta: 19:03:30, time: 2.078, data_time: 0.090, memory: 34736, seg: 0.3904, seg_dice: 0.1060, seg_t0: 0.6208, seg_dice_t0: 0.1761, seg_t1: 0.4571, seg_dice_t1: 0.1242, seg_t2: 0.4203, seg_dice_t2: 0.1074, seg_t3: 0.3870, seg_dice_t3: 0.0978, total_t0: 0.7969, total_t1: 0.5813, total_t2: 0.5277, total_t3: 0.4848, total_t4: 0.4964, total: 3.8439, cam_bev_norm: 14.8778, sat_bev_norm: 10.9939, seg_sat: 0.3729, seg_dice_sat: 0.2340, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1800, seg_fused: 0.2777, seg_dice_fused: 0.0723, cam_rel_mean: 0.2089, sat_rel_mean: 0.2187, cam_rel_min: 0.0008, sat_rel_min: 0.0006, grad_norm: 19.1114 2026-04-18 09:27:27,431 - mmdet - INFO - Iter [26650/55932] lr: 2.801e-05, eta: 19:01:19, time: 2.088, data_time: 0.089, memory: 34736, seg: 0.4217, seg_dice: 0.1113, seg_t0: 0.6000, seg_dice_t0: 0.1815, seg_t1: 0.4788, seg_dice_t1: 0.1359, seg_t2: 0.4273, seg_dice_t2: 0.1243, seg_t3: 0.4188, seg_dice_t3: 0.1123, total_t0: 0.7815, total_t1: 0.6147, total_t2: 0.5516, total_t3: 0.5311, total_t4: 0.5330, total: 4.0642, cam_bev_norm: 14.8695, sat_bev_norm: 10.9447, seg_sat: 0.4150, seg_dice_sat: 0.2466, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0800, seg_fused: 0.3115, seg_dice_fused: 0.0792, cam_rel_mean: 0.2104, sat_rel_mean: 0.2085, cam_rel_min: 0.0008, sat_rel_min: 0.0024, grad_norm: 21.4482 2026-04-18 09:29:11,518 - mmdet - INFO - Iter [26700/55932] lr: 2.794e-05, eta: 18:59:08, time: 2.082, data_time: 0.084, memory: 34736, seg: 0.4399, seg_dice: 0.1281, seg_t0: 0.6236, seg_dice_t0: 0.1947, seg_t1: 0.4831, seg_dice_t1: 0.1385, seg_t2: 0.4284, seg_dice_t2: 0.1166, seg_t3: 0.4227, seg_dice_t3: 0.1165, total_t0: 0.8183, total_t1: 0.6216, total_t2: 0.5450, total_t3: 0.5392, total_t4: 0.5680, total: 4.0961, cam_bev_norm: 14.8333, sat_bev_norm: 10.9005, seg_sat: 0.3856, seg_dice_sat: 0.2378, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.2979, seg_dice_fused: 0.0828, cam_rel_mean: 0.2023, sat_rel_mean: 0.2084, cam_rel_min: 0.0013, sat_rel_min: 0.0018, grad_norm: 22.8569 2026-04-18 09:30:56,134 - mmdet - INFO - Iter [26750/55932] lr: 2.787e-05, eta: 18:56:58, time: 2.092, data_time: 0.089, memory: 34736, seg: 0.4203, seg_dice: 0.1200, seg_t0: 0.7147, seg_dice_t0: 0.2170, seg_t1: 0.5209, seg_dice_t1: 0.1458, seg_t2: 0.4669, seg_dice_t2: 0.1249, seg_t3: 0.4352, seg_dice_t3: 0.1171, total_t0: 0.9317, total_t1: 0.6667, total_t2: 0.5918, total_t3: 0.5523, total_t4: 0.5403, total: 4.3056, cam_bev_norm: 14.8189, sat_bev_norm: 10.9026, seg_sat: 0.3958, seg_dice_sat: 0.2527, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 0.3004, seg_dice_fused: 0.0740, cam_rel_mean: 0.2113, sat_rel_mean: 0.2147, cam_rel_min: 0.0013, sat_rel_min: 0.0012, grad_norm: 21.9288 2026-04-18 09:32:40,026 - mmdet - INFO - Iter [26800/55932] lr: 2.781e-05, eta: 18:54:47, time: 2.078, data_time: 0.087, memory: 34736, seg: 0.3877, seg_dice: 0.1063, seg_t0: 0.5977, seg_dice_t0: 0.1781, seg_t1: 0.4540, seg_dice_t1: 0.1234, seg_t2: 0.4194, seg_dice_t2: 0.1135, seg_t3: 0.3985, seg_dice_t3: 0.1024, total_t0: 0.7758, total_t1: 0.5775, total_t2: 0.5329, total_t3: 0.5009, total_t4: 0.4940, total: 3.8812, cam_bev_norm: 14.9197, sat_bev_norm: 10.9834, seg_sat: 0.3746, seg_dice_sat: 0.2502, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.2927, seg_dice_fused: 0.0826, cam_rel_mean: 0.2021, sat_rel_mean: 0.2039, cam_rel_min: 0.0017, sat_rel_min: 0.0024, grad_norm: 21.3694 2026-04-18 09:34:25,112 - mmdet - INFO - Iter [26850/55932] lr: 2.774e-05, eta: 18:52:37, time: 2.102, data_time: 0.090, memory: 34736, seg: 0.4449, seg_dice: 0.1210, seg_t0: 0.6413, seg_dice_t0: 0.1968, seg_t1: 0.5070, seg_dice_t1: 0.1522, seg_t2: 0.4714, seg_dice_t2: 0.1360, seg_t3: 0.4494, seg_dice_t3: 0.1213, total_t0: 0.8382, total_t1: 0.6592, total_t2: 0.6074, total_t3: 0.5708, total_t4: 0.5660, total: 4.3340, cam_bev_norm: 14.7669, sat_bev_norm: 10.7782, seg_sat: 0.4106, seg_dice_sat: 0.2512, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.3442, seg_dice_fused: 0.0864, cam_rel_mean: 0.1899, sat_rel_mean: 0.2108, cam_rel_min: 0.0021, sat_rel_min: 0.0012, grad_norm: 18.4015 2026-04-18 09:36:09,252 - mmdet - INFO - Iter [26900/55932] lr: 2.767e-05, eta: 18:50:27, time: 2.083, data_time: 0.090, memory: 34736, seg: 0.4053, seg_dice: 0.1127, seg_t0: 0.6666, seg_dice_t0: 0.1860, seg_t1: 0.5005, seg_dice_t1: 0.1324, seg_t2: 0.4422, seg_dice_t2: 0.1193, seg_t3: 0.4170, seg_dice_t3: 0.1095, total_t0: 0.8526, total_t1: 0.6329, total_t2: 0.5615, total_t3: 0.5264, total_t4: 0.5179, total: 4.1112, cam_bev_norm: 14.8452, sat_bev_norm: 10.8713, seg_sat: 0.4017, seg_dice_sat: 0.2295, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.3090, seg_dice_fused: 0.0796, cam_rel_mean: 0.1976, sat_rel_mean: 0.2118, cam_rel_min: 0.0025, sat_rel_min: 0.0012, grad_norm: 18.4689 2026-04-18 09:37:53,480 - mmdet - INFO - Iter [26950/55932] lr: 2.761e-05, eta: 18:48:16, time: 2.085, data_time: 0.094, memory: 34736, seg: 0.3965, seg_dice: 0.1068, seg_t0: 0.6459, seg_dice_t0: 0.1857, seg_t1: 0.4808, seg_dice_t1: 0.1316, seg_t2: 0.4159, seg_dice_t2: 0.1150, seg_t3: 0.3937, seg_dice_t3: 0.1055, total_t0: 0.8315, total_t1: 0.6124, total_t2: 0.5309, total_t3: 0.4992, total_t4: 0.5032, total: 3.9566, cam_bev_norm: 14.8906, sat_bev_norm: 10.9667, seg_sat: 0.3834, seg_dice_sat: 0.2206, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.3028, seg_dice_fused: 0.0724, cam_rel_mean: 0.1993, sat_rel_mean: 0.2170, cam_rel_min: 0.0021, sat_rel_min: 0.0012, grad_norm: 18.2248 2026-04-18 09:39:37,300 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 09:39:37,301 - mmdet - INFO - Iter [27000/55932] lr: 2.754e-05, eta: 18:46:06, time: 2.076, data_time: 0.087, memory: 34736, seg: 0.4034, seg_dice: 0.1100, seg_t0: 0.5868, seg_dice_t0: 0.1860, seg_t1: 0.4411, seg_dice_t1: 0.1299, seg_t2: 0.4006, seg_dice_t2: 0.1159, seg_t3: 0.4038, seg_dice_t3: 0.1116, total_t0: 0.7728, total_t1: 0.5710, total_t2: 0.5165, total_t3: 0.5153, total_t4: 0.5134, total: 3.9347, cam_bev_norm: 14.8539, sat_bev_norm: 10.8869, seg_sat: 0.3957, seg_dice_sat: 0.2533, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1400, seg_fused: 0.3180, seg_dice_fused: 0.0788, cam_rel_mean: 0.1801, sat_rel_mean: 0.2141, cam_rel_min: 0.0034, sat_rel_min: 0.0006, grad_norm: 20.6726 2026-04-18 09:41:21,572 - mmdet - INFO - Iter [27050/55932] lr: 2.747e-05, eta: 18:43:55, time: 2.085, data_time: 0.091, memory: 34736, seg: 0.4184, seg_dice: 0.1134, seg_t0: 0.6338, seg_dice_t0: 0.1823, seg_t1: 0.4770, seg_dice_t1: 0.1277, seg_t2: 0.4362, seg_dice_t2: 0.1124, seg_t3: 0.4320, seg_dice_t3: 0.1098, total_t0: 0.8162, total_t1: 0.6047, total_t2: 0.5486, total_t3: 0.5418, total_t4: 0.5317, total: 3.9942, cam_bev_norm: 14.8628, sat_bev_norm: 10.9896, seg_sat: 0.3739, seg_dice_sat: 0.2116, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.2926, seg_dice_fused: 0.0731, cam_rel_mean: 0.2047, sat_rel_mean: 0.2276, cam_rel_min: 0.0021, sat_rel_min: 0.0000, grad_norm: 19.2521 2026-04-18 09:43:04,319 - mmdet - INFO - Iter [27100/55932] lr: 2.741e-05, eta: 18:41:44, time: 2.055, data_time: 0.079, memory: 34736, seg: 0.4217, seg_dice: 0.1163, seg_t0: 0.6432, seg_dice_t0: 0.1756, seg_t1: 0.4759, seg_dice_t1: 0.1284, seg_t2: 0.4307, seg_dice_t2: 0.1072, seg_t3: 0.4068, seg_dice_t3: 0.1070, total_t0: 0.8188, total_t1: 0.6043, total_t2: 0.5379, total_t3: 0.5137, total_t4: 0.5380, total: 4.1002, cam_bev_norm: 14.8289, sat_bev_norm: 10.8292, seg_sat: 0.4191, seg_dice_sat: 0.2487, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.3342, seg_dice_fused: 0.0855, cam_rel_mean: 0.1872, sat_rel_mean: 0.2149, cam_rel_min: 0.0029, sat_rel_min: 0.0012, grad_norm: 19.1892 2026-04-18 09:44:49,616 - mmdet - INFO - Iter [27150/55932] lr: 2.734e-05, eta: 18:39:35, time: 2.106, data_time: 0.081, memory: 34736, seg: 0.4071, seg_dice: 0.1129, seg_t0: 0.6471, seg_dice_t0: 0.1780, seg_t1: 0.4804, seg_dice_t1: 0.1354, seg_t2: 0.4378, seg_dice_t2: 0.1238, seg_t3: 0.4195, seg_dice_t3: 0.1216, total_t0: 0.8252, total_t1: 0.6158, total_t2: 0.5616, total_t3: 0.5411, total_t4: 0.5200, total: 4.1328, cam_bev_norm: 14.8879, sat_bev_norm: 10.8664, seg_sat: 0.4215, seg_dice_sat: 0.2444, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2600, seg_fused: 0.3124, seg_dice_fused: 0.0908, cam_rel_mean: 0.2067, sat_rel_mean: 0.2109, cam_rel_min: 0.0013, sat_rel_min: 0.0018, grad_norm: 18.1913 2026-04-18 09:46:35,929 - mmdet - INFO - Iter [27200/55932] lr: 2.727e-05, eta: 18:37:27, time: 2.126, data_time: 0.087, memory: 34736, seg: 0.3838, seg_dice: 0.1198, seg_t0: 0.5848, seg_dice_t0: 0.1732, seg_t1: 0.4432, seg_dice_t1: 0.1308, seg_t2: 0.3947, seg_dice_t2: 0.1125, seg_t3: 0.3758, seg_dice_t3: 0.1121, total_t0: 0.7580, total_t1: 0.5741, total_t2: 0.5072, total_t3: 0.4879, total_t4: 0.5036, total: 3.8494, cam_bev_norm: 14.8122, sat_bev_norm: 10.9107, seg_sat: 0.3789, seg_dice_sat: 0.2631, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.2913, seg_dice_fused: 0.0854, cam_rel_mean: 0.2003, sat_rel_mean: 0.2017, cam_rel_min: 0.0013, sat_rel_min: 0.0025, grad_norm: 20.2578 2026-04-18 09:48:21,201 - mmdet - INFO - Iter [27250/55932] lr: 2.721e-05, eta: 18:35:19, time: 2.106, data_time: 0.089, memory: 34736, seg: 0.3991, seg_dice: 0.1153, seg_t0: 0.6143, seg_dice_t0: 0.1771, seg_t1: 0.4772, seg_dice_t1: 0.1293, seg_t2: 0.4196, seg_dice_t2: 0.1211, seg_t3: 0.4100, seg_dice_t3: 0.1106, total_t0: 0.7914, total_t1: 0.6065, total_t2: 0.5407, total_t3: 0.5206, total_t4: 0.5144, total: 3.9555, cam_bev_norm: 14.8060, sat_bev_norm: 10.9780, seg_sat: 0.3748, seg_dice_sat: 0.2260, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1000, seg_fused: 0.3028, seg_dice_fused: 0.0784, cam_rel_mean: 0.1804, sat_rel_mean: 0.2190, cam_rel_min: 0.0042, sat_rel_min: 0.0006, grad_norm: 18.9472 2026-04-18 09:50:06,603 - mmdet - INFO - Iter [27300/55932] lr: 2.714e-05, eta: 18:33:10, time: 2.108, data_time: 0.088, memory: 34736, seg: 0.3923, seg_dice: 0.0952, seg_t0: 0.6118, seg_dice_t0: 0.1562, seg_t1: 0.4570, seg_dice_t1: 0.1117, seg_t2: 0.4240, seg_dice_t2: 0.1022, seg_t3: 0.3898, seg_dice_t3: 0.0994, total_t0: 0.7681, total_t1: 0.5686, total_t2: 0.5261, total_t3: 0.4892, total_t4: 0.4875, total: 3.8490, cam_bev_norm: 14.8473, sat_bev_norm: 10.9522, seg_sat: 0.4013, seg_dice_sat: 0.2327, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.3052, seg_dice_fused: 0.0702, cam_rel_mean: 0.2162, sat_rel_mean: 0.2150, cam_rel_min: 0.0008, sat_rel_min: 0.0019, grad_norm: 16.4848 2026-04-18 09:51:52,310 - mmdet - INFO - Iter [27350/55932] lr: 2.707e-05, eta: 18:31:02, time: 2.114, data_time: 0.087, memory: 34736, seg: 0.4217, seg_dice: 0.1226, seg_t0: 0.6253, seg_dice_t0: 0.1717, seg_t1: 0.4908, seg_dice_t1: 0.1312, seg_t2: 0.4342, seg_dice_t2: 0.1223, seg_t3: 0.4209, seg_dice_t3: 0.1189, total_t0: 0.7970, total_t1: 0.6220, total_t2: 0.5565, total_t3: 0.5398, total_t4: 0.5443, total: 4.0565, cam_bev_norm: 14.7833, sat_bev_norm: 10.9022, seg_sat: 0.3794, seg_dice_sat: 0.2224, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.3112, seg_dice_fused: 0.0838, cam_rel_mean: 0.1933, sat_rel_mean: 0.2160, cam_rel_min: 0.0025, sat_rel_min: 0.0012, grad_norm: 20.0868 2026-04-18 09:53:37,483 - mmdet - INFO - Iter [27400/55932] lr: 2.701e-05, eta: 18:28:54, time: 2.103, data_time: 0.093, memory: 34736, seg: 0.3839, seg_dice: 0.0994, seg_t0: 0.5865, seg_dice_t0: 0.1572, seg_t1: 0.4603, seg_dice_t1: 0.1157, seg_t2: 0.4083, seg_dice_t2: 0.1069, seg_t3: 0.3799, seg_dice_t3: 0.0981, total_t0: 0.7437, total_t1: 0.5760, total_t2: 0.5152, total_t3: 0.4780, total_t4: 0.4833, total: 3.7461, cam_bev_norm: 14.8201, sat_bev_norm: 11.0024, seg_sat: 0.3690, seg_dice_sat: 0.2322, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.2790, seg_dice_fused: 0.0697, cam_rel_mean: 0.2066, sat_rel_mean: 0.2082, cam_rel_min: 0.0013, sat_rel_min: 0.0019, grad_norm: 19.6634 2026-04-18 09:55:22,383 - mmdet - INFO - Iter [27450/55932] lr: 2.694e-05, eta: 18:26:45, time: 2.098, data_time: 0.090, memory: 34736, seg: 0.4002, seg_dice: 0.1127, seg_t0: 0.7036, seg_dice_t0: 0.1902, seg_t1: 0.5120, seg_dice_t1: 0.1480, seg_t2: 0.4326, seg_dice_t2: 0.1178, seg_t3: 0.4044, seg_dice_t3: 0.1096, total_t0: 0.8938, total_t1: 0.6600, total_t2: 0.5503, total_t3: 0.5140, total_t4: 0.5129, total: 4.1349, cam_bev_norm: 14.8018, sat_bev_norm: 10.8763, seg_sat: 0.3811, seg_dice_sat: 0.2395, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.3005, seg_dice_fused: 0.0828, cam_rel_mean: 0.2004, sat_rel_mean: 0.2095, cam_rel_min: 0.0021, sat_rel_min: 0.0019, grad_norm: 20.9828 2026-04-18 09:57:07,581 - mmdet - INFO - Iter [27500/55932] lr: 2.687e-05, eta: 18:24:36, time: 2.104, data_time: 0.093, memory: 34736, seg: 0.4493, seg_dice: 0.1107, seg_t0: 0.6300, seg_dice_t0: 0.1879, seg_t1: 0.4920, seg_dice_t1: 0.1377, seg_t2: 0.4641, seg_dice_t2: 0.1219, seg_t3: 0.4286, seg_dice_t3: 0.1064, total_t0: 0.8179, total_t1: 0.6296, total_t2: 0.5860, total_t3: 0.5349, total_t4: 0.5601, total: 4.1526, cam_bev_norm: 14.7807, sat_bev_norm: 10.9033, seg_sat: 0.4013, seg_dice_sat: 0.2283, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2400, seg_fused: 0.3186, seg_dice_fused: 0.0759, cam_rel_mean: 0.1855, sat_rel_mean: 0.2256, cam_rel_min: 0.0034, sat_rel_min: 0.0000, grad_norm: 20.6598 2026-04-18 09:58:53,039 - mmdet - INFO - Iter [27550/55932] lr: 2.681e-05, eta: 18:22:28, time: 2.109, data_time: 0.092, memory: 34736, seg: 0.4335, seg_dice: 0.1228, seg_t0: 0.7084, seg_dice_t0: 0.2067, seg_t1: 0.5235, seg_dice_t1: 0.1468, seg_t2: 0.4753, seg_dice_t2: 0.1347, seg_t3: 0.4461, seg_dice_t3: 0.1345, total_t0: 0.9152, total_t1: 0.6703, total_t2: 0.6100, total_t3: 0.5806, total_t4: 0.5563, total: 4.3324, cam_bev_norm: 14.7745, sat_bev_norm: 10.9462, seg_sat: 0.3830, seg_dice_sat: 0.2334, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2400, seg_fused: 0.3021, seg_dice_fused: 0.0816, cam_rel_mean: 0.1974, sat_rel_mean: 0.2221, cam_rel_min: 0.0021, sat_rel_min: 0.0000, grad_norm: 22.0980 2026-04-18 10:00:37,988 - mmdet - INFO - Iter [27600/55932] lr: 2.674e-05, eta: 18:20:20, time: 2.099, data_time: 0.090, memory: 34736, seg: 0.4479, seg_dice: 0.1134, seg_t0: 0.6823, seg_dice_t0: 0.2099, seg_t1: 0.5050, seg_dice_t1: 0.1360, seg_t2: 0.4491, seg_dice_t2: 0.1182, seg_t3: 0.4381, seg_dice_t3: 0.1091, total_t0: 0.8922, total_t1: 0.6410, total_t2: 0.5674, total_t3: 0.5472, total_t4: 0.5613, total: 4.3067, cam_bev_norm: 14.7532, sat_bev_norm: 10.8461, seg_sat: 0.4251, seg_dice_sat: 0.2484, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.3447, seg_dice_fused: 0.0794, cam_rel_mean: 0.2027, sat_rel_mean: 0.2079, cam_rel_min: 0.0021, sat_rel_min: 0.0025, grad_norm: 20.6941 2026-04-18 10:02:23,268 - mmdet - INFO - Iter [27650/55932] lr: 2.667e-05, eta: 18:18:12, time: 2.105, data_time: 0.094, memory: 34736, seg: 0.4155, seg_dice: 0.1067, seg_t0: 0.6068, seg_dice_t0: 0.1668, seg_t1: 0.4530, seg_dice_t1: 0.1224, seg_t2: 0.4317, seg_dice_t2: 0.1101, seg_t3: 0.4417, seg_dice_t3: 0.1146, total_t0: 0.7736, total_t1: 0.5753, total_t2: 0.5418, total_t3: 0.5563, total_t4: 0.5222, total: 3.9492, cam_bev_norm: 14.7388, sat_bev_norm: 10.9251, seg_sat: 0.3682, seg_dice_sat: 0.2359, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.3037, seg_dice_fused: 0.0722, cam_rel_mean: 0.1994, sat_rel_mean: 0.2041, cam_rel_min: 0.0021, sat_rel_min: 0.0025, grad_norm: 20.2416 2026-04-18 10:04:08,892 - mmdet - INFO - Iter [27700/55932] lr: 2.661e-05, eta: 18:16:05, time: 2.113, data_time: 0.090, memory: 34736, seg: 0.4126, seg_dice: 0.1145, seg_t0: 0.6286, seg_dice_t0: 0.1762, seg_t1: 0.4683, seg_dice_t1: 0.1367, seg_t2: 0.4400, seg_dice_t2: 0.1221, seg_t3: 0.4169, seg_dice_t3: 0.1171, total_t0: 0.8048, total_t1: 0.6051, total_t2: 0.5621, total_t3: 0.5341, total_t4: 0.5271, total: 4.0202, cam_bev_norm: 14.7715, sat_bev_norm: 10.9645, seg_sat: 0.3884, seg_dice_sat: 0.2312, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0600, seg_fused: 0.2921, seg_dice_fused: 0.0754, cam_rel_mean: 0.2027, sat_rel_mean: 0.2208, cam_rel_min: 0.0021, sat_rel_min: 0.0006, grad_norm: 18.5519 2026-04-18 10:05:54,013 - mmdet - INFO - Iter [27750/55932] lr: 2.654e-05, eta: 18:13:56, time: 2.102, data_time: 0.094, memory: 34736, seg: 0.4036, seg_dice: 0.1029, seg_t0: 0.6452, seg_dice_t0: 0.1752, seg_t1: 0.4999, seg_dice_t1: 0.1319, seg_t2: 0.4339, seg_dice_t2: 0.1101, seg_t3: 0.4180, seg_dice_t3: 0.1038, total_t0: 0.8204, total_t1: 0.6318, total_t2: 0.5440, total_t3: 0.5219, total_t4: 0.5065, total: 4.0048, cam_bev_norm: 14.8440, sat_bev_norm: 10.9786, seg_sat: 0.3802, seg_dice_sat: 0.1999, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.3238, seg_dice_fused: 0.0763, cam_rel_mean: 0.1940, sat_rel_mean: 0.2191, cam_rel_min: 0.0030, sat_rel_min: 0.0012, grad_norm: 18.2083 2026-04-18 10:07:38,606 - mmdet - INFO - Iter [27800/55932] lr: 2.647e-05, eta: 18:11:48, time: 2.092, data_time: 0.090, memory: 34736, seg: 0.3977, seg_dice: 0.1027, seg_t0: 0.5706, seg_dice_t0: 0.1606, seg_t1: 0.4397, seg_dice_t1: 0.1167, seg_t2: 0.3827, seg_dice_t2: 0.1067, seg_t3: 0.3799, seg_dice_t3: 0.0982, total_t0: 0.7312, total_t1: 0.5564, total_t2: 0.4894, total_t3: 0.4781, total_t4: 0.5004, total: 3.8085, cam_bev_norm: 14.8206, sat_bev_norm: 10.8833, seg_sat: 0.4026, seg_dice_sat: 0.2658, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.3039, seg_dice_fused: 0.0805, cam_rel_mean: 0.1869, sat_rel_mean: 0.2089, cam_rel_min: 0.0030, sat_rel_min: 0.0019, grad_norm: 18.0258 2026-04-18 10:09:23,745 - mmdet - INFO - Iter [27850/55932] lr: 2.641e-05, eta: 18:09:40, time: 2.103, data_time: 0.090, memory: 34736, seg: 0.3817, seg_dice: 0.0950, seg_t0: 0.6030, seg_dice_t0: 0.1621, seg_t1: 0.4591, seg_dice_t1: 0.1257, seg_t2: 0.3966, seg_dice_t2: 0.1026, seg_t3: 0.3777, seg_dice_t3: 0.0945, total_t0: 0.7651, total_t1: 0.5848, total_t2: 0.4992, total_t3: 0.4722, total_t4: 0.4767, total: 3.7286, cam_bev_norm: 14.7933, sat_bev_norm: 10.9087, seg_sat: 0.3500, seg_dice_sat: 0.2396, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0400, seg_fused: 0.2722, seg_dice_fused: 0.0689, cam_rel_mean: 0.2064, sat_rel_mean: 0.2153, cam_rel_min: 0.0017, sat_rel_min: 0.0019, grad_norm: 19.3054 2026-04-18 10:11:08,196 - mmdet - INFO - Iter [27900/55932] lr: 2.634e-05, eta: 18:07:32, time: 2.089, data_time: 0.085, memory: 34736, seg: 0.3785, seg_dice: 0.1098, seg_t0: 0.5981, seg_dice_t0: 0.1790, seg_t1: 0.4621, seg_dice_t1: 0.1245, seg_t2: 0.4010, seg_dice_t2: 0.1154, seg_t3: 0.3946, seg_dice_t3: 0.1081, total_t0: 0.7771, total_t1: 0.5866, total_t2: 0.5165, total_t3: 0.5027, total_t4: 0.4883, total: 3.8776, cam_bev_norm: 14.7739, sat_bev_norm: 10.8648, seg_sat: 0.3845, seg_dice_sat: 0.2549, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0600, seg_fused: 0.2795, seg_dice_fused: 0.0876, cam_rel_mean: 0.1884, sat_rel_mean: 0.2090, cam_rel_min: 0.0026, sat_rel_min: 0.0006, grad_norm: 18.2538 2026-04-18 10:12:53,831 - mmdet - INFO - Iter [27950/55932] lr: 2.627e-05, eta: 18:05:25, time: 2.113, data_time: 0.092, memory: 34736, seg: 0.4099, seg_dice: 0.0998, seg_t0: 0.6289, seg_dice_t0: 0.1723, seg_t1: 0.4745, seg_dice_t1: 0.1219, seg_t2: 0.4309, seg_dice_t2: 0.1097, seg_t3: 0.4053, seg_dice_t3: 0.0993, total_t0: 0.8012, total_t1: 0.5963, total_t2: 0.5406, total_t3: 0.5046, total_t4: 0.5097, total: 3.8609, cam_bev_norm: 14.8273, sat_bev_norm: 11.0092, seg_sat: 0.3488, seg_dice_sat: 0.2080, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1000, seg_fused: 0.2840, seg_dice_fused: 0.0676, cam_rel_mean: 0.2206, sat_rel_mean: 0.2138, cam_rel_min: 0.0009, sat_rel_min: 0.0025, grad_norm: 17.2695 2026-04-18 10:13:26,935 - mmdet - INFO - Saving checkpoint at 27966 iterations 2026-04-18 10:23:35,032 - mmdet - INFO - +-----+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +-----+--------------+---------+----------+--------+ | IoU | 0.7862 | 0.6758 | 0.6973 | 0.7198 | +-----+--------------+---------+----------+--------+ 2026-04-18 10:23:35,037 - mmdet - INFO - mIoU = 0.7198 2026-04-18 10:23:52,946 - mmdet - INFO - +---------+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +---------+--------------+---------+----------+--------+ | IoU_cam | 0.6401 | 0.5703 | 0.6114 | 0.6073 | | IoU_sat | 0.7857 | 0.649 | 0.6349 | 0.6899 | +---------+--------------+---------+----------+--------+ 2026-04-18 10:23:52,947 - mmdet - INFO - mIoU_cam = 0.6073 2026-04-18 10:23:52,947 - mmdet - INFO - mIoU_sat = 0.6899 2026-04-18 10:24:24,670 - mmdet - INFO - Logged 8 GT vs Pred visualizations to wandb 2026-04-18 10:24:25,688 - mmdet - INFO - Iter(val) [3010] ped_crossing: 0.7862, divider: 0.6758, boundary: 0.6973, mIoU: 0.7198, mIoU_cam: 0.6073, ped_crossing_cam: 0.6401, divider_cam: 0.5703, boundary_cam: 0.6114, mIoU_sat: 0.6899, ped_crossing_sat: 0.7857, divider_sat: 0.6490, boundary_sat: 0.6349 2026-04-18 10:26:49,969 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 10:26:49,970 - mmdet - INFO - Iter [28000/55932] lr: 2.621e-05, eta: 18:21:06, time: 23.533, data_time: 21.519, memory: 34736, seg: 0.3980, seg_dice: 0.1134, seg_t0: 0.6479, seg_dice_t0: 0.1840, seg_t1: 0.4883, seg_dice_t1: 0.1358, seg_t2: 0.4197, seg_dice_t2: 0.1154, seg_t3: 0.4006, seg_dice_t3: 0.1051, total_t0: 0.8319, total_t1: 0.6241, total_t2: 0.5351, total_t3: 0.5057, total_t4: 0.5114, total: 3.8934, cam_bev_norm: 14.7701, sat_bev_norm: 10.9805, seg_sat: 0.3213, seg_dice_sat: 0.2236, mask_cam_zeroed: 0.0588, mask_cam_noised: 0.2353, seg_fused: 0.2636, seg_dice_fused: 0.0767, cam_rel_mean: 0.2046, sat_rel_mean: 0.2119, cam_rel_min: 0.0013, sat_rel_min: 0.0009, grad_norm: 18.2835 2026-04-18 10:28:34,265 - mmdet - INFO - Iter [28050/55932] lr: 2.614e-05, eta: 18:18:54, time: 2.086, data_time: 0.086, memory: 34736, seg: 0.3851, seg_dice: 0.1094, seg_t0: 0.6552, seg_dice_t0: 0.1832, seg_t1: 0.4769, seg_dice_t1: 0.1285, seg_t2: 0.4193, seg_dice_t2: 0.1156, seg_t3: 0.3985, seg_dice_t3: 0.1098, total_t0: 0.8384, total_t1: 0.6053, total_t2: 0.5349, total_t3: 0.5083, total_t4: 0.4945, total: 3.9005, cam_bev_norm: 14.7024, sat_bev_norm: 10.9043, seg_sat: 0.3364, seg_dice_sat: 0.2361, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.2721, seg_dice_fused: 0.0744, cam_rel_mean: 0.2003, sat_rel_mean: 0.2019, cam_rel_min: 0.0017, sat_rel_min: 0.0025, grad_norm: 17.6485 2026-04-18 10:30:18,832 - mmdet - INFO - Iter [28100/55932] lr: 2.607e-05, eta: 18:16:42, time: 2.091, data_time: 0.090, memory: 34736, seg: 0.3816, seg_dice: 0.0999, seg_t0: 0.5898, seg_dice_t0: 0.1682, seg_t1: 0.4547, seg_dice_t1: 0.1187, seg_t2: 0.4032, seg_dice_t2: 0.1091, seg_t3: 0.3982, seg_dice_t3: 0.1036, total_t0: 0.7581, total_t1: 0.5734, total_t2: 0.5124, total_t3: 0.5018, total_t4: 0.4815, total: 3.6915, cam_bev_norm: 14.7887, sat_bev_norm: 11.0643, seg_sat: 0.3284, seg_dice_sat: 0.2161, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1000, seg_fused: 0.2582, seg_dice_fused: 0.0617, cam_rel_mean: 0.2220, sat_rel_mean: 0.2243, cam_rel_min: 0.0004, sat_rel_min: 0.0006, grad_norm: 17.8289 2026-04-18 10:32:03,148 - mmdet - INFO - Iter [28150/55932] lr: 2.601e-05, eta: 18:14:30, time: 2.086, data_time: 0.088, memory: 34736, seg: 0.4202, seg_dice: 0.1096, seg_t0: 0.6324, seg_dice_t0: 0.1620, seg_t1: 0.4682, seg_dice_t1: 0.1142, seg_t2: 0.4320, seg_dice_t2: 0.1024, seg_t3: 0.4207, seg_dice_t3: 0.1069, total_t0: 0.7944, total_t1: 0.5824, total_t2: 0.5344, total_t3: 0.5275, total_t4: 0.5298, total: 3.9353, cam_bev_norm: 14.7463, sat_bev_norm: 10.9479, seg_sat: 0.3601, seg_dice_sat: 0.2149, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.3124, seg_dice_fused: 0.0795, cam_rel_mean: 0.1972, sat_rel_mean: 0.2111, cam_rel_min: 0.0026, sat_rel_min: 0.0025, grad_norm: 18.3786 2026-04-18 10:33:47,621 - mmdet - INFO - Iter [28200/55932] lr: 2.594e-05, eta: 18:12:18, time: 2.089, data_time: 0.087, memory: 34736, seg: 0.3699, seg_dice: 0.0995, seg_t0: 0.5632, seg_dice_t0: 0.1487, seg_t1: 0.4267, seg_dice_t1: 0.1119, seg_t2: 0.3860, seg_dice_t2: 0.0977, seg_t3: 0.3838, seg_dice_t3: 0.1014, total_t0: 0.7119, total_t1: 0.5386, total_t2: 0.4837, total_t3: 0.4852, total_t4: 0.4694, total: 3.5695, cam_bev_norm: 14.7084, sat_bev_norm: 10.9305, seg_sat: 0.3263, seg_dice_sat: 0.2293, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.2602, seg_dice_fused: 0.0650, cam_rel_mean: 0.1969, sat_rel_mean: 0.2090, cam_rel_min: 0.0021, sat_rel_min: 0.0013, grad_norm: 15.6376 2026-04-18 10:35:32,014 - mmdet - INFO - Iter [28250/55932] lr: 2.587e-05, eta: 18:10:07, time: 2.088, data_time: 0.087, memory: 34736, seg: 0.3818, seg_dice: 0.1085, seg_t0: 0.6118, seg_dice_t0: 0.1694, seg_t1: 0.4460, seg_dice_t1: 0.1225, seg_t2: 0.3943, seg_dice_t2: 0.1096, seg_t3: 0.3827, seg_dice_t3: 0.1001, total_t0: 0.7813, total_t1: 0.5684, total_t2: 0.5039, total_t3: 0.4828, total_t4: 0.4904, total: 3.7391, cam_bev_norm: 14.6801, sat_bev_norm: 10.9667, seg_sat: 0.3243, seg_dice_sat: 0.2476, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.2670, seg_dice_fused: 0.0733, cam_rel_mean: 0.1860, sat_rel_mean: 0.2084, cam_rel_min: 0.0030, sat_rel_min: 0.0013, grad_norm: 16.8936 2026-04-18 10:37:16,721 - mmdet - INFO - Iter [28300/55932] lr: 2.581e-05, eta: 18:07:56, time: 2.094, data_time: 0.083, memory: 34736, seg: 0.3915, seg_dice: 0.1092, seg_t0: 0.5804, seg_dice_t0: 0.1632, seg_t1: 0.4491, seg_dice_t1: 0.1256, seg_t2: 0.4082, seg_dice_t2: 0.1186, seg_t3: 0.3972, seg_dice_t3: 0.1063, total_t0: 0.7436, total_t1: 0.5747, total_t2: 0.5268, total_t3: 0.5035, total_t4: 0.5008, total: 3.8062, cam_bev_norm: 14.7060, sat_bev_norm: 10.9121, seg_sat: 0.3630, seg_dice_sat: 0.2201, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2800, seg_fused: 0.2934, seg_dice_fused: 0.0803, cam_rel_mean: 0.1942, sat_rel_mean: 0.2056, cam_rel_min: 0.0021, sat_rel_min: 0.0013, grad_norm: 19.2414 2026-04-18 10:39:00,815 - mmdet - INFO - Iter [28350/55932] lr: 2.574e-05, eta: 18:05:44, time: 2.082, data_time: 0.084, memory: 34736, seg: 0.3885, seg_dice: 0.0990, seg_t0: 0.6447, seg_dice_t0: 0.1701, seg_t1: 0.4945, seg_dice_t1: 0.1259, seg_t2: 0.4318, seg_dice_t2: 0.1077, seg_t3: 0.3895, seg_dice_t3: 0.0988, total_t0: 0.8148, total_t1: 0.6204, total_t2: 0.5396, total_t3: 0.4884, total_t4: 0.4876, total: 3.9209, cam_bev_norm: 14.6622, sat_bev_norm: 10.9384, seg_sat: 0.3632, seg_dice_sat: 0.2372, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.2963, seg_dice_fused: 0.0736, cam_rel_mean: 0.1938, sat_rel_mean: 0.2157, cam_rel_min: 0.0026, sat_rel_min: 0.0006, grad_norm: 18.3014 2026-04-18 10:40:44,033 - mmdet - INFO - Iter [28400/55932] lr: 2.567e-05, eta: 18:03:31, time: 2.064, data_time: 0.082, memory: 34736, seg: 0.4035, seg_dice: 0.1044, seg_t0: 0.5957, seg_dice_t0: 0.1716, seg_t1: 0.4468, seg_dice_t1: 0.1178, seg_t2: 0.4120, seg_dice_t2: 0.1045, seg_t3: 0.3933, seg_dice_t3: 0.1004, total_t0: 0.7673, total_t1: 0.5646, total_t2: 0.5166, total_t3: 0.4937, total_t4: 0.5079, total: 3.8225, cam_bev_norm: 14.6906, sat_bev_norm: 10.7901, seg_sat: 0.3697, seg_dice_sat: 0.2278, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.3000, seg_fused: 0.3005, seg_dice_fused: 0.0745, cam_rel_mean: 0.2009, sat_rel_mean: 0.2110, cam_rel_min: 0.0013, sat_rel_min: 0.0013, grad_norm: 16.7096 2026-04-18 10:42:27,869 - mmdet - INFO - Iter [28450/55932] lr: 2.561e-05, eta: 18:01:19, time: 2.077, data_time: 0.083, memory: 34736, seg: 0.3743, seg_dice: 0.1004, seg_t0: 0.6231, seg_dice_t0: 0.1717, seg_t1: 0.4510, seg_dice_t1: 0.1142, seg_t2: 0.4156, seg_dice_t2: 0.1013, seg_t3: 0.3797, seg_dice_t3: 0.0992, total_t0: 0.7948, total_t1: 0.5651, total_t2: 0.5168, total_t3: 0.4790, total_t4: 0.4747, total: 3.7615, cam_bev_norm: 14.7373, sat_bev_norm: 10.9538, seg_sat: 0.3569, seg_dice_sat: 0.2083, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.2928, seg_dice_fused: 0.0730, cam_rel_mean: 0.2069, sat_rel_mean: 0.2068, cam_rel_min: 0.0017, sat_rel_min: 0.0032, grad_norm: 17.4980 2026-04-18 10:44:11,291 - mmdet - INFO - Iter [28500/55932] lr: 2.554e-05, eta: 17:59:07, time: 2.068, data_time: 0.081, memory: 34736, seg: 0.3815, seg_dice: 0.1009, seg_t0: 0.6087, seg_dice_t0: 0.1648, seg_t1: 0.4662, seg_dice_t1: 0.1185, seg_t2: 0.4179, seg_dice_t2: 0.1117, seg_t3: 0.4016, seg_dice_t3: 0.1057, total_t0: 0.7734, total_t1: 0.5847, total_t2: 0.5296, total_t3: 0.5073, total_t4: 0.4824, total: 3.7939, cam_bev_norm: 14.7415, sat_bev_norm: 10.9568, seg_sat: 0.3404, seg_dice_sat: 0.2093, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.2910, seg_dice_fused: 0.0758, cam_rel_mean: 0.2031, sat_rel_mean: 0.2076, cam_rel_min: 0.0017, sat_rel_min: 0.0032, grad_norm: 17.0901 2026-04-18 10:45:55,411 - mmdet - INFO - Iter [28550/55932] lr: 2.547e-05, eta: 17:56:56, time: 2.082, data_time: 0.082, memory: 34736, seg: 0.3898, seg_dice: 0.0997, seg_t0: 0.5962, seg_dice_t0: 0.1557, seg_t1: 0.4450, seg_dice_t1: 0.1240, seg_t2: 0.4037, seg_dice_t2: 0.1038, seg_t3: 0.3893, seg_dice_t3: 0.1036, total_t0: 0.7519, total_t1: 0.5690, total_t2: 0.5075, total_t3: 0.4929, total_t4: 0.4895, total: 3.7493, cam_bev_norm: 14.6856, sat_bev_norm: 10.9868, seg_sat: 0.3499, seg_dice_sat: 0.2384, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.2845, seg_dice_fused: 0.0656, cam_rel_mean: 0.1886, sat_rel_mean: 0.2158, cam_rel_min: 0.0026, sat_rel_min: 0.0006, grad_norm: 16.3625 2026-04-18 10:47:39,604 - mmdet - INFO - Iter [28600/55932] lr: 2.541e-05, eta: 17:54:45, time: 2.084, data_time: 0.082, memory: 34736, seg: 0.3673, seg_dice: 0.0958, seg_t0: 0.5673, seg_dice_t0: 0.1528, seg_t1: 0.4260, seg_dice_t1: 0.1105, seg_t2: 0.3924, seg_dice_t2: 0.1007, seg_t3: 0.3714, seg_dice_t3: 0.0932, total_t0: 0.7201, total_t1: 0.5365, total_t2: 0.4931, total_t3: 0.4646, total_t4: 0.4631, total: 3.5971, cam_bev_norm: 14.7476, sat_bev_norm: 11.0065, seg_sat: 0.3282, seg_dice_sat: 0.2304, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.2891, seg_dice_fused: 0.0719, cam_rel_mean: 0.1845, sat_rel_mean: 0.1967, cam_rel_min: 0.0030, sat_rel_min: 0.0038, grad_norm: 16.3959 2026-04-18 10:49:24,206 - mmdet - INFO - Iter [28650/55932] lr: 2.534e-05, eta: 17:52:34, time: 2.092, data_time: 0.085, memory: 34736, seg: 0.3971, seg_dice: 0.0915, seg_t0: 0.5431, seg_dice_t0: 0.1497, seg_t1: 0.4221, seg_dice_t1: 0.1125, seg_t2: 0.3943, seg_dice_t2: 0.0994, seg_t3: 0.3859, seg_dice_t3: 0.0920, total_t0: 0.6928, total_t1: 0.5347, total_t2: 0.4937, total_t3: 0.4779, total_t4: 0.4887, total: 3.5993, cam_bev_norm: 14.7194, sat_bev_norm: 10.8564, seg_sat: 0.3535, seg_dice_sat: 0.2153, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.2809, seg_dice_fused: 0.0619, cam_rel_mean: 0.2007, sat_rel_mean: 0.2208, cam_rel_min: 0.0026, sat_rel_min: 0.0013, grad_norm: 16.0540 2026-04-18 10:51:09,188 - mmdet - INFO - Iter [28700/55932] lr: 2.527e-05, eta: 17:50:24, time: 2.100, data_time: 0.087, memory: 34736, seg: 0.3766, seg_dice: 0.1022, seg_t0: 0.5612, seg_dice_t0: 0.1635, seg_t1: 0.4074, seg_dice_t1: 0.1034, seg_t2: 0.3666, seg_dice_t2: 0.0978, seg_t3: 0.3681, seg_dice_t3: 0.0988, total_t0: 0.7247, total_t1: 0.5109, total_t2: 0.4643, total_t3: 0.4669, total_t4: 0.4787, total: 3.6291, cam_bev_norm: 14.7322, sat_bev_norm: 10.9244, seg_sat: 0.3749, seg_dice_sat: 0.2662, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.2783, seg_dice_fused: 0.0641, cam_rel_mean: 0.1908, sat_rel_mean: 0.2176, cam_rel_min: 0.0030, sat_rel_min: 0.0006, grad_norm: 18.3326 2026-04-18 10:52:54,952 - mmdet - INFO - Iter [28750/55932] lr: 2.521e-05, eta: 17:48:14, time: 2.115, data_time: 0.087, memory: 34736, seg: 0.3909, seg_dice: 0.1092, seg_t0: 0.6268, seg_dice_t0: 0.1702, seg_t1: 0.4510, seg_dice_t1: 0.1254, seg_t2: 0.4058, seg_dice_t2: 0.1087, seg_t3: 0.3915, seg_dice_t3: 0.1075, total_t0: 0.7969, total_t1: 0.5764, total_t2: 0.5145, total_t3: 0.4990, total_t4: 0.5001, total: 3.9083, cam_bev_norm: 14.6994, sat_bev_norm: 10.8386, seg_sat: 0.3884, seg_dice_sat: 0.2494, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.2994, seg_dice_fused: 0.0841, cam_rel_mean: 0.1940, sat_rel_mean: 0.2230, cam_rel_min: 0.0026, sat_rel_min: 0.0000, grad_norm: 18.8153 2026-04-18 10:54:39,576 - mmdet - INFO - Iter [28800/55932] lr: 2.514e-05, eta: 17:46:04, time: 2.093, data_time: 0.086, memory: 34736, seg: 0.3803, seg_dice: 0.1039, seg_t0: 0.6138, seg_dice_t0: 0.1736, seg_t1: 0.4651, seg_dice_t1: 0.1206, seg_t2: 0.4100, seg_dice_t2: 0.1065, seg_t3: 0.3964, seg_dice_t3: 0.1048, total_t0: 0.7874, total_t1: 0.5857, total_t2: 0.5164, total_t3: 0.5012, total_t4: 0.4842, total: 3.8613, cam_bev_norm: 14.6334, sat_bev_norm: 10.8630, seg_sat: 0.3578, seg_dice_sat: 0.2624, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.2883, seg_dice_fused: 0.0778, cam_rel_mean: 0.1993, sat_rel_mean: 0.2130, cam_rel_min: 0.0026, sat_rel_min: 0.0019, grad_norm: 17.6106 2026-04-18 10:56:24,611 - mmdet - INFO - Iter [28850/55932] lr: 2.507e-05, eta: 17:43:54, time: 2.101, data_time: 0.084, memory: 34736, seg: 0.3941, seg_dice: 0.1012, seg_t0: 0.6797, seg_dice_t0: 0.1781, seg_t1: 0.4833, seg_dice_t1: 0.1212, seg_t2: 0.4282, seg_dice_t2: 0.1096, seg_t3: 0.3987, seg_dice_t3: 0.1080, total_t0: 0.8577, total_t1: 0.6045, total_t2: 0.5378, total_t3: 0.5067, total_t4: 0.4953, total: 3.9070, cam_bev_norm: 14.6288, sat_bev_norm: 10.8791, seg_sat: 0.3308, seg_dice_sat: 0.2338, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.2724, seg_dice_fused: 0.0679, cam_rel_mean: 0.2047, sat_rel_mean: 0.2153, cam_rel_min: 0.0017, sat_rel_min: 0.0013, grad_norm: 17.6571 2026-04-18 10:58:09,400 - mmdet - INFO - Iter [28900/55932] lr: 2.501e-05, eta: 17:41:44, time: 2.096, data_time: 0.082, memory: 34736, seg: 0.4043, seg_dice: 0.1099, seg_t0: 0.6449, seg_dice_t0: 0.1696, seg_t1: 0.4877, seg_dice_t1: 0.1238, seg_t2: 0.4332, seg_dice_t2: 0.1091, seg_t3: 0.4249, seg_dice_t3: 0.1042, total_t0: 0.8145, total_t1: 0.6115, total_t2: 0.5422, total_t3: 0.5291, total_t4: 0.5142, total: 3.9432, cam_bev_norm: 14.6168, sat_bev_norm: 10.8583, seg_sat: 0.3504, seg_dice_sat: 0.2142, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.2879, seg_dice_fused: 0.0793, cam_rel_mean: 0.1985, sat_rel_mean: 0.2238, cam_rel_min: 0.0030, sat_rel_min: 0.0006, grad_norm: 16.8542 2026-04-18 10:59:53,807 - mmdet - INFO - Iter [28950/55932] lr: 2.494e-05, eta: 17:39:34, time: 2.088, data_time: 0.086, memory: 34736, seg: 0.3604, seg_dice: 0.1015, seg_t0: 0.5493, seg_dice_t0: 0.1524, seg_t1: 0.4175, seg_dice_t1: 0.1109, seg_t2: 0.3690, seg_dice_t2: 0.1028, seg_t3: 0.3590, seg_dice_t3: 0.0966, total_t0: 0.7017, total_t1: 0.5284, total_t2: 0.4718, total_t3: 0.4556, total_t4: 0.4619, total: 3.6387, cam_bev_norm: 14.6099, sat_bev_norm: 10.9122, seg_sat: 0.3792, seg_dice_sat: 0.2596, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1400, seg_fused: 0.2929, seg_dice_fused: 0.0874, cam_rel_mean: 0.1824, sat_rel_mean: 0.2161, cam_rel_min: 0.0039, sat_rel_min: 0.0000, grad_norm: 16.6563 2026-04-18 11:01:39,812 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 11:01:39,813 - mmdet - INFO - Iter [29000/55932] lr: 2.487e-05, eta: 17:37:25, time: 2.121, data_time: 0.082, memory: 34736, seg: 0.3597, seg_dice: 0.0885, seg_t0: 0.6115, seg_dice_t0: 0.1683, seg_t1: 0.4412, seg_dice_t1: 0.1223, seg_t2: 0.3856, seg_dice_t2: 0.1059, seg_t3: 0.3639, seg_dice_t3: 0.0914, total_t0: 0.7798, total_t1: 0.5635, total_t2: 0.4915, total_t3: 0.4553, total_t4: 0.4482, total: 3.6798, cam_bev_norm: 14.6213, sat_bev_norm: 10.9434, seg_sat: 0.3670, seg_dice_sat: 0.2530, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2600, seg_fused: 0.2595, seg_dice_fused: 0.0619, cam_rel_mean: 0.2095, sat_rel_mean: 0.2209, cam_rel_min: 0.0009, sat_rel_min: 0.0000, grad_norm: 18.8443 2026-04-18 11:03:24,637 - mmdet - INFO - Iter [29050/55932] lr: 2.481e-05, eta: 17:35:15, time: 2.096, data_time: 0.089, memory: 34736, seg: 0.4184, seg_dice: 0.1127, seg_t0: 0.6090, seg_dice_t0: 0.1772, seg_t1: 0.4606, seg_dice_t1: 0.1243, seg_t2: 0.4087, seg_dice_t2: 0.1190, seg_t3: 0.4090, seg_dice_t3: 0.1142, total_t0: 0.7862, total_t1: 0.5849, total_t2: 0.5277, total_t3: 0.5233, total_t4: 0.5311, total: 3.9373, cam_bev_norm: 14.6403, sat_bev_norm: 10.9149, seg_sat: 0.3636, seg_dice_sat: 0.2394, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.3045, seg_dice_fused: 0.0766, cam_rel_mean: 0.2022, sat_rel_mean: 0.2048, cam_rel_min: 0.0017, sat_rel_min: 0.0026, grad_norm: 18.5795 2026-04-18 11:05:07,353 - mmdet - INFO - Iter [29100/55932] lr: 2.474e-05, eta: 17:33:03, time: 2.055, data_time: 0.079, memory: 34736, seg: 0.3695, seg_dice: 0.0943, seg_t0: 0.5570, seg_dice_t0: 0.1490, seg_t1: 0.4161, seg_dice_t1: 0.1120, seg_t2: 0.3939, seg_dice_t2: 0.1043, seg_t3: 0.3755, seg_dice_t3: 0.0932, total_t0: 0.7060, total_t1: 0.5281, total_t2: 0.4981, total_t3: 0.4687, total_t4: 0.4639, total: 3.5239, cam_bev_norm: 14.6419, sat_bev_norm: 11.0133, seg_sat: 0.3312, seg_dice_sat: 0.2076, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0400, seg_fused: 0.2574, seg_dice_fused: 0.0629, cam_rel_mean: 0.2008, sat_rel_mean: 0.2199, cam_rel_min: 0.0026, sat_rel_min: 0.0006, grad_norm: 16.1489 2026-04-18 11:06:53,408 - mmdet - INFO - Iter [29150/55932] lr: 2.467e-05, eta: 17:30:55, time: 2.121, data_time: 0.086, memory: 34736, seg: 0.3773, seg_dice: 0.1067, seg_t0: 0.5644, seg_dice_t0: 0.1613, seg_t1: 0.4386, seg_dice_t1: 0.1246, seg_t2: 0.3967, seg_dice_t2: 0.1076, seg_t3: 0.3807, seg_dice_t3: 0.1022, total_t0: 0.7257, total_t1: 0.5632, total_t2: 0.5043, total_t3: 0.4829, total_t4: 0.4840, total: 3.6848, cam_bev_norm: 14.5655, sat_bev_norm: 10.9373, seg_sat: 0.3347, seg_dice_sat: 0.2338, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 0.2847, seg_dice_fused: 0.0715, cam_rel_mean: 0.1824, sat_rel_mean: 0.1984, cam_rel_min: 0.0030, sat_rel_min: 0.0026, grad_norm: 18.1187 2026-04-18 11:08:38,137 - mmdet - INFO - Iter [29200/55932] lr: 2.461e-05, eta: 17:28:45, time: 2.095, data_time: 0.087, memory: 34736, seg: 0.3506, seg_dice: 0.0910, seg_t0: 0.5493, seg_dice_t0: 0.1616, seg_t1: 0.4091, seg_dice_t1: 0.1101, seg_t2: 0.3683, seg_dice_t2: 0.0986, seg_t3: 0.3547, seg_dice_t3: 0.0921, total_t0: 0.7109, total_t1: 0.5191, total_t2: 0.4669, total_t3: 0.4468, total_t4: 0.4416, total: 3.4330, cam_bev_norm: 14.6757, sat_bev_norm: 11.0030, seg_sat: 0.3212, seg_dice_sat: 0.2162, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.2494, seg_dice_fused: 0.0609, cam_rel_mean: 0.1948, sat_rel_mean: 0.2079, cam_rel_min: 0.0022, sat_rel_min: 0.0026, grad_norm: 18.5617 2026-04-18 11:10:23,352 - mmdet - INFO - Iter [29250/55932] lr: 2.454e-05, eta: 17:26:36, time: 2.104, data_time: 0.090, memory: 34736, seg: 0.3775, seg_dice: 0.0906, seg_t0: 0.5733, seg_dice_t0: 0.1428, seg_t1: 0.4161, seg_dice_t1: 0.1019, seg_t2: 0.3688, seg_dice_t2: 0.0963, seg_t3: 0.3603, seg_dice_t3: 0.0873, total_t0: 0.7162, total_t1: 0.5180, total_t2: 0.4651, total_t3: 0.4476, total_t4: 0.4681, total: 3.5477, cam_bev_norm: 14.6759, sat_bev_norm: 10.9496, seg_sat: 0.3468, seg_dice_sat: 0.2342, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2400, seg_fused: 0.2852, seg_dice_fused: 0.0665, cam_rel_mean: 0.2020, sat_rel_mean: 0.2065, cam_rel_min: 0.0017, sat_rel_min: 0.0032, grad_norm: 16.6812 2026-04-18 11:12:08,039 - mmdet - INFO - Iter [29300/55932] lr: 2.447e-05, eta: 17:24:27, time: 2.094, data_time: 0.087, memory: 34736, seg: 0.3848, seg_dice: 0.0979, seg_t0: 0.5662, seg_dice_t0: 0.1453, seg_t1: 0.4215, seg_dice_t1: 0.1091, seg_t2: 0.3893, seg_dice_t2: 0.0995, seg_t3: 0.3766, seg_dice_t3: 0.0921, total_t0: 0.7115, total_t1: 0.5306, total_t2: 0.4888, total_t3: 0.4687, total_t4: 0.4826, total: 3.5902, cam_bev_norm: 14.6475, sat_bev_norm: 10.9124, seg_sat: 0.3463, seg_dice_sat: 0.2315, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2674, seg_dice_fused: 0.0627, cam_rel_mean: 0.2040, sat_rel_mean: 0.2069, cam_rel_min: 0.0013, sat_rel_min: 0.0019, grad_norm: 15.9633 2026-04-18 11:13:52,508 - mmdet - INFO - Iter [29350/55932] lr: 2.441e-05, eta: 17:22:17, time: 2.090, data_time: 0.088, memory: 34736, seg: 0.3481, seg_dice: 0.0920, seg_t0: 0.5434, seg_dice_t0: 0.1417, seg_t1: 0.4152, seg_dice_t1: 0.1099, seg_t2: 0.3767, seg_dice_t2: 0.0953, seg_t3: 0.3545, seg_dice_t3: 0.0889, total_t0: 0.6851, total_t1: 0.5251, total_t2: 0.4720, total_t3: 0.4434, total_t4: 0.4402, total: 3.4187, cam_bev_norm: 14.6459, sat_bev_norm: 10.9441, seg_sat: 0.3318, seg_dice_sat: 0.2180, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2200, seg_fused: 0.2443, seg_dice_fused: 0.0589, cam_rel_mean: 0.1998, sat_rel_mean: 0.2212, cam_rel_min: 0.0017, sat_rel_min: 0.0000, grad_norm: 15.3658 2026-04-18 11:15:37,098 - mmdet - INFO - Iter [29400/55932] lr: 2.434e-05, eta: 17:20:08, time: 2.091, data_time: 0.085, memory: 34736, seg: 0.3575, seg_dice: 0.0928, seg_t0: 0.5742, seg_dice_t0: 0.1486, seg_t1: 0.4233, seg_dice_t1: 0.1057, seg_t2: 0.3671, seg_dice_t2: 0.0981, seg_t3: 0.3640, seg_dice_t3: 0.0958, total_t0: 0.7228, total_t1: 0.5289, total_t2: 0.4652, total_t3: 0.4598, total_t4: 0.4503, total: 3.4809, cam_bev_norm: 14.6576, sat_bev_norm: 10.9504, seg_sat: 0.3300, seg_dice_sat: 0.2081, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.2559, seg_dice_fused: 0.0598, cam_rel_mean: 0.2017, sat_rel_mean: 0.2286, cam_rel_min: 0.0026, sat_rel_min: 0.0000, grad_norm: 17.1626 2026-04-18 11:17:22,122 - mmdet - INFO - Iter [29450/55932] lr: 2.427e-05, eta: 17:17:59, time: 2.101, data_time: 0.086, memory: 34736, seg: 0.4048, seg_dice: 0.1085, seg_t0: 0.6345, seg_dice_t0: 0.1829, seg_t1: 0.4570, seg_dice_t1: 0.1262, seg_t2: 0.4107, seg_dice_t2: 0.1184, seg_t3: 0.3922, seg_dice_t3: 0.1021, total_t0: 0.8175, total_t1: 0.5831, total_t2: 0.5291, total_t3: 0.4943, total_t4: 0.5133, total: 3.9264, cam_bev_norm: 14.5415, sat_bev_norm: 10.9213, seg_sat: 0.3850, seg_dice_sat: 0.2310, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.2000, seg_fused: 0.2968, seg_dice_fused: 0.0763, cam_rel_mean: 0.1822, sat_rel_mean: 0.2139, cam_rel_min: 0.0039, sat_rel_min: 0.0013, grad_norm: 17.5541 2026-04-18 11:19:06,924 - mmdet - INFO - Iter [29500/55932] lr: 2.421e-05, eta: 17:15:50, time: 2.096, data_time: 0.085, memory: 34736, seg: 0.3905, seg_dice: 0.1009, seg_t0: 0.5700, seg_dice_t0: 0.1629, seg_t1: 0.4451, seg_dice_t1: 0.1205, seg_t2: 0.4081, seg_dice_t2: 0.1126, seg_t3: 0.3905, seg_dice_t3: 0.1035, total_t0: 0.7330, total_t1: 0.5657, total_t2: 0.5207, total_t3: 0.4940, total_t4: 0.4915, total: 3.7356, cam_bev_norm: 14.5545, sat_bev_norm: 10.8513, seg_sat: 0.3606, seg_dice_sat: 0.2275, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.2743, seg_dice_fused: 0.0683, cam_rel_mean: 0.2091, sat_rel_mean: 0.2157, cam_rel_min: 0.0013, sat_rel_min: 0.0013, grad_norm: 16.2450 2026-04-18 11:20:52,396 - mmdet - INFO - Iter [29550/55932] lr: 2.414e-05, eta: 17:13:42, time: 2.109, data_time: 0.084, memory: 34736, seg: 0.3952, seg_dice: 0.1060, seg_t0: 0.6301, seg_dice_t0: 0.1784, seg_t1: 0.4621, seg_dice_t1: 0.1249, seg_t2: 0.4177, seg_dice_t2: 0.1135, seg_t3: 0.4025, seg_dice_t3: 0.1066, total_t0: 0.8085, total_t1: 0.5871, total_t2: 0.5312, total_t3: 0.5090, total_t4: 0.5011, total: 3.8805, cam_bev_norm: 14.5814, sat_bev_norm: 10.9489, seg_sat: 0.3509, seg_dice_sat: 0.2275, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.2892, seg_dice_fused: 0.0760, cam_rel_mean: 0.1970, sat_rel_mean: 0.2096, cam_rel_min: 0.0026, sat_rel_min: 0.0026, grad_norm: 17.1337 2026-04-18 11:22:36,589 - mmdet - INFO - Iter [29600/55932] lr: 2.407e-05, eta: 17:11:32, time: 2.084, data_time: 0.088, memory: 34736, seg: 0.3743, seg_dice: 0.1037, seg_t0: 0.6138, seg_dice_t0: 0.1935, seg_t1: 0.4550, seg_dice_t1: 0.1352, seg_t2: 0.4076, seg_dice_t2: 0.1158, seg_t3: 0.3788, seg_dice_t3: 0.1071, total_t0: 0.8073, total_t1: 0.5902, total_t2: 0.5234, total_t3: 0.4859, total_t4: 0.4780, total: 3.8681, cam_bev_norm: 14.5380, sat_bev_norm: 10.9305, seg_sat: 0.3650, seg_dice_sat: 0.2415, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1200, seg_fused: 0.2984, seg_dice_fused: 0.0782, cam_rel_mean: 0.1767, sat_rel_mean: 0.2013, cam_rel_min: 0.0039, sat_rel_min: 0.0019, grad_norm: 21.2871 2026-04-18 11:24:22,129 - mmdet - INFO - Iter [29650/55932] lr: 2.401e-05, eta: 17:09:24, time: 2.111, data_time: 0.086, memory: 34736, seg: 0.3430, seg_dice: 0.0950, seg_t0: 0.5430, seg_dice_t0: 0.1545, seg_t1: 0.4149, seg_dice_t1: 0.1174, seg_t2: 0.3701, seg_dice_t2: 0.1032, seg_t3: 0.3368, seg_dice_t3: 0.0942, total_t0: 0.6974, total_t1: 0.5323, total_t2: 0.4733, total_t3: 0.4309, total_t4: 0.4380, total: 3.4630, cam_bev_norm: 14.6567, sat_bev_norm: 10.9860, seg_sat: 0.3316, seg_dice_sat: 0.2111, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.2791, seg_dice_fused: 0.0692, cam_rel_mean: 0.1964, sat_rel_mean: 0.2124, cam_rel_min: 0.0026, sat_rel_min: 0.0019, grad_norm: 16.6684 2026-04-18 11:26:06,366 - mmdet - INFO - Iter [29700/55932] lr: 2.394e-05, eta: 17:07:15, time: 2.085, data_time: 0.082, memory: 34736, seg: 0.3724, seg_dice: 0.0960, seg_t0: 0.5620, seg_dice_t0: 0.1504, seg_t1: 0.4200, seg_dice_t1: 0.1120, seg_t2: 0.3966, seg_dice_t2: 0.0999, seg_t3: 0.3811, seg_dice_t3: 0.1021, total_t0: 0.7123, total_t1: 0.5320, total_t2: 0.4965, total_t3: 0.4832, total_t4: 0.4684, total: 3.5947, cam_bev_norm: 14.6623, sat_bev_norm: 10.9084, seg_sat: 0.3531, seg_dice_sat: 0.2110, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1200, seg_fused: 0.2741, seg_dice_fused: 0.0640, cam_rel_mean: 0.1934, sat_rel_mean: 0.2112, cam_rel_min: 0.0035, sat_rel_min: 0.0019, grad_norm: 17.6267 2026-04-18 11:27:50,763 - mmdet - INFO - Iter [29750/55932] lr: 2.388e-05, eta: 17:05:06, time: 2.088, data_time: 0.082, memory: 34736, seg: 0.3562, seg_dice: 0.0922, seg_t0: 0.6012, seg_dice_t0: 0.1707, seg_t1: 0.4484, seg_dice_t1: 0.1235, seg_t2: 0.3958, seg_dice_t2: 0.1081, seg_t3: 0.3645, seg_dice_t3: 0.0926, total_t0: 0.7719, total_t1: 0.5719, total_t2: 0.5040, total_t3: 0.4571, total_t4: 0.4484, total: 3.6165, cam_bev_norm: 14.5946, sat_bev_norm: 10.9095, seg_sat: 0.3211, seg_dice_sat: 0.2187, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1400, seg_fused: 0.2638, seg_dice_fused: 0.0596, cam_rel_mean: 0.1794, sat_rel_mean: 0.2154, cam_rel_min: 0.0035, sat_rel_min: 0.0006, grad_norm: 19.3213 2026-04-18 11:29:35,299 - mmdet - INFO - Iter [29800/55932] lr: 2.381e-05, eta: 17:02:57, time: 2.090, data_time: 0.088, memory: 34736, seg: 0.3817, seg_dice: 0.0993, seg_t0: 0.5994, seg_dice_t0: 0.1734, seg_t1: 0.4712, seg_dice_t1: 0.1242, seg_t2: 0.4228, seg_dice_t2: 0.1073, seg_t3: 0.3905, seg_dice_t3: 0.1020, total_t0: 0.7728, total_t1: 0.5955, total_t2: 0.5301, total_t3: 0.4925, total_t4: 0.4810, total: 3.7829, cam_bev_norm: 14.6227, sat_bev_norm: 10.9434, seg_sat: 0.3452, seg_dice_sat: 0.2251, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.2747, seg_dice_fused: 0.0661, cam_rel_mean: 0.2005, sat_rel_mean: 0.2118, cam_rel_min: 0.0017, sat_rel_min: 0.0019, grad_norm: 17.1585 2026-04-18 11:31:20,440 - mmdet - INFO - Iter [29850/55932] lr: 2.374e-05, eta: 17:00:49, time: 2.103, data_time: 0.083, memory: 34736, seg: 0.3692, seg_dice: 0.1082, seg_t0: 0.6343, seg_dice_t0: 0.1816, seg_t1: 0.4587, seg_dice_t1: 0.1297, seg_t2: 0.4043, seg_dice_t2: 0.1138, seg_t3: 0.3788, seg_dice_t3: 0.1014, total_t0: 0.8159, total_t1: 0.5884, total_t2: 0.5181, total_t3: 0.4802, total_t4: 0.4775, total: 3.7960, cam_bev_norm: 14.5134, sat_bev_norm: 10.8623, seg_sat: 0.3241, seg_dice_sat: 0.2639, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2400, seg_fused: 0.2589, seg_dice_fused: 0.0691, cam_rel_mean: 0.1965, sat_rel_mean: 0.2037, cam_rel_min: 0.0009, sat_rel_min: 0.0006, grad_norm: 19.4977 2026-04-18 11:33:05,517 - mmdet - INFO - Iter [29900/55932] lr: 2.368e-05, eta: 16:58:41, time: 2.102, data_time: 0.094, memory: 34736, seg: 0.3499, seg_dice: 0.0916, seg_t0: 0.5855, seg_dice_t0: 0.1762, seg_t1: 0.4115, seg_dice_t1: 0.1150, seg_t2: 0.3667, seg_dice_t2: 0.1020, seg_t3: 0.3474, seg_dice_t3: 0.0921, total_t0: 0.7617, total_t1: 0.5264, total_t2: 0.4687, total_t3: 0.4395, total_t4: 0.4415, total: 3.5329, cam_bev_norm: 14.6443, sat_bev_norm: 10.9684, seg_sat: 0.3289, seg_dice_sat: 0.2403, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.2599, seg_dice_fused: 0.0660, cam_rel_mean: 0.1996, sat_rel_mean: 0.2027, cam_rel_min: 0.0017, sat_rel_min: 0.0026, grad_norm: 18.5908 2026-04-18 11:34:50,671 - mmdet - INFO - Iter [29950/55932] lr: 2.361e-05, eta: 16:56:33, time: 2.103, data_time: 0.090, memory: 34736, seg: 0.3567, seg_dice: 0.0945, seg_t0: 0.5459, seg_dice_t0: 0.1477, seg_t1: 0.4102, seg_dice_t1: 0.1046, seg_t2: 0.3642, seg_dice_t2: 0.0921, seg_t3: 0.3444, seg_dice_t3: 0.0848, total_t0: 0.6936, total_t1: 0.5147, total_t2: 0.4563, total_t3: 0.4291, total_t4: 0.4512, total: 3.4420, cam_bev_norm: 14.6535, sat_bev_norm: 10.9245, seg_sat: 0.3397, seg_dice_sat: 0.2246, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1200, seg_fused: 0.2713, seg_dice_fused: 0.0614, cam_rel_mean: 0.1902, sat_rel_mean: 0.2264, cam_rel_min: 0.0039, sat_rel_min: 0.0006, grad_norm: 16.0699 2026-04-18 11:36:34,969 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 11:36:34,970 - mmdet - INFO - Iter [30000/55932] lr: 2.354e-05, eta: 16:54:24, time: 2.086, data_time: 0.084, memory: 34736, seg: 0.3571, seg_dice: 0.0985, seg_t0: 0.5643, seg_dice_t0: 0.1504, seg_t1: 0.4206, seg_dice_t1: 0.1059, seg_t2: 0.3777, seg_dice_t2: 0.0975, seg_t3: 0.3579, seg_dice_t3: 0.0934, total_t0: 0.7147, total_t1: 0.5265, total_t2: 0.4751, total_t3: 0.4513, total_t4: 0.4556, total: 3.5761, cam_bev_norm: 14.6292, sat_bev_norm: 10.9687, seg_sat: 0.3571, seg_dice_sat: 0.2315, mask_cam_zeroed: 0.2400, mask_cam_noised: 0.1400, seg_fused: 0.2843, seg_dice_fused: 0.0800, cam_rel_mean: 0.1759, sat_rel_mean: 0.2157, cam_rel_min: 0.0052, sat_rel_min: 0.0006, grad_norm: 15.6452 2026-04-18 11:38:20,266 - mmdet - INFO - Iter [30050/55932] lr: 2.348e-05, eta: 16:52:16, time: 2.106, data_time: 0.084, memory: 34736, seg: 0.3586, seg_dice: 0.0945, seg_t0: 0.5773, seg_dice_t0: 0.1633, seg_t1: 0.4325, seg_dice_t1: 0.1127, seg_t2: 0.3877, seg_dice_t2: 0.1002, seg_t3: 0.3691, seg_dice_t3: 0.0946, total_t0: 0.7405, total_t1: 0.5452, total_t2: 0.4879, total_t3: 0.4637, total_t4: 0.4531, total: 3.6134, cam_bev_norm: 14.5169, sat_bev_norm: 10.9183, seg_sat: 0.3543, seg_dice_sat: 0.2263, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2600, seg_fused: 0.2765, seg_dice_fused: 0.0660, cam_rel_mean: 0.1860, sat_rel_mean: 0.2079, cam_rel_min: 0.0026, sat_rel_min: 0.0013, grad_norm: 15.2863 2026-04-18 11:40:05,859 - mmdet - INFO - Iter [30100/55932] lr: 2.341e-05, eta: 16:50:09, time: 2.112, data_time: 0.087, memory: 34736, seg: 0.3618, seg_dice: 0.0970, seg_t0: 0.6093, seg_dice_t0: 0.1637, seg_t1: 0.4466, seg_dice_t1: 0.1228, seg_t2: 0.3897, seg_dice_t2: 0.1047, seg_t3: 0.3708, seg_dice_t3: 0.1004, total_t0: 0.7730, total_t1: 0.5694, total_t2: 0.4944, total_t3: 0.4712, total_t4: 0.4589, total: 3.6967, cam_bev_norm: 14.5553, sat_bev_norm: 11.0226, seg_sat: 0.3454, seg_dice_sat: 0.2372, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1800, seg_fused: 0.2777, seg_dice_fused: 0.0695, cam_rel_mean: 0.1772, sat_rel_mean: 0.2124, cam_rel_min: 0.0039, sat_rel_min: 0.0006, grad_norm: 16.3485 2026-04-18 11:41:50,156 - mmdet - INFO - Iter [30150/55932] lr: 2.335e-05, eta: 16:48:00, time: 2.086, data_time: 0.083, memory: 34736, seg: 0.3534, seg_dice: 0.0907, seg_t0: 0.5469, seg_dice_t0: 0.1594, seg_t1: 0.4218, seg_dice_t1: 0.1190, seg_t2: 0.3783, seg_dice_t2: 0.0968, seg_t3: 0.3523, seg_dice_t3: 0.0918, total_t0: 0.7063, total_t1: 0.5408, total_t2: 0.4752, total_t3: 0.4441, total_t4: 0.4441, total: 3.5386, cam_bev_norm: 14.6001, sat_bev_norm: 10.9263, seg_sat: 0.3618, seg_dice_sat: 0.2291, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.2737, seg_dice_fused: 0.0635, cam_rel_mean: 0.1984, sat_rel_mean: 0.2188, cam_rel_min: 0.0026, sat_rel_min: 0.0006, grad_norm: 18.3632 2026-04-18 11:43:34,495 - mmdet - INFO - Iter [30200/55932] lr: 2.328e-05, eta: 16:45:52, time: 2.087, data_time: 0.083, memory: 34736, seg: 0.3871, seg_dice: 0.0938, seg_t0: 0.6107, seg_dice_t0: 0.1546, seg_t1: 0.4499, seg_dice_t1: 0.1156, seg_t2: 0.4034, seg_dice_t2: 0.0976, seg_t3: 0.3933, seg_dice_t3: 0.0953, total_t0: 0.7653, total_t1: 0.5655, total_t2: 0.5010, total_t3: 0.4886, total_t4: 0.4809, total: 3.7127, cam_bev_norm: 14.5487, sat_bev_norm: 10.8821, seg_sat: 0.3539, seg_dice_sat: 0.2033, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.2860, seg_dice_fused: 0.0684, cam_rel_mean: 0.1940, sat_rel_mean: 0.2165, cam_rel_min: 0.0026, sat_rel_min: 0.0019, grad_norm: 18.6216 2026-04-18 11:45:18,871 - mmdet - INFO - Iter [30250/55932] lr: 2.321e-05, eta: 16:43:44, time: 2.087, data_time: 0.087, memory: 34736, seg: 0.3686, seg_dice: 0.0953, seg_t0: 0.5488, seg_dice_t0: 0.1506, seg_t1: 0.4100, seg_dice_t1: 0.1075, seg_t2: 0.3783, seg_dice_t2: 0.0959, seg_t3: 0.3717, seg_dice_t3: 0.0952, total_t0: 0.6993, total_t1: 0.5174, total_t2: 0.4742, total_t3: 0.4670, total_t4: 0.4638, total: 3.4888, cam_bev_norm: 14.5617, sat_bev_norm: 10.9642, seg_sat: 0.3274, seg_dice_sat: 0.2077, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.2630, seg_dice_fused: 0.0689, cam_rel_mean: 0.1927, sat_rel_mean: 0.2158, cam_rel_min: 0.0026, sat_rel_min: 0.0013, grad_norm: 14.3794 2026-04-18 11:47:03,600 - mmdet - INFO - Iter [30300/55932] lr: 2.315e-05, eta: 16:41:36, time: 2.095, data_time: 0.084, memory: 34736, seg: 0.3558, seg_dice: 0.0869, seg_t0: 0.5577, seg_dice_t0: 0.1483, seg_t1: 0.4212, seg_dice_t1: 0.1069, seg_t2: 0.3771, seg_dice_t2: 0.0990, seg_t3: 0.3589, seg_dice_t3: 0.0861, total_t0: 0.7060, total_t1: 0.5281, total_t2: 0.4760, total_t3: 0.4450, total_t4: 0.4427, total: 3.5049, cam_bev_norm: 14.6241, sat_bev_norm: 10.9185, seg_sat: 0.3335, seg_dice_sat: 0.2532, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 0.2616, seg_dice_fused: 0.0587, cam_rel_mean: 0.2042, sat_rel_mean: 0.2181, cam_rel_min: 0.0013, sat_rel_min: 0.0006, grad_norm: 16.6535 2026-04-18 11:48:48,319 - mmdet - INFO - Iter [30350/55932] lr: 2.308e-05, eta: 16:39:28, time: 2.095, data_time: 0.089, memory: 34736, seg: 0.3614, seg_dice: 0.0968, seg_t0: 0.5844, seg_dice_t0: 0.1637, seg_t1: 0.4480, seg_dice_t1: 0.1200, seg_t2: 0.3913, seg_dice_t2: 0.1062, seg_t3: 0.3641, seg_dice_t3: 0.1014, total_t0: 0.7481, total_t1: 0.5680, total_t2: 0.4975, total_t3: 0.4655, total_t4: 0.4582, total: 3.6508, cam_bev_norm: 14.4910, sat_bev_norm: 10.9499, seg_sat: 0.3424, seg_dice_sat: 0.2353, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.2634, seg_dice_fused: 0.0723, cam_rel_mean: 0.1995, sat_rel_mean: 0.2045, cam_rel_min: 0.0018, sat_rel_min: 0.0019, grad_norm: 17.5093 2026-04-18 11:50:33,195 - mmdet - INFO - Iter [30400/55932] lr: 2.301e-05, eta: 16:37:21, time: 2.097, data_time: 0.088, memory: 34736, seg: 0.3651, seg_dice: 0.1002, seg_t0: 0.5432, seg_dice_t0: 0.1478, seg_t1: 0.4204, seg_dice_t1: 0.1126, seg_t2: 0.3903, seg_dice_t2: 0.1066, seg_t3: 0.3841, seg_dice_t3: 0.1017, total_t0: 0.6910, total_t1: 0.5330, total_t2: 0.4969, total_t3: 0.4857, total_t4: 0.4653, total: 3.5345, cam_bev_norm: 14.6045, sat_bev_norm: 10.8739, seg_sat: 0.3410, seg_dice_sat: 0.2112, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.2478, seg_dice_fused: 0.0627, cam_rel_mean: 0.2091, sat_rel_mean: 0.2222, cam_rel_min: 0.0013, sat_rel_min: 0.0000, grad_norm: 15.9563 2026-04-18 11:52:18,014 - mmdet - INFO - Iter [30450/55932] lr: 2.295e-05, eta: 16:35:13, time: 2.096, data_time: 0.087, memory: 34736, seg: 0.3746, seg_dice: 0.0962, seg_t0: 0.5457, seg_dice_t0: 0.1513, seg_t1: 0.4260, seg_dice_t1: 0.1147, seg_t2: 0.3839, seg_dice_t2: 0.0993, seg_t3: 0.3666, seg_dice_t3: 0.0970, total_t0: 0.6970, total_t1: 0.5407, total_t2: 0.4832, total_t3: 0.4637, total_t4: 0.4708, total: 3.4558, cam_bev_norm: 14.5646, sat_bev_norm: 10.9843, seg_sat: 0.3040, seg_dice_sat: 0.1829, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.2512, seg_dice_fused: 0.0625, cam_rel_mean: 0.2139, sat_rel_mean: 0.2192, cam_rel_min: 0.0013, sat_rel_min: 0.0013, grad_norm: 16.1643 2026-04-18 11:54:03,159 - mmdet - INFO - Iter [30500/55932] lr: 2.288e-05, eta: 16:33:06, time: 2.103, data_time: 0.086, memory: 34736, seg: 0.4020, seg_dice: 0.1034, seg_t0: 0.5552, seg_dice_t0: 0.1841, seg_t1: 0.4234, seg_dice_t1: 0.1169, seg_t2: 0.4084, seg_dice_t2: 0.1089, seg_t3: 0.3895, seg_dice_t3: 0.1011, total_t0: 0.7393, total_t1: 0.5403, total_t2: 0.5172, total_t3: 0.4906, total_t4: 0.5054, total: 3.7513, cam_bev_norm: 14.5192, sat_bev_norm: 10.9371, seg_sat: 0.3595, seg_dice_sat: 0.2423, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.2810, seg_dice_fused: 0.0756, cam_rel_mean: 0.1917, sat_rel_mean: 0.2190, cam_rel_min: 0.0026, sat_rel_min: 0.0007, grad_norm: 16.6578 2026-04-18 11:55:48,240 - mmdet - INFO - Iter [30550/55932] lr: 2.282e-05, eta: 16:30:59, time: 2.101, data_time: 0.090, memory: 34736, seg: 0.3394, seg_dice: 0.0938, seg_t0: 0.5590, seg_dice_t0: 0.1557, seg_t1: 0.4252, seg_dice_t1: 0.1134, seg_t2: 0.3859, seg_dice_t2: 0.0991, seg_t3: 0.3560, seg_dice_t3: 0.0919, total_t0: 0.7147, total_t1: 0.5386, total_t2: 0.4850, total_t3: 0.4479, total_t4: 0.4332, total: 3.5053, cam_bev_norm: 14.6125, sat_bev_norm: 10.8963, seg_sat: 0.3311, seg_dice_sat: 0.2361, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.2542, seg_dice_fused: 0.0644, cam_rel_mean: 0.2147, sat_rel_mean: 0.2178, cam_rel_min: 0.0013, sat_rel_min: 0.0020, grad_norm: 15.3172 2026-04-18 11:57:32,777 - mmdet - INFO - Iter [30600/55932] lr: 2.275e-05, eta: 16:28:51, time: 2.091, data_time: 0.087, memory: 34736, seg: 0.3636, seg_dice: 0.0999, seg_t0: 0.5646, seg_dice_t0: 0.1654, seg_t1: 0.4289, seg_dice_t1: 0.1150, seg_t2: 0.3832, seg_dice_t2: 0.1025, seg_t3: 0.3661, seg_dice_t3: 0.1014, total_t0: 0.7300, total_t1: 0.5439, total_t2: 0.4857, total_t3: 0.4675, total_t4: 0.4635, total: 3.5745, cam_bev_norm: 14.4908, sat_bev_norm: 10.8850, seg_sat: 0.3260, seg_dice_sat: 0.2467, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.2459, seg_dice_fused: 0.0652, cam_rel_mean: 0.2067, sat_rel_mean: 0.2140, cam_rel_min: 0.0009, sat_rel_min: 0.0007, grad_norm: 15.3704 2026-04-18 11:59:18,364 - mmdet - INFO - Iter [30650/55932] lr: 2.268e-05, eta: 16:26:44, time: 2.112, data_time: 0.090, memory: 34736, seg: 0.3413, seg_dice: 0.0978, seg_t0: 0.5556, seg_dice_t0: 0.1629, seg_t1: 0.4234, seg_dice_t1: 0.1222, seg_t2: 0.3817, seg_dice_t2: 0.1170, seg_t3: 0.3565, seg_dice_t3: 0.0977, total_t0: 0.7184, total_t1: 0.5457, total_t2: 0.4987, total_t3: 0.4542, total_t4: 0.4391, total: 3.5162, cam_bev_norm: 14.5009, sat_bev_norm: 10.9605, seg_sat: 0.3180, seg_dice_sat: 0.2337, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.2436, seg_dice_fused: 0.0650, cam_rel_mean: 0.1967, sat_rel_mean: 0.2141, cam_rel_min: 0.0026, sat_rel_min: 0.0007, grad_norm: 16.2516 2026-04-18 12:01:03,176 - mmdet - INFO - Iter [30700/55932] lr: 2.262e-05, eta: 16:24:37, time: 2.096, data_time: 0.087, memory: 34736, seg: 0.3430, seg_dice: 0.0906, seg_t0: 0.5354, seg_dice_t0: 0.1469, seg_t1: 0.4113, seg_dice_t1: 0.1100, seg_t2: 0.3721, seg_dice_t2: 0.1000, seg_t3: 0.3481, seg_dice_t3: 0.0928, total_t0: 0.6822, total_t1: 0.5213, total_t2: 0.4721, total_t3: 0.4408, total_t4: 0.4336, total: 3.4056, cam_bev_norm: 14.5143, sat_bev_norm: 10.9786, seg_sat: 0.3228, seg_dice_sat: 0.2280, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.2436, seg_dice_fused: 0.0611, cam_rel_mean: 0.2026, sat_rel_mean: 0.2071, cam_rel_min: 0.0009, sat_rel_min: 0.0013, grad_norm: 14.1607 2026-04-18 12:02:48,118 - mmdet - INFO - Iter [30750/55932] lr: 2.255e-05, eta: 16:22:30, time: 2.099, data_time: 0.087, memory: 34736, seg: 0.3815, seg_dice: 0.1020, seg_t0: 0.6208, seg_dice_t0: 0.1760, seg_t1: 0.4700, seg_dice_t1: 0.1293, seg_t2: 0.4192, seg_dice_t2: 0.1136, seg_t3: 0.3894, seg_dice_t3: 0.1079, total_t0: 0.7968, total_t1: 0.5993, total_t2: 0.5329, total_t3: 0.4974, total_t4: 0.4836, total: 3.8699, cam_bev_norm: 14.4546, sat_bev_norm: 10.9253, seg_sat: 0.3632, seg_dice_sat: 0.2442, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.2791, seg_dice_fused: 0.0735, cam_rel_mean: 0.2028, sat_rel_mean: 0.2172, cam_rel_min: 0.0018, sat_rel_min: 0.0013, grad_norm: 16.6108 2026-04-18 12:04:33,231 - mmdet - INFO - Iter [30800/55932] lr: 2.249e-05, eta: 16:20:23, time: 2.102, data_time: 0.082, memory: 34736, seg: 0.3790, seg_dice: 0.0983, seg_t0: 0.6040, seg_dice_t0: 0.1614, seg_t1: 0.4347, seg_dice_t1: 0.1131, seg_t2: 0.3923, seg_dice_t2: 0.1015, seg_t3: 0.3642, seg_dice_t3: 0.0961, total_t0: 0.7654, total_t1: 0.5477, total_t2: 0.4938, total_t3: 0.4602, total_t4: 0.4772, total: 3.6610, cam_bev_norm: 14.5525, sat_bev_norm: 10.9186, seg_sat: 0.3576, seg_dice_sat: 0.2231, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0800, seg_fused: 0.2712, seg_dice_fused: 0.0647, cam_rel_mean: 0.2153, sat_rel_mean: 0.2142, cam_rel_min: 0.0009, sat_rel_min: 0.0020, grad_norm: 15.7434 2026-04-18 12:06:18,141 - mmdet - INFO - Iter [30850/55932] lr: 2.242e-05, eta: 16:18:17, time: 2.099, data_time: 0.086, memory: 34736, seg: 0.3473, seg_dice: 0.0922, seg_t0: 0.5130, seg_dice_t0: 0.1407, seg_t1: 0.3932, seg_dice_t1: 0.1095, seg_t2: 0.3625, seg_dice_t2: 0.0932, seg_t3: 0.3490, seg_dice_t3: 0.0912, total_t0: 0.6537, total_t1: 0.5028, total_t2: 0.4557, total_t3: 0.4402, total_t4: 0.4395, total: 3.3754, cam_bev_norm: 14.5584, sat_bev_norm: 10.9367, seg_sat: 0.3150, seg_dice_sat: 0.2377, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.2619, seg_dice_fused: 0.0691, cam_rel_mean: 0.1849, sat_rel_mean: 0.2078, cam_rel_min: 0.0031, sat_rel_min: 0.0020, grad_norm: 15.5713 2026-04-18 12:08:02,731 - mmdet - INFO - Iter [30900/55932] lr: 2.236e-05, eta: 16:16:10, time: 2.092, data_time: 0.087, memory: 34736, seg: 0.3522, seg_dice: 0.0866, seg_t0: 0.5348, seg_dice_t0: 0.1388, seg_t1: 0.4047, seg_dice_t1: 0.0978, seg_t2: 0.3752, seg_dice_t2: 0.1021, seg_t3: 0.3708, seg_dice_t3: 0.0964, total_t0: 0.6736, total_t1: 0.5024, total_t2: 0.4773, total_t3: 0.4672, total_t4: 0.4388, total: 3.4440, cam_bev_norm: 14.6091, sat_bev_norm: 10.9960, seg_sat: 0.3360, seg_dice_sat: 0.2360, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.2577, seg_dice_fused: 0.0551, cam_rel_mean: 0.2072, sat_rel_mean: 0.2155, cam_rel_min: 0.0013, sat_rel_min: 0.0020, grad_norm: 17.6080 2026-04-18 12:09:48,985 - mmdet - INFO - Iter [30950/55932] lr: 2.229e-05, eta: 16:14:04, time: 2.125, data_time: 0.088, memory: 34736, seg: 0.3627, seg_dice: 0.0884, seg_t0: 0.5774, seg_dice_t0: 0.1732, seg_t1: 0.4119, seg_dice_t1: 0.1077, seg_t2: 0.3780, seg_dice_t2: 0.1008, seg_t3: 0.3575, seg_dice_t3: 0.0930, total_t0: 0.7506, total_t1: 0.5196, total_t2: 0.4788, total_t3: 0.4505, total_t4: 0.4511, total: 3.4935, cam_bev_norm: 14.5721, sat_bev_norm: 11.0761, seg_sat: 0.3259, seg_dice_sat: 0.2068, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.2517, seg_dice_fused: 0.0587, cam_rel_mean: 0.2155, sat_rel_mean: 0.2215, cam_rel_min: 0.0013, sat_rel_min: 0.0013, grad_norm: 15.4141 2026-04-18 12:11:34,266 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 12:11:34,267 - mmdet - INFO - Iter [31000/55932] lr: 2.222e-05, eta: 16:11:58, time: 2.106, data_time: 0.090, memory: 34736, seg: 0.3441, seg_dice: 0.0872, seg_t0: 0.5369, seg_dice_t0: 0.1576, seg_t1: 0.3971, seg_dice_t1: 0.1180, seg_t2: 0.3483, seg_dice_t2: 0.0959, seg_t3: 0.3448, seg_dice_t3: 0.0903, total_t0: 0.6945, total_t1: 0.5152, total_t2: 0.4442, total_t3: 0.4351, total_t4: 0.4313, total: 3.3889, cam_bev_norm: 14.5137, sat_bev_norm: 11.0091, seg_sat: 0.3383, seg_dice_sat: 0.2042, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.2629, seg_dice_fused: 0.0632, cam_rel_mean: 0.1930, sat_rel_mean: 0.2134, cam_rel_min: 0.0022, sat_rel_min: 0.0013, grad_norm: 16.8696 2026-04-18 12:13:19,706 - mmdet - INFO - Iter [31050/55932] lr: 2.216e-05, eta: 16:09:51, time: 2.109, data_time: 0.094, memory: 34736, seg: 0.3721, seg_dice: 0.0946, seg_t0: 0.5652, seg_dice_t0: 0.1551, seg_t1: 0.4522, seg_dice_t1: 0.1218, seg_t2: 0.3993, seg_dice_t2: 0.1077, seg_t3: 0.3731, seg_dice_t3: 0.0958, total_t0: 0.7204, total_t1: 0.5740, total_t2: 0.5070, total_t3: 0.4689, total_t4: 0.4667, total: 3.6399, cam_bev_norm: 14.5061, sat_bev_norm: 10.9483, seg_sat: 0.3476, seg_dice_sat: 0.2124, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.2746, seg_dice_fused: 0.0684, cam_rel_mean: 0.1939, sat_rel_mean: 0.2161, cam_rel_min: 0.0027, sat_rel_min: 0.0007, grad_norm: 15.6740 2026-04-18 12:15:04,439 - mmdet - INFO - Iter [31100/55932] lr: 2.209e-05, eta: 16:07:45, time: 2.095, data_time: 0.090, memory: 34736, seg: 0.3703, seg_dice: 0.0985, seg_t0: 0.5700, seg_dice_t0: 0.1547, seg_t1: 0.4096, seg_dice_t1: 0.1110, seg_t2: 0.3767, seg_dice_t2: 0.0992, seg_t3: 0.3517, seg_dice_t3: 0.1001, total_t0: 0.7246, total_t1: 0.5207, total_t2: 0.4758, total_t3: 0.4518, total_t4: 0.4688, total: 3.5225, cam_bev_norm: 14.5293, sat_bev_norm: 10.9688, seg_sat: 0.3217, seg_dice_sat: 0.2100, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.2751, seg_dice_fused: 0.0739, cam_rel_mean: 0.2035, sat_rel_mean: 0.2082, cam_rel_min: 0.0018, sat_rel_min: 0.0033, grad_norm: 17.2544 2026-04-18 12:16:49,385 - mmdet - INFO - Iter [31150/55932] lr: 2.203e-05, eta: 16:05:38, time: 2.099, data_time: 0.087, memory: 34736, seg: 0.3660, seg_dice: 0.0965, seg_t0: 0.5973, seg_dice_t0: 0.1675, seg_t1: 0.4207, seg_dice_t1: 0.1122, seg_t2: 0.3859, seg_dice_t2: 0.1027, seg_t3: 0.3664, seg_dice_t3: 0.0947, total_t0: 0.7647, total_t1: 0.5329, total_t2: 0.4885, total_t3: 0.4611, total_t4: 0.4625, total: 3.6103, cam_bev_norm: 14.4853, sat_bev_norm: 10.9318, seg_sat: 0.3398, seg_dice_sat: 0.2308, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1600, seg_fused: 0.2648, seg_dice_fused: 0.0651, cam_rel_mean: 0.1894, sat_rel_mean: 0.2193, cam_rel_min: 0.0035, sat_rel_min: 0.0007, grad_norm: 18.2621 2026-04-18 12:18:33,902 - mmdet - INFO - Iter [31200/55932] lr: 2.196e-05, eta: 16:03:32, time: 2.090, data_time: 0.086, memory: 34736, seg: 0.3587, seg_dice: 0.0899, seg_t0: 0.5409, seg_dice_t0: 0.1476, seg_t1: 0.4404, seg_dice_t1: 0.1148, seg_t2: 0.3737, seg_dice_t2: 0.0939, seg_t3: 0.3586, seg_dice_t3: 0.0888, total_t0: 0.6884, total_t1: 0.5552, total_t2: 0.4676, total_t3: 0.4474, total_t4: 0.4486, total: 3.4764, cam_bev_norm: 14.5078, sat_bev_norm: 11.0437, seg_sat: 0.3262, seg_dice_sat: 0.2174, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2400, seg_fused: 0.2648, seg_dice_fused: 0.0609, cam_rel_mean: 0.1998, sat_rel_mean: 0.2112, cam_rel_min: 0.0018, sat_rel_min: 0.0020, grad_norm: 16.0724 2026-04-18 12:20:19,566 - mmdet - INFO - Iter [31250/55932] lr: 2.190e-05, eta: 16:01:26, time: 2.113, data_time: 0.090, memory: 34736, seg: 0.3977, seg_dice: 0.0995, seg_t0: 0.5963, seg_dice_t0: 0.1551, seg_t1: 0.4541, seg_dice_t1: 0.1128, seg_t2: 0.4110, seg_dice_t2: 0.1022, seg_t3: 0.3895, seg_dice_t3: 0.0938, total_t0: 0.7514, total_t1: 0.5669, total_t2: 0.5132, total_t3: 0.4832, total_t4: 0.4972, total: 3.7736, cam_bev_norm: 14.4305, sat_bev_norm: 10.9111, seg_sat: 0.3676, seg_dice_sat: 0.2315, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.2944, seg_dice_fused: 0.0682, cam_rel_mean: 0.2020, sat_rel_mean: 0.2209, cam_rel_min: 0.0022, sat_rel_min: 0.0013, grad_norm: 16.2270 2026-04-18 12:22:04,314 - mmdet - INFO - Iter [31300/55932] lr: 2.183e-05, eta: 15:59:19, time: 2.095, data_time: 0.088, memory: 34736, seg: 0.3676, seg_dice: 0.0912, seg_t0: 0.6322, seg_dice_t0: 0.1723, seg_t1: 0.4491, seg_dice_t1: 0.1246, seg_t2: 0.3939, seg_dice_t2: 0.1015, seg_t3: 0.3708, seg_dice_t3: 0.0997, total_t0: 0.8045, total_t1: 0.5737, total_t2: 0.4954, total_t3: 0.4705, total_t4: 0.4588, total: 3.7446, cam_bev_norm: 14.4558, sat_bev_norm: 10.9580, seg_sat: 0.3541, seg_dice_sat: 0.2477, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2200, seg_fused: 0.2776, seg_dice_fused: 0.0623, cam_rel_mean: 0.2065, sat_rel_mean: 0.2077, cam_rel_min: 0.0018, sat_rel_min: 0.0026, grad_norm: 18.0929 2026-04-18 12:23:49,630 - mmdet - INFO - Iter [31350/55932] lr: 2.176e-05, eta: 15:57:14, time: 2.106, data_time: 0.092, memory: 34736, seg: 0.3734, seg_dice: 0.0992, seg_t0: 0.5234, seg_dice_t0: 0.1416, seg_t1: 0.4001, seg_dice_t1: 0.1097, seg_t2: 0.3764, seg_dice_t2: 0.1072, seg_t3: 0.3754, seg_dice_t3: 0.1000, total_t0: 0.6649, total_t1: 0.5098, total_t2: 0.4837, total_t3: 0.4753, total_t4: 0.4727, total: 3.5355, cam_bev_norm: 14.4381, sat_bev_norm: 10.9238, seg_sat: 0.3315, seg_dice_sat: 0.2444, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0800, seg_fused: 0.2794, seg_dice_fused: 0.0738, cam_rel_mean: 0.1871, sat_rel_mean: 0.2060, cam_rel_min: 0.0031, sat_rel_min: 0.0020, grad_norm: 13.9945 2026-04-18 12:25:35,452 - mmdet - INFO - Iter [31400/55932] lr: 2.170e-05, eta: 15:55:08, time: 2.116, data_time: 0.089, memory: 34736, seg: 0.3572, seg_dice: 0.0963, seg_t0: 0.5806, seg_dice_t0: 0.1647, seg_t1: 0.4264, seg_dice_t1: 0.1098, seg_t2: 0.3746, seg_dice_t2: 0.0967, seg_t3: 0.3554, seg_dice_t3: 0.0910, total_t0: 0.7453, total_t1: 0.5362, total_t2: 0.4713, total_t3: 0.4464, total_t4: 0.4534, total: 3.6060, cam_bev_norm: 14.4657, sat_bev_norm: 10.9559, seg_sat: 0.3584, seg_dice_sat: 0.2414, mask_cam_zeroed: 0.2400, mask_cam_noised: 0.1400, seg_fused: 0.2810, seg_dice_fused: 0.0725, cam_rel_mean: 0.1696, sat_rel_mean: 0.2116, cam_rel_min: 0.0053, sat_rel_min: 0.0007, grad_norm: 15.7090 2026-04-18 12:27:20,712 - mmdet - INFO - Iter [31450/55932] lr: 2.163e-05, eta: 15:53:02, time: 2.105, data_time: 0.087, memory: 34736, seg: 0.3389, seg_dice: 0.0857, seg_t0: 0.5733, seg_dice_t0: 0.1706, seg_t1: 0.4225, seg_dice_t1: 0.1107, seg_t2: 0.3561, seg_dice_t2: 0.0894, seg_t3: 0.3461, seg_dice_t3: 0.0921, total_t0: 0.7439, total_t1: 0.5333, total_t2: 0.4455, total_t3: 0.4382, total_t4: 0.4246, total: 3.5009, cam_bev_norm: 14.4437, sat_bev_norm: 10.9378, seg_sat: 0.3437, seg_dice_sat: 0.2441, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.2607, seg_dice_fused: 0.0669, cam_rel_mean: 0.1880, sat_rel_mean: 0.2151, cam_rel_min: 0.0027, sat_rel_min: 0.0007, grad_norm: 15.6295 2026-04-18 12:29:04,173 - mmdet - INFO - Iter [31500/55932] lr: 2.157e-05, eta: 15:50:55, time: 2.069, data_time: 0.085, memory: 34736, seg: 0.3707, seg_dice: 0.0973, seg_t0: 0.6008, seg_dice_t0: 0.1783, seg_t1: 0.4389, seg_dice_t1: 0.1155, seg_t2: 0.3993, seg_dice_t2: 0.0985, seg_t3: 0.3824, seg_dice_t3: 0.0981, total_t0: 0.7790, total_t1: 0.5544, total_t2: 0.4978, total_t3: 0.4806, total_t4: 0.4680, total: 3.6495, cam_bev_norm: 14.4932, sat_bev_norm: 11.0040, seg_sat: 0.3361, seg_dice_sat: 0.1986, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.2692, seg_dice_fused: 0.0659, cam_rel_mean: 0.2055, sat_rel_mean: 0.2251, cam_rel_min: 0.0018, sat_rel_min: 0.0007, grad_norm: 16.6275 2026-04-18 12:30:50,116 - mmdet - INFO - Iter [31550/55932] lr: 2.150e-05, eta: 15:48:50, time: 2.119, data_time: 0.087, memory: 34736, seg: 0.3650, seg_dice: 0.0975, seg_t0: 0.6190, seg_dice_t0: 0.1742, seg_t1: 0.4314, seg_dice_t1: 0.1217, seg_t2: 0.3962, seg_dice_t2: 0.1048, seg_t3: 0.3753, seg_dice_t3: 0.0994, total_t0: 0.7932, total_t1: 0.5531, total_t2: 0.5010, total_t3: 0.4746, total_t4: 0.4625, total: 3.7034, cam_bev_norm: 14.4866, sat_bev_norm: 10.9182, seg_sat: 0.3360, seg_dice_sat: 0.2281, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1200, seg_fused: 0.2803, seg_dice_fused: 0.0745, cam_rel_mean: 0.1828, sat_rel_mean: 0.2172, cam_rel_min: 0.0045, sat_rel_min: 0.0007, grad_norm: 21.1059 2026-04-18 12:32:36,145 - mmdet - INFO - Iter [31600/55932] lr: 2.144e-05, eta: 15:46:45, time: 2.120, data_time: 0.089, memory: 34736, seg: 0.3787, seg_dice: 0.1019, seg_t0: 0.6232, seg_dice_t0: 0.1802, seg_t1: 0.4530, seg_dice_t1: 0.1253, seg_t2: 0.4055, seg_dice_t2: 0.1109, seg_t3: 0.3792, seg_dice_t3: 0.1053, total_t0: 0.8034, total_t1: 0.5783, total_t2: 0.5164, total_t3: 0.4844, total_t4: 0.4806, total: 3.7808, cam_bev_norm: 14.4460, sat_bev_norm: 10.9198, seg_sat: 0.3492, seg_dice_sat: 0.2406, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.2623, seg_dice_fused: 0.0655, cam_rel_mean: 0.2026, sat_rel_mean: 0.2250, cam_rel_min: 0.0018, sat_rel_min: 0.0000, grad_norm: 19.2879 2026-04-18 12:34:21,714 - mmdet - INFO - Iter [31650/55932] lr: 2.137e-05, eta: 15:44:40, time: 2.112, data_time: 0.092, memory: 34736, seg: 0.3708, seg_dice: 0.1013, seg_t0: 0.6523, seg_dice_t0: 0.1664, seg_t1: 0.4446, seg_dice_t1: 0.1134, seg_t2: 0.3935, seg_dice_t2: 0.0984, seg_t3: 0.3791, seg_dice_t3: 0.1002, total_t0: 0.8186, total_t1: 0.5580, total_t2: 0.4918, total_t3: 0.4793, total_t4: 0.4721, total: 3.7476, cam_bev_norm: 14.4538, sat_bev_norm: 10.9790, seg_sat: 0.3476, seg_dice_sat: 0.2202, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2200, seg_fused: 0.2859, seg_dice_fused: 0.0741, cam_rel_mean: 0.2017, sat_rel_mean: 0.1998, cam_rel_min: 0.0018, sat_rel_min: 0.0040, grad_norm: 18.7267 2026-04-18 12:36:07,129 - mmdet - INFO - Iter [31700/55932] lr: 2.131e-05, eta: 15:42:34, time: 2.108, data_time: 0.086, memory: 34736, seg: 0.4000, seg_dice: 0.1024, seg_t0: 0.5531, seg_dice_t0: 0.1505, seg_t1: 0.4315, seg_dice_t1: 0.1153, seg_t2: 0.4066, seg_dice_t2: 0.1071, seg_t3: 0.4044, seg_dice_t3: 0.1045, total_t0: 0.7036, total_t1: 0.5468, total_t2: 0.5137, total_t3: 0.5089, total_t4: 0.5024, total: 3.7286, cam_bev_norm: 14.3885, sat_bev_norm: 10.9160, seg_sat: 0.3582, seg_dice_sat: 0.2363, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 0.2846, seg_dice_fused: 0.0742, cam_rel_mean: 0.1916, sat_rel_mean: 0.2038, cam_rel_min: 0.0013, sat_rel_min: 0.0013, grad_norm: 18.8665 2026-04-18 12:37:52,015 - mmdet - INFO - Iter [31750/55932] lr: 2.124e-05, eta: 15:40:29, time: 2.097, data_time: 0.082, memory: 34736, seg: 0.3776, seg_dice: 0.0893, seg_t0: 0.5646, seg_dice_t0: 0.1466, seg_t1: 0.4239, seg_dice_t1: 0.1087, seg_t2: 0.3857, seg_dice_t2: 0.1010, seg_t3: 0.3802, seg_dice_t3: 0.0958, total_t0: 0.7112, total_t1: 0.5326, total_t2: 0.4867, total_t3: 0.4761, total_t4: 0.4668, total: 3.5833, cam_bev_norm: 14.4796, sat_bev_norm: 10.8558, seg_sat: 0.3478, seg_dice_sat: 0.2222, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.2776, seg_dice_fused: 0.0623, cam_rel_mean: 0.2106, sat_rel_mean: 0.2129, cam_rel_min: 0.0018, sat_rel_min: 0.0027, grad_norm: 16.6419 2026-04-18 12:39:38,306 - mmdet - INFO - Iter [31800/55932] lr: 2.118e-05, eta: 15:38:24, time: 2.126, data_time: 0.087, memory: 34736, seg: 0.3568, seg_dice: 0.0918, seg_t0: 0.5384, seg_dice_t0: 0.1435, seg_t1: 0.4119, seg_dice_t1: 0.1049, seg_t2: 0.3599, seg_dice_t2: 0.0982, seg_t3: 0.3509, seg_dice_t3: 0.0948, total_t0: 0.6819, total_t1: 0.5168, total_t2: 0.4581, total_t3: 0.4457, total_t4: 0.4486, total: 3.4168, cam_bev_norm: 14.4479, sat_bev_norm: 10.9638, seg_sat: 0.3194, seg_dice_sat: 0.2051, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.2742, seg_dice_fused: 0.0669, cam_rel_mean: 0.2043, sat_rel_mean: 0.2065, cam_rel_min: 0.0018, sat_rel_min: 0.0033, grad_norm: 15.3854 2026-04-18 12:41:23,649 - mmdet - INFO - Iter [31850/55932] lr: 2.111e-05, eta: 15:36:19, time: 2.106, data_time: 0.082, memory: 34736, seg: 0.3642, seg_dice: 0.0881, seg_t0: 0.5659, seg_dice_t0: 0.1489, seg_t1: 0.4372, seg_dice_t1: 0.1110, seg_t2: 0.3931, seg_dice_t2: 0.0944, seg_t3: 0.3723, seg_dice_t3: 0.0933, total_t0: 0.7149, total_t1: 0.5483, total_t2: 0.4875, total_t3: 0.4656, total_t4: 0.4523, total: 3.5158, cam_bev_norm: 14.4420, sat_bev_norm: 11.0050, seg_sat: 0.3121, seg_dice_sat: 0.2185, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.2568, seg_dice_fused: 0.0599, cam_rel_mean: 0.1903, sat_rel_mean: 0.2165, cam_rel_min: 0.0031, sat_rel_min: 0.0007, grad_norm: 15.9329 2026-04-18 12:43:09,724 - mmdet - INFO - Iter [31900/55932] lr: 2.105e-05, eta: 15:34:14, time: 2.122, data_time: 0.092, memory: 34736, seg: 0.3690, seg_dice: 0.1051, seg_t0: 0.5472, seg_dice_t0: 0.1600, seg_t1: 0.4157, seg_dice_t1: 0.1117, seg_t2: 0.3699, seg_dice_t2: 0.1021, seg_t3: 0.3678, seg_dice_t3: 0.1036, total_t0: 0.7072, total_t1: 0.5274, total_t2: 0.4720, total_t3: 0.4713, total_t4: 0.4741, total: 3.4991, cam_bev_norm: 14.4822, sat_bev_norm: 11.0528, seg_sat: 0.3122, seg_dice_sat: 0.2105, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.2547, seg_dice_fused: 0.0695, cam_rel_mean: 0.2079, sat_rel_mean: 0.2221, cam_rel_min: 0.0018, sat_rel_min: 0.0007, grad_norm: 16.8957 2026-04-18 12:44:54,723 - mmdet - INFO - Iter [31950/55932] lr: 2.098e-05, eta: 15:32:09, time: 2.100, data_time: 0.085, memory: 34736, seg: 0.3477, seg_dice: 0.0915, seg_t0: 0.5622, seg_dice_t0: 0.1584, seg_t1: 0.4184, seg_dice_t1: 0.1136, seg_t2: 0.3666, seg_dice_t2: 0.1002, seg_t3: 0.3502, seg_dice_t3: 0.0924, total_t0: 0.7206, total_t1: 0.5320, total_t2: 0.4668, total_t3: 0.4426, total_t4: 0.4392, total: 3.4864, cam_bev_norm: 14.4167, sat_bev_norm: 10.9731, seg_sat: 0.3181, seg_dice_sat: 0.2391, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.2607, seg_dice_fused: 0.0672, cam_rel_mean: 0.1828, sat_rel_mean: 0.2037, cam_rel_min: 0.0031, sat_rel_min: 0.0027, grad_norm: 15.5926 2026-04-18 12:46:39,065 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 12:46:39,066 - mmdet - INFO - Iter [32000/55932] lr: 2.092e-05, eta: 15:30:03, time: 2.087, data_time: 0.082, memory: 34736, seg: 0.3372, seg_dice: 0.0935, seg_t0: 0.5745, seg_dice_t0: 0.1607, seg_t1: 0.4130, seg_dice_t1: 0.1112, seg_t2: 0.3563, seg_dice_t2: 0.0935, seg_t3: 0.3414, seg_dice_t3: 0.0922, total_t0: 0.7352, total_t1: 0.5243, total_t2: 0.4498, total_t3: 0.4336, total_t4: 0.4307, total: 3.4336, cam_bev_norm: 14.4231, sat_bev_norm: 10.9524, seg_sat: 0.3188, seg_dice_sat: 0.2299, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.2448, seg_dice_fused: 0.0665, cam_rel_mean: 0.1929, sat_rel_mean: 0.2146, cam_rel_min: 0.0027, sat_rel_min: 0.0007, grad_norm: 15.6530 2026-04-18 12:48:24,105 - mmdet - INFO - Iter [32050/55932] lr: 2.085e-05, eta: 15:27:58, time: 2.101, data_time: 0.078, memory: 34736, seg: 0.3676, seg_dice: 0.0904, seg_t0: 0.5848, seg_dice_t0: 0.1564, seg_t1: 0.4413, seg_dice_t1: 0.1151, seg_t2: 0.3994, seg_dice_t2: 0.1006, seg_t3: 0.3816, seg_dice_t3: 0.0958, total_t0: 0.7411, total_t1: 0.5564, total_t2: 0.5000, total_t3: 0.4775, total_t4: 0.4579, total: 3.5535, cam_bev_norm: 14.4566, sat_bev_norm: 11.0344, seg_sat: 0.3152, seg_dice_sat: 0.1926, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2400, seg_fused: 0.2535, seg_dice_fused: 0.0593, cam_rel_mean: 0.2001, sat_rel_mean: 0.2252, cam_rel_min: 0.0018, sat_rel_min: 0.0000, grad_norm: 15.8494 2026-04-18 12:50:08,560 - mmdet - INFO - Iter [32100/55932] lr: 2.079e-05, eta: 15:25:52, time: 2.089, data_time: 0.084, memory: 34736, seg: 0.3788, seg_dice: 0.0952, seg_t0: 0.5684, seg_dice_t0: 0.1504, seg_t1: 0.4395, seg_dice_t1: 0.1090, seg_t2: 0.3960, seg_dice_t2: 0.0964, seg_t3: 0.3812, seg_dice_t3: 0.0912, total_t0: 0.7188, total_t1: 0.5486, total_t2: 0.4924, total_t3: 0.4724, total_t4: 0.4740, total: 3.7006, cam_bev_norm: 14.3357, sat_bev_norm: 10.7933, seg_sat: 0.3753, seg_dice_sat: 0.2533, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.2909, seg_dice_fused: 0.0750, cam_rel_mean: 0.1972, sat_rel_mean: 0.2095, cam_rel_min: 0.0013, sat_rel_min: 0.0013, grad_norm: 15.0711 2026-04-18 12:51:53,301 - mmdet - INFO - Iter [32150/55932] lr: 2.072e-05, eta: 15:23:47, time: 2.095, data_time: 0.088, memory: 34736, seg: 0.3808, seg_dice: 0.0932, seg_t0: 0.5805, seg_dice_t0: 0.1652, seg_t1: 0.4263, seg_dice_t1: 0.1092, seg_t2: 0.3851, seg_dice_t2: 0.0957, seg_t3: 0.3694, seg_dice_t3: 0.0899, total_t0: 0.7457, total_t1: 0.5354, total_t2: 0.4809, total_t3: 0.4593, total_t4: 0.4739, total: 3.5809, cam_bev_norm: 14.4275, sat_bev_norm: 10.9676, seg_sat: 0.3323, seg_dice_sat: 0.2013, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.0800, seg_fused: 0.2843, seg_dice_fused: 0.0678, cam_rel_mean: 0.1872, sat_rel_mean: 0.2125, cam_rel_min: 0.0040, sat_rel_min: 0.0020, grad_norm: 17.5091 2026-04-18 12:53:38,243 - mmdet - INFO - Iter [32200/55932] lr: 2.066e-05, eta: 15:21:42, time: 2.099, data_time: 0.084, memory: 34736, seg: 0.3691, seg_dice: 0.0951, seg_t0: 0.5599, seg_dice_t0: 0.1431, seg_t1: 0.4317, seg_dice_t1: 0.1114, seg_t2: 0.3854, seg_dice_t2: 0.1026, seg_t3: 0.3800, seg_dice_t3: 0.0939, total_t0: 0.7030, total_t1: 0.5432, total_t2: 0.4880, total_t3: 0.4739, total_t4: 0.4642, total: 3.5775, cam_bev_norm: 14.3881, sat_bev_norm: 10.9090, seg_sat: 0.3504, seg_dice_sat: 0.2214, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.2661, seg_dice_fused: 0.0672, cam_rel_mean: 0.2022, sat_rel_mean: 0.2129, cam_rel_min: 0.0018, sat_rel_min: 0.0013, grad_norm: 16.9727 2026-04-18 12:55:23,649 - mmdet - INFO - Iter [32250/55932] lr: 2.059e-05, eta: 15:19:37, time: 2.108, data_time: 0.090, memory: 34736, seg: 0.3640, seg_dice: 0.0872, seg_t0: 0.5399, seg_dice_t0: 0.1526, seg_t1: 0.4184, seg_dice_t1: 0.1056, seg_t2: 0.3798, seg_dice_t2: 0.0893, seg_t3: 0.3649, seg_dice_t3: 0.0851, total_t0: 0.6925, total_t1: 0.5240, total_t2: 0.4691, total_t3: 0.4500, total_t4: 0.4511, total: 3.4829, cam_bev_norm: 14.4478, sat_bev_norm: 10.9382, seg_sat: 0.3539, seg_dice_sat: 0.2056, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.2751, seg_dice_fused: 0.0616, cam_rel_mean: 0.1903, sat_rel_mean: 0.2179, cam_rel_min: 0.0031, sat_rel_min: 0.0007, grad_norm: 18.8666 2026-04-18 12:57:09,357 - mmdet - INFO - Iter [32300/55932] lr: 2.053e-05, eta: 15:17:33, time: 2.114, data_time: 0.090, memory: 34736, seg: 0.3714, seg_dice: 0.0909, seg_t0: 0.5649, seg_dice_t0: 0.1447, seg_t1: 0.4309, seg_dice_t1: 0.1135, seg_t2: 0.3976, seg_dice_t2: 0.1021, seg_t3: 0.3799, seg_dice_t3: 0.0973, total_t0: 0.7097, total_t1: 0.5444, total_t2: 0.4997, total_t3: 0.4772, total_t4: 0.4624, total: 3.5672, cam_bev_norm: 14.3717, sat_bev_norm: 10.9343, seg_sat: 0.3185, seg_dice_sat: 0.2334, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2600, seg_fused: 0.2630, seg_dice_fused: 0.0589, cam_rel_mean: 0.1881, sat_rel_mean: 0.2096, cam_rel_min: 0.0027, sat_rel_min: 0.0013, grad_norm: 16.7899 2026-04-18 12:58:55,948 - mmdet - INFO - Iter [32350/55932] lr: 2.046e-05, eta: 15:15:29, time: 2.132, data_time: 0.087, memory: 34736, seg: 0.3230, seg_dice: 0.0802, seg_t0: 0.5262, seg_dice_t0: 0.1362, seg_t1: 0.3902, seg_dice_t1: 0.1003, seg_t2: 0.3310, seg_dice_t2: 0.0817, seg_t3: 0.3226, seg_dice_t3: 0.0830, total_t0: 0.6624, total_t1: 0.4905, total_t2: 0.4127, total_t3: 0.4056, total_t4: 0.4032, total: 3.2240, cam_bev_norm: 14.4048, sat_bev_norm: 10.9112, seg_sat: 0.3116, seg_dice_sat: 0.2486, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2200, seg_fused: 0.2339, seg_dice_fused: 0.0554, cam_rel_mean: 0.1999, sat_rel_mean: 0.2073, cam_rel_min: 0.0009, sat_rel_min: 0.0007, grad_norm: 18.6183 2026-04-18 13:00:40,999 - mmdet - INFO - Iter [32400/55932] lr: 2.040e-05, eta: 15:13:25, time: 2.101, data_time: 0.085, memory: 34736, seg: 0.3444, seg_dice: 0.0866, seg_t0: 0.5526, seg_dice_t0: 0.1466, seg_t1: 0.4037, seg_dice_t1: 0.1036, seg_t2: 0.3595, seg_dice_t2: 0.0890, seg_t3: 0.3533, seg_dice_t3: 0.0873, total_t0: 0.6991, total_t1: 0.5073, total_t2: 0.4484, total_t3: 0.4406, total_t4: 0.4310, total: 3.4020, cam_bev_norm: 14.4243, sat_bev_norm: 10.9035, seg_sat: 0.3254, seg_dice_sat: 0.2314, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.2570, seg_dice_fused: 0.0617, cam_rel_mean: 0.2049, sat_rel_mean: 0.2088, cam_rel_min: 0.0018, sat_rel_min: 0.0027, grad_norm: 14.6296 2026-04-18 13:02:26,001 - mmdet - INFO - Iter [32450/55932] lr: 2.033e-05, eta: 15:11:20, time: 2.100, data_time: 0.082, memory: 34736, seg: 0.3745, seg_dice: 0.0997, seg_t0: 0.5429, seg_dice_t0: 0.1454, seg_t1: 0.3993, seg_dice_t1: 0.1076, seg_t2: 0.3694, seg_dice_t2: 0.0965, seg_t3: 0.3583, seg_dice_t3: 0.0964, total_t0: 0.6883, total_t1: 0.5069, total_t2: 0.4659, total_t3: 0.4547, total_t4: 0.4742, total: 3.5178, cam_bev_norm: 14.3967, sat_bev_norm: 10.9221, seg_sat: 0.3464, seg_dice_sat: 0.2326, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2778, seg_dice_fused: 0.0710, cam_rel_mean: 0.2051, sat_rel_mean: 0.2128, cam_rel_min: 0.0013, sat_rel_min: 0.0013, grad_norm: 14.6402 2026-04-18 13:04:11,460 - mmdet - INFO - Iter [32500/55932] lr: 2.027e-05, eta: 15:09:15, time: 2.109, data_time: 0.090, memory: 34736, seg: 0.3814, seg_dice: 0.1011, seg_t0: 0.5984, seg_dice_t0: 0.1633, seg_t1: 0.4500, seg_dice_t1: 0.1241, seg_t2: 0.3931, seg_dice_t2: 0.1036, seg_t3: 0.3807, seg_dice_t3: 0.0987, total_t0: 0.7617, total_t1: 0.5741, total_t2: 0.4967, total_t3: 0.4794, total_t4: 0.4825, total: 3.7411, cam_bev_norm: 14.4043, sat_bev_norm: 10.8756, seg_sat: 0.3676, seg_dice_sat: 0.2264, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2807, seg_dice_fused: 0.0719, cam_rel_mean: 0.2073, sat_rel_mean: 0.2171, cam_rel_min: 0.0013, sat_rel_min: 0.0013, grad_norm: 15.8662 2026-04-18 13:05:56,874 - mmdet - INFO - Iter [32550/55932] lr: 2.020e-05, eta: 15:07:11, time: 2.108, data_time: 0.088, memory: 34736, seg: 0.3704, seg_dice: 0.0898, seg_t0: 0.5659, seg_dice_t0: 0.1419, seg_t1: 0.4270, seg_dice_t1: 0.1027, seg_t2: 0.3667, seg_dice_t2: 0.0910, seg_t3: 0.3545, seg_dice_t3: 0.0850, total_t0: 0.7078, total_t1: 0.5296, total_t2: 0.4577, total_t3: 0.4395, total_t4: 0.4601, total: 3.4906, cam_bev_norm: 14.4232, sat_bev_norm: 10.9121, seg_sat: 0.3476, seg_dice_sat: 0.2199, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.2677, seg_dice_fused: 0.0605, cam_rel_mean: 0.2062, sat_rel_mean: 0.2095, cam_rel_min: 0.0018, sat_rel_min: 0.0027, grad_norm: 16.2686 2026-04-18 13:07:42,446 - mmdet - INFO - Iter [32600/55932] lr: 2.014e-05, eta: 15:05:07, time: 2.112, data_time: 0.090, memory: 34736, seg: 0.3326, seg_dice: 0.0816, seg_t0: 0.5637, seg_dice_t0: 0.1658, seg_t1: 0.4167, seg_dice_t1: 0.1140, seg_t2: 0.3724, seg_dice_t2: 0.0952, seg_t3: 0.3463, seg_dice_t3: 0.0854, total_t0: 0.7296, total_t1: 0.5308, total_t2: 0.4675, total_t3: 0.4317, total_t4: 0.4142, total: 3.4257, cam_bev_norm: 14.4161, sat_bev_norm: 10.9979, seg_sat: 0.3075, seg_dice_sat: 0.2326, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2600, seg_fused: 0.2534, seg_dice_fused: 0.0585, cam_rel_mean: 0.1912, sat_rel_mean: 0.2069, cam_rel_min: 0.0022, sat_rel_min: 0.0027, grad_norm: 17.3511 2026-04-18 13:10:47,704 - mmdet - INFO - Iter [32650/55932] lr: 2.007e-05, eta: 15:04:00, time: 3.705, data_time: 1.677, memory: 34736, seg: 0.3669, seg_dice: 0.0994, seg_t0: 0.5708, seg_dice_t0: 0.1612, seg_t1: 0.4319, seg_dice_t1: 0.1144, seg_t2: 0.3812, seg_dice_t2: 0.1052, seg_t3: 0.3540, seg_dice_t3: 0.0943, total_t0: 0.7320, total_t1: 0.5463, total_t2: 0.4863, total_t3: 0.4483, total_t4: 0.4663, total: 3.4708, cam_bev_norm: 14.4828, sat_bev_norm: 11.0447, seg_sat: 0.2852, seg_dice_sat: 0.1883, mask_cam_zeroed: 0.2200, mask_cam_noised: 0.1400, seg_fused: 0.2515, seg_dice_fused: 0.0666, cam_rel_mean: 0.1788, sat_rel_mean: 0.2213, cam_rel_min: 0.0050, sat_rel_min: 0.0007, grad_norm: 16.4880 2026-04-18 13:12:33,504 - mmdet - INFO - Iter [32700/55932] lr: 2.001e-05, eta: 15:01:56, time: 2.115, data_time: 0.083, memory: 34736, seg: 0.3269, seg_dice: 0.0848, seg_t0: 0.5231, seg_dice_t0: 0.1417, seg_t1: 0.3934, seg_dice_t1: 0.1011, seg_t2: 0.3419, seg_dice_t2: 0.0933, seg_t3: 0.3259, seg_dice_t3: 0.0833, total_t0: 0.6648, total_t1: 0.4945, total_t2: 0.4352, total_t3: 0.4092, total_t4: 0.4118, total: 3.1720, cam_bev_norm: 14.4183, sat_bev_norm: 10.9869, seg_sat: 0.2572, seg_dice_sat: 0.2247, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.2172, seg_dice_fused: 0.0574, cam_rel_mean: 0.1875, sat_rel_mean: 0.2078, cam_rel_min: 0.0023, sat_rel_min: 0.0007, grad_norm: 14.8904 2026-04-18 13:14:18,494 - mmdet - INFO - Iter [32750/55932] lr: 1.995e-05, eta: 14:59:51, time: 2.100, data_time: 0.086, memory: 34736, seg: 0.3336, seg_dice: 0.1018, seg_t0: 0.5161, seg_dice_t0: 0.1447, seg_t1: 0.3862, seg_dice_t1: 0.1118, seg_t2: 0.3456, seg_dice_t2: 0.0969, seg_t3: 0.3340, seg_dice_t3: 0.0944, total_t0: 0.6608, total_t1: 0.4979, total_t2: 0.4425, total_t3: 0.4284, total_t4: 0.4355, total: 3.2630, cam_bev_norm: 14.4169, sat_bev_norm: 10.9906, seg_sat: 0.2813, seg_dice_sat: 0.2217, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.2249, seg_dice_fused: 0.0700, cam_rel_mean: 0.1979, sat_rel_mean: 0.2204, cam_rel_min: 0.0023, sat_rel_min: 0.0000, grad_norm: 15.2234 2026-04-18 13:16:04,368 - mmdet - INFO - Iter [32800/55932] lr: 1.988e-05, eta: 14:57:47, time: 2.117, data_time: 0.089, memory: 34736, seg: 0.3267, seg_dice: 0.0839, seg_t0: 0.5424, seg_dice_t0: 0.1411, seg_t1: 0.4090, seg_dice_t1: 0.1001, seg_t2: 0.3691, seg_dice_t2: 0.0893, seg_t3: 0.3390, seg_dice_t3: 0.0902, total_t0: 0.6835, total_t1: 0.5091, total_t2: 0.4584, total_t3: 0.4292, total_t4: 0.4106, total: 3.2512, cam_bev_norm: 14.4203, sat_bev_norm: 11.0402, seg_sat: 0.2691, seg_dice_sat: 0.2086, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.2271, seg_dice_fused: 0.0555, cam_rel_mean: 0.2129, sat_rel_mean: 0.2120, cam_rel_min: 0.0009, sat_rel_min: 0.0020, grad_norm: 14.8047 2026-04-18 13:17:50,761 - mmdet - INFO - Iter [32850/55932] lr: 1.982e-05, eta: 14:55:44, time: 2.128, data_time: 0.094, memory: 34736, seg: 0.3294, seg_dice: 0.0819, seg_t0: 0.5601, seg_dice_t0: 0.1417, seg_t1: 0.4085, seg_dice_t1: 0.1096, seg_t2: 0.3558, seg_dice_t2: 0.0901, seg_t3: 0.3392, seg_dice_t3: 0.0814, total_t0: 0.7018, total_t1: 0.5180, total_t2: 0.4460, total_t3: 0.4207, total_t4: 0.4113, total: 3.2864, cam_bev_norm: 14.4031, sat_bev_norm: 10.9886, seg_sat: 0.2845, seg_dice_sat: 0.2114, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0800, seg_fused: 0.2350, seg_dice_fused: 0.0577, cam_rel_mean: 0.1923, sat_rel_mean: 0.2161, cam_rel_min: 0.0032, sat_rel_min: 0.0014, grad_norm: 15.9804 2026-04-18 13:19:37,313 - mmdet - INFO - Iter [32900/55932] lr: 1.975e-05, eta: 14:53:40, time: 2.131, data_time: 0.094, memory: 34736, seg: 0.3525, seg_dice: 0.0872, seg_t0: 0.5552, seg_dice_t0: 0.1465, seg_t1: 0.4231, seg_dice_t1: 0.1075, seg_t2: 0.3778, seg_dice_t2: 0.0916, seg_t3: 0.3793, seg_dice_t3: 0.0980, total_t0: 0.7017, total_t1: 0.5306, total_t2: 0.4694, total_t3: 0.4773, total_t4: 0.4397, total: 3.4307, cam_bev_norm: 14.4290, sat_bev_norm: 10.9605, seg_sat: 0.3086, seg_dice_sat: 0.1969, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 0.2505, seg_dice_fused: 0.0560, cam_rel_mean: 0.2115, sat_rel_mean: 0.2122, cam_rel_min: 0.0018, sat_rel_min: 0.0020, grad_norm: 15.1754 2026-04-18 13:21:23,216 - mmdet - INFO - Iter [32950/55932] lr: 1.969e-05, eta: 14:51:37, time: 2.118, data_time: 0.089, memory: 34736, seg: 0.3394, seg_dice: 0.0865, seg_t0: 0.4657, seg_dice_t0: 0.1325, seg_t1: 0.3567, seg_dice_t1: 0.0951, seg_t2: 0.3294, seg_dice_t2: 0.0818, seg_t3: 0.3312, seg_dice_t3: 0.0846, total_t0: 0.5982, total_t1: 0.4518, total_t2: 0.4112, total_t3: 0.4158, total_t4: 0.4259, total: 3.1347, cam_bev_norm: 14.4106, sat_bev_norm: 11.0300, seg_sat: 0.2970, seg_dice_sat: 0.2168, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.2565, seg_dice_fused: 0.0617, cam_rel_mean: 0.1956, sat_rel_mean: 0.2092, cam_rel_min: 0.0023, sat_rel_min: 0.0020, grad_norm: 14.0841 2026-04-18 13:23:08,682 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 13:23:08,683 - mmdet - INFO - Iter [33000/55932] lr: 1.963e-05, eta: 14:49:33, time: 2.110, data_time: 0.093, memory: 34736, seg: 0.3318, seg_dice: 0.0881, seg_t0: 0.4949, seg_dice_t0: 0.1341, seg_t1: 0.3673, seg_dice_t1: 0.1016, seg_t2: 0.3360, seg_dice_t2: 0.0939, seg_t3: 0.3284, seg_dice_t3: 0.0935, total_t0: 0.6290, total_t1: 0.4688, total_t2: 0.4299, total_t3: 0.4219, total_t4: 0.4199, total: 3.1669, cam_bev_norm: 14.3791, sat_bev_norm: 10.9387, seg_sat: 0.2915, seg_dice_sat: 0.2141, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.2334, seg_dice_fused: 0.0584, cam_rel_mean: 0.1913, sat_rel_mean: 0.2166, cam_rel_min: 0.0027, sat_rel_min: 0.0007, grad_norm: 12.4139 2026-04-18 13:24:55,569 - mmdet - INFO - Iter [33050/55932] lr: 1.956e-05, eta: 14:47:30, time: 2.138, data_time: 0.089, memory: 34736, seg: 0.3316, seg_dice: 0.0891, seg_t0: 0.5043, seg_dice_t0: 0.1402, seg_t1: 0.3856, seg_dice_t1: 0.0996, seg_t2: 0.3504, seg_dice_t2: 0.0933, seg_t3: 0.3302, seg_dice_t3: 0.0850, total_t0: 0.6445, total_t1: 0.4852, total_t2: 0.4437, total_t3: 0.4152, total_t4: 0.4207, total: 3.2119, cam_bev_norm: 14.3591, sat_bev_norm: 10.9253, seg_sat: 0.2902, seg_dice_sat: 0.2158, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1800, seg_fused: 0.2389, seg_dice_fused: 0.0577, cam_rel_mean: 0.2086, sat_rel_mean: 0.2098, cam_rel_min: 0.0009, sat_rel_min: 0.0014, grad_norm: 13.0110 2026-04-18 13:26:41,504 - mmdet - INFO - Iter [33100/55932] lr: 1.950e-05, eta: 14:45:26, time: 2.119, data_time: 0.088, memory: 34736, seg: 0.3624, seg_dice: 0.0937, seg_t0: 0.5409, seg_dice_t0: 0.1376, seg_t1: 0.4007, seg_dice_t1: 0.1023, seg_t2: 0.3615, seg_dice_t2: 0.0888, seg_t3: 0.3553, seg_dice_t3: 0.0937, total_t0: 0.6785, total_t1: 0.5031, total_t2: 0.4503, total_t3: 0.4490, total_t4: 0.4561, total: 3.3862, cam_bev_norm: 14.3368, sat_bev_norm: 10.9689, seg_sat: 0.3136, seg_dice_sat: 0.2329, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.2409, seg_dice_fused: 0.0620, cam_rel_mean: 0.2074, sat_rel_mean: 0.2173, cam_rel_min: 0.0014, sat_rel_min: 0.0007, grad_norm: 18.5234 2026-04-18 13:28:26,984 - mmdet - INFO - Iter [33150/55932] lr: 1.943e-05, eta: 14:43:22, time: 2.110, data_time: 0.088, memory: 34736, seg: 0.3365, seg_dice: 0.0798, seg_t0: 0.5458, seg_dice_t0: 0.1462, seg_t1: 0.4079, seg_dice_t1: 0.1031, seg_t2: 0.3461, seg_dice_t2: 0.0866, seg_t3: 0.3323, seg_dice_t3: 0.0797, total_t0: 0.6920, total_t1: 0.5110, total_t2: 0.4328, total_t3: 0.4121, total_t4: 0.4163, total: 3.2903, cam_bev_norm: 14.3114, sat_bev_norm: 10.9516, seg_sat: 0.2994, seg_dice_sat: 0.2341, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2369, seg_dice_fused: 0.0558, cam_rel_mean: 0.2047, sat_rel_mean: 0.2108, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 17.0582 2026-04-18 13:30:12,233 - mmdet - INFO - Iter [33200/55932] lr: 1.937e-05, eta: 14:41:18, time: 2.105, data_time: 0.089, memory: 34736, seg: 0.3429, seg_dice: 0.0969, seg_t0: 0.5001, seg_dice_t0: 0.1351, seg_t1: 0.3918, seg_dice_t1: 0.1060, seg_t2: 0.3581, seg_dice_t2: 0.0988, seg_t3: 0.3380, seg_dice_t3: 0.0959, total_t0: 0.6352, total_t1: 0.4978, total_t2: 0.4569, total_t3: 0.4339, total_t4: 0.4398, total: 3.2499, cam_bev_norm: 14.2942, sat_bev_norm: 10.9833, seg_sat: 0.2790, seg_dice_sat: 0.2216, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1800, seg_fused: 0.2231, seg_dice_fused: 0.0627, cam_rel_mean: 0.2024, sat_rel_mean: 0.2054, cam_rel_min: 0.0005, sat_rel_min: 0.0007, grad_norm: 14.8062 2026-04-18 13:31:57,805 - mmdet - INFO - Iter [33250/55932] lr: 1.931e-05, eta: 14:39:15, time: 2.111, data_time: 0.087, memory: 34736, seg: 0.3413, seg_dice: 0.0802, seg_t0: 0.5150, seg_dice_t0: 0.1391, seg_t1: 0.3844, seg_dice_t1: 0.1013, seg_t2: 0.3557, seg_dice_t2: 0.0930, seg_t3: 0.3343, seg_dice_t3: 0.0857, total_t0: 0.6541, total_t1: 0.4857, total_t2: 0.4487, total_t3: 0.4200, total_t4: 0.4215, total: 3.2527, cam_bev_norm: 14.4630, sat_bev_norm: 11.0276, seg_sat: 0.3187, seg_dice_sat: 0.1924, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.2526, seg_dice_fused: 0.0590, cam_rel_mean: 0.1995, sat_rel_mean: 0.2323, cam_rel_min: 0.0032, sat_rel_min: 0.0000, grad_norm: 14.2449 2026-04-18 13:33:42,324 - mmdet - INFO - Iter [33300/55932] lr: 1.924e-05, eta: 14:37:11, time: 2.090, data_time: 0.086, memory: 34736, seg: 0.3520, seg_dice: 0.0946, seg_t0: 0.5541, seg_dice_t0: 0.1374, seg_t1: 0.4303, seg_dice_t1: 0.1108, seg_t2: 0.3876, seg_dice_t2: 0.0960, seg_t3: 0.3538, seg_dice_t3: 0.0851, total_t0: 0.6915, total_t1: 0.5410, total_t2: 0.4835, total_t3: 0.4389, total_t4: 0.4466, total: 3.4827, cam_bev_norm: 14.3454, sat_bev_norm: 11.0015, seg_sat: 0.3257, seg_dice_sat: 0.2253, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.2657, seg_dice_fused: 0.0645, cam_rel_mean: 0.1905, sat_rel_mean: 0.2015, cam_rel_min: 0.0032, sat_rel_min: 0.0034, grad_norm: 18.7263 2026-04-18 13:35:27,218 - mmdet - INFO - Iter [33350/55932] lr: 1.918e-05, eta: 14:35:07, time: 2.098, data_time: 0.085, memory: 34736, seg: 0.3384, seg_dice: 0.0943, seg_t0: 0.5256, seg_dice_t0: 0.1476, seg_t1: 0.3817, seg_dice_t1: 0.1080, seg_t2: 0.3511, seg_dice_t2: 0.1011, seg_t3: 0.3420, seg_dice_t3: 0.0952, total_t0: 0.6732, total_t1: 0.4897, total_t2: 0.4522, total_t3: 0.4373, total_t4: 0.4327, total: 3.3171, cam_bev_norm: 14.3481, sat_bev_norm: 10.9901, seg_sat: 0.3002, seg_dice_sat: 0.2287, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2000, seg_fused: 0.2395, seg_dice_fused: 0.0637, cam_rel_mean: 0.1816, sat_rel_mean: 0.2165, cam_rel_min: 0.0036, sat_rel_min: 0.0000, grad_norm: 15.3611 2026-04-18 13:37:12,071 - mmdet - INFO - Iter [33400/55932] lr: 1.911e-05, eta: 14:33:03, time: 2.097, data_time: 0.085, memory: 34736, seg: 0.3353, seg_dice: 0.0806, seg_t0: 0.5296, seg_dice_t0: 0.1431, seg_t1: 0.4100, seg_dice_t1: 0.1095, seg_t2: 0.3559, seg_dice_t2: 0.0919, seg_t3: 0.3423, seg_dice_t3: 0.0845, total_t0: 0.6727, total_t1: 0.5195, total_t2: 0.4477, total_t3: 0.4268, total_t4: 0.4160, total: 3.3019, cam_bev_norm: 14.3982, sat_bev_norm: 11.0260, seg_sat: 0.2950, seg_dice_sat: 0.2212, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.2437, seg_dice_fused: 0.0593, cam_rel_mean: 0.1834, sat_rel_mean: 0.2072, cam_rel_min: 0.0032, sat_rel_min: 0.0020, grad_norm: 17.0628 2026-04-18 13:38:57,110 - mmdet - INFO - Iter [33450/55932] lr: 1.905e-05, eta: 14:30:59, time: 2.101, data_time: 0.084, memory: 34736, seg: 0.3565, seg_dice: 0.0907, seg_t0: 0.5535, seg_dice_t0: 0.1468, seg_t1: 0.4099, seg_dice_t1: 0.1127, seg_t2: 0.3793, seg_dice_t2: 0.0959, seg_t3: 0.3614, seg_dice_t3: 0.0914, total_t0: 0.7003, total_t1: 0.5227, total_t2: 0.4752, total_t3: 0.4528, total_t4: 0.4472, total: 3.3889, cam_bev_norm: 14.3076, sat_bev_norm: 10.9660, seg_sat: 0.2880, seg_dice_sat: 0.2177, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 0.2318, seg_dice_fused: 0.0534, cam_rel_mean: 0.1899, sat_rel_mean: 0.2254, cam_rel_min: 0.0032, sat_rel_min: 0.0000, grad_norm: 14.1693 2026-04-18 13:40:42,737 - mmdet - INFO - Iter [33500/55932] lr: 1.899e-05, eta: 14:28:55, time: 2.112, data_time: 0.082, memory: 34736, seg: 0.3228, seg_dice: 0.0844, seg_t0: 0.5093, seg_dice_t0: 0.1443, seg_t1: 0.3888, seg_dice_t1: 0.1052, seg_t2: 0.3431, seg_dice_t2: 0.0966, seg_t3: 0.3250, seg_dice_t3: 0.0888, total_t0: 0.6536, total_t1: 0.4939, total_t2: 0.4397, total_t3: 0.4138, total_t4: 0.4072, total: 3.1591, cam_bev_norm: 14.3324, sat_bev_norm: 11.0166, seg_sat: 0.2689, seg_dice_sat: 0.2059, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.2234, seg_dice_fused: 0.0526, cam_rel_mean: 0.1996, sat_rel_mean: 0.2109, cam_rel_min: 0.0023, sat_rel_min: 0.0020, grad_norm: 15.5093 2026-04-18 13:42:27,670 - mmdet - INFO - Iter [33550/55932] lr: 1.892e-05, eta: 14:26:52, time: 2.099, data_time: 0.085, memory: 34736, seg: 0.3479, seg_dice: 0.0912, seg_t0: 0.5313, seg_dice_t0: 0.1492, seg_t1: 0.3982, seg_dice_t1: 0.1091, seg_t2: 0.3526, seg_dice_t2: 0.0936, seg_t3: 0.3489, seg_dice_t3: 0.0903, total_t0: 0.6806, total_t1: 0.5073, total_t2: 0.4462, total_t3: 0.4392, total_t4: 0.4391, total: 3.3641, cam_bev_norm: 14.3418, sat_bev_norm: 10.9611, seg_sat: 0.3095, seg_dice_sat: 0.2302, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2400, seg_fused: 0.2495, seg_dice_fused: 0.0627, cam_rel_mean: 0.2032, sat_rel_mean: 0.2118, cam_rel_min: 0.0023, sat_rel_min: 0.0020, grad_norm: 14.8486 2026-04-18 13:44:12,821 - mmdet - INFO - Iter [33600/55932] lr: 1.886e-05, eta: 14:24:48, time: 2.103, data_time: 0.085, memory: 34736, seg: 0.3338, seg_dice: 0.0892, seg_t0: 0.5611, seg_dice_t0: 0.1538, seg_t1: 0.4155, seg_dice_t1: 0.1072, seg_t2: 0.3738, seg_dice_t2: 0.0963, seg_t3: 0.3612, seg_dice_t3: 0.0943, total_t0: 0.7150, total_t1: 0.5227, total_t2: 0.4701, total_t3: 0.4555, total_t4: 0.4230, total: 3.4560, cam_bev_norm: 14.3044, sat_bev_norm: 10.9496, seg_sat: 0.3050, seg_dice_sat: 0.2319, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.2654, seg_dice_fused: 0.0674, cam_rel_mean: 0.1983, sat_rel_mean: 0.2041, cam_rel_min: 0.0023, sat_rel_min: 0.0034, grad_norm: 15.2300 2026-04-18 13:45:57,996 - mmdet - INFO - Iter [33650/55932] lr: 1.880e-05, eta: 14:22:45, time: 2.103, data_time: 0.086, memory: 34736, seg: 0.3225, seg_dice: 0.0850, seg_t0: 0.5210, seg_dice_t0: 0.1407, seg_t1: 0.3877, seg_dice_t1: 0.0996, seg_t2: 0.3375, seg_dice_t2: 0.0835, seg_t3: 0.3256, seg_dice_t3: 0.0810, total_t0: 0.6617, total_t1: 0.4873, total_t2: 0.4211, total_t3: 0.4066, total_t4: 0.4075, total: 3.1825, cam_bev_norm: 14.3836, sat_bev_norm: 11.0388, seg_sat: 0.2927, seg_dice_sat: 0.2093, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.2385, seg_dice_fused: 0.0578, cam_rel_mean: 0.1930, sat_rel_mean: 0.2117, cam_rel_min: 0.0023, sat_rel_min: 0.0020, grad_norm: 15.8452 2026-04-18 13:47:43,308 - mmdet - INFO - Iter [33700/55932] lr: 1.873e-05, eta: 14:20:41, time: 2.106, data_time: 0.084, memory: 34736, seg: 0.3801, seg_dice: 0.0907, seg_t0: 0.5414, seg_dice_t0: 0.1396, seg_t1: 0.4075, seg_dice_t1: 0.1037, seg_t2: 0.3704, seg_dice_t2: 0.0964, seg_t3: 0.3530, seg_dice_t3: 0.0843, total_t0: 0.6810, total_t1: 0.5112, total_t2: 0.4668, total_t3: 0.4373, total_t4: 0.4708, total: 3.3884, cam_bev_norm: 14.3568, sat_bev_norm: 11.0287, seg_sat: 0.2999, seg_dice_sat: 0.2119, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1400, seg_fused: 0.2480, seg_dice_fused: 0.0615, cam_rel_mean: 0.1894, sat_rel_mean: 0.2225, cam_rel_min: 0.0041, sat_rel_min: 0.0007, grad_norm: 15.4715 2026-04-18 13:49:29,084 - mmdet - INFO - Iter [33750/55932] lr: 1.867e-05, eta: 14:18:39, time: 2.116, data_time: 0.089, memory: 34736, seg: 0.3393, seg_dice: 0.0919, seg_t0: 0.5729, seg_dice_t0: 0.1620, seg_t1: 0.4210, seg_dice_t1: 0.1125, seg_t2: 0.3677, seg_dice_t2: 0.0961, seg_t3: 0.3591, seg_dice_t3: 0.0910, total_t0: 0.7348, total_t1: 0.5335, total_t2: 0.4638, total_t3: 0.4501, total_t4: 0.4312, total: 3.4194, cam_bev_norm: 14.3138, sat_bev_norm: 10.9869, seg_sat: 0.2875, seg_dice_sat: 0.2163, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.2387, seg_dice_fused: 0.0634, cam_rel_mean: 0.1936, sat_rel_mean: 0.2103, cam_rel_min: 0.0027, sat_rel_min: 0.0021, grad_norm: 16.5852 2026-04-18 13:51:13,866 - mmdet - INFO - Iter [33800/55932] lr: 1.861e-05, eta: 14:16:35, time: 2.096, data_time: 0.081, memory: 34736, seg: 0.3937, seg_dice: 0.0955, seg_t0: 0.6222, seg_dice_t0: 0.1694, seg_t1: 0.4588, seg_dice_t1: 0.1215, seg_t2: 0.4218, seg_dice_t2: 0.1046, seg_t3: 0.4020, seg_dice_t3: 0.0963, total_t0: 0.7917, total_t1: 0.5802, total_t2: 0.5265, total_t3: 0.4983, total_t4: 0.4892, total: 3.7786, cam_bev_norm: 14.3012, sat_bev_norm: 10.9224, seg_sat: 0.3446, seg_dice_sat: 0.2032, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.2790, seg_dice_fused: 0.0660, cam_rel_mean: 0.2056, sat_rel_mean: 0.2211, cam_rel_min: 0.0023, sat_rel_min: 0.0021, grad_norm: 18.2108 2026-04-18 13:52:58,812 - mmdet - INFO - Iter [33850/55932] lr: 1.854e-05, eta: 14:14:32, time: 2.099, data_time: 0.080, memory: 34736, seg: 0.3277, seg_dice: 0.0925, seg_t0: 0.5532, seg_dice_t0: 0.1490, seg_t1: 0.4010, seg_dice_t1: 0.1064, seg_t2: 0.3437, seg_dice_t2: 0.0882, seg_t3: 0.3221, seg_dice_t3: 0.0872, total_t0: 0.7022, total_t1: 0.5074, total_t2: 0.4318, total_t3: 0.4093, total_t4: 0.4201, total: 3.3298, cam_bev_norm: 14.3418, sat_bev_norm: 10.9940, seg_sat: 0.3129, seg_dice_sat: 0.2269, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.2515, seg_dice_fused: 0.0677, cam_rel_mean: 0.2015, sat_rel_mean: 0.2106, cam_rel_min: 0.0023, sat_rel_min: 0.0027, grad_norm: 15.0622 2026-04-18 13:54:43,329 - mmdet - INFO - Iter [33900/55932] lr: 1.848e-05, eta: 14:12:28, time: 2.090, data_time: 0.087, memory: 34736, seg: 0.3319, seg_dice: 0.0882, seg_t0: 0.5181, seg_dice_t0: 0.1430, seg_t1: 0.3780, seg_dice_t1: 0.1010, seg_t2: 0.3553, seg_dice_t2: 0.0914, seg_t3: 0.3380, seg_dice_t3: 0.0901, total_t0: 0.6611, total_t1: 0.4790, total_t2: 0.4467, total_t3: 0.4281, total_t4: 0.4201, total: 3.2713, cam_bev_norm: 14.3706, sat_bev_norm: 10.9933, seg_sat: 0.3105, seg_dice_sat: 0.2107, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.2525, seg_dice_fused: 0.0628, cam_rel_mean: 0.2073, sat_rel_mean: 0.2138, cam_rel_min: 0.0023, sat_rel_min: 0.0027, grad_norm: 14.2924 2026-04-18 13:56:29,258 - mmdet - INFO - Iter [33950/55932] lr: 1.842e-05, eta: 14:10:25, time: 2.119, data_time: 0.085, memory: 34736, seg: 0.3721, seg_dice: 0.0993, seg_t0: 0.5790, seg_dice_t0: 0.1637, seg_t1: 0.4448, seg_dice_t1: 0.1189, seg_t2: 0.3964, seg_dice_t2: 0.0979, seg_t3: 0.3659, seg_dice_t3: 0.0954, total_t0: 0.7427, total_t1: 0.5638, total_t2: 0.4943, total_t3: 0.4613, total_t4: 0.4714, total: 3.5894, cam_bev_norm: 14.3305, sat_bev_norm: 10.8995, seg_sat: 0.3335, seg_dice_sat: 0.2002, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.2577, seg_dice_fused: 0.0645, cam_rel_mean: 0.1971, sat_rel_mean: 0.2248, cam_rel_min: 0.0032, sat_rel_min: 0.0000, grad_norm: 16.8375 2026-04-18 13:58:14,077 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 13:58:14,080 - mmdet - INFO - Iter [34000/55932] lr: 1.836e-05, eta: 14:08:22, time: 2.097, data_time: 0.086, memory: 34736, seg: 0.3140, seg_dice: 0.0784, seg_t0: 0.5192, seg_dice_t0: 0.1373, seg_t1: 0.3863, seg_dice_t1: 0.0982, seg_t2: 0.3355, seg_dice_t2: 0.0888, seg_t3: 0.3259, seg_dice_t3: 0.0837, total_t0: 0.6565, total_t1: 0.4845, total_t2: 0.4243, total_t3: 0.4096, total_t4: 0.3924, total: 3.1477, cam_bev_norm: 14.3532, sat_bev_norm: 10.9402, seg_sat: 0.3193, seg_dice_sat: 0.1613, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.0800, seg_fused: 0.2446, seg_dice_fused: 0.0551, cam_rel_mean: 0.1927, sat_rel_mean: 0.2114, cam_rel_min: 0.0036, sat_rel_min: 0.0021, grad_norm: 15.7490 2026-04-18 13:59:57,253 - mmdet - INFO - Iter [34050/55932] lr: 1.829e-05, eta: 14:06:18, time: 2.063, data_time: 0.076, memory: 34736, seg: 0.2995, seg_dice: 0.0694, seg_t0: 0.4761, seg_dice_t0: 0.1227, seg_t1: 0.3565, seg_dice_t1: 0.0887, seg_t2: 0.3210, seg_dice_t2: 0.0783, seg_t3: 0.3034, seg_dice_t3: 0.0708, total_t0: 0.5989, total_t1: 0.4451, total_t2: 0.3993, total_t3: 0.3741, total_t4: 0.3690, total: 2.8441, cam_bev_norm: 14.3679, sat_bev_norm: 10.9711, seg_sat: 0.3057, seg_dice_sat: 0.0759, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2200, seg_fused: 0.2258, seg_dice_fused: 0.0503, cam_rel_mean: 0.1902, sat_rel_mean: 0.2193, cam_rel_min: 0.0027, sat_rel_min: 0.0000, grad_norm: 14.3860 2026-04-18 14:01:43,434 - mmdet - INFO - Iter [34100/55932] lr: 1.823e-05, eta: 14:04:15, time: 2.124, data_time: 0.084, memory: 34736, seg: 0.3300, seg_dice: 0.0879, seg_t0: 0.5018, seg_dice_t0: 0.1428, seg_t1: 0.3732, seg_dice_t1: 0.1015, seg_t2: 0.3352, seg_dice_t2: 0.0873, seg_t3: 0.3336, seg_dice_t3: 0.0858, total_t0: 0.6446, total_t1: 0.4747, total_t2: 0.4225, total_t3: 0.4194, total_t4: 0.4180, total: 3.0708, cam_bev_norm: 14.3070, sat_bev_norm: 11.0203, seg_sat: 0.3144, seg_dice_sat: 0.0883, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1200, seg_fused: 0.2279, seg_dice_fused: 0.0609, cam_rel_mean: 0.2040, sat_rel_mean: 0.2153, cam_rel_min: 0.0009, sat_rel_min: 0.0000, grad_norm: 14.7778 2026-04-18 14:03:29,412 - mmdet - INFO - Iter [34150/55932] lr: 1.817e-05, eta: 14:02:13, time: 2.119, data_time: 0.093, memory: 34736, seg: 0.3152, seg_dice: 0.0823, seg_t0: 0.5011, seg_dice_t0: 0.1351, seg_t1: 0.3806, seg_dice_t1: 0.0972, seg_t2: 0.3352, seg_dice_t2: 0.0887, seg_t3: 0.3127, seg_dice_t3: 0.0799, total_t0: 0.6362, total_t1: 0.4777, total_t2: 0.4239, total_t3: 0.3926, total_t4: 0.3975, total: 3.0031, cam_bev_norm: 14.3626, sat_bev_norm: 10.9461, seg_sat: 0.3096, seg_dice_sat: 0.0772, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.2325, seg_dice_fused: 0.0559, cam_rel_mean: 0.2061, sat_rel_mean: 0.2194, cam_rel_min: 0.0018, sat_rel_min: 0.0007, grad_norm: 14.6484 2026-04-18 14:05:16,364 - mmdet - INFO - Iter [34200/55932] lr: 1.810e-05, eta: 14:00:11, time: 2.139, data_time: 0.096, memory: 34736, seg: 0.3426, seg_dice: 0.0875, seg_t0: 0.5756, seg_dice_t0: 0.1459, seg_t1: 0.3987, seg_dice_t1: 0.0984, seg_t2: 0.3532, seg_dice_t2: 0.0890, seg_t3: 0.3389, seg_dice_t3: 0.0890, total_t0: 0.7215, total_t1: 0.4970, total_t2: 0.4422, total_t3: 0.4279, total_t4: 0.4301, total: 3.3577, cam_bev_norm: 14.3337, sat_bev_norm: 10.8332, seg_sat: 0.3902, seg_dice_sat: 0.0957, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.2820, seg_dice_fused: 0.0710, cam_rel_mean: 0.1906, sat_rel_mean: 0.2159, cam_rel_min: 0.0027, sat_rel_min: 0.0007, grad_norm: 17.0510 2026-04-18 14:07:02,240 - mmdet - INFO - Iter [34250/55932] lr: 1.804e-05, eta: 13:58:09, time: 2.118, data_time: 0.089, memory: 34736, seg: 0.3468, seg_dice: 0.0898, seg_t0: 0.5568, seg_dice_t0: 0.1593, seg_t1: 0.4022, seg_dice_t1: 0.1178, seg_t2: 0.3569, seg_dice_t2: 0.0965, seg_t3: 0.3337, seg_dice_t3: 0.0850, total_t0: 0.7161, total_t1: 0.5200, total_t2: 0.4534, total_t3: 0.4186, total_t4: 0.4367, total: 3.2951, cam_bev_norm: 14.2896, sat_bev_norm: 10.9514, seg_sat: 0.3357, seg_dice_sat: 0.0871, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2000, seg_fused: 0.2624, seg_dice_fused: 0.0651, cam_rel_mean: 0.1898, sat_rel_mean: 0.2140, cam_rel_min: 0.0032, sat_rel_min: 0.0014, grad_norm: 16.2239 2026-04-18 14:08:47,540 - mmdet - INFO - Iter [34300/55932] lr: 1.798e-05, eta: 13:56:06, time: 2.106, data_time: 0.086, memory: 34736, seg: 0.3462, seg_dice: 0.0849, seg_t0: 0.5300, seg_dice_t0: 0.1414, seg_t1: 0.3824, seg_dice_t1: 0.0982, seg_t2: 0.3616, seg_dice_t2: 0.0924, seg_t3: 0.3368, seg_dice_t3: 0.0868, total_t0: 0.6714, total_t1: 0.4806, total_t2: 0.4541, total_t3: 0.4236, total_t4: 0.4311, total: 3.1257, cam_bev_norm: 14.3167, sat_bev_norm: 11.0366, seg_sat: 0.3057, seg_dice_sat: 0.0724, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.2314, seg_dice_fused: 0.0555, cam_rel_mean: 0.1961, sat_rel_mean: 0.2154, cam_rel_min: 0.0023, sat_rel_min: 0.0014, grad_norm: 16.4811 2026-04-18 14:10:32,767 - mmdet - INFO - Iter [34350/55932] lr: 1.792e-05, eta: 13:54:03, time: 2.104, data_time: 0.087, memory: 34736, seg: 0.3510, seg_dice: 0.0892, seg_t0: 0.5660, seg_dice_t0: 0.1546, seg_t1: 0.4147, seg_dice_t1: 0.1117, seg_t2: 0.3608, seg_dice_t2: 0.0963, seg_t3: 0.3504, seg_dice_t3: 0.0868, total_t0: 0.7206, total_t1: 0.5264, total_t2: 0.4571, total_t3: 0.4372, total_t4: 0.4403, total: 3.3209, cam_bev_norm: 14.3266, sat_bev_norm: 10.9636, seg_sat: 0.3267, seg_dice_sat: 0.0809, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.3400, seg_fused: 0.2668, seg_dice_fused: 0.0649, cam_rel_mean: 0.1868, sat_rel_mean: 0.2122, cam_rel_min: 0.0032, sat_rel_min: 0.0014, grad_norm: 16.0553 2026-04-18 14:12:19,222 - mmdet - INFO - Iter [34400/55932] lr: 1.785e-05, eta: 13:52:01, time: 2.129, data_time: 0.092, memory: 34736, seg: 0.3309, seg_dice: 0.0831, seg_t0: 0.5592, seg_dice_t0: 0.1457, seg_t1: 0.4123, seg_dice_t1: 0.1037, seg_t2: 0.3734, seg_dice_t2: 0.0914, seg_t3: 0.3467, seg_dice_t3: 0.0905, total_t0: 0.7049, total_t1: 0.5161, total_t2: 0.4649, total_t3: 0.4372, total_t4: 0.4140, total: 3.2526, cam_bev_norm: 14.3643, sat_bev_norm: 10.9255, seg_sat: 0.3235, seg_dice_sat: 0.0800, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.2502, seg_dice_fused: 0.0618, cam_rel_mean: 0.2132, sat_rel_mean: 0.2148, cam_rel_min: 0.0014, sat_rel_min: 0.0027, grad_norm: 14.4418 2026-04-18 14:14:04,768 - mmdet - INFO - Iter [34450/55932] lr: 1.779e-05, eta: 13:49:59, time: 2.111, data_time: 0.088, memory: 34736, seg: 0.3365, seg_dice: 0.0874, seg_t0: 0.4872, seg_dice_t0: 0.1335, seg_t1: 0.3723, seg_dice_t1: 0.1038, seg_t2: 0.3457, seg_dice_t2: 0.0935, seg_t3: 0.3426, seg_dice_t3: 0.0909, total_t0: 0.6207, total_t1: 0.4761, total_t2: 0.4392, total_t3: 0.4336, total_t4: 0.4239, total: 3.1825, cam_bev_norm: 14.2920, sat_bev_norm: 10.8776, seg_sat: 0.3437, seg_dice_sat: 0.0967, mask_cam_zeroed: 0.2200, mask_cam_noised: 0.1000, seg_fused: 0.2762, seg_dice_fused: 0.0723, cam_rel_mean: 0.1686, sat_rel_mean: 0.2010, cam_rel_min: 0.0050, sat_rel_min: 0.0027, grad_norm: 13.9700 2026-04-18 14:15:50,124 - mmdet - INFO - Iter [34500/55932] lr: 1.773e-05, eta: 13:47:57, time: 2.107, data_time: 0.091, memory: 34736, seg: 0.3271, seg_dice: 0.0796, seg_t0: 0.5188, seg_dice_t0: 0.1416, seg_t1: 0.3889, seg_dice_t1: 0.1056, seg_t2: 0.3545, seg_dice_t2: 0.0952, seg_t3: 0.3420, seg_dice_t3: 0.0872, total_t0: 0.6604, total_t1: 0.4945, total_t2: 0.4498, total_t3: 0.4292, total_t4: 0.4067, total: 3.1713, cam_bev_norm: 14.3677, sat_bev_norm: 10.9682, seg_sat: 0.3449, seg_dice_sat: 0.0766, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.2515, seg_dice_fused: 0.0578, cam_rel_mean: 0.1973, sat_rel_mean: 0.2222, cam_rel_min: 0.0027, sat_rel_min: 0.0007, grad_norm: 15.2562 2026-04-18 14:17:35,897 - mmdet - INFO - Iter [34550/55932] lr: 1.767e-05, eta: 13:45:54, time: 2.115, data_time: 0.091, memory: 34736, seg: 0.3307, seg_dice: 0.0841, seg_t0: 0.4963, seg_dice_t0: 0.1309, seg_t1: 0.3728, seg_dice_t1: 0.0943, seg_t2: 0.3459, seg_dice_t2: 0.0843, seg_t3: 0.3334, seg_dice_t3: 0.0830, total_t0: 0.6272, total_t1: 0.4671, total_t2: 0.4302, total_t3: 0.4164, total_t4: 0.4148, total: 3.0875, cam_bev_norm: 14.3725, sat_bev_norm: 11.0311, seg_sat: 0.3457, seg_dice_sat: 0.0880, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2400, seg_fused: 0.2391, seg_dice_fused: 0.0590, cam_rel_mean: 0.2115, sat_rel_mean: 0.2263, cam_rel_min: 0.0009, sat_rel_min: 0.0007, grad_norm: 15.2045 2026-04-18 14:19:21,329 - mmdet - INFO - Iter [34600/55932] lr: 1.760e-05, eta: 13:43:52, time: 2.109, data_time: 0.091, memory: 34736, seg: 0.3438, seg_dice: 0.0975, seg_t0: 0.5389, seg_dice_t0: 0.1541, seg_t1: 0.4004, seg_dice_t1: 0.1060, seg_t2: 0.3580, seg_dice_t2: 0.0947, seg_t3: 0.3504, seg_dice_t3: 0.0913, total_t0: 0.6930, total_t1: 0.5064, total_t2: 0.4527, total_t3: 0.4417, total_t4: 0.4414, total: 3.3026, cam_bev_norm: 14.2596, sat_bev_norm: 10.8602, seg_sat: 0.3393, seg_dice_sat: 0.0930, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.0400, seg_fused: 0.2640, seg_dice_fused: 0.0710, cam_rel_mean: 0.1856, sat_rel_mean: 0.2015, cam_rel_min: 0.0037, sat_rel_min: 0.0027, grad_norm: 15.5395 2026-04-18 14:21:07,784 - mmdet - INFO - Iter [34650/55932] lr: 1.754e-05, eta: 13:41:51, time: 2.129, data_time: 0.091, memory: 34736, seg: 0.3289, seg_dice: 0.0881, seg_t0: 0.5191, seg_dice_t0: 0.1422, seg_t1: 0.3893, seg_dice_t1: 0.1107, seg_t2: 0.3516, seg_dice_t2: 0.0981, seg_t3: 0.3344, seg_dice_t3: 0.0963, total_t0: 0.6613, total_t1: 0.5000, total_t2: 0.4497, total_t3: 0.4307, total_t4: 0.4170, total: 3.2635, cam_bev_norm: 14.3408, sat_bev_norm: 10.9282, seg_sat: 0.3617, seg_dice_sat: 0.1060, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2000, seg_fused: 0.2640, seg_dice_fused: 0.0730, cam_rel_mean: 0.1758, sat_rel_mean: 0.2157, cam_rel_min: 0.0037, sat_rel_min: 0.0000, grad_norm: 14.6218 2026-04-18 14:22:53,314 - mmdet - INFO - Iter [34700/55932] lr: 1.748e-05, eta: 13:39:48, time: 2.111, data_time: 0.091, memory: 34736, seg: 0.3604, seg_dice: 0.1012, seg_t0: 0.5924, seg_dice_t0: 0.1598, seg_t1: 0.4100, seg_dice_t1: 0.1176, seg_t2: 0.3740, seg_dice_t2: 0.1060, seg_t3: 0.3460, seg_dice_t3: 0.0920, total_t0: 0.7523, total_t1: 0.5276, total_t2: 0.4800, total_t3: 0.4381, total_t4: 0.4616, total: 3.4722, cam_bev_norm: 14.2536, sat_bev_norm: 10.8499, seg_sat: 0.3662, seg_dice_sat: 0.1019, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.2722, seg_dice_fused: 0.0723, cam_rel_mean: 0.1888, sat_rel_mean: 0.1956, cam_rel_min: 0.0023, sat_rel_min: 0.0034, grad_norm: 17.9352 2026-04-18 14:24:39,073 - mmdet - INFO - Iter [34750/55932] lr: 1.742e-05, eta: 13:37:46, time: 2.115, data_time: 0.090, memory: 34736, seg: 0.3514, seg_dice: 0.0952, seg_t0: 0.4831, seg_dice_t0: 0.1375, seg_t1: 0.3886, seg_dice_t1: 0.1017, seg_t2: 0.3556, seg_dice_t2: 0.0978, seg_t3: 0.3437, seg_dice_t3: 0.0945, total_t0: 0.6207, total_t1: 0.4904, total_t2: 0.4534, total_t3: 0.4382, total_t4: 0.4466, total: 3.1949, cam_bev_norm: 14.2778, sat_bev_norm: 10.9718, seg_sat: 0.3314, seg_dice_sat: 0.0872, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 0.2579, seg_dice_fused: 0.0692, cam_rel_mean: 0.2034, sat_rel_mean: 0.2108, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 16.1255 2026-04-18 14:26:25,345 - mmdet - INFO - Iter [34800/55932] lr: 1.736e-05, eta: 13:35:45, time: 2.125, data_time: 0.089, memory: 34736, seg: 0.3162, seg_dice: 0.0752, seg_t0: 0.5046, seg_dice_t0: 0.1299, seg_t1: 0.3757, seg_dice_t1: 0.0908, seg_t2: 0.3375, seg_dice_t2: 0.0818, seg_t3: 0.3421, seg_dice_t3: 0.0771, total_t0: 0.6345, total_t1: 0.4665, total_t2: 0.4193, total_t3: 0.4192, total_t4: 0.3915, total: 3.0213, cam_bev_norm: 14.3810, sat_bev_norm: 10.9891, seg_sat: 0.3178, seg_dice_sat: 0.0796, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2360, seg_dice_fused: 0.0568, cam_rel_mean: 0.2116, sat_rel_mean: 0.2186, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 16.9979 2026-04-18 14:28:11,996 - mmdet - INFO - Iter [34850/55932] lr: 1.730e-05, eta: 13:33:43, time: 2.133, data_time: 0.089, memory: 34736, seg: 0.3298, seg_dice: 0.0821, seg_t0: 0.5717, seg_dice_t0: 0.1475, seg_t1: 0.4291, seg_dice_t1: 0.1099, seg_t2: 0.3649, seg_dice_t2: 0.0934, seg_t3: 0.3430, seg_dice_t3: 0.0869, total_t0: 0.7192, total_t1: 0.5390, total_t2: 0.4583, total_t3: 0.4298, total_t4: 0.4119, total: 3.2618, cam_bev_norm: 14.3082, sat_bev_norm: 11.0167, seg_sat: 0.3077, seg_dice_sat: 0.0859, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.2497, seg_dice_fused: 0.0603, cam_rel_mean: 0.2061, sat_rel_mean: 0.2077, cam_rel_min: 0.0018, sat_rel_min: 0.0027, grad_norm: 19.7914 2026-04-18 14:29:57,929 - mmdet - INFO - Iter [34900/55932] lr: 1.723e-05, eta: 13:31:42, time: 2.119, data_time: 0.094, memory: 34736, seg: 0.3258, seg_dice: 0.0837, seg_t0: 0.5597, seg_dice_t0: 0.1646, seg_t1: 0.4107, seg_dice_t1: 0.1066, seg_t2: 0.3483, seg_dice_t2: 0.0933, seg_t3: 0.3265, seg_dice_t3: 0.0871, total_t0: 0.7243, total_t1: 0.5173, total_t2: 0.4416, total_t3: 0.4136, total_t4: 0.4095, total: 3.1956, cam_bev_norm: 14.3279, sat_bev_norm: 10.9596, seg_sat: 0.3069, seg_dice_sat: 0.0769, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.2458, seg_dice_fused: 0.0597, cam_rel_mean: 0.2078, sat_rel_mean: 0.1989, cam_rel_min: 0.0014, sat_rel_min: 0.0041, grad_norm: 18.0683 2026-04-18 14:31:43,532 - mmdet - INFO - Iter [34950/55932] lr: 1.717e-05, eta: 13:29:40, time: 2.112, data_time: 0.086, memory: 34736, seg: 0.3372, seg_dice: 0.0802, seg_t0: 0.5595, seg_dice_t0: 0.1452, seg_t1: 0.4096, seg_dice_t1: 0.1023, seg_t2: 0.3578, seg_dice_t2: 0.0868, seg_t3: 0.3407, seg_dice_t3: 0.0869, total_t0: 0.7047, total_t1: 0.5119, total_t2: 0.4447, total_t3: 0.4277, total_t4: 0.4174, total: 3.2071, cam_bev_norm: 14.2874, sat_bev_norm: 11.0010, seg_sat: 0.3200, seg_dice_sat: 0.0814, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.2460, seg_dice_fused: 0.0533, cam_rel_mean: 0.1985, sat_rel_mean: 0.2227, cam_rel_min: 0.0028, sat_rel_min: 0.0007, grad_norm: 14.8231 2026-04-18 14:33:29,387 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 14:33:29,387 - mmdet - INFO - Iter [35000/55932] lr: 1.711e-05, eta: 13:27:38, time: 2.117, data_time: 0.092, memory: 34736, seg: 0.3563, seg_dice: 0.0954, seg_t0: 0.5801, seg_dice_t0: 0.1615, seg_t1: 0.4165, seg_dice_t1: 0.1131, seg_t2: 0.3642, seg_dice_t2: 0.1055, seg_t3: 0.3459, seg_dice_t3: 0.0968, total_t0: 0.7416, total_t1: 0.5296, total_t2: 0.4698, total_t3: 0.4427, total_t4: 0.4517, total: 3.3891, cam_bev_norm: 14.3016, sat_bev_norm: 10.9648, seg_sat: 0.3414, seg_dice_sat: 0.0902, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.2558, seg_dice_fused: 0.0662, cam_rel_mean: 0.2071, sat_rel_mean: 0.2143, cam_rel_min: 0.0009, sat_rel_min: 0.0014, grad_norm: 15.6564 2026-04-18 14:35:14,787 - mmdet - INFO - Iter [35050/55932] lr: 1.705e-05, eta: 13:25:36, time: 2.108, data_time: 0.088, memory: 34736, seg: 0.2884, seg_dice: 0.0718, seg_t0: 0.4411, seg_dice_t0: 0.1280, seg_t1: 0.3464, seg_dice_t1: 0.0919, seg_t2: 0.3042, seg_dice_t2: 0.0811, seg_t3: 0.2847, seg_dice_t3: 0.0729, total_t0: 0.5691, total_t1: 0.4383, total_t2: 0.3853, total_t3: 0.3576, total_t4: 0.3602, total: 2.7613, cam_bev_norm: 14.3249, sat_bev_norm: 11.0075, seg_sat: 0.2967, seg_dice_sat: 0.0713, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.2297, seg_dice_fused: 0.0531, cam_rel_mean: 0.1939, sat_rel_mean: 0.2057, cam_rel_min: 0.0028, sat_rel_min: 0.0027, grad_norm: 14.5089 2026-04-18 14:37:00,657 - mmdet - INFO - Iter [35100/55932] lr: 1.699e-05, eta: 13:23:35, time: 2.117, data_time: 0.090, memory: 34736, seg: 0.3191, seg_dice: 0.0915, seg_t0: 0.4793, seg_dice_t0: 0.1267, seg_t1: 0.3664, seg_dice_t1: 0.0908, seg_t2: 0.3300, seg_dice_t2: 0.0849, seg_t3: 0.3153, seg_dice_t3: 0.0843, total_t0: 0.6059, total_t1: 0.4571, total_t2: 0.4149, total_t3: 0.3996, total_t4: 0.4106, total: 3.0020, cam_bev_norm: 14.2478, sat_bev_norm: 10.9397, seg_sat: 0.3123, seg_dice_sat: 0.0828, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2000, seg_fused: 0.2506, seg_dice_fused: 0.0682, cam_rel_mean: 0.1829, sat_rel_mean: 0.2011, cam_rel_min: 0.0032, sat_rel_min: 0.0027, grad_norm: 14.4768 2026-04-18 14:38:47,515 - mmdet - INFO - Iter [35150/55932] lr: 1.693e-05, eta: 13:21:34, time: 2.137, data_time: 0.092, memory: 34736, seg: 0.3087, seg_dice: 0.0823, seg_t0: 0.5458, seg_dice_t0: 0.1445, seg_t1: 0.3970, seg_dice_t1: 0.1001, seg_t2: 0.3489, seg_dice_t2: 0.0941, seg_t3: 0.3222, seg_dice_t3: 0.0830, total_t0: 0.6903, total_t1: 0.4970, total_t2: 0.4430, total_t3: 0.4052, total_t4: 0.3910, total: 3.0974, cam_bev_norm: 14.2678, sat_bev_norm: 11.0614, seg_sat: 0.2955, seg_dice_sat: 0.0766, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.2353, seg_dice_fused: 0.0634, cam_rel_mean: 0.2068, sat_rel_mean: 0.1942, cam_rel_min: 0.0014, sat_rel_min: 0.0041, grad_norm: 14.5976 2026-04-18 14:40:33,244 - mmdet - INFO - Iter [35200/55932] lr: 1.686e-05, eta: 13:19:32, time: 2.115, data_time: 0.092, memory: 34736, seg: 0.3164, seg_dice: 0.0882, seg_t0: 0.5075, seg_dice_t0: 0.1463, seg_t1: 0.3818, seg_dice_t1: 0.1083, seg_t2: 0.3348, seg_dice_t2: 0.0954, seg_t3: 0.3270, seg_dice_t3: 0.0893, total_t0: 0.6538, total_t1: 0.4901, total_t2: 0.4302, total_t3: 0.4163, total_t4: 0.4046, total: 3.0722, cam_bev_norm: 14.2618, sat_bev_norm: 11.0452, seg_sat: 0.2892, seg_dice_sat: 0.0817, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.2394, seg_dice_fused: 0.0669, cam_rel_mean: 0.1985, sat_rel_mean: 0.1878, cam_rel_min: 0.0018, sat_rel_min: 0.0048, grad_norm: 13.6202 2026-04-18 14:42:18,986 - mmdet - INFO - Iter [35250/55932] lr: 1.680e-05, eta: 13:17:30, time: 2.115, data_time: 0.091, memory: 34736, seg: 0.3349, seg_dice: 0.0810, seg_t0: 0.5271, seg_dice_t0: 0.1363, seg_t1: 0.3856, seg_dice_t1: 0.0950, seg_t2: 0.3443, seg_dice_t2: 0.0854, seg_t3: 0.3434, seg_dice_t3: 0.0854, total_t0: 0.6633, total_t1: 0.4806, total_t2: 0.4297, total_t3: 0.4288, total_t4: 0.4158, total: 3.0733, cam_bev_norm: 14.2170, sat_bev_norm: 11.0396, seg_sat: 0.2844, seg_dice_sat: 0.0718, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2400, seg_fused: 0.2401, seg_dice_fused: 0.0589, cam_rel_mean: 0.1838, sat_rel_mean: 0.2123, cam_rel_min: 0.0032, sat_rel_min: 0.0014, grad_norm: 13.3179 2026-04-18 14:44:04,578 - mmdet - INFO - Iter [35300/55932] lr: 1.674e-05, eta: 13:15:29, time: 2.112, data_time: 0.089, memory: 34736, seg: 0.3277, seg_dice: 0.0804, seg_t0: 0.5041, seg_dice_t0: 0.1413, seg_t1: 0.3663, seg_dice_t1: 0.0907, seg_t2: 0.3307, seg_dice_t2: 0.0805, seg_t3: 0.3246, seg_dice_t3: 0.0792, total_t0: 0.6453, total_t1: 0.4570, total_t2: 0.4112, total_t3: 0.4038, total_t4: 0.4081, total: 3.0226, cam_bev_norm: 14.3153, sat_bev_norm: 10.9811, seg_sat: 0.3090, seg_dice_sat: 0.0768, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.2512, seg_dice_fused: 0.0601, cam_rel_mean: 0.1908, sat_rel_mean: 0.2172, cam_rel_min: 0.0032, sat_rel_min: 0.0014, grad_norm: 12.9114 2026-04-18 14:45:50,843 - mmdet - INFO - Iter [35350/55932] lr: 1.668e-05, eta: 13:13:28, time: 2.125, data_time: 0.090, memory: 34736, seg: 0.2977, seg_dice: 0.0726, seg_t0: 0.5320, seg_dice_t0: 0.1418, seg_t1: 0.3696, seg_dice_t1: 0.0923, seg_t2: 0.3247, seg_dice_t2: 0.0821, seg_t3: 0.3063, seg_dice_t3: 0.0787, total_t0: 0.6738, total_t1: 0.4619, total_t2: 0.4068, total_t3: 0.3851, total_t4: 0.3703, total: 2.9139, cam_bev_norm: 14.2572, sat_bev_norm: 10.9502, seg_sat: 0.2760, seg_dice_sat: 0.0677, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.2208, seg_dice_fused: 0.0514, cam_rel_mean: 0.1926, sat_rel_mean: 0.2151, cam_rel_min: 0.0028, sat_rel_min: 0.0007, grad_norm: 12.7665 2026-04-18 14:47:36,477 - mmdet - INFO - Iter [35400/55932] lr: 1.662e-05, eta: 13:11:26, time: 2.113, data_time: 0.092, memory: 34736, seg: 0.3219, seg_dice: 0.0855, seg_t0: 0.4946, seg_dice_t0: 0.1304, seg_t1: 0.3683, seg_dice_t1: 0.0932, seg_t2: 0.3350, seg_dice_t2: 0.0840, seg_t3: 0.3199, seg_dice_t3: 0.0852, total_t0: 0.6250, total_t1: 0.4615, total_t2: 0.4191, total_t3: 0.4051, total_t4: 0.4074, total: 3.0284, cam_bev_norm: 14.1656, sat_bev_norm: 10.8864, seg_sat: 0.3228, seg_dice_sat: 0.0870, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.2378, seg_dice_fused: 0.0628, cam_rel_mean: 0.1896, sat_rel_mean: 0.2063, cam_rel_min: 0.0028, sat_rel_min: 0.0014, grad_norm: 14.0904 2026-04-18 14:49:22,160 - mmdet - INFO - Iter [35450/55932] lr: 1.656e-05, eta: 13:09:25, time: 2.114, data_time: 0.095, memory: 34736, seg: 0.3581, seg_dice: 0.0875, seg_t0: 0.5256, seg_dice_t0: 0.1403, seg_t1: 0.3884, seg_dice_t1: 0.0939, seg_t2: 0.3550, seg_dice_t2: 0.0852, seg_t3: 0.3500, seg_dice_t3: 0.0881, total_t0: 0.6660, total_t1: 0.4822, total_t2: 0.4402, total_t3: 0.4382, total_t4: 0.4456, total: 3.1507, cam_bev_norm: 14.2396, sat_bev_norm: 11.0068, seg_sat: 0.3041, seg_dice_sat: 0.0712, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.2467, seg_dice_fused: 0.0565, cam_rel_mean: 0.2071, sat_rel_mean: 0.2019, cam_rel_min: 0.0014, sat_rel_min: 0.0027, grad_norm: 15.7600 2026-04-18 14:51:07,568 - mmdet - INFO - Iter [35500/55932] lr: 1.650e-05, eta: 13:07:23, time: 2.108, data_time: 0.091, memory: 34736, seg: 0.3359, seg_dice: 0.0848, seg_t0: 0.5545, seg_dice_t0: 0.1463, seg_t1: 0.3966, seg_dice_t1: 0.1059, seg_t2: 0.3587, seg_dice_t2: 0.0896, seg_t3: 0.3418, seg_dice_t3: 0.0839, total_t0: 0.7008, total_t1: 0.5025, total_t2: 0.4484, total_t3: 0.4257, total_t4: 0.4207, total: 3.1726, cam_bev_norm: 14.2305, sat_bev_norm: 11.1492, seg_sat: 0.2941, seg_dice_sat: 0.0704, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.2514, seg_dice_fused: 0.0585, cam_rel_mean: 0.1972, sat_rel_mean: 0.1982, cam_rel_min: 0.0028, sat_rel_min: 0.0034, grad_norm: 15.9195 2026-04-18 14:52:53,292 - mmdet - INFO - Iter [35550/55932] lr: 1.644e-05, eta: 13:05:22, time: 2.115, data_time: 0.091, memory: 34736, seg: 0.3137, seg_dice: 0.0760, seg_t0: 0.5120, seg_dice_t0: 0.1446, seg_t1: 0.3662, seg_dice_t1: 0.0956, seg_t2: 0.3231, seg_dice_t2: 0.0849, seg_t3: 0.3041, seg_dice_t3: 0.0751, total_t0: 0.6566, total_t1: 0.4618, total_t2: 0.4080, total_t3: 0.3792, total_t4: 0.3896, total: 2.9592, cam_bev_norm: 14.2711, sat_bev_norm: 10.9814, seg_sat: 0.3036, seg_dice_sat: 0.0702, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.2377, seg_dice_fused: 0.0524, cam_rel_mean: 0.2042, sat_rel_mean: 0.2161, cam_rel_min: 0.0023, sat_rel_min: 0.0021, grad_norm: 13.7799 2026-04-18 14:54:39,415 - mmdet - INFO - Iter [35600/55932] lr: 1.638e-05, eta: 13:03:21, time: 2.123, data_time: 0.092, memory: 34736, seg: 0.3347, seg_dice: 0.0904, seg_t0: 0.5086, seg_dice_t0: 0.1417, seg_t1: 0.3752, seg_dice_t1: 0.1032, seg_t2: 0.3394, seg_dice_t2: 0.0914, seg_t3: 0.3259, seg_dice_t3: 0.0914, total_t0: 0.6503, total_t1: 0.4784, total_t2: 0.4308, total_t3: 0.4173, total_t4: 0.4250, total: 3.1389, cam_bev_norm: 14.2083, sat_bev_norm: 11.0450, seg_sat: 0.3353, seg_dice_sat: 0.0843, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.2517, seg_dice_fused: 0.0657, cam_rel_mean: 0.1867, sat_rel_mean: 0.2107, cam_rel_min: 0.0032, sat_rel_min: 0.0014, grad_norm: 12.6992 2026-04-18 14:56:26,229 - mmdet - INFO - Iter [35650/55932] lr: 1.632e-05, eta: 13:01:20, time: 2.136, data_time: 0.092, memory: 34736, seg: 0.3071, seg_dice: 0.0832, seg_t0: 0.5137, seg_dice_t0: 0.1405, seg_t1: 0.3766, seg_dice_t1: 0.1025, seg_t2: 0.3265, seg_dice_t2: 0.0863, seg_t3: 0.3175, seg_dice_t3: 0.0859, total_t0: 0.6543, total_t1: 0.4791, total_t2: 0.4128, total_t3: 0.4034, total_t4: 0.3903, total: 3.0222, cam_bev_norm: 14.2809, sat_bev_norm: 11.0883, seg_sat: 0.3085, seg_dice_sat: 0.0784, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1600, seg_fused: 0.2350, seg_dice_fused: 0.0606, cam_rel_mean: 0.1767, sat_rel_mean: 0.2227, cam_rel_min: 0.0046, sat_rel_min: 0.0000, grad_norm: 12.5447 2026-04-18 14:58:11,562 - mmdet - INFO - Iter [35700/55932] lr: 1.626e-05, eta: 12:59:19, time: 2.107, data_time: 0.090, memory: 34736, seg: 0.3049, seg_dice: 0.0821, seg_t0: 0.4898, seg_dice_t0: 0.1351, seg_t1: 0.3653, seg_dice_t1: 0.0968, seg_t2: 0.3216, seg_dice_t2: 0.0867, seg_t3: 0.3057, seg_dice_t3: 0.0771, total_t0: 0.6248, total_t1: 0.4621, total_t2: 0.4084, total_t3: 0.3828, total_t4: 0.3870, total: 2.8898, cam_bev_norm: 14.2355, sat_bev_norm: 11.0385, seg_sat: 0.2820, seg_dice_sat: 0.0725, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2200, seg_fused: 0.2135, seg_dice_fused: 0.0567, cam_rel_mean: 0.1988, sat_rel_mean: 0.2127, cam_rel_min: 0.0009, sat_rel_min: 0.0000, grad_norm: 15.8832 2026-04-18 14:59:57,146 - mmdet - INFO - Iter [35750/55932] lr: 1.620e-05, eta: 12:57:18, time: 2.112, data_time: 0.089, memory: 34736, seg: 0.3241, seg_dice: 0.0821, seg_t0: 0.4943, seg_dice_t0: 0.1334, seg_t1: 0.3693, seg_dice_t1: 0.0909, seg_t2: 0.3253, seg_dice_t2: 0.0849, seg_t3: 0.3100, seg_dice_t3: 0.0792, total_t0: 0.6276, total_t1: 0.4602, total_t2: 0.4102, total_t3: 0.3892, total_t4: 0.4062, total: 2.8951, cam_bev_norm: 14.2012, sat_bev_norm: 11.0067, seg_sat: 0.2712, seg_dice_sat: 0.0637, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2137, seg_dice_fused: 0.0531, cam_rel_mean: 0.2084, sat_rel_mean: 0.2226, cam_rel_min: 0.0014, sat_rel_min: 0.0000, grad_norm: 13.3332 2026-04-18 15:01:43,593 - mmdet - INFO - Iter [35800/55932] lr: 1.613e-05, eta: 12:55:17, time: 2.129, data_time: 0.093, memory: 34736, seg: 0.3131, seg_dice: 0.0773, seg_t0: 0.4962, seg_dice_t0: 0.1376, seg_t1: 0.3699, seg_dice_t1: 0.0933, seg_t2: 0.3370, seg_dice_t2: 0.0888, seg_t3: 0.3208, seg_dice_t3: 0.0840, total_t0: 0.6337, total_t1: 0.4633, total_t2: 0.4258, total_t3: 0.4049, total_t4: 0.3905, total: 2.9471, cam_bev_norm: 14.2613, sat_bev_norm: 11.0225, seg_sat: 0.2727, seg_dice_sat: 0.0656, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.2369, seg_dice_fused: 0.0539, cam_rel_mean: 0.1980, sat_rel_mean: 0.1949, cam_rel_min: 0.0019, sat_rel_min: 0.0042, grad_norm: 16.1629 2026-04-18 15:03:29,242 - mmdet - INFO - Iter [35850/55932] lr: 1.607e-05, eta: 12:53:16, time: 2.113, data_time: 0.088, memory: 34736, seg: 0.3279, seg_dice: 0.0812, seg_t0: 0.5133, seg_dice_t0: 0.1515, seg_t1: 0.3795, seg_dice_t1: 0.0963, seg_t2: 0.3398, seg_dice_t2: 0.0850, seg_t3: 0.3374, seg_dice_t3: 0.0823, total_t0: 0.6648, total_t1: 0.4758, total_t2: 0.4247, total_t3: 0.4197, total_t4: 0.4091, total: 3.0475, cam_bev_norm: 14.2233, sat_bev_norm: 11.0486, seg_sat: 0.2878, seg_dice_sat: 0.0750, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.2325, seg_dice_fused: 0.0581, cam_rel_mean: 0.1990, sat_rel_mean: 0.2106, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 17.3511 2026-04-18 15:05:15,238 - mmdet - INFO - Iter [35900/55932] lr: 1.601e-05, eta: 12:51:15, time: 2.120, data_time: 0.098, memory: 34736, seg: 0.3175, seg_dice: 0.0781, seg_t0: 0.5103, seg_dice_t0: 0.1333, seg_t1: 0.3588, seg_dice_t1: 0.0917, seg_t2: 0.3199, seg_dice_t2: 0.0843, seg_t3: 0.3240, seg_dice_t3: 0.0818, total_t0: 0.6436, total_t1: 0.4505, total_t2: 0.4042, total_t3: 0.4058, total_t4: 0.3956, total: 2.9592, cam_bev_norm: 14.2977, sat_bev_norm: 11.0272, seg_sat: 0.2962, seg_dice_sat: 0.0736, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.2332, seg_dice_fused: 0.0565, cam_rel_mean: 0.2038, sat_rel_mean: 0.2141, cam_rel_min: 0.0019, sat_rel_min: 0.0021, grad_norm: 15.7016 2026-04-18 15:07:01,024 - mmdet - INFO - Iter [35950/55932] lr: 1.595e-05, eta: 12:49:14, time: 2.116, data_time: 0.090, memory: 34736, seg: 0.3477, seg_dice: 0.0863, seg_t0: 0.5563, seg_dice_t0: 0.1623, seg_t1: 0.3973, seg_dice_t1: 0.0990, seg_t2: 0.3520, seg_dice_t2: 0.0931, seg_t3: 0.3357, seg_dice_t3: 0.0847, total_t0: 0.7187, total_t1: 0.4963, total_t2: 0.4451, total_t3: 0.4205, total_t4: 0.4340, total: 3.2241, cam_bev_norm: 14.2043, sat_bev_norm: 11.0012, seg_sat: 0.3280, seg_dice_sat: 0.0786, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2444, seg_dice_fused: 0.0586, cam_rel_mean: 0.2080, sat_rel_mean: 0.2237, cam_rel_min: 0.0014, sat_rel_min: 0.0000, grad_norm: 16.0147 2026-04-18 15:08:47,202 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 15:08:47,203 - mmdet - INFO - Iter [36000/55932] lr: 1.589e-05, eta: 12:47:14, time: 2.123, data_time: 0.096, memory: 34736, seg: 0.3401, seg_dice: 0.0874, seg_t0: 0.5194, seg_dice_t0: 0.1387, seg_t1: 0.3979, seg_dice_t1: 0.1059, seg_t2: 0.3573, seg_dice_t2: 0.0918, seg_t3: 0.3465, seg_dice_t3: 0.0863, total_t0: 0.6581, total_t1: 0.5037, total_t2: 0.4492, total_t3: 0.4328, total_t4: 0.4275, total: 3.1614, cam_bev_norm: 14.2424, sat_bev_norm: 11.0436, seg_sat: 0.3019, seg_dice_sat: 0.0753, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.2520, seg_dice_fused: 0.0609, cam_rel_mean: 0.2046, sat_rel_mean: 0.2095, cam_rel_min: 0.0023, sat_rel_min: 0.0028, grad_norm: 16.6723 2026-04-18 15:10:32,582 - mmdet - INFO - Iter [36050/55932] lr: 1.583e-05, eta: 12:45:13, time: 2.108, data_time: 0.090, memory: 34736, seg: 0.3361, seg_dice: 0.0812, seg_t0: 0.5494, seg_dice_t0: 0.1397, seg_t1: 0.4018, seg_dice_t1: 0.1015, seg_t2: 0.3571, seg_dice_t2: 0.0878, seg_t3: 0.3459, seg_dice_t3: 0.0861, total_t0: 0.6891, total_t1: 0.5034, total_t2: 0.4449, total_t3: 0.4320, total_t4: 0.4173, total: 3.1825, cam_bev_norm: 14.3053, sat_bev_norm: 10.9739, seg_sat: 0.3217, seg_dice_sat: 0.0754, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.2427, seg_dice_fused: 0.0562, cam_rel_mean: 0.2186, sat_rel_mean: 0.2266, cam_rel_min: 0.0014, sat_rel_min: 0.0007, grad_norm: 14.4675 2026-04-18 15:12:17,723 - mmdet - INFO - Iter [36100/55932] lr: 1.577e-05, eta: 12:43:12, time: 2.103, data_time: 0.086, memory: 34736, seg: 0.3206, seg_dice: 0.0822, seg_t0: 0.5082, seg_dice_t0: 0.1368, seg_t1: 0.3747, seg_dice_t1: 0.1009, seg_t2: 0.3316, seg_dice_t2: 0.0855, seg_t3: 0.3154, seg_dice_t3: 0.0785, total_t0: 0.6450, total_t1: 0.4755, total_t2: 0.4172, total_t3: 0.3940, total_t4: 0.4028, total: 2.9557, cam_bev_norm: 14.2966, sat_bev_norm: 11.0558, seg_sat: 0.2725, seg_dice_sat: 0.0710, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.2214, seg_dice_fused: 0.0563, cam_rel_mean: 0.2066, sat_rel_mean: 0.2176, cam_rel_min: 0.0019, sat_rel_min: 0.0014, grad_norm: 13.7662 2026-04-18 15:14:02,867 - mmdet - INFO - Iter [36150/55932] lr: 1.571e-05, eta: 12:41:11, time: 2.103, data_time: 0.089, memory: 34736, seg: 0.3459, seg_dice: 0.0857, seg_t0: 0.5099, seg_dice_t0: 0.1389, seg_t1: 0.3933, seg_dice_t1: 0.1000, seg_t2: 0.3608, seg_dice_t2: 0.0892, seg_t3: 0.3367, seg_dice_t3: 0.0850, total_t0: 0.6487, total_t1: 0.4934, total_t2: 0.4500, total_t3: 0.4217, total_t4: 0.4315, total: 3.1782, cam_bev_norm: 14.2799, sat_bev_norm: 10.9835, seg_sat: 0.3205, seg_dice_sat: 0.0851, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.2609, seg_dice_fused: 0.0663, cam_rel_mean: 0.1937, sat_rel_mean: 0.2074, cam_rel_min: 0.0033, sat_rel_min: 0.0035, grad_norm: 15.2038 2026-04-18 15:15:49,751 - mmdet - INFO - Iter [36200/55932] lr: 1.565e-05, eta: 12:39:10, time: 2.138, data_time: 0.093, memory: 34736, seg: 0.3079, seg_dice: 0.0823, seg_t0: 0.5319, seg_dice_t0: 0.1408, seg_t1: 0.3854, seg_dice_t1: 0.1038, seg_t2: 0.3289, seg_dice_t2: 0.0856, seg_t3: 0.3106, seg_dice_t3: 0.0821, total_t0: 0.6727, total_t1: 0.4892, total_t2: 0.4145, total_t3: 0.3927, total_t4: 0.3902, total: 3.0694, cam_bev_norm: 14.2282, sat_bev_norm: 10.9934, seg_sat: 0.3171, seg_dice_sat: 0.0854, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.0600, seg_fused: 0.2458, seg_dice_fused: 0.0619, cam_rel_mean: 0.1785, sat_rel_mean: 0.2077, cam_rel_min: 0.0047, sat_rel_min: 0.0021, grad_norm: 15.7759 2026-04-18 15:17:35,690 - mmdet - INFO - Iter [36250/55932] lr: 1.559e-05, eta: 12:37:10, time: 2.119, data_time: 0.093, memory: 34736, seg: 0.3130, seg_dice: 0.0773, seg_t0: 0.4842, seg_dice_t0: 0.1324, seg_t1: 0.3582, seg_dice_t1: 0.0917, seg_t2: 0.3124, seg_dice_t2: 0.0787, seg_t3: 0.3025, seg_dice_t3: 0.0746, total_t0: 0.6167, total_t1: 0.4499, total_t2: 0.3911, total_t3: 0.3770, total_t4: 0.3903, total: 2.9056, cam_bev_norm: 14.2714, sat_bev_norm: 10.9845, seg_sat: 0.3060, seg_dice_sat: 0.0783, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.2389, seg_dice_fused: 0.0574, cam_rel_mean: 0.1975, sat_rel_mean: 0.2141, cam_rel_min: 0.0028, sat_rel_min: 0.0014, grad_norm: 12.6165 2026-04-18 15:19:21,632 - mmdet - INFO - Iter [36300/55932] lr: 1.554e-05, eta: 12:35:09, time: 2.119, data_time: 0.094, memory: 34736, seg: 0.3033, seg_dice: 0.0740, seg_t0: 0.5146, seg_dice_t0: 0.1345, seg_t1: 0.3850, seg_dice_t1: 0.0985, seg_t2: 0.3512, seg_dice_t2: 0.0887, seg_t3: 0.3277, seg_dice_t3: 0.0792, total_t0: 0.6490, total_t1: 0.4835, total_t2: 0.4399, total_t3: 0.4070, total_t4: 0.3773, total: 3.0100, cam_bev_norm: 14.2888, sat_bev_norm: 11.0237, seg_sat: 0.3009, seg_dice_sat: 0.0665, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.2346, seg_dice_fused: 0.0513, cam_rel_mean: 0.2042, sat_rel_mean: 0.2229, cam_rel_min: 0.0028, sat_rel_min: 0.0021, grad_norm: 13.7868 2026-04-18 15:21:06,901 - mmdet - INFO - Iter [36350/55932] lr: 1.548e-05, eta: 12:33:08, time: 2.105, data_time: 0.093, memory: 34736, seg: 0.3437, seg_dice: 0.0953, seg_t0: 0.5001, seg_dice_t0: 0.1400, seg_t1: 0.3874, seg_dice_t1: 0.1049, seg_t2: 0.3411, seg_dice_t2: 0.0921, seg_t3: 0.3294, seg_dice_t3: 0.0901, total_t0: 0.6401, total_t1: 0.4924, total_t2: 0.4332, total_t3: 0.4194, total_t4: 0.4391, total: 3.1559, cam_bev_norm: 14.1906, sat_bev_norm: 10.9434, seg_sat: 0.3169, seg_dice_sat: 0.0874, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.2543, seg_dice_fused: 0.0732, cam_rel_mean: 0.1939, sat_rel_mean: 0.1970, cam_rel_min: 0.0019, sat_rel_min: 0.0035, grad_norm: 14.6845 2026-04-18 15:22:52,729 - mmdet - INFO - Iter [36400/55932] lr: 1.542e-05, eta: 12:31:08, time: 2.117, data_time: 0.089, memory: 34736, seg: 0.3429, seg_dice: 0.0761, seg_t0: 0.4937, seg_dice_t0: 0.1236, seg_t1: 0.3719, seg_dice_t1: 0.0963, seg_t2: 0.3398, seg_dice_t2: 0.0828, seg_t3: 0.3381, seg_dice_t3: 0.0803, total_t0: 0.6173, total_t1: 0.4683, total_t2: 0.4226, total_t3: 0.4184, total_t4: 0.4189, total: 3.0259, cam_bev_norm: 14.2363, sat_bev_norm: 10.9982, seg_sat: 0.3168, seg_dice_sat: 0.0683, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 0.2419, seg_dice_fused: 0.0533, cam_rel_mean: 0.2077, sat_rel_mean: 0.2195, cam_rel_min: 0.0019, sat_rel_min: 0.0021, grad_norm: 15.1521 2026-04-18 15:24:37,947 - mmdet - INFO - Iter [36450/55932] lr: 1.536e-05, eta: 12:29:07, time: 2.104, data_time: 0.085, memory: 34736, seg: 0.3520, seg_dice: 0.0884, seg_t0: 0.5488, seg_dice_t0: 0.1437, seg_t1: 0.3994, seg_dice_t1: 0.0983, seg_t2: 0.3664, seg_dice_t2: 0.0894, seg_t3: 0.3571, seg_dice_t3: 0.0877, total_t0: 0.6925, total_t1: 0.4976, total_t2: 0.4558, total_t3: 0.4448, total_t4: 0.4404, total: 3.2580, cam_bev_norm: 14.1707, sat_bev_norm: 10.9382, seg_sat: 0.3261, seg_dice_sat: 0.0770, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.2611, seg_dice_fused: 0.0625, cam_rel_mean: 0.2001, sat_rel_mean: 0.2147, cam_rel_min: 0.0023, sat_rel_min: 0.0014, grad_norm: 15.1141 2026-04-18 15:26:23,363 - mmdet - INFO - Iter [36500/55932] lr: 1.530e-05, eta: 12:27:07, time: 2.108, data_time: 0.089, memory: 34736, seg: 0.3248, seg_dice: 0.0881, seg_t0: 0.4860, seg_dice_t0: 0.1393, seg_t1: 0.3559, seg_dice_t1: 0.1001, seg_t2: 0.3300, seg_dice_t2: 0.0872, seg_t3: 0.3183, seg_dice_t3: 0.0800, total_t0: 0.6252, total_t1: 0.4560, total_t2: 0.4172, total_t3: 0.3983, total_t4: 0.4130, total: 3.0053, cam_bev_norm: 14.2294, sat_bev_norm: 10.9836, seg_sat: 0.3088, seg_dice_sat: 0.0775, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.2458, seg_dice_fused: 0.0635, cam_rel_mean: 0.2013, sat_rel_mean: 0.2089, cam_rel_min: 0.0019, sat_rel_min: 0.0021, grad_norm: 13.8227 2026-04-18 15:28:08,425 - mmdet - INFO - Iter [36550/55932] lr: 1.524e-05, eta: 12:25:06, time: 2.101, data_time: 0.087, memory: 34736, seg: 0.3001, seg_dice: 0.0749, seg_t0: 0.4871, seg_dice_t0: 0.1310, seg_t1: 0.3576, seg_dice_t1: 0.0877, seg_t2: 0.3263, seg_dice_t2: 0.0846, seg_t3: 0.3101, seg_dice_t3: 0.0813, total_t0: 0.6181, total_t1: 0.4453, total_t2: 0.4108, total_t3: 0.3914, total_t4: 0.3750, total: 2.8798, cam_bev_norm: 14.1768, sat_bev_norm: 10.9627, seg_sat: 0.2903, seg_dice_sat: 0.0715, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2400, seg_fused: 0.2223, seg_dice_fused: 0.0550, cam_rel_mean: 0.1996, sat_rel_mean: 0.2235, cam_rel_min: 0.0023, sat_rel_min: 0.0000, grad_norm: 17.0477 2026-04-18 15:29:53,836 - mmdet - INFO - Iter [36600/55932] lr: 1.518e-05, eta: 12:23:05, time: 2.109, data_time: 0.092, memory: 34736, seg: 0.3223, seg_dice: 0.0807, seg_t0: 0.4962, seg_dice_t0: 0.1310, seg_t1: 0.3796, seg_dice_t1: 0.0963, seg_t2: 0.3297, seg_dice_t2: 0.0902, seg_t3: 0.3113, seg_dice_t3: 0.0796, total_t0: 0.6272, total_t1: 0.4760, total_t2: 0.4198, total_t3: 0.3908, total_t4: 0.4029, total: 2.9943, cam_bev_norm: 14.2283, sat_bev_norm: 10.9899, seg_sat: 0.3056, seg_dice_sat: 0.0731, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1200, seg_fused: 0.2409, seg_dice_fused: 0.0579, cam_rel_mean: 0.1831, sat_rel_mean: 0.2051, cam_rel_min: 0.0042, sat_rel_min: 0.0028, grad_norm: 14.3411 2026-04-18 15:31:40,209 - mmdet - INFO - Iter [36650/55932] lr: 1.512e-05, eta: 12:21:05, time: 2.127, data_time: 0.091, memory: 34736, seg: 0.3266, seg_dice: 0.0880, seg_t0: 0.5379, seg_dice_t0: 0.1447, seg_t1: 0.3870, seg_dice_t1: 0.0975, seg_t2: 0.3443, seg_dice_t2: 0.0881, seg_t3: 0.3394, seg_dice_t3: 0.0853, total_t0: 0.6827, total_t1: 0.4845, total_t2: 0.4325, total_t3: 0.4247, total_t4: 0.4146, total: 3.0839, cam_bev_norm: 14.2123, sat_bev_norm: 11.0861, seg_sat: 0.2789, seg_dice_sat: 0.0691, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.2365, seg_dice_fused: 0.0605, cam_rel_mean: 0.2066, sat_rel_mean: 0.2094, cam_rel_min: 0.0019, sat_rel_min: 0.0028, grad_norm: 13.9495 2026-04-18 15:33:26,932 - mmdet - INFO - Iter [36700/55932] lr: 1.506e-05, eta: 12:19:05, time: 2.134, data_time: 0.092, memory: 34736, seg: 0.3215, seg_dice: 0.0789, seg_t0: 0.4954, seg_dice_t0: 0.1270, seg_t1: 0.3664, seg_dice_t1: 0.0908, seg_t2: 0.3254, seg_dice_t2: 0.0838, seg_t3: 0.3179, seg_dice_t3: 0.0813, total_t0: 0.6225, total_t1: 0.4572, total_t2: 0.4091, total_t3: 0.3992, total_t4: 0.4004, total: 2.9671, cam_bev_norm: 14.2399, sat_bev_norm: 11.0231, seg_sat: 0.3055, seg_dice_sat: 0.0727, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.2435, seg_dice_fused: 0.0570, cam_rel_mean: 0.1902, sat_rel_mean: 0.2060, cam_rel_min: 0.0033, sat_rel_min: 0.0028, grad_norm: 14.9820 2026-04-18 15:35:10,340 - mmdet - INFO - Iter [36750/55932] lr: 1.500e-05, eta: 12:17:04, time: 2.068, data_time: 0.081, memory: 34736, seg: 0.3517, seg_dice: 0.0873, seg_t0: 0.5207, seg_dice_t0: 0.1462, seg_t1: 0.3870, seg_dice_t1: 0.1051, seg_t2: 0.3426, seg_dice_t2: 0.0928, seg_t3: 0.3258, seg_dice_t3: 0.0859, total_t0: 0.6669, total_t1: 0.4920, total_t2: 0.4353, total_t3: 0.4117, total_t4: 0.4390, total: 3.0950, cam_bev_norm: 14.2082, sat_bev_norm: 10.9932, seg_sat: 0.2903, seg_dice_sat: 0.0710, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.2319, seg_dice_fused: 0.0568, cam_rel_mean: 0.1945, sat_rel_mean: 0.2145, cam_rel_min: 0.0023, sat_rel_min: 0.0007, grad_norm: 15.0859 2026-04-18 15:36:57,746 - mmdet - INFO - Iter [36800/55932] lr: 1.494e-05, eta: 12:15:04, time: 2.149, data_time: 0.097, memory: 34736, seg: 0.3346, seg_dice: 0.0862, seg_t0: 0.4898, seg_dice_t0: 0.1405, seg_t1: 0.3802, seg_dice_t1: 0.1013, seg_t2: 0.3321, seg_dice_t2: 0.0931, seg_t3: 0.3323, seg_dice_t3: 0.0912, total_t0: 0.6303, total_t1: 0.4815, total_t2: 0.4253, total_t3: 0.4235, total_t4: 0.4208, total: 3.0225, cam_bev_norm: 14.1996, sat_bev_norm: 11.0635, seg_sat: 0.2798, seg_dice_sat: 0.0750, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.2268, seg_dice_fused: 0.0595, cam_rel_mean: 0.2034, sat_rel_mean: 0.2177, cam_rel_min: 0.0014, sat_rel_min: 0.0007, grad_norm: 14.2223 2026-04-18 15:38:45,193 - mmdet - INFO - Iter [36850/55932] lr: 1.489e-05, eta: 12:13:05, time: 2.149, data_time: 0.082, memory: 34736, seg: 0.3211, seg_dice: 0.0826, seg_t0: 0.5179, seg_dice_t0: 0.1495, seg_t1: 0.3751, seg_dice_t1: 0.1020, seg_t2: 0.3255, seg_dice_t2: 0.0882, seg_t3: 0.3110, seg_dice_t3: 0.0807, total_t0: 0.6674, total_t1: 0.4771, total_t2: 0.4137, total_t3: 0.3917, total_t4: 0.4037, total: 3.0241, cam_bev_norm: 14.1983, sat_bev_norm: 11.0233, seg_sat: 0.2980, seg_dice_sat: 0.0822, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.2306, seg_dice_fused: 0.0597, cam_rel_mean: 0.1999, sat_rel_mean: 0.2075, cam_rel_min: 0.0023, sat_rel_min: 0.0021, grad_norm: 13.8005 2026-04-18 15:40:32,293 - mmdet - INFO - Iter [36900/55932] lr: 1.483e-05, eta: 12:11:06, time: 2.142, data_time: 0.087, memory: 34736, seg: 0.3242, seg_dice: 0.0854, seg_t0: 0.4827, seg_dice_t0: 0.1292, seg_t1: 0.3640, seg_dice_t1: 0.0980, seg_t2: 0.3360, seg_dice_t2: 0.0957, seg_t3: 0.3153, seg_dice_t3: 0.0865, total_t0: 0.6119, total_t1: 0.4620, total_t2: 0.4317, total_t3: 0.4018, total_t4: 0.4096, total: 3.0056, cam_bev_norm: 14.2122, sat_bev_norm: 10.9712, seg_sat: 0.3047, seg_dice_sat: 0.0747, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.2461, seg_dice_fused: 0.0631, cam_rel_mean: 0.1924, sat_rel_mean: 0.2147, cam_rel_min: 0.0033, sat_rel_min: 0.0021, grad_norm: 13.4419 2026-04-18 15:42:19,241 - mmdet - INFO - Iter [36950/55932] lr: 1.477e-05, eta: 12:09:06, time: 2.139, data_time: 0.088, memory: 34736, seg: 0.2945, seg_dice: 0.0740, seg_t0: 0.4741, seg_dice_t0: 0.1237, seg_t1: 0.3449, seg_dice_t1: 0.0841, seg_t2: 0.3120, seg_dice_t2: 0.0770, seg_t3: 0.2910, seg_dice_t3: 0.0744, total_t0: 0.5978, total_t1: 0.4290, total_t2: 0.3890, total_t3: 0.3654, total_t4: 0.3686, total: 2.7707, cam_bev_norm: 14.2615, sat_bev_norm: 11.0108, seg_sat: 0.2860, seg_dice_sat: 0.0675, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0600, seg_fused: 0.2165, seg_dice_fused: 0.0510, cam_rel_mean: 0.2143, sat_rel_mean: 0.2082, cam_rel_min: 0.0009, sat_rel_min: 0.0028, grad_norm: 14.4156 2026-04-18 15:44:05,898 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 15:44:05,899 - mmdet - INFO - Iter [37000/55932] lr: 1.471e-05, eta: 12:07:07, time: 2.133, data_time: 0.090, memory: 34736, seg: 0.3023, seg_dice: 0.0791, seg_t0: 0.4519, seg_dice_t0: 0.1262, seg_t1: 0.3322, seg_dice_t1: 0.0869, seg_t2: 0.2886, seg_dice_t2: 0.0752, seg_t3: 0.2810, seg_dice_t3: 0.0781, total_t0: 0.5781, total_t1: 0.4191, total_t2: 0.3637, total_t3: 0.3591, total_t4: 0.3814, total: 2.7763, cam_bev_norm: 14.2477, sat_bev_norm: 11.0355, seg_sat: 0.3208, seg_dice_sat: 0.0849, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.2106, seg_dice_fused: 0.0584, cam_rel_mean: 0.1953, sat_rel_mean: 0.2160, cam_rel_min: 0.0023, sat_rel_min: 0.0000, grad_norm: 14.7563 2026-04-18 15:45:53,062 - mmdet - INFO - Iter [37050/55932] lr: 1.465e-05, eta: 12:05:07, time: 2.143, data_time: 0.093, memory: 34736, seg: 0.3098, seg_dice: 0.0723, seg_t0: 0.4936, seg_dice_t0: 0.1272, seg_t1: 0.3537, seg_dice_t1: 0.0887, seg_t2: 0.3229, seg_dice_t2: 0.0755, seg_t3: 0.3075, seg_dice_t3: 0.0741, total_t0: 0.6208, total_t1: 0.4424, total_t2: 0.3983, total_t3: 0.3816, total_t4: 0.3820, total: 2.9182, cam_bev_norm: 14.2746, sat_bev_norm: 10.9952, seg_sat: 0.3145, seg_dice_sat: 0.0735, mask_cam_zeroed: 0.2200, mask_cam_noised: 0.1600, seg_fused: 0.2470, seg_dice_fused: 0.0581, cam_rel_mean: 0.1771, sat_rel_mean: 0.2254, cam_rel_min: 0.0052, sat_rel_min: 0.0000, grad_norm: 13.5837 2026-04-18 15:47:40,746 - mmdet - INFO - Iter [37100/55932] lr: 1.459e-05, eta: 12:03:08, time: 2.154, data_time: 0.088, memory: 34736, seg: 0.3226, seg_dice: 0.0837, seg_t0: 0.5080, seg_dice_t0: 0.1311, seg_t1: 0.3690, seg_dice_t1: 0.0920, seg_t2: 0.3289, seg_dice_t2: 0.0814, seg_t3: 0.3197, seg_dice_t3: 0.0804, total_t0: 0.6390, total_t1: 0.4610, total_t2: 0.4103, total_t3: 0.4001, total_t4: 0.4064, total: 2.9993, cam_bev_norm: 14.1704, sat_bev_norm: 10.8933, seg_sat: 0.3112, seg_dice_sat: 0.0747, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2394, seg_dice_fused: 0.0572, cam_rel_mean: 0.2067, sat_rel_mean: 0.2132, cam_rel_min: 0.0014, sat_rel_min: 0.0021, grad_norm: 13.8296 2026-04-18 15:49:27,951 - mmdet - INFO - Iter [37150/55932] lr: 1.454e-05, eta: 12:01:09, time: 2.144, data_time: 0.092, memory: 34736, seg: 0.3349, seg_dice: 0.0884, seg_t0: 0.5380, seg_dice_t0: 0.1449, seg_t1: 0.4075, seg_dice_t1: 0.1042, seg_t2: 0.3646, seg_dice_t2: 0.0953, seg_t3: 0.3349, seg_dice_t3: 0.0856, total_t0: 0.6828, total_t1: 0.5116, total_t2: 0.4599, total_t3: 0.4204, total_t4: 0.4233, total: 3.2234, cam_bev_norm: 14.1158, sat_bev_norm: 10.8757, seg_sat: 0.3312, seg_dice_sat: 0.0868, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 0.2458, seg_dice_fused: 0.0615, cam_rel_mean: 0.1830, sat_rel_mean: 0.2112, cam_rel_min: 0.0033, sat_rel_min: 0.0007, grad_norm: 15.1039 2026-04-18 15:51:14,720 - mmdet - INFO - Iter [37200/55932] lr: 1.448e-05, eta: 11:59:10, time: 2.135, data_time: 0.091, memory: 34736, seg: 0.3208, seg_dice: 0.0835, seg_t0: 0.4843, seg_dice_t0: 0.1292, seg_t1: 0.3470, seg_dice_t1: 0.0928, seg_t2: 0.3142, seg_dice_t2: 0.0847, seg_t3: 0.3075, seg_dice_t3: 0.0794, total_t0: 0.6135, total_t1: 0.4398, total_t2: 0.3990, total_t3: 0.3869, total_t4: 0.4043, total: 2.8710, cam_bev_norm: 14.2199, sat_bev_norm: 11.0093, seg_sat: 0.2745, seg_dice_sat: 0.0681, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.2287, seg_dice_fused: 0.0564, cam_rel_mean: 0.2069, sat_rel_mean: 0.2215, cam_rel_min: 0.0023, sat_rel_min: 0.0014, grad_norm: 13.8319 2026-04-18 15:53:02,749 - mmdet - INFO - Iter [37250/55932] lr: 1.442e-05, eta: 11:57:11, time: 2.161, data_time: 0.097, memory: 34736, seg: 0.2890, seg_dice: 0.0694, seg_t0: 0.4822, seg_dice_t0: 0.1223, seg_t1: 0.3700, seg_dice_t1: 0.0852, seg_t2: 0.3135, seg_dice_t2: 0.0745, seg_t3: 0.2856, seg_dice_t3: 0.0741, total_t0: 0.6045, total_t1: 0.4552, total_t2: 0.3880, total_t3: 0.3597, total_t4: 0.3584, total: 2.7499, cam_bev_norm: 14.2749, sat_bev_norm: 11.1280, seg_sat: 0.2679, seg_dice_sat: 0.0603, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.2074, seg_dice_fused: 0.0485, cam_rel_mean: 0.2048, sat_rel_mean: 0.2315, cam_rel_min: 0.0023, sat_rel_min: 0.0000, grad_norm: 14.4699 2026-04-18 15:54:23,310 - mmdet - INFO - Saving checkpoint at 37288 iterations 2026-04-18 16:04:44,276 - mmdet - INFO - +-----+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +-----+--------------+---------+----------+--------+ | IoU | 0.7896 | 0.6858 | 0.7061 | 0.7272 | +-----+--------------+---------+----------+--------+ 2026-04-18 16:04:44,277 - mmdet - INFO - mIoU = 0.7272 2026-04-18 16:05:02,276 - mmdet - INFO - +---------+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +---------+--------------+---------+----------+--------+ | IoU_cam | 0.651 | 0.5828 | 0.6241 | 0.6193 | | IoU_sat | 0.785 | 0.6646 | 0.6476 | 0.6991 | +---------+--------------+---------+----------+--------+ 2026-04-18 16:05:02,278 - mmdet - INFO - mIoU_cam = 0.6193 2026-04-18 16:05:02,278 - mmdet - INFO - mIoU_sat = 0.6991 2026-04-18 16:05:33,614 - mmdet - INFO - Logged 8 GT vs Pred visualizations to wandb 2026-04-18 16:05:34,538 - mmdet - INFO - Iter(val) [3010] ped_crossing: 0.7896, divider: 0.6858, boundary: 0.7061, mIoU: 0.7272, mIoU_cam: 0.6193, ped_crossing_cam: 0.6510, divider_cam: 0.5828, boundary_cam: 0.6241, mIoU_sat: 0.6991, ped_crossing_sat: 0.7850, divider_sat: 0.6646, boundary_sat: 0.6476 2026-04-18 16:07:17,366 - mmdet - INFO - Iter [37300/55932] lr: 1.436e-05, eta: 12:21:03, time: 64.240, data_time: 62.216, memory: 34736, seg: 0.3025, seg_dice: 0.0754, seg_t0: 0.4438, seg_dice_t0: 0.1321, seg_t1: 0.3238, seg_dice_t1: 0.0875, seg_t2: 0.2949, seg_dice_t2: 0.0858, seg_t3: 0.3003, seg_dice_t3: 0.0706, total_t0: 0.5759, total_t1: 0.4113, total_t2: 0.3807, total_t3: 0.3710, total_t4: 0.3779, total: 2.6880, cam_bev_norm: 14.1195, sat_bev_norm: 11.0221, seg_sat: 0.2610, seg_dice_sat: 0.0603, mask_cam_zeroed: 0.0833, mask_cam_noised: 0.1667, seg_fused: 0.2032, seg_dice_fused: 0.0466, cam_rel_mean: 0.1823, sat_rel_mean: 0.2041, cam_rel_min: 0.0020, sat_rel_min: 0.0000, grad_norm: 13.7369 2026-04-18 16:09:01,525 - mmdet - INFO - Iter [37350/55932] lr: 1.430e-05, eta: 12:18:56, time: 2.083, data_time: 0.094, memory: 34736, seg: 0.3079, seg_dice: 0.0901, seg_t0: 0.4690, seg_dice_t0: 0.1330, seg_t1: 0.3564, seg_dice_t1: 0.0966, seg_t2: 0.3161, seg_dice_t2: 0.0893, seg_t3: 0.3105, seg_dice_t3: 0.0913, total_t0: 0.6020, total_t1: 0.4531, total_t2: 0.4054, total_t3: 0.4019, total_t4: 0.3980, total: 2.8695, cam_bev_norm: 14.2181, sat_bev_norm: 11.0822, seg_sat: 0.2554, seg_dice_sat: 0.0733, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1200, seg_fused: 0.2162, seg_dice_fused: 0.0642, cam_rel_mean: 0.2136, sat_rel_mean: 0.2067, cam_rel_min: 0.0005, sat_rel_min: 0.0028, grad_norm: 14.0680 2026-04-18 16:10:47,503 - mmdet - INFO - Iter [37400/55932] lr: 1.425e-05, eta: 12:16:50, time: 2.120, data_time: 0.103, memory: 34736, seg: 0.3084, seg_dice: 0.0755, seg_t0: 0.4552, seg_dice_t0: 0.1147, seg_t1: 0.3383, seg_dice_t1: 0.0817, seg_t2: 0.3027, seg_dice_t2: 0.0780, seg_t3: 0.3098, seg_dice_t3: 0.0784, total_t0: 0.5699, total_t1: 0.4201, total_t2: 0.3807, total_t3: 0.3882, total_t4: 0.3839, total: 2.7029, cam_bev_norm: 14.2676, sat_bev_norm: 11.0666, seg_sat: 0.2506, seg_dice_sat: 0.0589, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.2037, seg_dice_fused: 0.0468, cam_rel_mean: 0.2031, sat_rel_mean: 0.2226, cam_rel_min: 0.0023, sat_rel_min: 0.0007, grad_norm: 13.7913 2026-04-18 16:12:33,383 - mmdet - INFO - Iter [37450/55932] lr: 1.419e-05, eta: 12:14:44, time: 2.118, data_time: 0.103, memory: 34736, seg: 0.2911, seg_dice: 0.0720, seg_t0: 0.4761, seg_dice_t0: 0.1303, seg_t1: 0.3493, seg_dice_t1: 0.0845, seg_t2: 0.3017, seg_dice_t2: 0.0733, seg_t3: 0.2958, seg_dice_t3: 0.0720, total_t0: 0.6065, total_t1: 0.4338, total_t2: 0.3751, total_t3: 0.3678, total_t4: 0.3631, total: 2.7078, cam_bev_norm: 14.1944, sat_bev_norm: 11.0640, seg_sat: 0.2558, seg_dice_sat: 0.0607, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.1979, seg_dice_fused: 0.0471, cam_rel_mean: 0.2062, sat_rel_mean: 0.2157, cam_rel_min: 0.0009, sat_rel_min: 0.0007, grad_norm: 14.0736 2026-04-18 16:14:19,203 - mmdet - INFO - Iter [37500/55932] lr: 1.413e-05, eta: 12:12:38, time: 2.116, data_time: 0.101, memory: 34736, seg: 0.2838, seg_dice: 0.0716, seg_t0: 0.4559, seg_dice_t0: 0.1239, seg_t1: 0.3323, seg_dice_t1: 0.0855, seg_t2: 0.2904, seg_dice_t2: 0.0709, seg_t3: 0.2802, seg_dice_t3: 0.0685, total_t0: 0.5797, total_t1: 0.4178, total_t2: 0.3613, total_t3: 0.3486, total_t4: 0.3554, total: 2.6400, cam_bev_norm: 14.1754, sat_bev_norm: 11.0496, seg_sat: 0.2432, seg_dice_sat: 0.0614, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2000, seg_fused: 0.2184, seg_dice_fused: 0.0540, cam_rel_mean: 0.1823, sat_rel_mean: 0.1973, cam_rel_min: 0.0033, sat_rel_min: 0.0035, grad_norm: 13.9168 2026-04-18 16:16:04,636 - mmdet - INFO - Iter [37550/55932] lr: 1.407e-05, eta: 12:10:32, time: 2.108, data_time: 0.095, memory: 34736, seg: 0.3210, seg_dice: 0.0798, seg_t0: 0.5408, seg_dice_t0: 0.1469, seg_t1: 0.3972, seg_dice_t1: 0.1007, seg_t2: 0.3555, seg_dice_t2: 0.0851, seg_t3: 0.3388, seg_dice_t3: 0.0823, total_t0: 0.6877, total_t1: 0.4979, total_t2: 0.4406, total_t3: 0.4212, total_t4: 0.4008, total: 3.0643, cam_bev_norm: 14.1063, sat_bev_norm: 11.0204, seg_sat: 0.2791, seg_dice_sat: 0.0623, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.2248, seg_dice_fused: 0.0499, cam_rel_mean: 0.2009, sat_rel_mean: 0.2060, cam_rel_min: 0.0019, sat_rel_min: 0.0021, grad_norm: 17.4592 2026-04-18 16:17:50,027 - mmdet - INFO - Iter [37600/55932] lr: 1.402e-05, eta: 12:08:26, time: 2.108, data_time: 0.098, memory: 34736, seg: 0.3045, seg_dice: 0.0709, seg_t0: 0.4938, seg_dice_t0: 0.1390, seg_t1: 0.3576, seg_dice_t1: 0.0869, seg_t2: 0.3298, seg_dice_t2: 0.0765, seg_t3: 0.3102, seg_dice_t3: 0.0728, total_t0: 0.6329, total_t1: 0.4446, total_t2: 0.4063, total_t3: 0.3830, total_t4: 0.3753, total: 2.7843, cam_bev_norm: 14.1910, sat_bev_norm: 11.0371, seg_sat: 0.2456, seg_dice_sat: 0.0539, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.1985, seg_dice_fused: 0.0443, cam_rel_mean: 0.2090, sat_rel_mean: 0.2216, cam_rel_min: 0.0014, sat_rel_min: 0.0007, grad_norm: 12.2194 2026-04-18 16:19:35,981 - mmdet - INFO - Iter [37650/55932] lr: 1.396e-05, eta: 12:06:20, time: 2.119, data_time: 0.098, memory: 34736, seg: 0.2852, seg_dice: 0.0757, seg_t0: 0.4853, seg_dice_t0: 0.1262, seg_t1: 0.3620, seg_dice_t1: 0.0927, seg_t2: 0.3156, seg_dice_t2: 0.0790, seg_t3: 0.2851, seg_dice_t3: 0.0728, total_t0: 0.6115, total_t1: 0.4547, total_t2: 0.3945, total_t3: 0.3579, total_t4: 0.3609, total: 2.7773, cam_bev_norm: 14.1573, sat_bev_norm: 10.9989, seg_sat: 0.2577, seg_dice_sat: 0.0702, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.2140, seg_dice_fused: 0.0559, cam_rel_mean: 0.1934, sat_rel_mean: 0.1997, cam_rel_min: 0.0024, sat_rel_min: 0.0028, grad_norm: 15.5312 2026-04-18 16:21:22,585 - mmdet - INFO - Iter [37700/55932] lr: 1.390e-05, eta: 12:04:15, time: 2.132, data_time: 0.102, memory: 34736, seg: 0.3162, seg_dice: 0.0778, seg_t0: 0.4854, seg_dice_t0: 0.1229, seg_t1: 0.3588, seg_dice_t1: 0.0894, seg_t2: 0.3267, seg_dice_t2: 0.0809, seg_t3: 0.3332, seg_dice_t3: 0.0791, total_t0: 0.6083, total_t1: 0.4481, total_t2: 0.4076, total_t3: 0.4123, total_t4: 0.3940, total: 2.8714, cam_bev_norm: 14.0917, sat_bev_norm: 10.9933, seg_sat: 0.2668, seg_dice_sat: 0.0610, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.2205, seg_dice_fused: 0.0528, cam_rel_mean: 0.1939, sat_rel_mean: 0.2019, cam_rel_min: 0.0024, sat_rel_min: 0.0021, grad_norm: 15.3341 2026-04-18 16:23:07,774 - mmdet - INFO - Iter [37750/55932] lr: 1.385e-05, eta: 12:02:09, time: 2.104, data_time: 0.097, memory: 34736, seg: 0.3141, seg_dice: 0.0779, seg_t0: 0.4962, seg_dice_t0: 0.1369, seg_t1: 0.3693, seg_dice_t1: 0.0983, seg_t2: 0.3349, seg_dice_t2: 0.0849, seg_t3: 0.3078, seg_dice_t3: 0.0782, total_t0: 0.6331, total_t1: 0.4676, total_t2: 0.4198, total_t3: 0.3860, total_t4: 0.3921, total: 2.8783, cam_bev_norm: 14.1603, sat_bev_norm: 11.0478, seg_sat: 0.2578, seg_dice_sat: 0.0623, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.2094, seg_dice_fused: 0.0503, cam_rel_mean: 0.1900, sat_rel_mean: 0.2121, cam_rel_min: 0.0028, sat_rel_min: 0.0014, grad_norm: 14.9443 2026-04-18 16:24:53,248 - mmdet - INFO - Iter [37800/55932] lr: 1.379e-05, eta: 12:00:03, time: 2.109, data_time: 0.092, memory: 34736, seg: 0.3028, seg_dice: 0.0817, seg_t0: 0.5237, seg_dice_t0: 0.1504, seg_t1: 0.3767, seg_dice_t1: 0.0949, seg_t2: 0.3377, seg_dice_t2: 0.0868, seg_t3: 0.3179, seg_dice_t3: 0.0812, total_t0: 0.6741, total_t1: 0.4716, total_t2: 0.4245, total_t3: 0.3992, total_t4: 0.3845, total: 2.9448, cam_bev_norm: 14.1351, sat_bev_norm: 10.9677, seg_sat: 0.2550, seg_dice_sat: 0.0675, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 0.2137, seg_dice_fused: 0.0548, cam_rel_mean: 0.1998, sat_rel_mean: 0.1954, cam_rel_min: 0.0019, sat_rel_min: 0.0035, grad_norm: 15.5704 2026-04-18 16:26:40,027 - mmdet - INFO - Iter [37850/55932] lr: 1.373e-05, eta: 11:57:58, time: 2.135, data_time: 0.103, memory: 34736, seg: 0.2952, seg_dice: 0.0753, seg_t0: 0.4555, seg_dice_t0: 0.1188, seg_t1: 0.3315, seg_dice_t1: 0.0844, seg_t2: 0.3032, seg_dice_t2: 0.0762, seg_t3: 0.2898, seg_dice_t3: 0.0709, total_t0: 0.5744, total_t1: 0.4158, total_t2: 0.3795, total_t3: 0.3607, total_t4: 0.3705, total: 2.6882, cam_bev_norm: 14.2456, sat_bev_norm: 11.0725, seg_sat: 0.2504, seg_dice_sat: 0.0591, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.2264, seg_dice_fused: 0.0514, cam_rel_mean: 0.2065, sat_rel_mean: 0.2057, cam_rel_min: 0.0019, sat_rel_min: 0.0042, grad_norm: 15.7457 2026-04-18 16:28:25,699 - mmdet - INFO - Iter [37900/55932] lr: 1.368e-05, eta: 11:55:53, time: 2.114, data_time: 0.095, memory: 34736, seg: 0.3283, seg_dice: 0.0787, seg_t0: 0.5682, seg_dice_t0: 0.1484, seg_t1: 0.4018, seg_dice_t1: 0.0993, seg_t2: 0.3635, seg_dice_t2: 0.0851, seg_t3: 0.3292, seg_dice_t3: 0.0775, total_t0: 0.7166, total_t1: 0.5010, total_t2: 0.4485, total_t3: 0.4067, total_t4: 0.4070, total: 3.1070, cam_bev_norm: 14.1001, sat_bev_norm: 11.0243, seg_sat: 0.2796, seg_dice_sat: 0.0669, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.2286, seg_dice_fused: 0.0519, cam_rel_mean: 0.2083, sat_rel_mean: 0.2147, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 14.7444 2026-04-18 16:30:11,689 - mmdet - INFO - Iter [37950/55932] lr: 1.362e-05, eta: 11:53:48, time: 2.120, data_time: 0.094, memory: 34736, seg: 0.2688, seg_dice: 0.0700, seg_t0: 0.4412, seg_dice_t0: 0.1187, seg_t1: 0.3322, seg_dice_t1: 0.0821, seg_t2: 0.2862, seg_dice_t2: 0.0764, seg_t3: 0.2743, seg_dice_t3: 0.0736, total_t0: 0.5599, total_t1: 0.4143, total_t2: 0.3626, total_t3: 0.3479, total_t4: 0.3388, total: 2.6027, cam_bev_norm: 14.2247, sat_bev_norm: 11.0755, seg_sat: 0.2534, seg_dice_sat: 0.0611, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.2094, seg_dice_fused: 0.0555, cam_rel_mean: 0.1997, sat_rel_mean: 0.2062, cam_rel_min: 0.0024, sat_rel_min: 0.0028, grad_norm: 12.9165 2026-04-18 16:31:57,367 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 16:31:57,368 - mmdet - INFO - Iter [38000/55932] lr: 1.356e-05, eta: 11:51:42, time: 2.114, data_time: 0.095, memory: 34736, seg: 0.2938, seg_dice: 0.0736, seg_t0: 0.4939, seg_dice_t0: 0.1238, seg_t1: 0.3587, seg_dice_t1: 0.0878, seg_t2: 0.3134, seg_dice_t2: 0.0791, seg_t3: 0.2963, seg_dice_t3: 0.0747, total_t0: 0.6177, total_t1: 0.4465, total_t2: 0.3925, total_t3: 0.3710, total_t4: 0.3674, total: 2.8307, cam_bev_norm: 14.1886, sat_bev_norm: 11.0772, seg_sat: 0.2850, seg_dice_sat: 0.0717, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.2228, seg_dice_fused: 0.0563, cam_rel_mean: 0.2059, sat_rel_mean: 0.2155, cam_rel_min: 0.0019, sat_rel_min: 0.0021, grad_norm: 14.1766 2026-04-18 16:33:42,939 - mmdet - INFO - Iter [38050/55932] lr: 1.351e-05, eta: 11:49:37, time: 2.111, data_time: 0.103, memory: 34736, seg: 0.2977, seg_dice: 0.0774, seg_t0: 0.4692, seg_dice_t0: 0.1152, seg_t1: 0.3517, seg_dice_t1: 0.0824, seg_t2: 0.3200, seg_dice_t2: 0.0791, seg_t3: 0.3057, seg_dice_t3: 0.0741, total_t0: 0.5844, total_t1: 0.4341, total_t2: 0.3991, total_t3: 0.3798, total_t4: 0.3750, total: 2.7521, cam_bev_norm: 14.2093, sat_bev_norm: 11.0105, seg_sat: 0.2625, seg_dice_sat: 0.0594, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.2077, seg_dice_fused: 0.0501, cam_rel_mean: 0.2023, sat_rel_mean: 0.2244, cam_rel_min: 0.0024, sat_rel_min: 0.0007, grad_norm: 12.2034 2026-04-18 16:35:28,283 - mmdet - INFO - Iter [38100/55932] lr: 1.345e-05, eta: 11:47:31, time: 2.107, data_time: 0.102, memory: 34736, seg: 0.3098, seg_dice: 0.0830, seg_t0: 0.4902, seg_dice_t0: 0.1288, seg_t1: 0.3594, seg_dice_t1: 0.1001, seg_t2: 0.3261, seg_dice_t2: 0.0892, seg_t3: 0.3194, seg_dice_t3: 0.0873, total_t0: 0.6190, total_t1: 0.4596, total_t2: 0.4153, total_t3: 0.4067, total_t4: 0.3928, total: 2.9471, cam_bev_norm: 14.1253, sat_bev_norm: 10.9787, seg_sat: 0.2896, seg_dice_sat: 0.0715, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.2311, seg_dice_fused: 0.0614, cam_rel_mean: 0.1979, sat_rel_mean: 0.2085, cam_rel_min: 0.0024, sat_rel_min: 0.0014, grad_norm: 15.8206 2026-04-18 16:37:13,949 - mmdet - INFO - Iter [38150/55932] lr: 1.339e-05, eta: 11:45:26, time: 2.113, data_time: 0.099, memory: 34736, seg: 0.3140, seg_dice: 0.0780, seg_t0: 0.4888, seg_dice_t0: 0.1226, seg_t1: 0.3570, seg_dice_t1: 0.0862, seg_t2: 0.3215, seg_dice_t2: 0.0780, seg_t3: 0.3051, seg_dice_t3: 0.0737, total_t0: 0.6114, total_t1: 0.4432, total_t2: 0.3995, total_t3: 0.3788, total_t4: 0.3920, total: 2.8518, cam_bev_norm: 14.2104, sat_bev_norm: 10.9841, seg_sat: 0.2778, seg_dice_sat: 0.0696, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.2239, seg_dice_fused: 0.0555, cam_rel_mean: 0.1956, sat_rel_mean: 0.2209, cam_rel_min: 0.0033, sat_rel_min: 0.0014, grad_norm: 12.4259 2026-04-18 16:38:59,049 - mmdet - INFO - Iter [38200/55932] lr: 1.334e-05, eta: 11:43:21, time: 2.102, data_time: 0.100, memory: 34736, seg: 0.3068, seg_dice: 0.0735, seg_t0: 0.4363, seg_dice_t0: 0.1159, seg_t1: 0.3252, seg_dice_t1: 0.0805, seg_t2: 0.2953, seg_dice_t2: 0.0755, seg_t3: 0.2929, seg_dice_t3: 0.0697, total_t0: 0.5523, total_t1: 0.4057, total_t2: 0.3708, total_t3: 0.3626, total_t4: 0.3803, total: 2.6593, cam_bev_norm: 14.1866, sat_bev_norm: 11.1087, seg_sat: 0.2612, seg_dice_sat: 0.0582, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.2179, seg_dice_fused: 0.0504, cam_rel_mean: 0.2141, sat_rel_mean: 0.2228, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 13.3834 2026-04-18 16:40:44,019 - mmdet - INFO - Iter [38250/55932] lr: 1.328e-05, eta: 11:41:15, time: 2.099, data_time: 0.099, memory: 34736, seg: 0.3152, seg_dice: 0.0804, seg_t0: 0.5144, seg_dice_t0: 0.1424, seg_t1: 0.3649, seg_dice_t1: 0.0942, seg_t2: 0.3216, seg_dice_t2: 0.0815, seg_t3: 0.3175, seg_dice_t3: 0.0805, total_t0: 0.6568, total_t1: 0.4591, total_t2: 0.4031, total_t3: 0.3980, total_t4: 0.3956, total: 2.9376, cam_bev_norm: 14.1161, sat_bev_norm: 10.9528, seg_sat: 0.2696, seg_dice_sat: 0.0665, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.2296, seg_dice_fused: 0.0593, cam_rel_mean: 0.1946, sat_rel_mean: 0.2014, cam_rel_min: 0.0028, sat_rel_min: 0.0028, grad_norm: 15.7700 2026-04-18 16:42:28,936 - mmdet - INFO - Iter [38300/55932] lr: 1.323e-05, eta: 11:39:10, time: 2.099, data_time: 0.095, memory: 34736, seg: 0.3126, seg_dice: 0.0764, seg_t0: 0.4903, seg_dice_t0: 0.1263, seg_t1: 0.3675, seg_dice_t1: 0.0968, seg_t2: 0.3302, seg_dice_t2: 0.0864, seg_t3: 0.3138, seg_dice_t3: 0.0808, total_t0: 0.6166, total_t1: 0.4642, total_t2: 0.4166, total_t3: 0.3946, total_t4: 0.3890, total: 2.8914, cam_bev_norm: 14.0999, sat_bev_norm: 10.9883, seg_sat: 0.2689, seg_dice_sat: 0.0634, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.2251, seg_dice_fused: 0.0528, cam_rel_mean: 0.1923, sat_rel_mean: 0.2075, cam_rel_min: 0.0024, sat_rel_min: 0.0021, grad_norm: 14.5525 2026-04-18 16:44:13,598 - mmdet - INFO - Iter [38350/55932] lr: 1.317e-05, eta: 11:37:04, time: 2.093, data_time: 0.092, memory: 34736, seg: 0.2970, seg_dice: 0.0727, seg_t0: 0.4634, seg_dice_t0: 0.1230, seg_t1: 0.3431, seg_dice_t1: 0.0868, seg_t2: 0.3058, seg_dice_t2: 0.0814, seg_t3: 0.3003, seg_dice_t3: 0.0780, total_t0: 0.5864, total_t1: 0.4298, total_t2: 0.3873, total_t3: 0.3783, total_t4: 0.3697, total: 2.7658, cam_bev_norm: 14.1580, sat_bev_norm: 10.9459, seg_sat: 0.2821, seg_dice_sat: 0.0664, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1200, seg_fused: 0.2143, seg_dice_fused: 0.0515, cam_rel_mean: 0.2090, sat_rel_mean: 0.2120, cam_rel_min: 0.0009, sat_rel_min: 0.0014, grad_norm: 13.5686 2026-04-18 16:45:58,251 - mmdet - INFO - Iter [38400/55932] lr: 1.312e-05, eta: 11:34:59, time: 2.093, data_time: 0.096, memory: 34736, seg: 0.3183, seg_dice: 0.0841, seg_t0: 0.4979, seg_dice_t0: 0.1296, seg_t1: 0.3706, seg_dice_t1: 0.1009, seg_t2: 0.3403, seg_dice_t2: 0.0911, seg_t3: 0.3286, seg_dice_t3: 0.0889, total_t0: 0.6276, total_t1: 0.4715, total_t2: 0.4315, total_t3: 0.4175, total_t4: 0.4024, total: 3.0206, cam_bev_norm: 14.0777, sat_bev_norm: 11.0313, seg_sat: 0.2913, seg_dice_sat: 0.0708, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2472, seg_dice_fused: 0.0608, cam_rel_mean: 0.2097, sat_rel_mean: 0.1933, cam_rel_min: 0.0014, sat_rel_min: 0.0057, grad_norm: 13.7412 2026-04-18 16:47:44,021 - mmdet - INFO - Iter [38450/55932] lr: 1.306e-05, eta: 11:32:54, time: 2.115, data_time: 0.098, memory: 34736, seg: 0.3039, seg_dice: 0.0854, seg_t0: 0.4972, seg_dice_t0: 0.1450, seg_t1: 0.3541, seg_dice_t1: 0.0941, seg_t2: 0.3124, seg_dice_t2: 0.0853, seg_t3: 0.3023, seg_dice_t3: 0.0795, total_t0: 0.6423, total_t1: 0.4482, total_t2: 0.3977, total_t3: 0.3819, total_t4: 0.3893, total: 2.8843, cam_bev_norm: 14.1404, sat_bev_norm: 10.9881, seg_sat: 0.2694, seg_dice_sat: 0.0744, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.2181, seg_dice_fused: 0.0632, cam_rel_mean: 0.1926, sat_rel_mean: 0.2124, cam_rel_min: 0.0024, sat_rel_min: 0.0014, grad_norm: 14.5790 2026-04-18 16:49:29,181 - mmdet - INFO - Iter [38500/55932] lr: 1.300e-05, eta: 11:30:49, time: 2.103, data_time: 0.094, memory: 34736, seg: 0.3135, seg_dice: 0.0838, seg_t0: 0.5012, seg_dice_t0: 0.1390, seg_t1: 0.3684, seg_dice_t1: 0.0955, seg_t2: 0.3109, seg_dice_t2: 0.0807, seg_t3: 0.3007, seg_dice_t3: 0.0761, total_t0: 0.6402, total_t1: 0.4639, total_t2: 0.3916, total_t3: 0.3768, total_t4: 0.3973, total: 2.8676, cam_bev_norm: 14.0850, sat_bev_norm: 10.9406, seg_sat: 0.2643, seg_dice_sat: 0.0660, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2600, seg_fused: 0.2133, seg_dice_fused: 0.0542, cam_rel_mean: 0.1958, sat_rel_mean: 0.2097, cam_rel_min: 0.0019, sat_rel_min: 0.0007, grad_norm: 14.5645 2026-04-18 16:51:14,951 - mmdet - INFO - Iter [38550/55932] lr: 1.295e-05, eta: 11:28:44, time: 2.115, data_time: 0.095, memory: 34736, seg: 0.3052, seg_dice: 0.0754, seg_t0: 0.4866, seg_dice_t0: 0.1381, seg_t1: 0.3600, seg_dice_t1: 0.0913, seg_t2: 0.3208, seg_dice_t2: 0.0807, seg_t3: 0.3049, seg_dice_t3: 0.0798, total_t0: 0.6247, total_t1: 0.4513, total_t2: 0.4015, total_t3: 0.3847, total_t4: 0.3805, total: 2.8537, cam_bev_norm: 14.1909, sat_bev_norm: 11.0441, seg_sat: 0.2686, seg_dice_sat: 0.0630, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.2274, seg_dice_fused: 0.0519, cam_rel_mean: 0.2113, sat_rel_mean: 0.2124, cam_rel_min: 0.0014, sat_rel_min: 0.0028, grad_norm: 14.1332 2026-04-18 16:52:59,609 - mmdet - INFO - Iter [38600/55932] lr: 1.289e-05, eta: 11:26:39, time: 2.093, data_time: 0.091, memory: 34736, seg: 0.3352, seg_dice: 0.0811, seg_t0: 0.4931, seg_dice_t0: 0.1315, seg_t1: 0.3749, seg_dice_t1: 0.0969, seg_t2: 0.3425, seg_dice_t2: 0.0815, seg_t3: 0.3291, seg_dice_t3: 0.0799, total_t0: 0.6245, total_t1: 0.4719, total_t2: 0.4240, total_t3: 0.4090, total_t4: 0.4163, total: 2.9429, cam_bev_norm: 14.0812, sat_bev_norm: 11.0439, seg_sat: 0.2636, seg_dice_sat: 0.0628, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.2183, seg_dice_fused: 0.0526, cam_rel_mean: 0.2011, sat_rel_mean: 0.2131, cam_rel_min: 0.0014, sat_rel_min: 0.0007, grad_norm: 13.2631 2026-04-18 16:54:44,851 - mmdet - INFO - Iter [38650/55932] lr: 1.284e-05, eta: 11:24:34, time: 2.105, data_time: 0.096, memory: 34736, seg: 0.2912, seg_dice: 0.0703, seg_t0: 0.5015, seg_dice_t0: 0.1252, seg_t1: 0.3708, seg_dice_t1: 0.0892, seg_t2: 0.3081, seg_dice_t2: 0.0779, seg_t3: 0.2880, seg_dice_t3: 0.0732, total_t0: 0.6266, total_t1: 0.4601, total_t2: 0.3861, total_t3: 0.3612, total_t4: 0.3615, total: 2.7832, cam_bev_norm: 14.1720, sat_bev_norm: 11.0021, seg_sat: 0.2570, seg_dice_sat: 0.0588, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.2207, seg_dice_fused: 0.0511, cam_rel_mean: 0.1955, sat_rel_mean: 0.2005, cam_rel_min: 0.0028, sat_rel_min: 0.0050, grad_norm: 14.2505 2026-04-18 16:56:30,233 - mmdet - INFO - Iter [38700/55932] lr: 1.278e-05, eta: 11:22:29, time: 2.108, data_time: 0.098, memory: 34736, seg: 0.3038, seg_dice: 0.0816, seg_t0: 0.4796, seg_dice_t0: 0.1402, seg_t1: 0.3645, seg_dice_t1: 0.0999, seg_t2: 0.3366, seg_dice_t2: 0.0891, seg_t3: 0.3042, seg_dice_t3: 0.0836, total_t0: 0.6197, total_t1: 0.4644, total_t2: 0.4257, total_t3: 0.3878, total_t4: 0.3854, total: 2.8822, cam_bev_norm: 14.1568, sat_bev_norm: 11.0590, seg_sat: 0.2569, seg_dice_sat: 0.0687, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.2153, seg_dice_fused: 0.0582, cam_rel_mean: 0.2066, sat_rel_mean: 0.2150, cam_rel_min: 0.0019, sat_rel_min: 0.0021, grad_norm: 13.4826 2026-04-18 16:58:15,572 - mmdet - INFO - Iter [38750/55932] lr: 1.273e-05, eta: 11:20:24, time: 2.107, data_time: 0.097, memory: 34736, seg: 0.3138, seg_dice: 0.0755, seg_t0: 0.5298, seg_dice_t0: 0.1294, seg_t1: 0.3559, seg_dice_t1: 0.0854, seg_t2: 0.3199, seg_dice_t2: 0.0774, seg_t3: 0.3100, seg_dice_t3: 0.0740, total_t0: 0.6592, total_t1: 0.4412, total_t2: 0.3973, total_t3: 0.3841, total_t4: 0.3893, total: 2.8659, cam_bev_norm: 14.1824, sat_bev_norm: 11.0543, seg_sat: 0.2678, seg_dice_sat: 0.0611, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.2158, seg_dice_fused: 0.0502, cam_rel_mean: 0.2031, sat_rel_mean: 0.2218, cam_rel_min: 0.0028, sat_rel_min: 0.0007, grad_norm: 17.1816 2026-04-18 17:00:01,170 - mmdet - INFO - Iter [38800/55932] lr: 1.267e-05, eta: 11:18:19, time: 2.112, data_time: 0.099, memory: 34736, seg: 0.3110, seg_dice: 0.0802, seg_t0: 0.4676, seg_dice_t0: 0.1256, seg_t1: 0.3563, seg_dice_t1: 0.0965, seg_t2: 0.3189, seg_dice_t2: 0.0843, seg_t3: 0.3053, seg_dice_t3: 0.0814, total_t0: 0.5932, total_t1: 0.4528, total_t2: 0.4032, total_t3: 0.3867, total_t4: 0.3912, total: 2.8391, cam_bev_norm: 14.0925, sat_bev_norm: 11.0152, seg_sat: 0.2701, seg_dice_sat: 0.0682, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.2184, seg_dice_fused: 0.0554, cam_rel_mean: 0.1871, sat_rel_mean: 0.2148, cam_rel_min: 0.0033, sat_rel_min: 0.0007, grad_norm: 15.0831 2026-04-18 17:01:46,325 - mmdet - INFO - Iter [38850/55932] lr: 1.262e-05, eta: 11:16:15, time: 2.103, data_time: 0.092, memory: 34736, seg: 0.2797, seg_dice: 0.0696, seg_t0: 0.4609, seg_dice_t0: 0.1144, seg_t1: 0.3391, seg_dice_t1: 0.0814, seg_t2: 0.2968, seg_dice_t2: 0.0740, seg_t3: 0.2869, seg_dice_t3: 0.0706, total_t0: 0.5753, total_t1: 0.4205, total_t2: 0.3708, total_t3: 0.3575, total_t4: 0.3493, total: 2.6440, cam_bev_norm: 14.0849, sat_bev_norm: 10.9658, seg_sat: 0.2565, seg_dice_sat: 0.0624, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.2041, seg_dice_fused: 0.0476, cam_rel_mean: 0.2014, sat_rel_mean: 0.1999, cam_rel_min: 0.0014, sat_rel_min: 0.0028, grad_norm: 13.7996 2026-04-18 17:03:30,924 - mmdet - INFO - Iter [38900/55932] lr: 1.256e-05, eta: 11:14:10, time: 2.091, data_time: 0.096, memory: 34736, seg: 0.2989, seg_dice: 0.0703, seg_t0: 0.5177, seg_dice_t0: 0.1350, seg_t1: 0.3655, seg_dice_t1: 0.0893, seg_t2: 0.3220, seg_dice_t2: 0.0785, seg_t3: 0.3045, seg_dice_t3: 0.0727, total_t0: 0.6526, total_t1: 0.4548, total_t2: 0.4005, total_t3: 0.3773, total_t4: 0.3692, total: 2.8091, cam_bev_norm: 14.1388, sat_bev_norm: 11.0249, seg_sat: 0.2511, seg_dice_sat: 0.0576, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1200, seg_fused: 0.2019, seg_dice_fused: 0.0440, cam_rel_mean: 0.2101, sat_rel_mean: 0.2191, cam_rel_min: 0.0010, sat_rel_min: 0.0014, grad_norm: 15.1780 2026-04-18 17:05:16,351 - mmdet - INFO - Iter [38950/55932] lr: 1.251e-05, eta: 11:12:05, time: 2.109, data_time: 0.093, memory: 34736, seg: 0.3061, seg_dice: 0.0778, seg_t0: 0.4571, seg_dice_t0: 0.1232, seg_t1: 0.3434, seg_dice_t1: 0.0917, seg_t2: 0.3233, seg_dice_t2: 0.0838, seg_t3: 0.3188, seg_dice_t3: 0.0839, total_t0: 0.5802, total_t1: 0.4352, total_t2: 0.4072, total_t3: 0.4026, total_t4: 0.3839, total: 2.7725, cam_bev_norm: 14.1774, sat_bev_norm: 11.1040, seg_sat: 0.2436, seg_dice_sat: 0.0580, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.2117, seg_dice_fused: 0.0501, cam_rel_mean: 0.2034, sat_rel_mean: 0.2193, cam_rel_min: 0.0024, sat_rel_min: 0.0021, grad_norm: 12.5993 2026-04-18 17:07:02,049 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 17:07:02,050 - mmdet - INFO - Iter [39000/55932] lr: 1.246e-05, eta: 11:10:01, time: 2.114, data_time: 0.089, memory: 34736, seg: 0.2936, seg_dice: 0.0737, seg_t0: 0.4898, seg_dice_t0: 0.1259, seg_t1: 0.3565, seg_dice_t1: 0.0903, seg_t2: 0.3210, seg_dice_t2: 0.0770, seg_t3: 0.3051, seg_dice_t3: 0.0740, total_t0: 0.6157, total_t1: 0.4468, total_t2: 0.3979, total_t3: 0.3791, total_t4: 0.3673, total: 2.8466, cam_bev_norm: 14.1120, sat_bev_norm: 10.9019, seg_sat: 0.2908, seg_dice_sat: 0.0700, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1800, seg_fused: 0.2254, seg_dice_fused: 0.0536, cam_rel_mean: 0.1771, sat_rel_mean: 0.2216, cam_rel_min: 0.0048, sat_rel_min: 0.0000, grad_norm: 12.8547 2026-04-18 17:08:46,633 - mmdet - INFO - Iter [39050/55932] lr: 1.240e-05, eta: 11:07:56, time: 2.092, data_time: 0.090, memory: 34737, seg: 0.3011, seg_dice: 0.0830, seg_t0: 0.4597, seg_dice_t0: 0.1242, seg_t1: 0.3326, seg_dice_t1: 0.0954, seg_t2: 0.2899, seg_dice_t2: 0.0767, seg_t3: 0.2917, seg_dice_t3: 0.0787, total_t0: 0.5839, total_t1: 0.4280, total_t2: 0.3666, total_t3: 0.3704, total_t4: 0.3842, total: 2.7548, cam_bev_norm: 14.0834, sat_bev_norm: 10.9573, seg_sat: 0.2681, seg_dice_sat: 0.0726, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.2217, seg_dice_fused: 0.0593, cam_rel_mean: 0.1857, sat_rel_mean: 0.2024, cam_rel_min: 0.0033, sat_rel_min: 0.0021, grad_norm: 13.3049 2026-04-18 17:10:31,445 - mmdet - INFO - Iter [39100/55932] lr: 1.235e-05, eta: 11:05:51, time: 2.096, data_time: 0.092, memory: 34737, seg: 0.2936, seg_dice: 0.0766, seg_t0: 0.4643, seg_dice_t0: 0.1386, seg_t1: 0.3525, seg_dice_t1: 0.1021, seg_t2: 0.3254, seg_dice_t2: 0.0904, seg_t3: 0.2987, seg_dice_t3: 0.0823, total_t0: 0.6029, total_t1: 0.4546, total_t2: 0.4158, total_t3: 0.3810, total_t4: 0.3702, total: 2.8251, cam_bev_norm: 14.0925, sat_bev_norm: 10.9960, seg_sat: 0.2735, seg_dice_sat: 0.0685, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.2065, seg_dice_fused: 0.0522, cam_rel_mean: 0.2046, sat_rel_mean: 0.2139, cam_rel_min: 0.0019, sat_rel_min: 0.0007, grad_norm: 15.7738 2026-04-18 17:12:15,986 - mmdet - INFO - Iter [39150/55932] lr: 1.229e-05, eta: 11:03:46, time: 2.091, data_time: 0.089, memory: 34737, seg: 0.2852, seg_dice: 0.0858, seg_t0: 0.4582, seg_dice_t0: 0.1316, seg_t1: 0.3414, seg_dice_t1: 0.0975, seg_t2: 0.3061, seg_dice_t2: 0.0884, seg_t3: 0.2876, seg_dice_t3: 0.0891, total_t0: 0.5898, total_t1: 0.4389, total_t2: 0.3945, total_t3: 0.3767, total_t4: 0.3710, total: 2.7673, cam_bev_norm: 14.1004, sat_bev_norm: 11.0182, seg_sat: 0.2605, seg_dice_sat: 0.0737, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.2600, seg_fused: 0.2016, seg_dice_fused: 0.0608, cam_rel_mean: 0.2043, sat_rel_mean: 0.2045, cam_rel_min: 0.0005, sat_rel_min: 0.0014, grad_norm: 12.4354 2026-04-18 17:13:58,507 - mmdet - INFO - Iter [39200/55932] lr: 1.224e-05, eta: 11:01:41, time: 2.050, data_time: 0.086, memory: 34737, seg: 0.2932, seg_dice: 0.0685, seg_t0: 0.4888, seg_dice_t0: 0.1214, seg_t1: 0.3467, seg_dice_t1: 0.0882, seg_t2: 0.3124, seg_dice_t2: 0.0761, seg_t3: 0.2959, seg_dice_t3: 0.0752, total_t0: 0.6102, total_t1: 0.4348, total_t2: 0.3885, total_t3: 0.3711, total_t4: 0.3616, total: 2.7207, cam_bev_norm: 14.1255, sat_bev_norm: 11.0060, seg_sat: 0.2445, seg_dice_sat: 0.0587, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2200, seg_fused: 0.2030, seg_dice_fused: 0.0482, cam_rel_mean: 0.1962, sat_rel_mean: 0.2093, cam_rel_min: 0.0019, sat_rel_min: 0.0014, grad_norm: 14.6195 2026-04-18 17:15:44,051 - mmdet - INFO - Iter [39250/55932] lr: 1.219e-05, eta: 10:59:37, time: 2.111, data_time: 0.092, memory: 34737, seg: 0.2985, seg_dice: 0.0710, seg_t0: 0.4702, seg_dice_t0: 0.1219, seg_t1: 0.3433, seg_dice_t1: 0.0832, seg_t2: 0.3068, seg_dice_t2: 0.0750, seg_t3: 0.2944, seg_dice_t3: 0.0712, total_t0: 0.5921, total_t1: 0.4266, total_t2: 0.3818, total_t3: 0.3657, total_t4: 0.3695, total: 2.6896, cam_bev_norm: 14.1448, sat_bev_norm: 11.0673, seg_sat: 0.2465, seg_dice_sat: 0.0577, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1600, seg_fused: 0.2023, seg_dice_fused: 0.0476, cam_rel_mean: 0.1924, sat_rel_mean: 0.2241, cam_rel_min: 0.0038, sat_rel_min: 0.0007, grad_norm: 12.7316 2026-04-18 17:17:29,061 - mmdet - INFO - Iter [39300/55932] lr: 1.213e-05, eta: 10:57:32, time: 2.100, data_time: 0.091, memory: 34737, seg: 0.3237, seg_dice: 0.0820, seg_t0: 0.4795, seg_dice_t0: 0.1358, seg_t1: 0.3500, seg_dice_t1: 0.0883, seg_t2: 0.3230, seg_dice_t2: 0.0810, seg_t3: 0.3083, seg_dice_t3: 0.0783, total_t0: 0.6153, total_t1: 0.4383, total_t2: 0.4039, total_t3: 0.3866, total_t4: 0.4057, total: 2.8780, cam_bev_norm: 14.0955, sat_bev_norm: 11.0182, seg_sat: 0.2775, seg_dice_sat: 0.0650, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2200, seg_fused: 0.2314, seg_dice_fused: 0.0543, cam_rel_mean: 0.2070, sat_rel_mean: 0.2174, cam_rel_min: 0.0019, sat_rel_min: 0.0021, grad_norm: 12.9471 2026-04-18 17:19:14,369 - mmdet - INFO - Iter [39350/55932] lr: 1.208e-05, eta: 10:55:28, time: 2.106, data_time: 0.097, memory: 34737, seg: 0.3018, seg_dice: 0.0757, seg_t0: 0.4674, seg_dice_t0: 0.1193, seg_t1: 0.3396, seg_dice_t1: 0.0860, seg_t2: 0.3146, seg_dice_t2: 0.0726, seg_t3: 0.2933, seg_dice_t3: 0.0718, total_t0: 0.5867, total_t1: 0.4256, total_t2: 0.3872, total_t3: 0.3651, total_t4: 0.3775, total: 2.7442, cam_bev_norm: 14.1534, sat_bev_norm: 11.0207, seg_sat: 0.2673, seg_dice_sat: 0.0675, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.2124, seg_dice_fused: 0.0549, cam_rel_mean: 0.2115, sat_rel_mean: 0.2191, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 13.1490 2026-04-18 17:20:59,788 - mmdet - INFO - Iter [39400/55932] lr: 1.203e-05, eta: 10:53:24, time: 2.108, data_time: 0.095, memory: 34737, seg: 0.2974, seg_dice: 0.0666, seg_t0: 0.4592, seg_dice_t0: 0.1166, seg_t1: 0.3305, seg_dice_t1: 0.0807, seg_t2: 0.3025, seg_dice_t2: 0.0728, seg_t3: 0.2918, seg_dice_t3: 0.0651, total_t0: 0.5758, total_t1: 0.4112, total_t2: 0.3753, total_t3: 0.3569, total_t4: 0.3639, total: 2.6364, cam_bev_norm: 14.0933, sat_bev_norm: 10.9952, seg_sat: 0.2482, seg_dice_sat: 0.0545, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1000, seg_fused: 0.2065, seg_dice_fused: 0.0442, cam_rel_mean: 0.2154, sat_rel_mean: 0.2128, cam_rel_min: 0.0010, sat_rel_min: 0.0028, grad_norm: 12.7778 2026-04-18 17:22:45,678 - mmdet - INFO - Iter [39450/55932] lr: 1.197e-05, eta: 10:51:20, time: 2.118, data_time: 0.094, memory: 34737, seg: 0.3163, seg_dice: 0.0858, seg_t0: 0.4625, seg_dice_t0: 0.1194, seg_t1: 0.3340, seg_dice_t1: 0.0881, seg_t2: 0.2980, seg_dice_t2: 0.0768, seg_t3: 0.3012, seg_dice_t3: 0.0728, total_t0: 0.5819, total_t1: 0.4221, total_t2: 0.3748, total_t3: 0.3740, total_t4: 0.4022, total: 2.8014, cam_bev_norm: 14.1144, sat_bev_norm: 11.0185, seg_sat: 0.2793, seg_dice_sat: 0.0725, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0400, seg_fused: 0.2319, seg_dice_fused: 0.0627, cam_rel_mean: 0.1951, sat_rel_mean: 0.2205, cam_rel_min: 0.0033, sat_rel_min: 0.0007, grad_norm: 13.7598 2026-04-18 17:24:30,591 - mmdet - INFO - Iter [39500/55932] lr: 1.192e-05, eta: 10:49:16, time: 2.098, data_time: 0.094, memory: 34737, seg: 0.3174, seg_dice: 0.0812, seg_t0: 0.5348, seg_dice_t0: 0.1469, seg_t1: 0.3880, seg_dice_t1: 0.0972, seg_t2: 0.3438, seg_dice_t2: 0.0882, seg_t3: 0.3323, seg_dice_t3: 0.0831, total_t0: 0.6817, total_t1: 0.4852, total_t2: 0.4319, total_t3: 0.4154, total_t4: 0.3986, total: 3.0071, cam_bev_norm: 14.1121, sat_bev_norm: 11.0325, seg_sat: 0.2600, seg_dice_sat: 0.0636, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2200, seg_fused: 0.2157, seg_dice_fused: 0.0549, cam_rel_mean: 0.1884, sat_rel_mean: 0.2249, cam_rel_min: 0.0038, sat_rel_min: 0.0000, grad_norm: 13.5326 2026-04-18 17:26:16,975 - mmdet - INFO - Iter [39550/55932] lr: 1.187e-05, eta: 10:47:12, time: 2.128, data_time: 0.098, memory: 34737, seg: 0.2925, seg_dice: 0.0780, seg_t0: 0.4992, seg_dice_t0: 0.1317, seg_t1: 0.3702, seg_dice_t1: 0.1009, seg_t2: 0.3150, seg_dice_t2: 0.0878, seg_t3: 0.3004, seg_dice_t3: 0.0817, total_t0: 0.6309, total_t1: 0.4710, total_t2: 0.4028, total_t3: 0.3821, total_t4: 0.3704, total: 2.8525, cam_bev_norm: 14.0506, sat_bev_norm: 11.0434, seg_sat: 0.2612, seg_dice_sat: 0.0665, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.2129, seg_dice_fused: 0.0546, cam_rel_mean: 0.1892, sat_rel_mean: 0.2055, cam_rel_min: 0.0029, sat_rel_min: 0.0014, grad_norm: 13.1373 2026-04-18 17:28:02,798 - mmdet - INFO - Iter [39600/55932] lr: 1.181e-05, eta: 10:45:09, time: 2.117, data_time: 0.099, memory: 34737, seg: 0.2937, seg_dice: 0.0791, seg_t0: 0.4731, seg_dice_t0: 0.1398, seg_t1: 0.3620, seg_dice_t1: 0.1009, seg_t2: 0.3237, seg_dice_t2: 0.0937, seg_t3: 0.2949, seg_dice_t3: 0.0847, total_t0: 0.6129, total_t1: 0.4629, total_t2: 0.4174, total_t3: 0.3795, total_t4: 0.3728, total: 2.8320, cam_bev_norm: 14.1141, sat_bev_norm: 10.9920, seg_sat: 0.2519, seg_dice_sat: 0.0658, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1200, seg_fused: 0.2119, seg_dice_fused: 0.0567, cam_rel_mean: 0.1853, sat_rel_mean: 0.2149, cam_rel_min: 0.0038, sat_rel_min: 0.0014, grad_norm: 13.8290 2026-04-18 17:29:48,621 - mmdet - INFO - Iter [39650/55932] lr: 1.176e-05, eta: 10:43:05, time: 2.116, data_time: 0.096, memory: 34737, seg: 0.3128, seg_dice: 0.0800, seg_t0: 0.4872, seg_dice_t0: 0.1346, seg_t1: 0.3616, seg_dice_t1: 0.0928, seg_t2: 0.3137, seg_dice_t2: 0.0757, seg_t3: 0.3019, seg_dice_t3: 0.0749, total_t0: 0.6217, total_t1: 0.4543, total_t2: 0.3895, total_t3: 0.3767, total_t4: 0.3928, total: 2.8571, cam_bev_norm: 14.0662, sat_bev_norm: 11.0289, seg_sat: 0.2730, seg_dice_sat: 0.0637, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1000, seg_fused: 0.2313, seg_dice_fused: 0.0540, cam_rel_mean: 0.1875, sat_rel_mean: 0.2100, cam_rel_min: 0.0038, sat_rel_min: 0.0029, grad_norm: 13.4653 2026-04-18 17:31:34,035 - mmdet - INFO - Iter [39700/55932] lr: 1.171e-05, eta: 10:41:01, time: 2.108, data_time: 0.097, memory: 34737, seg: 0.2873, seg_dice: 0.0745, seg_t0: 0.4418, seg_dice_t0: 0.1217, seg_t1: 0.3240, seg_dice_t1: 0.0843, seg_t2: 0.2974, seg_dice_t2: 0.0822, seg_t3: 0.2837, seg_dice_t3: 0.0723, total_t0: 0.5635, total_t1: 0.4084, total_t2: 0.3795, total_t3: 0.3560, total_t4: 0.3618, total: 2.6781, cam_bev_norm: 14.0817, sat_bev_norm: 10.9502, seg_sat: 0.2715, seg_dice_sat: 0.0683, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0800, seg_fused: 0.2143, seg_dice_fused: 0.0547, cam_rel_mean: 0.2073, sat_rel_mean: 0.1957, cam_rel_min: 0.0010, sat_rel_min: 0.0036, grad_norm: 15.2229 2026-04-18 17:33:20,219 - mmdet - INFO - Iter [39750/55932] lr: 1.165e-05, eta: 10:38:58, time: 2.124, data_time: 0.094, memory: 34737, seg: 0.2858, seg_dice: 0.0749, seg_t0: 0.4477, seg_dice_t0: 0.1199, seg_t1: 0.3172, seg_dice_t1: 0.0832, seg_t2: 0.2818, seg_dice_t2: 0.0757, seg_t3: 0.2808, seg_dice_t3: 0.0733, total_t0: 0.5676, total_t1: 0.4004, total_t2: 0.3575, total_t3: 0.3541, total_t4: 0.3607, total: 2.5956, cam_bev_norm: 14.1578, sat_bev_norm: 11.1052, seg_sat: 0.2449, seg_dice_sat: 0.0599, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.2014, seg_dice_fused: 0.0492, cam_rel_mean: 0.2030, sat_rel_mean: 0.2204, cam_rel_min: 0.0024, sat_rel_min: 0.0007, grad_norm: 14.7262 2026-04-18 17:35:06,874 - mmdet - INFO - Iter [39800/55932] lr: 1.160e-05, eta: 10:36:54, time: 2.133, data_time: 0.103, memory: 34737, seg: 0.2913, seg_dice: 0.0773, seg_t0: 0.5015, seg_dice_t0: 0.1325, seg_t1: 0.3699, seg_dice_t1: 0.0904, seg_t2: 0.3233, seg_dice_t2: 0.0762, seg_t3: 0.3019, seg_dice_t3: 0.0748, total_t0: 0.6340, total_t1: 0.4603, total_t2: 0.3994, total_t3: 0.3767, total_t4: 0.3686, total: 2.8261, cam_bev_norm: 14.0881, sat_bev_norm: 11.0503, seg_sat: 0.2560, seg_dice_sat: 0.0646, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.2124, seg_dice_fused: 0.0540, cam_rel_mean: 0.2100, sat_rel_mean: 0.2160, cam_rel_min: 0.0019, sat_rel_min: 0.0021, grad_norm: 12.7590 2026-04-18 17:36:52,937 - mmdet - INFO - Iter [39850/55932] lr: 1.155e-05, eta: 10:34:51, time: 2.122, data_time: 0.092, memory: 34737, seg: 0.2976, seg_dice: 0.0773, seg_t0: 0.4442, seg_dice_t0: 0.1155, seg_t1: 0.3275, seg_dice_t1: 0.0895, seg_t2: 0.2938, seg_dice_t2: 0.0802, seg_t3: 0.2881, seg_dice_t3: 0.0746, total_t0: 0.5598, total_t1: 0.4171, total_t2: 0.3740, total_t3: 0.3628, total_t4: 0.3749, total: 2.6299, cam_bev_norm: 14.0839, sat_bev_norm: 11.0335, seg_sat: 0.2383, seg_dice_sat: 0.0591, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.1949, seg_dice_fused: 0.0490, cam_rel_mean: 0.1966, sat_rel_mean: 0.2222, cam_rel_min: 0.0024, sat_rel_min: 0.0000, grad_norm: 12.8864 2026-04-18 17:38:38,437 - mmdet - INFO - Iter [39900/55932] lr: 1.150e-05, eta: 10:32:47, time: 2.110, data_time: 0.097, memory: 34737, seg: 0.2945, seg_dice: 0.0806, seg_t0: 0.4815, seg_dice_t0: 0.1425, seg_t1: 0.3418, seg_dice_t1: 0.0941, seg_t2: 0.3094, seg_dice_t2: 0.0849, seg_t3: 0.2972, seg_dice_t3: 0.0778, total_t0: 0.6240, total_t1: 0.4359, total_t2: 0.3943, total_t3: 0.3750, total_t4: 0.3752, total: 2.7705, cam_bev_norm: 14.1497, sat_bev_norm: 11.0943, seg_sat: 0.2445, seg_dice_sat: 0.0658, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.2004, seg_dice_fused: 0.0555, cam_rel_mean: 0.1889, sat_rel_mean: 0.2242, cam_rel_min: 0.0033, sat_rel_min: 0.0000, grad_norm: 13.3341 2026-04-18 17:40:23,646 - mmdet - INFO - Iter [39950/55932] lr: 1.144e-05, eta: 10:30:44, time: 2.104, data_time: 0.091, memory: 34737, seg: 0.3195, seg_dice: 0.0831, seg_t0: 0.4784, seg_dice_t0: 0.1219, seg_t1: 0.3639, seg_dice_t1: 0.0973, seg_t2: 0.3252, seg_dice_t2: 0.0846, seg_t3: 0.3231, seg_dice_t3: 0.0864, total_t0: 0.6004, total_t1: 0.4612, total_t2: 0.4099, total_t3: 0.4095, total_t4: 0.4027, total: 2.9185, cam_bev_norm: 14.0288, sat_bev_norm: 10.9707, seg_sat: 0.2765, seg_dice_sat: 0.0699, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.2302, seg_dice_fused: 0.0583, cam_rel_mean: 0.1918, sat_rel_mean: 0.2082, cam_rel_min: 0.0029, sat_rel_min: 0.0021, grad_norm: 15.1313 2026-04-18 17:42:08,607 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 17:42:08,608 - mmdet - INFO - Iter [40000/55932] lr: 1.139e-05, eta: 10:28:40, time: 2.099, data_time: 0.092, memory: 34737, seg: 0.2991, seg_dice: 0.0753, seg_t0: 0.4634, seg_dice_t0: 0.1280, seg_t1: 0.3543, seg_dice_t1: 0.0949, seg_t2: 0.3222, seg_dice_t2: 0.0855, seg_t3: 0.2952, seg_dice_t3: 0.0787, total_t0: 0.5913, total_t1: 0.4492, total_t2: 0.4077, total_t3: 0.3739, total_t4: 0.3744, total: 2.8123, cam_bev_norm: 14.1182, sat_bev_norm: 11.0389, seg_sat: 0.2739, seg_dice_sat: 0.0658, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.2214, seg_dice_fused: 0.0547, cam_rel_mean: 0.2016, sat_rel_mean: 0.2074, cam_rel_min: 0.0024, sat_rel_min: 0.0021, grad_norm: 14.3115 2026-04-18 17:43:53,833 - mmdet - INFO - Iter [40050/55932] lr: 1.134e-05, eta: 10:26:36, time: 2.104, data_time: 0.094, memory: 34737, seg: 0.2857, seg_dice: 0.0752, seg_t0: 0.4877, seg_dice_t0: 0.1269, seg_t1: 0.3459, seg_dice_t1: 0.0896, seg_t2: 0.2992, seg_dice_t2: 0.0811, seg_t3: 0.2862, seg_dice_t3: 0.0760, total_t0: 0.6145, total_t1: 0.4354, total_t2: 0.3802, total_t3: 0.3622, total_t4: 0.3609, total: 2.7694, cam_bev_norm: 14.1151, sat_bev_norm: 11.0132, seg_sat: 0.2625, seg_dice_sat: 0.0695, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1200, seg_fused: 0.2254, seg_dice_fused: 0.0588, cam_rel_mean: 0.1789, sat_rel_mean: 0.2083, cam_rel_min: 0.0043, sat_rel_min: 0.0021, grad_norm: 13.0749 2026-04-18 17:45:39,801 - mmdet - INFO - Iter [40100/55932] lr: 1.129e-05, eta: 10:24:33, time: 2.120, data_time: 0.089, memory: 34737, seg: 0.2959, seg_dice: 0.0713, seg_t0: 0.5387, seg_dice_t0: 0.1289, seg_t1: 0.3766, seg_dice_t1: 0.0946, seg_t2: 0.3209, seg_dice_t2: 0.0781, seg_t3: 0.2957, seg_dice_t3: 0.0726, total_t0: 0.6676, total_t1: 0.4712, total_t2: 0.3990, total_t3: 0.3682, total_t4: 0.3671, total: 2.8405, cam_bev_norm: 14.0912, sat_bev_norm: 11.0714, seg_sat: 0.2492, seg_dice_sat: 0.0545, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.2173, seg_dice_fused: 0.0462, cam_rel_mean: 0.2022, sat_rel_mean: 0.2141, cam_rel_min: 0.0029, sat_rel_min: 0.0021, grad_norm: 12.2991 2026-04-18 17:47:24,673 - mmdet - INFO - Iter [40150/55932] lr: 1.124e-05, eta: 10:22:29, time: 2.097, data_time: 0.090, memory: 34737, seg: 0.2918, seg_dice: 0.0789, seg_t0: 0.4466, seg_dice_t0: 0.1224, seg_t1: 0.3278, seg_dice_t1: 0.0855, seg_t2: 0.2942, seg_dice_t2: 0.0777, seg_t3: 0.2867, seg_dice_t3: 0.0747, total_t0: 0.5689, total_t1: 0.4133, total_t2: 0.3719, total_t3: 0.3614, total_t4: 0.3707, total: 2.6459, cam_bev_norm: 14.0669, sat_bev_norm: 11.0607, seg_sat: 0.2491, seg_dice_sat: 0.0611, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.1986, seg_dice_fused: 0.0509, cam_rel_mean: 0.1980, sat_rel_mean: 0.2127, cam_rel_min: 0.0024, sat_rel_min: 0.0007, grad_norm: 12.1790 2026-04-18 17:49:09,154 - mmdet - INFO - Iter [40200/55932] lr: 1.119e-05, eta: 10:20:26, time: 2.090, data_time: 0.087, memory: 34737, seg: 0.2892, seg_dice: 0.0723, seg_t0: 0.4683, seg_dice_t0: 0.1299, seg_t1: 0.3494, seg_dice_t1: 0.0893, seg_t2: 0.3068, seg_dice_t2: 0.0841, seg_t3: 0.2820, seg_dice_t3: 0.0725, total_t0: 0.5982, total_t1: 0.4387, total_t2: 0.3909, total_t3: 0.3545, total_t4: 0.3615, total: 2.6893, cam_bev_norm: 14.0221, sat_bev_norm: 11.0583, seg_sat: 0.2403, seg_dice_sat: 0.0593, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.0800, seg_fused: 0.1984, seg_dice_fused: 0.0476, cam_rel_mean: 0.2079, sat_rel_mean: 0.2045, cam_rel_min: 0.0010, sat_rel_min: 0.0022, grad_norm: 13.2561 2026-04-18 17:50:55,057 - mmdet - INFO - Iter [40250/55932] lr: 1.113e-05, eta: 10:18:22, time: 2.118, data_time: 0.102, memory: 34737, seg: 0.2884, seg_dice: 0.0753, seg_t0: 0.4482, seg_dice_t0: 0.1283, seg_t1: 0.3294, seg_dice_t1: 0.0847, seg_t2: 0.2947, seg_dice_t2: 0.0780, seg_t3: 0.2797, seg_dice_t3: 0.0770, total_t0: 0.5765, total_t1: 0.4141, total_t2: 0.3726, total_t3: 0.3567, total_t4: 0.3638, total: 2.6820, cam_bev_norm: 14.1536, sat_bev_norm: 11.0467, seg_sat: 0.2667, seg_dice_sat: 0.0708, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.2063, seg_dice_fused: 0.0544, cam_rel_mean: 0.1934, sat_rel_mean: 0.2248, cam_rel_min: 0.0034, sat_rel_min: 0.0000, grad_norm: 12.9034 2026-04-18 17:52:39,798 - mmdet - INFO - Iter [40300/55932] lr: 1.108e-05, eta: 10:16:19, time: 2.094, data_time: 0.093, memory: 34737, seg: 0.3101, seg_dice: 0.0882, seg_t0: 0.4765, seg_dice_t0: 0.1319, seg_t1: 0.3634, seg_dice_t1: 0.0987, seg_t2: 0.3315, seg_dice_t2: 0.0914, seg_t3: 0.3122, seg_dice_t3: 0.0809, total_t0: 0.6083, total_t1: 0.4621, total_t2: 0.4229, total_t3: 0.3931, total_t4: 0.3983, total: 2.8829, cam_bev_norm: 14.0203, sat_bev_norm: 11.0222, seg_sat: 0.2558, seg_dice_sat: 0.0700, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.2123, seg_dice_fused: 0.0600, cam_rel_mean: 0.1913, sat_rel_mean: 0.2045, cam_rel_min: 0.0019, sat_rel_min: 0.0007, grad_norm: 13.3583 2026-04-18 17:54:25,319 - mmdet - INFO - Iter [40350/55932] lr: 1.103e-05, eta: 10:14:16, time: 2.111, data_time: 0.093, memory: 34737, seg: 0.2858, seg_dice: 0.0773, seg_t0: 0.4917, seg_dice_t0: 0.1380, seg_t1: 0.3609, seg_dice_t1: 0.0967, seg_t2: 0.3201, seg_dice_t2: 0.0838, seg_t3: 0.3001, seg_dice_t3: 0.0790, total_t0: 0.6297, total_t1: 0.4576, total_t2: 0.4039, total_t3: 0.3791, total_t4: 0.3631, total: 2.8395, cam_bev_norm: 14.0359, sat_bev_norm: 10.9963, seg_sat: 0.2597, seg_dice_sat: 0.0674, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1800, seg_fused: 0.2230, seg_dice_fused: 0.0559, cam_rel_mean: 0.1762, sat_rel_mean: 0.1901, cam_rel_min: 0.0038, sat_rel_min: 0.0050, grad_norm: 13.4911 2026-04-18 17:56:10,486 - mmdet - INFO - Iter [40400/55932] lr: 1.098e-05, eta: 10:12:12, time: 2.103, data_time: 0.092, memory: 34737, seg: 0.2917, seg_dice: 0.0746, seg_t0: 0.4797, seg_dice_t0: 0.1195, seg_t1: 0.3602, seg_dice_t1: 0.0908, seg_t2: 0.3078, seg_dice_t2: 0.0736, seg_t3: 0.2915, seg_dice_t3: 0.0709, total_t0: 0.5991, total_t1: 0.4510, total_t2: 0.3813, total_t3: 0.3624, total_t4: 0.3663, total: 2.7264, cam_bev_norm: 14.0821, sat_bev_norm: 11.0141, seg_sat: 0.2553, seg_dice_sat: 0.0594, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.2008, seg_dice_fused: 0.0509, cam_rel_mean: 0.2123, sat_rel_mean: 0.2173, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 12.0227 2026-04-18 17:57:56,327 - mmdet - INFO - Iter [40450/55932] lr: 1.093e-05, eta: 10:10:09, time: 2.117, data_time: 0.092, memory: 34737, seg: 0.2799, seg_dice: 0.0726, seg_t0: 0.4748, seg_dice_t0: 0.1225, seg_t1: 0.3327, seg_dice_t1: 0.0854, seg_t2: 0.2957, seg_dice_t2: 0.0727, seg_t3: 0.2815, seg_dice_t3: 0.0740, total_t0: 0.5973, total_t1: 0.4182, total_t2: 0.3684, total_t3: 0.3555, total_t4: 0.3525, total: 2.6896, cam_bev_norm: 14.1686, sat_bev_norm: 11.0645, seg_sat: 0.2625, seg_dice_sat: 0.0647, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.2163, seg_dice_fused: 0.0542, cam_rel_mean: 0.2131, sat_rel_mean: 0.2154, cam_rel_min: 0.0014, sat_rel_min: 0.0021, grad_norm: 13.1851 2026-04-18 17:59:41,082 - mmdet - INFO - Iter [40500/55932] lr: 1.088e-05, eta: 10:08:06, time: 2.095, data_time: 0.088, memory: 34737, seg: 0.2828, seg_dice: 0.0702, seg_t0: 0.4625, seg_dice_t0: 0.1265, seg_t1: 0.3204, seg_dice_t1: 0.0875, seg_t2: 0.2879, seg_dice_t2: 0.0788, seg_t3: 0.2816, seg_dice_t3: 0.0767, total_t0: 0.5891, total_t1: 0.4079, total_t2: 0.3667, total_t3: 0.3583, total_t4: 0.3530, total: 2.6497, cam_bev_norm: 14.0803, sat_bev_norm: 11.0135, seg_sat: 0.2609, seg_dice_sat: 0.0623, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.2016, seg_dice_fused: 0.0497, cam_rel_mean: 0.2015, sat_rel_mean: 0.2150, cam_rel_min: 0.0024, sat_rel_min: 0.0014, grad_norm: 14.6922 2026-04-18 18:01:25,992 - mmdet - INFO - Iter [40550/55932] lr: 1.083e-05, eta: 10:06:03, time: 2.098, data_time: 0.087, memory: 34737, seg: 0.2904, seg_dice: 0.0753, seg_t0: 0.4583, seg_dice_t0: 0.1255, seg_t1: 0.3332, seg_dice_t1: 0.0871, seg_t2: 0.2986, seg_dice_t2: 0.0800, seg_t3: 0.2784, seg_dice_t3: 0.0732, total_t0: 0.5838, total_t1: 0.4203, total_t2: 0.3786, total_t3: 0.3516, total_t4: 0.3657, total: 2.6801, cam_bev_norm: 14.1046, sat_bev_norm: 11.0864, seg_sat: 0.2495, seg_dice_sat: 0.0651, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1000, seg_fused: 0.2104, seg_dice_fused: 0.0549, cam_rel_mean: 0.1876, sat_rel_mean: 0.2120, cam_rel_min: 0.0038, sat_rel_min: 0.0021, grad_norm: 15.6622 2026-04-18 18:03:11,008 - mmdet - INFO - Iter [40600/55932] lr: 1.078e-05, eta: 10:04:00, time: 2.100, data_time: 0.087, memory: 34737, seg: 0.3255, seg_dice: 0.0811, seg_t0: 0.5003, seg_dice_t0: 0.1292, seg_t1: 0.3804, seg_dice_t1: 0.0924, seg_t2: 0.3434, seg_dice_t2: 0.0845, seg_t3: 0.3343, seg_dice_t3: 0.0842, total_t0: 0.6295, total_t1: 0.4728, total_t2: 0.4279, total_t3: 0.4185, total_t4: 0.4066, total: 3.0101, cam_bev_norm: 14.0464, sat_bev_norm: 10.9880, seg_sat: 0.2804, seg_dice_sat: 0.0710, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.2432, seg_dice_fused: 0.0601, cam_rel_mean: 0.1894, sat_rel_mean: 0.2075, cam_rel_min: 0.0034, sat_rel_min: 0.0022, grad_norm: 13.5139 2026-04-18 18:04:57,232 - mmdet - INFO - Iter [40650/55932] lr: 1.073e-05, eta: 10:01:57, time: 2.124, data_time: 0.090, memory: 34737, seg: 0.2801, seg_dice: 0.0694, seg_t0: 0.4243, seg_dice_t0: 0.1112, seg_t1: 0.3132, seg_dice_t1: 0.0830, seg_t2: 0.2856, seg_dice_t2: 0.0692, seg_t3: 0.2786, seg_dice_t3: 0.0681, total_t0: 0.5355, total_t1: 0.3962, total_t2: 0.3548, total_t3: 0.3467, total_t4: 0.3494, total: 2.5358, cam_bev_norm: 14.0871, sat_bev_norm: 11.0585, seg_sat: 0.2429, seg_dice_sat: 0.0584, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.2020, seg_dice_fused: 0.0500, cam_rel_mean: 0.1988, sat_rel_mean: 0.2168, cam_rel_min: 0.0029, sat_rel_min: 0.0014, grad_norm: 12.1477 2026-04-18 18:06:42,931 - mmdet - INFO - Iter [40700/55932] lr: 1.068e-05, eta: 9:59:54, time: 2.114, data_time: 0.094, memory: 34737, seg: 0.2768, seg_dice: 0.0724, seg_t0: 0.4295, seg_dice_t0: 0.1182, seg_t1: 0.3263, seg_dice_t1: 0.0852, seg_t2: 0.2909, seg_dice_t2: 0.0781, seg_t3: 0.2851, seg_dice_t3: 0.0732, total_t0: 0.5477, total_t1: 0.4115, total_t2: 0.3690, total_t3: 0.3583, total_t4: 0.3492, total: 2.6023, cam_bev_norm: 14.0679, sat_bev_norm: 11.0223, seg_sat: 0.2533, seg_dice_sat: 0.0659, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0600, seg_fused: 0.1966, seg_dice_fused: 0.0509, cam_rel_mean: 0.1913, sat_rel_mean: 0.2028, cam_rel_min: 0.0029, sat_rel_min: 0.0022, grad_norm: 12.7213 2026-04-18 18:08:28,672 - mmdet - INFO - Iter [40750/55932] lr: 1.063e-05, eta: 9:57:51, time: 2.115, data_time: 0.090, memory: 34737, seg: 0.2958, seg_dice: 0.0728, seg_t0: 0.4483, seg_dice_t0: 0.1228, seg_t1: 0.3333, seg_dice_t1: 0.0893, seg_t2: 0.2912, seg_dice_t2: 0.0758, seg_t3: 0.2899, seg_dice_t3: 0.0742, total_t0: 0.5711, total_t1: 0.4226, total_t2: 0.3670, total_t3: 0.3641, total_t4: 0.3687, total: 2.6540, cam_bev_norm: 14.0729, sat_bev_norm: 11.0391, seg_sat: 0.2509, seg_dice_sat: 0.0609, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2800, seg_fused: 0.1995, seg_dice_fused: 0.0491, cam_rel_mean: 0.1966, sat_rel_mean: 0.2165, cam_rel_min: 0.0014, sat_rel_min: 0.0000, grad_norm: 15.9967 2026-04-18 18:10:15,118 - mmdet - INFO - Iter [40800/55932] lr: 1.058e-05, eta: 9:55:49, time: 2.129, data_time: 0.092, memory: 34737, seg: 0.2730, seg_dice: 0.0706, seg_t0: 0.4231, seg_dice_t0: 0.1139, seg_t1: 0.3079, seg_dice_t1: 0.0793, seg_t2: 0.2825, seg_dice_t2: 0.0779, seg_t3: 0.2706, seg_dice_t3: 0.0736, total_t0: 0.5369, total_t1: 0.3872, total_t2: 0.3604, total_t3: 0.3442, total_t4: 0.3436, total: 2.5176, cam_bev_norm: 14.0800, sat_bev_norm: 11.0551, seg_sat: 0.2437, seg_dice_sat: 0.0573, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2600, seg_fused: 0.1957, seg_dice_fused: 0.0486, cam_rel_mean: 0.1893, sat_rel_mean: 0.2215, cam_rel_min: 0.0038, sat_rel_min: 0.0007, grad_norm: 12.3087 2026-04-18 18:12:00,559 - mmdet - INFO - Iter [40850/55932] lr: 1.053e-05, eta: 9:53:46, time: 2.108, data_time: 0.090, memory: 34737, seg: 0.2733, seg_dice: 0.0738, seg_t0: 0.4283, seg_dice_t0: 0.1290, seg_t1: 0.3179, seg_dice_t1: 0.0833, seg_t2: 0.2885, seg_dice_t2: 0.0824, seg_t3: 0.2728, seg_dice_t3: 0.0754, total_t0: 0.5573, total_t1: 0.4012, total_t2: 0.3710, total_t3: 0.3482, total_t4: 0.3471, total: 2.5850, cam_bev_norm: 14.0507, sat_bev_norm: 11.0476, seg_sat: 0.2482, seg_dice_sat: 0.0649, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0600, seg_fused: 0.1932, seg_dice_fused: 0.0540, cam_rel_mean: 0.1994, sat_rel_mean: 0.2039, cam_rel_min: 0.0014, sat_rel_min: 0.0022, grad_norm: 12.8502 2026-04-18 18:13:47,168 - mmdet - INFO - Iter [40900/55932] lr: 1.048e-05, eta: 9:51:44, time: 2.133, data_time: 0.100, memory: 34737, seg: 0.2943, seg_dice: 0.0759, seg_t0: 0.4568, seg_dice_t0: 0.1278, seg_t1: 0.3351, seg_dice_t1: 0.0882, seg_t2: 0.3044, seg_dice_t2: 0.0803, seg_t3: 0.2984, seg_dice_t3: 0.0806, total_t0: 0.5845, total_t1: 0.4233, total_t2: 0.3848, total_t3: 0.3790, total_t4: 0.3702, total: 2.7446, cam_bev_norm: 14.0984, sat_bev_norm: 11.0800, seg_sat: 0.2614, seg_dice_sat: 0.0650, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1400, seg_fused: 0.2215, seg_dice_fused: 0.0549, cam_rel_mean: 0.1860, sat_rel_mean: 0.2121, cam_rel_min: 0.0043, sat_rel_min: 0.0022, grad_norm: 11.8590 2026-04-18 18:15:33,126 - mmdet - INFO - Iter [40950/55932] lr: 1.043e-05, eta: 9:49:41, time: 2.119, data_time: 0.095, memory: 34737, seg: 0.2657, seg_dice: 0.0748, seg_t0: 0.4449, seg_dice_t0: 0.1276, seg_t1: 0.3108, seg_dice_t1: 0.0860, seg_t2: 0.2761, seg_dice_t2: 0.0761, seg_t3: 0.2657, seg_dice_t3: 0.0691, total_t0: 0.5725, total_t1: 0.3968, total_t2: 0.3522, total_t3: 0.3348, total_t4: 0.3405, total: 2.5316, cam_bev_norm: 14.1582, sat_bev_norm: 11.0833, seg_sat: 0.2320, seg_dice_sat: 0.0611, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.1911, seg_dice_fused: 0.0507, cam_rel_mean: 0.2063, sat_rel_mean: 0.2180, cam_rel_min: 0.0024, sat_rel_min: 0.0022, grad_norm: 13.9217 2026-04-18 18:17:18,139 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 18:17:18,139 - mmdet - INFO - Iter [41000/55932] lr: 1.038e-05, eta: 9:47:38, time: 2.100, data_time: 0.093, memory: 34737, seg: 0.3017, seg_dice: 0.0803, seg_t0: 0.4663, seg_dice_t0: 0.1339, seg_t1: 0.3438, seg_dice_t1: 0.0997, seg_t2: 0.3053, seg_dice_t2: 0.0847, seg_t3: 0.2912, seg_dice_t3: 0.0781, total_t0: 0.6003, total_t1: 0.4435, total_t2: 0.3900, total_t3: 0.3692, total_t4: 0.3820, total: 2.7946, cam_bev_norm: 14.0354, sat_bev_norm: 10.9636, seg_sat: 0.2668, seg_dice_sat: 0.0704, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.2138, seg_dice_fused: 0.0588, cam_rel_mean: 0.1991, sat_rel_mean: 0.2177, cam_rel_min: 0.0024, sat_rel_min: 0.0007, grad_norm: 14.1142 2026-04-18 18:19:03,517 - mmdet - INFO - Iter [41050/55932] lr: 1.033e-05, eta: 9:45:36, time: 2.108, data_time: 0.092, memory: 34737, seg: 0.3013, seg_dice: 0.0769, seg_t0: 0.4762, seg_dice_t0: 0.1301, seg_t1: 0.3491, seg_dice_t1: 0.0877, seg_t2: 0.3126, seg_dice_t2: 0.0795, seg_t3: 0.3030, seg_dice_t3: 0.0747, total_t0: 0.6063, total_t1: 0.4368, total_t2: 0.3920, total_t3: 0.3777, total_t4: 0.3782, total: 2.7956, cam_bev_norm: 14.0958, sat_bev_norm: 11.0242, seg_sat: 0.2648, seg_dice_sat: 0.0632, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0800, seg_fused: 0.2219, seg_dice_fused: 0.0546, cam_rel_mean: 0.1981, sat_rel_mean: 0.2127, cam_rel_min: 0.0034, sat_rel_min: 0.0022, grad_norm: 14.2559 2026-04-18 18:20:48,982 - mmdet - INFO - Iter [41100/55932] lr: 1.028e-05, eta: 9:43:33, time: 2.109, data_time: 0.094, memory: 34737, seg: 0.2867, seg_dice: 0.0657, seg_t0: 0.4480, seg_dice_t0: 0.1097, seg_t1: 0.3330, seg_dice_t1: 0.0841, seg_t2: 0.2957, seg_dice_t2: 0.0765, seg_t3: 0.2829, seg_dice_t3: 0.0689, total_t0: 0.5578, total_t1: 0.4171, total_t2: 0.3722, total_t3: 0.3518, total_t4: 0.3524, total: 2.5948, cam_bev_norm: 14.0682, sat_bev_norm: 11.0621, seg_sat: 0.2449, seg_dice_sat: 0.0578, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.1962, seg_dice_fused: 0.0447, cam_rel_mean: 0.2084, sat_rel_mean: 0.2170, cam_rel_min: 0.0014, sat_rel_min: 0.0014, grad_norm: 12.7786 2026-04-18 18:22:34,273 - mmdet - INFO - Iter [41150/55932] lr: 1.023e-05, eta: 9:41:30, time: 2.106, data_time: 0.091, memory: 34737, seg: 0.3197, seg_dice: 0.0754, seg_t0: 0.4786, seg_dice_t0: 0.1247, seg_t1: 0.3431, seg_dice_t1: 0.0823, seg_t2: 0.3137, seg_dice_t2: 0.0781, seg_t3: 0.3152, seg_dice_t3: 0.0757, total_t0: 0.6033, total_t1: 0.4254, total_t2: 0.3918, total_t3: 0.3910, total_t4: 0.3951, total: 2.7978, cam_bev_norm: 14.0905, sat_bev_norm: 11.1126, seg_sat: 0.2603, seg_dice_sat: 0.0607, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.2213, seg_dice_fused: 0.0491, cam_rel_mean: 0.2022, sat_rel_mean: 0.2163, cam_rel_min: 0.0029, sat_rel_min: 0.0014, grad_norm: 13.0851 2026-04-18 18:24:20,027 - mmdet - INFO - Iter [41200/55932] lr: 1.018e-05, eta: 9:39:28, time: 2.115, data_time: 0.088, memory: 34737, seg: 0.2872, seg_dice: 0.0727, seg_t0: 0.4125, seg_dice_t0: 0.1106, seg_t1: 0.3196, seg_dice_t1: 0.0810, seg_t2: 0.2890, seg_dice_t2: 0.0746, seg_t3: 0.2852, seg_dice_t3: 0.0687, total_t0: 0.5232, total_t1: 0.4005, total_t2: 0.3635, total_t3: 0.3539, total_t4: 0.3599, total: 2.6122, cam_bev_norm: 14.0288, sat_bev_norm: 10.9611, seg_sat: 0.2705, seg_dice_sat: 0.0688, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.2171, seg_dice_fused: 0.0548, cam_rel_mean: 0.1969, sat_rel_mean: 0.1997, cam_rel_min: 0.0019, sat_rel_min: 0.0036, grad_norm: 11.7376 2026-04-18 18:26:05,662 - mmdet - INFO - Iter [41250/55932] lr: 1.013e-05, eta: 9:37:26, time: 2.112, data_time: 0.092, memory: 34737, seg: 0.2885, seg_dice: 0.0792, seg_t0: 0.4442, seg_dice_t0: 0.1208, seg_t1: 0.3172, seg_dice_t1: 0.0913, seg_t2: 0.2877, seg_dice_t2: 0.0756, seg_t3: 0.2809, seg_dice_t3: 0.0715, total_t0: 0.5650, total_t1: 0.4086, total_t2: 0.3633, total_t3: 0.3523, total_t4: 0.3677, total: 2.6242, cam_bev_norm: 14.0643, sat_bev_norm: 11.1685, seg_sat: 0.2522, seg_dice_sat: 0.0623, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.1992, seg_dice_fused: 0.0536, cam_rel_mean: 0.1887, sat_rel_mean: 0.2064, cam_rel_min: 0.0024, sat_rel_min: 0.0022, grad_norm: 13.3714 2026-04-18 18:27:50,787 - mmdet - INFO - Iter [41300/55932] lr: 1.008e-05, eta: 9:35:23, time: 2.103, data_time: 0.093, memory: 34737, seg: 0.3190, seg_dice: 0.0851, seg_t0: 0.4814, seg_dice_t0: 0.1357, seg_t1: 0.3621, seg_dice_t1: 0.0959, seg_t2: 0.3273, seg_dice_t2: 0.0852, seg_t3: 0.3178, seg_dice_t3: 0.0817, total_t0: 0.6171, total_t1: 0.4580, total_t2: 0.4125, total_t3: 0.3995, total_t4: 0.4041, total: 2.9618, cam_bev_norm: 14.0192, sat_bev_norm: 11.0242, seg_sat: 0.2920, seg_dice_sat: 0.0720, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.2422, seg_dice_fused: 0.0644, cam_rel_mean: 0.1927, sat_rel_mean: 0.2146, cam_rel_min: 0.0029, sat_rel_min: 0.0014, grad_norm: 13.2694 2026-04-18 18:29:35,815 - mmdet - INFO - Iter [41350/55932] lr: 1.003e-05, eta: 9:33:20, time: 2.101, data_time: 0.089, memory: 34737, seg: 0.2837, seg_dice: 0.0711, seg_t0: 0.4357, seg_dice_t0: 0.1204, seg_t1: 0.3266, seg_dice_t1: 0.0838, seg_t2: 0.2882, seg_dice_t2: 0.0681, seg_t3: 0.2758, seg_dice_t3: 0.0671, total_t0: 0.5562, total_t1: 0.4104, total_t2: 0.3563, total_t3: 0.3429, total_t4: 0.3547, total: 2.5857, cam_bev_norm: 14.0716, sat_bev_norm: 11.0543, seg_sat: 0.2622, seg_dice_sat: 0.0628, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.1939, seg_dice_fused: 0.0463, cam_rel_mean: 0.2147, sat_rel_mean: 0.2241, cam_rel_min: 0.0010, sat_rel_min: 0.0000, grad_norm: 12.7959 2026-04-18 18:31:21,456 - mmdet - INFO - Iter [41400/55932] lr: 9.983e-06, eta: 9:31:18, time: 2.113, data_time: 0.091, memory: 34737, seg: 0.2697, seg_dice: 0.0679, seg_t0: 0.4344, seg_dice_t0: 0.1100, seg_t1: 0.3226, seg_dice_t1: 0.0797, seg_t2: 0.2985, seg_dice_t2: 0.0812, seg_t3: 0.2866, seg_dice_t3: 0.0719, total_t0: 0.5444, total_t1: 0.4023, total_t2: 0.3797, total_t3: 0.3585, total_t4: 0.3376, total: 2.5866, cam_bev_norm: 14.0595, sat_bev_norm: 11.0135, seg_sat: 0.2513, seg_dice_sat: 0.0619, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.2012, seg_dice_fused: 0.0497, cam_rel_mean: 0.1907, sat_rel_mean: 0.2127, cam_rel_min: 0.0029, sat_rel_min: 0.0007, grad_norm: 13.3715 2026-04-18 18:33:06,557 - mmdet - INFO - Iter [41450/55932] lr: 9.934e-06, eta: 9:29:16, time: 2.102, data_time: 0.096, memory: 34737, seg: 0.3056, seg_dice: 0.0756, seg_t0: 0.5050, seg_dice_t0: 0.1387, seg_t1: 0.3653, seg_dice_t1: 0.0945, seg_t2: 0.3185, seg_dice_t2: 0.0813, seg_t3: 0.3147, seg_dice_t3: 0.0783, total_t0: 0.6438, total_t1: 0.4599, total_t2: 0.3998, total_t3: 0.3929, total_t4: 0.3812, total: 2.8915, cam_bev_norm: 13.9824, sat_bev_norm: 11.0818, seg_sat: 0.2729, seg_dice_sat: 0.0633, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.2254, seg_dice_fused: 0.0523, cam_rel_mean: 0.2065, sat_rel_mean: 0.2046, cam_rel_min: 0.0024, sat_rel_min: 0.0036, grad_norm: 14.8770 2026-04-18 18:34:52,348 - mmdet - INFO - Iter [41500/55932] lr: 9.886e-06, eta: 9:27:14, time: 2.116, data_time: 0.095, memory: 34737, seg: 0.2886, seg_dice: 0.0763, seg_t0: 0.4393, seg_dice_t0: 0.1097, seg_t1: 0.3218, seg_dice_t1: 0.0801, seg_t2: 0.2904, seg_dice_t2: 0.0704, seg_t3: 0.2815, seg_dice_t3: 0.0724, total_t0: 0.5491, total_t1: 0.4019, total_t2: 0.3608, total_t3: 0.3540, total_t4: 0.3649, total: 2.6374, cam_bev_norm: 14.0435, sat_bev_norm: 11.0173, seg_sat: 0.2593, seg_dice_sat: 0.0625, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.2279, seg_dice_fused: 0.0571, cam_rel_mean: 0.2002, sat_rel_mean: 0.2043, cam_rel_min: 0.0024, sat_rel_min: 0.0036, grad_norm: 12.8683 2026-04-18 18:36:38,264 - mmdet - INFO - Iter [41550/55932] lr: 9.838e-06, eta: 9:25:12, time: 2.118, data_time: 0.099, memory: 34737, seg: 0.2996, seg_dice: 0.0699, seg_t0: 0.4904, seg_dice_t0: 0.1272, seg_t1: 0.3546, seg_dice_t1: 0.0865, seg_t2: 0.3171, seg_dice_t2: 0.0728, seg_t3: 0.3148, seg_dice_t3: 0.0783, total_t0: 0.6176, total_t1: 0.4411, total_t2: 0.3899, total_t3: 0.3931, total_t4: 0.3695, total: 2.7962, cam_bev_norm: 14.0522, sat_bev_norm: 11.0032, seg_sat: 0.2594, seg_dice_sat: 0.0582, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.0400, seg_fused: 0.2186, seg_dice_fused: 0.0488, cam_rel_mean: 0.1893, sat_rel_mean: 0.2158, cam_rel_min: 0.0043, sat_rel_min: 0.0014, grad_norm: 12.8222 2026-04-18 18:38:23,705 - mmdet - INFO - Iter [41600/55932] lr: 9.790e-06, eta: 9:23:09, time: 2.109, data_time: 0.097, memory: 34737, seg: 0.3040, seg_dice: 0.0742, seg_t0: 0.4892, seg_dice_t0: 0.1221, seg_t1: 0.3627, seg_dice_t1: 0.0933, seg_t2: 0.3099, seg_dice_t2: 0.0770, seg_t3: 0.2975, seg_dice_t3: 0.0743, total_t0: 0.6112, total_t1: 0.4560, total_t2: 0.3869, total_t3: 0.3718, total_t4: 0.3782, total: 2.8449, cam_bev_norm: 14.0398, sat_bev_norm: 10.9631, seg_sat: 0.2891, seg_dice_sat: 0.0716, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2278, seg_dice_fused: 0.0523, cam_rel_mean: 0.2036, sat_rel_mean: 0.2096, cam_rel_min: 0.0014, sat_rel_min: 0.0022, grad_norm: 14.6689 2026-04-18 18:40:09,292 - mmdet - INFO - Iter [41650/55932] lr: 9.742e-06, eta: 9:21:07, time: 2.112, data_time: 0.093, memory: 34737, seg: 0.3056, seg_dice: 0.0800, seg_t0: 0.4364, seg_dice_t0: 0.1184, seg_t1: 0.3504, seg_dice_t1: 0.0916, seg_t2: 0.3123, seg_dice_t2: 0.0802, seg_t3: 0.3107, seg_dice_t3: 0.0800, total_t0: 0.5548, total_t1: 0.4420, total_t2: 0.3925, total_t3: 0.3907, total_t4: 0.3855, total: 2.7980, cam_bev_norm: 14.0670, sat_bev_norm: 10.9838, seg_sat: 0.2746, seg_dice_sat: 0.0741, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.2237, seg_dice_fused: 0.0601, cam_rel_mean: 0.2028, sat_rel_mean: 0.2136, cam_rel_min: 0.0019, sat_rel_min: 0.0014, grad_norm: 13.7210 2026-04-18 18:41:55,590 - mmdet - INFO - Iter [41700/55932] lr: 9.694e-06, eta: 9:19:05, time: 2.126, data_time: 0.091, memory: 34737, seg: 0.2760, seg_dice: 0.0761, seg_t0: 0.4607, seg_dice_t0: 0.1211, seg_t1: 0.3447, seg_dice_t1: 0.0894, seg_t2: 0.3013, seg_dice_t2: 0.0770, seg_t3: 0.2803, seg_dice_t3: 0.0735, total_t0: 0.5818, total_t1: 0.4341, total_t2: 0.3783, total_t3: 0.3537, total_t4: 0.3521, total: 2.6611, cam_bev_norm: 14.0283, sat_bev_norm: 11.0880, seg_sat: 0.2461, seg_dice_sat: 0.0651, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0400, seg_fused: 0.1980, seg_dice_fused: 0.0519, cam_rel_mean: 0.2016, sat_rel_mean: 0.2079, cam_rel_min: 0.0024, sat_rel_min: 0.0022, grad_norm: 13.0164 2026-04-18 18:43:42,339 - mmdet - INFO - Iter [41750/55932] lr: 9.646e-06, eta: 9:17:04, time: 2.135, data_time: 0.096, memory: 34737, seg: 0.2771, seg_dice: 0.0693, seg_t0: 0.4570, seg_dice_t0: 0.1159, seg_t1: 0.3288, seg_dice_t1: 0.0831, seg_t2: 0.2922, seg_dice_t2: 0.0685, seg_t3: 0.2797, seg_dice_t3: 0.0677, total_t0: 0.5729, total_t1: 0.4119, total_t2: 0.3607, total_t3: 0.3474, total_t4: 0.3463, total: 2.5750, cam_bev_norm: 14.0626, sat_bev_norm: 11.0913, seg_sat: 0.2369, seg_dice_sat: 0.0527, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.2010, seg_dice_fused: 0.0453, cam_rel_mean: 0.1974, sat_rel_mean: 0.2126, cam_rel_min: 0.0029, sat_rel_min: 0.0029, grad_norm: 12.2948 2026-04-18 18:45:28,501 - mmdet - INFO - Iter [41800/55932] lr: 9.598e-06, eta: 9:15:02, time: 2.123, data_time: 0.097, memory: 34737, seg: 0.2853, seg_dice: 0.0705, seg_t0: 0.4445, seg_dice_t0: 0.1173, seg_t1: 0.3169, seg_dice_t1: 0.0859, seg_t2: 0.2943, seg_dice_t2: 0.0719, seg_t3: 0.2729, seg_dice_t3: 0.0653, total_t0: 0.5619, total_t1: 0.4028, total_t2: 0.3662, total_t3: 0.3382, total_t4: 0.3558, total: 2.6163, cam_bev_norm: 14.0394, sat_bev_norm: 11.1087, seg_sat: 0.2665, seg_dice_sat: 0.0600, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.2151, seg_dice_fused: 0.0499, cam_rel_mean: 0.2081, sat_rel_mean: 0.2051, cam_rel_min: 0.0014, sat_rel_min: 0.0036, grad_norm: 14.4178 2026-04-18 18:47:14,476 - mmdet - INFO - Iter [41850/55932] lr: 9.551e-06, eta: 9:13:00, time: 2.119, data_time: 0.096, memory: 34737, seg: 0.2988, seg_dice: 0.0789, seg_t0: 0.4480, seg_dice_t0: 0.1156, seg_t1: 0.3469, seg_dice_t1: 0.0926, seg_t2: 0.3137, seg_dice_t2: 0.0814, seg_t3: 0.3008, seg_dice_t3: 0.0756, total_t0: 0.5636, total_t1: 0.4395, total_t2: 0.3951, total_t3: 0.3764, total_t4: 0.3777, total: 2.7562, cam_bev_norm: 14.0280, sat_bev_norm: 10.9825, seg_sat: 0.2670, seg_dice_sat: 0.0696, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.2097, seg_dice_fused: 0.0575, cam_rel_mean: 0.1976, sat_rel_mean: 0.2162, cam_rel_min: 0.0029, sat_rel_min: 0.0007, grad_norm: 11.8173 2026-04-18 18:49:00,663 - mmdet - INFO - Iter [41900/55932] lr: 9.503e-06, eta: 9:10:59, time: 2.124, data_time: 0.096, memory: 34737, seg: 0.3001, seg_dice: 0.0681, seg_t0: 0.4239, seg_dice_t0: 0.1052, seg_t1: 0.3225, seg_dice_t1: 0.0766, seg_t2: 0.3020, seg_dice_t2: 0.0724, seg_t3: 0.2916, seg_dice_t3: 0.0639, total_t0: 0.5292, total_t1: 0.3991, total_t2: 0.3744, total_t3: 0.3555, total_t4: 0.3682, total: 2.6006, cam_bev_norm: 14.0654, sat_bev_norm: 11.1783, seg_sat: 0.2507, seg_dice_sat: 0.0562, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.2183, seg_dice_fused: 0.0491, cam_rel_mean: 0.1991, sat_rel_mean: 0.2076, cam_rel_min: 0.0034, sat_rel_min: 0.0036, grad_norm: 14.9442 2026-04-18 18:50:47,295 - mmdet - INFO - Iter [41950/55932] lr: 9.456e-06, eta: 9:08:57, time: 2.133, data_time: 0.096, memory: 34737, seg: 0.2841, seg_dice: 0.0814, seg_t0: 0.4410, seg_dice_t0: 0.1274, seg_t1: 0.3253, seg_dice_t1: 0.0890, seg_t2: 0.2927, seg_dice_t2: 0.0824, seg_t3: 0.2847, seg_dice_t3: 0.0768, total_t0: 0.5684, total_t1: 0.4143, total_t2: 0.3751, total_t3: 0.3615, total_t4: 0.3654, total: 2.6973, cam_bev_norm: 14.0496, sat_bev_norm: 10.9517, seg_sat: 0.2733, seg_dice_sat: 0.0729, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 0.2084, seg_dice_fused: 0.0579, cam_rel_mean: 0.2012, sat_rel_mean: 0.2210, cam_rel_min: 0.0019, sat_rel_min: 0.0000, grad_norm: 12.1826 2026-04-18 18:54:06,584 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 18:54:06,585 - mmdet - INFO - Iter [42000/55932] lr: 9.409e-06, eta: 9:07:26, time: 3.985, data_time: 1.755, memory: 34737, seg: 0.2767, seg_dice: 0.0664, seg_t0: 0.4529, seg_dice_t0: 0.1091, seg_t1: 0.3347, seg_dice_t1: 0.0780, seg_t2: 0.3044, seg_dice_t2: 0.0696, seg_t3: 0.2873, seg_dice_t3: 0.0676, total_t0: 0.5620, total_t1: 0.4127, total_t2: 0.3740, total_t3: 0.3549, total_t4: 0.3431, total: 2.5917, cam_bev_norm: 14.0079, sat_bev_norm: 11.0021, seg_sat: 0.2384, seg_dice_sat: 0.0563, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.2028, seg_dice_fused: 0.0474, cam_rel_mean: 0.1969, sat_rel_mean: 0.2035, cam_rel_min: 0.0014, sat_rel_min: 0.0029, grad_norm: 14.1239 2026-04-18 18:55:51,677 - mmdet - INFO - Iter [42050/55932] lr: 9.362e-06, eta: 9:05:24, time: 2.102, data_time: 0.089, memory: 34737, seg: 0.2955, seg_dice: 0.0731, seg_t0: 0.4225, seg_dice_t0: 0.1155, seg_t1: 0.3305, seg_dice_t1: 0.0833, seg_t2: 0.2987, seg_dice_t2: 0.0804, seg_t3: 0.2875, seg_dice_t3: 0.0745, total_t0: 0.5381, total_t1: 0.4138, total_t2: 0.3790, total_t3: 0.3621, total_t4: 0.3686, total: 2.6066, cam_bev_norm: 14.0010, sat_bev_norm: 11.0370, seg_sat: 0.2358, seg_dice_sat: 0.0570, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.2030, seg_dice_fused: 0.0494, cam_rel_mean: 0.1931, sat_rel_mean: 0.2170, cam_rel_min: 0.0034, sat_rel_min: 0.0014, grad_norm: 14.8390 2026-04-18 18:57:40,072 - mmdet - INFO - Iter [42100/55932] lr: 9.315e-06, eta: 9:03:23, time: 2.168, data_time: 0.097, memory: 34737, seg: 0.2658, seg_dice: 0.0730, seg_t0: 0.4176, seg_dice_t0: 0.1117, seg_t1: 0.3012, seg_dice_t1: 0.0766, seg_t2: 0.2803, seg_dice_t2: 0.0741, seg_t3: 0.2738, seg_dice_t3: 0.0747, total_t0: 0.5292, total_t1: 0.3778, total_t2: 0.3544, total_t3: 0.3485, total_t4: 0.3388, total: 2.4421, cam_bev_norm: 14.0305, sat_bev_norm: 11.0638, seg_sat: 0.2141, seg_dice_sat: 0.0570, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.1735, seg_dice_fused: 0.0487, cam_rel_mean: 0.2096, sat_rel_mean: 0.2196, cam_rel_min: 0.0014, sat_rel_min: 0.0007, grad_norm: 13.5475 2026-04-18 18:59:28,679 - mmdet - INFO - Iter [42150/55932] lr: 9.269e-06, eta: 9:01:22, time: 2.172, data_time: 0.103, memory: 34737, seg: 0.3019, seg_dice: 0.0759, seg_t0: 0.5071, seg_dice_t0: 0.1308, seg_t1: 0.3674, seg_dice_t1: 0.0923, seg_t2: 0.3221, seg_dice_t2: 0.0850, seg_t3: 0.3004, seg_dice_t3: 0.0783, total_t0: 0.6379, total_t1: 0.4597, total_t2: 0.4071, total_t3: 0.3787, total_t4: 0.3778, total: 2.8195, cam_bev_norm: 14.0344, sat_bev_norm: 11.0345, seg_sat: 0.2421, seg_dice_sat: 0.0585, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.2076, seg_dice_fused: 0.0501, cam_rel_mean: 0.1935, sat_rel_mean: 0.2191, cam_rel_min: 0.0034, sat_rel_min: 0.0007, grad_norm: 13.0442 2026-04-18 19:01:17,344 - mmdet - INFO - Iter [42200/55932] lr: 9.222e-06, eta: 8:59:21, time: 2.173, data_time: 0.106, memory: 34737, seg: 0.3035, seg_dice: 0.0783, seg_t0: 0.4939, seg_dice_t0: 0.1274, seg_t1: 0.3505, seg_dice_t1: 0.0919, seg_t2: 0.3241, seg_dice_t2: 0.0773, seg_t3: 0.3050, seg_dice_t3: 0.0769, total_t0: 0.6213, total_t1: 0.4424, total_t2: 0.4014, total_t3: 0.3819, total_t4: 0.3817, total: 2.8079, cam_bev_norm: 14.0563, sat_bev_norm: 11.0070, seg_sat: 0.2485, seg_dice_sat: 0.0597, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.2167, seg_dice_fused: 0.0543, cam_rel_mean: 0.2038, sat_rel_mean: 0.2253, cam_rel_min: 0.0034, sat_rel_min: 0.0022, grad_norm: 13.6836 2026-04-18 19:03:05,375 - mmdet - INFO - Iter [42250/55932] lr: 9.176e-06, eta: 8:57:20, time: 2.160, data_time: 0.102, memory: 34737, seg: 0.2886, seg_dice: 0.0728, seg_t0: 0.4893, seg_dice_t0: 0.1217, seg_t1: 0.3582, seg_dice_t1: 0.0870, seg_t2: 0.3085, seg_dice_t2: 0.0767, seg_t3: 0.2993, seg_dice_t3: 0.0741, total_t0: 0.6110, total_t1: 0.4452, total_t2: 0.3852, total_t3: 0.3733, total_t4: 0.3613, total: 2.7179, cam_bev_norm: 13.9781, sat_bev_norm: 10.9909, seg_sat: 0.2247, seg_dice_sat: 0.0578, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1200, seg_fused: 0.2064, seg_dice_fused: 0.0530, cam_rel_mean: 0.1805, sat_rel_mean: 0.2025, cam_rel_min: 0.0043, sat_rel_min: 0.0029, grad_norm: 14.5005 2026-04-18 19:04:53,086 - mmdet - INFO - Iter [42300/55932] lr: 9.129e-06, eta: 8:55:19, time: 2.154, data_time: 0.099, memory: 34737, seg: 0.2611, seg_dice: 0.0758, seg_t0: 0.4286, seg_dice_t0: 0.1142, seg_t1: 0.3197, seg_dice_t1: 0.0841, seg_t2: 0.2758, seg_dice_t2: 0.0762, seg_t3: 0.2694, seg_dice_t3: 0.0735, total_t0: 0.5428, total_t1: 0.4038, total_t2: 0.3520, total_t3: 0.3429, total_t4: 0.3369, total: 2.5093, cam_bev_norm: 14.0267, sat_bev_norm: 11.0734, seg_sat: 0.2234, seg_dice_sat: 0.0668, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1000, seg_fused: 0.1854, seg_dice_fused: 0.0553, cam_rel_mean: 0.2041, sat_rel_mean: 0.2037, cam_rel_min: 0.0010, sat_rel_min: 0.0022, grad_norm: 14.3168 2026-04-18 19:06:42,440 - mmdet - INFO - Iter [42350/55932] lr: 9.083e-06, eta: 8:53:19, time: 2.187, data_time: 0.102, memory: 34737, seg: 0.2900, seg_dice: 0.0799, seg_t0: 0.4771, seg_dice_t0: 0.1274, seg_t1: 0.3411, seg_dice_t1: 0.0865, seg_t2: 0.2904, seg_dice_t2: 0.0782, seg_t3: 0.2809, seg_dice_t3: 0.0796, total_t0: 0.6045, total_t1: 0.4276, total_t2: 0.3686, total_t3: 0.3605, total_t4: 0.3699, total: 2.6550, cam_bev_norm: 14.0032, sat_bev_norm: 11.0303, seg_sat: 0.2255, seg_dice_sat: 0.0599, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2400, seg_fused: 0.1855, seg_dice_fused: 0.0530, cam_rel_mean: 0.2016, sat_rel_mean: 0.2072, cam_rel_min: 0.0015, sat_rel_min: 0.0014, grad_norm: 12.0905 2026-04-18 19:08:30,457 - mmdet - INFO - Iter [42400/55932] lr: 9.037e-06, eta: 8:51:18, time: 2.160, data_time: 0.099, memory: 34737, seg: 0.2831, seg_dice: 0.0677, seg_t0: 0.4568, seg_dice_t0: 0.1139, seg_t1: 0.3465, seg_dice_t1: 0.0863, seg_t2: 0.3075, seg_dice_t2: 0.0748, seg_t3: 0.2887, seg_dice_t3: 0.0696, total_t0: 0.5707, total_t1: 0.4328, total_t2: 0.3823, total_t3: 0.3582, total_t4: 0.3508, total: 2.6240, cam_bev_norm: 13.9739, sat_bev_norm: 10.9733, seg_sat: 0.2292, seg_dice_sat: 0.0548, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.1984, seg_dice_fused: 0.0468, cam_rel_mean: 0.1952, sat_rel_mean: 0.1993, cam_rel_min: 0.0019, sat_rel_min: 0.0036, grad_norm: 13.0701 2026-04-18 19:10:18,925 - mmdet - INFO - Iter [42450/55932] lr: 8.991e-06, eta: 8:49:17, time: 2.169, data_time: 0.097, memory: 34737, seg: 0.2756, seg_dice: 0.0652, seg_t0: 0.4327, seg_dice_t0: 0.1177, seg_t1: 0.3163, seg_dice_t1: 0.0768, seg_t2: 0.2832, seg_dice_t2: 0.0703, seg_t3: 0.2744, seg_dice_t3: 0.0685, total_t0: 0.5505, total_t1: 0.3932, total_t2: 0.3535, total_t3: 0.3429, total_t4: 0.3408, total: 2.4796, cam_bev_norm: 14.0796, sat_bev_norm: 11.0654, seg_sat: 0.2159, seg_dice_sat: 0.0543, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.1843, seg_dice_fused: 0.0441, cam_rel_mean: 0.2056, sat_rel_mean: 0.2106, cam_rel_min: 0.0015, sat_rel_min: 0.0022, grad_norm: 11.5571 2026-04-18 19:12:07,272 - mmdet - INFO - Iter [42500/55932] lr: 8.946e-06, eta: 8:47:16, time: 2.167, data_time: 0.099, memory: 34737, seg: 0.2768, seg_dice: 0.0773, seg_t0: 0.4123, seg_dice_t0: 0.1169, seg_t1: 0.2897, seg_dice_t1: 0.0779, seg_t2: 0.2669, seg_dice_t2: 0.0696, seg_t3: 0.2677, seg_dice_t3: 0.0721, total_t0: 0.5292, total_t1: 0.3676, total_t2: 0.3366, total_t3: 0.3398, total_t4: 0.3542, total: 2.4336, cam_bev_norm: 14.0678, sat_bev_norm: 11.0960, seg_sat: 0.2162, seg_dice_sat: 0.0562, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2000, seg_fused: 0.1852, seg_dice_fused: 0.0486, cam_rel_mean: 0.1931, sat_rel_mean: 0.2269, cam_rel_min: 0.0039, sat_rel_min: 0.0007, grad_norm: 11.7136 2026-04-18 19:13:55,600 - mmdet - INFO - Iter [42550/55932] lr: 8.900e-06, eta: 8:45:16, time: 2.166, data_time: 0.102, memory: 34737, seg: 0.2613, seg_dice: 0.0674, seg_t0: 0.4533, seg_dice_t0: 0.1162, seg_t1: 0.3204, seg_dice_t1: 0.0843, seg_t2: 0.2699, seg_dice_t2: 0.0696, seg_t3: 0.2579, seg_dice_t3: 0.0691, total_t0: 0.5695, total_t1: 0.4047, total_t2: 0.3395, total_t3: 0.3270, total_t4: 0.3288, total: 2.4437, cam_bev_norm: 14.0934, sat_bev_norm: 11.1100, seg_sat: 0.2109, seg_dice_sat: 0.0517, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.1696, seg_dice_fused: 0.0421, cam_rel_mean: 0.2061, sat_rel_mean: 0.2218, cam_rel_min: 0.0015, sat_rel_min: 0.0000, grad_norm: 14.6238 2026-04-18 19:15:44,276 - mmdet - INFO - Iter [42600/55932] lr: 8.854e-06, eta: 8:43:15, time: 2.174, data_time: 0.101, memory: 34737, seg: 0.2621, seg_dice: 0.0643, seg_t0: 0.3976, seg_dice_t0: 0.1024, seg_t1: 0.2918, seg_dice_t1: 0.0735, seg_t2: 0.2701, seg_dice_t2: 0.0671, seg_t3: 0.2617, seg_dice_t3: 0.0669, total_t0: 0.5001, total_t1: 0.3653, total_t2: 0.3372, total_t3: 0.3286, total_t4: 0.3264, total: 2.3576, cam_bev_norm: 14.1312, sat_bev_norm: 11.1407, seg_sat: 0.2226, seg_dice_sat: 0.0536, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.1811, seg_dice_fused: 0.0427, cam_rel_mean: 0.2002, sat_rel_mean: 0.2234, cam_rel_min: 0.0029, sat_rel_min: 0.0000, grad_norm: 12.3728 2026-04-18 19:17:33,315 - mmdet - INFO - Iter [42650/55932] lr: 8.809e-06, eta: 8:41:15, time: 2.181, data_time: 0.099, memory: 34737, seg: 0.2817, seg_dice: 0.0665, seg_t0: 0.4446, seg_dice_t0: 0.1123, seg_t1: 0.3242, seg_dice_t1: 0.0788, seg_t2: 0.2936, seg_dice_t2: 0.0686, seg_t3: 0.2809, seg_dice_t3: 0.0672, total_t0: 0.5569, total_t1: 0.4030, total_t2: 0.3622, total_t3: 0.3482, total_t4: 0.3482, total: 2.5342, cam_bev_norm: 13.9961, sat_bev_norm: 11.0507, seg_sat: 0.2270, seg_dice_sat: 0.0506, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.1944, seg_dice_fused: 0.0438, cam_rel_mean: 0.1979, sat_rel_mean: 0.2178, cam_rel_min: 0.0029, sat_rel_min: 0.0007, grad_norm: 12.6084 2026-04-18 19:19:21,717 - mmdet - INFO - Iter [42700/55932] lr: 8.764e-06, eta: 8:39:14, time: 2.168, data_time: 0.098, memory: 34737, seg: 0.2901, seg_dice: 0.0692, seg_t0: 0.4584, seg_dice_t0: 0.1179, seg_t1: 0.3300, seg_dice_t1: 0.0795, seg_t2: 0.2980, seg_dice_t2: 0.0697, seg_t3: 0.2845, seg_dice_t3: 0.0647, total_t0: 0.5763, total_t1: 0.4094, total_t2: 0.3676, total_t3: 0.3492, total_t4: 0.3593, total: 2.5755, cam_bev_norm: 14.0165, sat_bev_norm: 11.0634, seg_sat: 0.2258, seg_dice_sat: 0.0489, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1800, seg_fused: 0.1949, seg_dice_fused: 0.0440, cam_rel_mean: 0.1921, sat_rel_mean: 0.2237, cam_rel_min: 0.0034, sat_rel_min: 0.0000, grad_norm: 11.8194 2026-04-18 19:21:11,065 - mmdet - INFO - Iter [42750/55932] lr: 8.719e-06, eta: 8:37:14, time: 2.187, data_time: 0.098, memory: 34737, seg: 0.2841, seg_dice: 0.0780, seg_t0: 0.4209, seg_dice_t0: 0.1092, seg_t1: 0.3052, seg_dice_t1: 0.0766, seg_t2: 0.2785, seg_dice_t2: 0.0682, seg_t3: 0.2779, seg_dice_t3: 0.0721, total_t0: 0.5301, total_t1: 0.3818, total_t2: 0.3467, total_t3: 0.3500, total_t4: 0.3621, total: 2.5218, cam_bev_norm: 14.0216, sat_bev_norm: 11.1144, seg_sat: 0.2342, seg_dice_sat: 0.0637, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.1999, seg_dice_fused: 0.0532, cam_rel_mean: 0.1960, sat_rel_mean: 0.2102, cam_rel_min: 0.0024, sat_rel_min: 0.0022, grad_norm: 13.9891 2026-04-18 19:22:59,549 - mmdet - INFO - Iter [42800/55932] lr: 8.674e-06, eta: 8:35:13, time: 2.169, data_time: 0.101, memory: 34737, seg: 0.2944, seg_dice: 0.0771, seg_t0: 0.4285, seg_dice_t0: 0.1109, seg_t1: 0.3162, seg_dice_t1: 0.0851, seg_t2: 0.2982, seg_dice_t2: 0.0769, seg_t3: 0.2962, seg_dice_t3: 0.0727, total_t0: 0.5394, total_t1: 0.4013, total_t2: 0.3752, total_t3: 0.3689, total_t4: 0.3715, total: 2.6084, cam_bev_norm: 14.0649, sat_bev_norm: 11.0796, seg_sat: 0.2353, seg_dice_sat: 0.0603, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.2032, seg_dice_fused: 0.0533, cam_rel_mean: 0.2183, sat_rel_mean: 0.2227, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 11.0260 2026-04-18 19:24:47,466 - mmdet - INFO - Iter [42850/55932] lr: 8.629e-06, eta: 8:33:12, time: 2.159, data_time: 0.095, memory: 34737, seg: 0.2664, seg_dice: 0.0645, seg_t0: 0.4276, seg_dice_t0: 0.1037, seg_t1: 0.3177, seg_dice_t1: 0.0787, seg_t2: 0.2809, seg_dice_t2: 0.0703, seg_t3: 0.2756, seg_dice_t3: 0.0670, total_t0: 0.5313, total_t1: 0.3964, total_t2: 0.3512, total_t3: 0.3426, total_t4: 0.3309, total: 2.4461, cam_bev_norm: 14.0473, sat_bev_norm: 11.1199, seg_sat: 0.2150, seg_dice_sat: 0.0503, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.1856, seg_dice_fused: 0.0427, cam_rel_mean: 0.2078, sat_rel_mean: 0.2145, cam_rel_min: 0.0029, sat_rel_min: 0.0029, grad_norm: 11.9123 2026-04-18 19:26:35,609 - mmdet - INFO - Iter [42900/55932] lr: 8.584e-06, eta: 8:31:12, time: 2.163, data_time: 0.094, memory: 34737, seg: 0.2900, seg_dice: 0.0681, seg_t0: 0.4458, seg_dice_t0: 0.1241, seg_t1: 0.3248, seg_dice_t1: 0.0865, seg_t2: 0.2788, seg_dice_t2: 0.0716, seg_t3: 0.2856, seg_dice_t3: 0.0714, total_t0: 0.5699, total_t1: 0.4112, total_t2: 0.3504, total_t3: 0.3570, total_t4: 0.3580, total: 2.5809, cam_bev_norm: 14.0429, sat_bev_norm: 11.0130, seg_sat: 0.2355, seg_dice_sat: 0.0536, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.1999, seg_dice_fused: 0.0454, cam_rel_mean: 0.2089, sat_rel_mean: 0.2230, cam_rel_min: 0.0024, sat_rel_min: 0.0022, grad_norm: 13.0897 2026-04-18 19:28:24,058 - mmdet - INFO - Iter [42950/55932] lr: 8.540e-06, eta: 8:29:11, time: 2.169, data_time: 0.097, memory: 34737, seg: 0.2740, seg_dice: 0.0762, seg_t0: 0.4695, seg_dice_t0: 0.1285, seg_t1: 0.3422, seg_dice_t1: 0.0893, seg_t2: 0.2951, seg_dice_t2: 0.0751, seg_t3: 0.2804, seg_dice_t3: 0.0722, total_t0: 0.5980, total_t1: 0.4315, total_t2: 0.3702, total_t3: 0.3526, total_t4: 0.3502, total: 2.6153, cam_bev_norm: 13.9860, sat_bev_norm: 10.9998, seg_sat: 0.2125, seg_dice_sat: 0.0552, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.1909, seg_dice_fused: 0.0542, cam_rel_mean: 0.1864, sat_rel_mean: 0.2122, cam_rel_min: 0.0034, sat_rel_min: 0.0022, grad_norm: 14.3813 2026-04-18 19:30:12,225 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 19:30:12,226 - mmdet - INFO - Iter [43000/55932] lr: 8.496e-06, eta: 8:27:11, time: 2.163, data_time: 0.099, memory: 34737, seg: 0.2831, seg_dice: 0.0673, seg_t0: 0.4383, seg_dice_t0: 0.1145, seg_t1: 0.3161, seg_dice_t1: 0.0768, seg_t2: 0.2849, seg_dice_t2: 0.0665, seg_t3: 0.2810, seg_dice_t3: 0.0639, total_t0: 0.5528, total_t1: 0.3929, total_t2: 0.3514, total_t3: 0.3450, total_t4: 0.3504, total: 2.5615, cam_bev_norm: 14.0333, sat_bev_norm: 10.9864, seg_sat: 0.2521, seg_dice_sat: 0.0558, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1400, seg_fused: 0.2110, seg_dice_fused: 0.0501, cam_rel_mean: 0.1908, sat_rel_mean: 0.2145, cam_rel_min: 0.0039, sat_rel_min: 0.0022, grad_norm: 12.5214 2026-04-18 19:32:00,593 - mmdet - INFO - Iter [43050/55932] lr: 8.451e-06, eta: 8:25:10, time: 2.167, data_time: 0.093, memory: 34737, seg: 0.2741, seg_dice: 0.0701, seg_t0: 0.4553, seg_dice_t0: 0.1238, seg_t1: 0.3494, seg_dice_t1: 0.0969, seg_t2: 0.3002, seg_dice_t2: 0.0828, seg_t3: 0.2822, seg_dice_t3: 0.0781, total_t0: 0.5790, total_t1: 0.4463, total_t2: 0.3830, total_t3: 0.3603, total_t4: 0.3442, total: 2.6249, cam_bev_norm: 14.0173, sat_bev_norm: 11.1136, seg_sat: 0.2151, seg_dice_sat: 0.0540, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.1952, seg_dice_fused: 0.0477, cam_rel_mean: 0.1892, sat_rel_mean: 0.2072, cam_rel_min: 0.0029, sat_rel_min: 0.0029, grad_norm: 13.5987 2026-04-18 19:33:48,301 - mmdet - INFO - Iter [43100/55932] lr: 8.407e-06, eta: 8:23:10, time: 2.154, data_time: 0.097, memory: 34737, seg: 0.2655, seg_dice: 0.0626, seg_t0: 0.4335, seg_dice_t0: 0.1067, seg_t1: 0.3148, seg_dice_t1: 0.0746, seg_t2: 0.2868, seg_dice_t2: 0.0700, seg_t3: 0.2632, seg_dice_t3: 0.0683, total_t0: 0.5403, total_t1: 0.3894, total_t2: 0.3568, total_t3: 0.3314, total_t4: 0.3281, total: 2.4171, cam_bev_norm: 14.0867, sat_bev_norm: 11.1378, seg_sat: 0.2101, seg_dice_sat: 0.0463, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.1766, seg_dice_fused: 0.0382, cam_rel_mean: 0.1981, sat_rel_mean: 0.2257, cam_rel_min: 0.0024, sat_rel_min: 0.0000, grad_norm: 13.2436 2026-04-18 19:35:38,359 - mmdet - INFO - Iter [43150/55932] lr: 8.363e-06, eta: 8:21:10, time: 2.201, data_time: 0.095, memory: 34737, seg: 0.2697, seg_dice: 0.0655, seg_t0: 0.4823, seg_dice_t0: 0.1174, seg_t1: 0.3507, seg_dice_t1: 0.0842, seg_t2: 0.2930, seg_dice_t2: 0.0703, seg_t3: 0.2757, seg_dice_t3: 0.0647, total_t0: 0.5996, total_t1: 0.4349, total_t2: 0.3633, total_t3: 0.3405, total_t4: 0.3352, total: 2.5825, cam_bev_norm: 14.0560, sat_bev_norm: 11.0696, seg_sat: 0.2279, seg_dice_sat: 0.0511, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.1880, seg_dice_fused: 0.0420, cam_rel_mean: 0.1984, sat_rel_mean: 0.2242, cam_rel_min: 0.0029, sat_rel_min: 0.0007, grad_norm: 12.4813 2026-04-18 19:37:26,864 - mmdet - INFO - Iter [43200/55932] lr: 8.319e-06, eta: 8:19:10, time: 2.170, data_time: 0.097, memory: 34737, seg: 0.2902, seg_dice: 0.0729, seg_t0: 0.4621, seg_dice_t0: 0.1133, seg_t1: 0.3473, seg_dice_t1: 0.0809, seg_t2: 0.2934, seg_dice_t2: 0.0718, seg_t3: 0.2908, seg_dice_t3: 0.0726, total_t0: 0.5754, total_t1: 0.4282, total_t2: 0.3652, total_t3: 0.3634, total_t4: 0.3631, total: 2.6169, cam_bev_norm: 14.0092, sat_bev_norm: 11.1026, seg_sat: 0.2190, seg_dice_sat: 0.0548, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.1980, seg_dice_fused: 0.0500, cam_rel_mean: 0.1998, sat_rel_mean: 0.2130, cam_rel_min: 0.0024, sat_rel_min: 0.0029, grad_norm: 14.4073 2026-04-18 19:39:14,953 - mmdet - INFO - Iter [43250/55932] lr: 8.276e-06, eta: 8:17:09, time: 2.162, data_time: 0.099, memory: 34737, seg: 0.2689, seg_dice: 0.0726, seg_t0: 0.4340, seg_dice_t0: 0.1119, seg_t1: 0.3202, seg_dice_t1: 0.0864, seg_t2: 0.2814, seg_dice_t2: 0.0810, seg_t3: 0.2761, seg_dice_t3: 0.0776, total_t0: 0.5459, total_t1: 0.4066, total_t2: 0.3624, total_t3: 0.3536, total_t4: 0.3415, total: 2.5301, cam_bev_norm: 13.9896, sat_bev_norm: 11.0562, seg_sat: 0.2229, seg_dice_sat: 0.0600, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.1874, seg_dice_fused: 0.0499, cam_rel_mean: 0.1928, sat_rel_mean: 0.2146, cam_rel_min: 0.0029, sat_rel_min: 0.0007, grad_norm: 12.4861 2026-04-18 19:41:02,703 - mmdet - INFO - Iter [43300/55932] lr: 8.232e-06, eta: 8:15:09, time: 2.155, data_time: 0.100, memory: 34737, seg: 0.2653, seg_dice: 0.0627, seg_t0: 0.4407, seg_dice_t0: 0.1084, seg_t1: 0.3173, seg_dice_t1: 0.0778, seg_t2: 0.2863, seg_dice_t2: 0.0676, seg_t3: 0.2759, seg_dice_t3: 0.0633, total_t0: 0.5491, total_t1: 0.3951, total_t2: 0.3539, total_t3: 0.3393, total_t4: 0.3280, total: 2.4751, cam_bev_norm: 14.0466, sat_bev_norm: 11.1131, seg_sat: 0.2222, seg_dice_sat: 0.0506, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.1932, seg_dice_fused: 0.0437, cam_rel_mean: 0.2003, sat_rel_mean: 0.2210, cam_rel_min: 0.0029, sat_rel_min: 0.0015, grad_norm: 13.1697 2026-04-18 19:42:50,258 - mmdet - INFO - Iter [43350/55932] lr: 8.189e-06, eta: 8:13:08, time: 2.151, data_time: 0.096, memory: 34737, seg: 0.2694, seg_dice: 0.0646, seg_t0: 0.4927, seg_dice_t0: 0.1230, seg_t1: 0.3593, seg_dice_t1: 0.0838, seg_t2: 0.3131, seg_dice_t2: 0.0727, seg_t3: 0.2755, seg_dice_t3: 0.0662, total_t0: 0.6157, total_t1: 0.4431, total_t2: 0.3859, total_t3: 0.3417, total_t4: 0.3340, total: 2.6285, cam_bev_norm: 13.9374, sat_bev_norm: 11.0415, seg_sat: 0.2239, seg_dice_sat: 0.0510, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.1889, seg_dice_fused: 0.0442, cam_rel_mean: 0.2014, sat_rel_mean: 0.2141, cam_rel_min: 0.0024, sat_rel_min: 0.0015, grad_norm: 13.2995 2026-04-18 19:44:38,120 - mmdet - INFO - Iter [43400/55932] lr: 8.146e-06, eta: 8:11:08, time: 2.157, data_time: 0.097, memory: 34737, seg: 0.2659, seg_dice: 0.0749, seg_t0: 0.4603, seg_dice_t0: 0.1318, seg_t1: 0.3276, seg_dice_t1: 0.0888, seg_t2: 0.2894, seg_dice_t2: 0.0776, seg_t3: 0.2735, seg_dice_t3: 0.0743, total_t0: 0.5921, total_t1: 0.4164, total_t2: 0.3670, total_t3: 0.3478, total_t4: 0.3408, total: 2.5849, cam_bev_norm: 14.0194, sat_bev_norm: 11.0883, seg_sat: 0.2169, seg_dice_sat: 0.0594, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.1800, seg_fused: 0.1915, seg_dice_fused: 0.0530, cam_rel_mean: 0.1793, sat_rel_mean: 0.2146, cam_rel_min: 0.0049, sat_rel_min: 0.0015, grad_norm: 14.9752 2026-04-18 19:46:25,977 - mmdet - INFO - Iter [43450/55932] lr: 8.103e-06, eta: 8:09:07, time: 2.157, data_time: 0.098, memory: 34737, seg: 0.2771, seg_dice: 0.0750, seg_t0: 0.4132, seg_dice_t0: 0.1111, seg_t1: 0.3196, seg_dice_t1: 0.0833, seg_t2: 0.2841, seg_dice_t2: 0.0763, seg_t3: 0.2779, seg_dice_t3: 0.0784, total_t0: 0.5243, total_t1: 0.4029, total_t2: 0.3605, total_t3: 0.3564, total_t4: 0.3522, total: 2.5391, cam_bev_norm: 13.9855, sat_bev_norm: 11.0536, seg_sat: 0.2354, seg_dice_sat: 0.0628, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2600, seg_fused: 0.1929, seg_dice_fused: 0.0517, cam_rel_mean: 0.1990, sat_rel_mean: 0.2144, cam_rel_min: 0.0019, sat_rel_min: 0.0007, grad_norm: 12.4607 2026-04-18 19:48:14,105 - mmdet - INFO - Iter [43500/55932] lr: 8.060e-06, eta: 8:07:07, time: 2.162, data_time: 0.097, memory: 34737, seg: 0.2909, seg_dice: 0.0724, seg_t0: 0.4599, seg_dice_t0: 0.1213, seg_t1: 0.3601, seg_dice_t1: 0.0902, seg_t2: 0.3132, seg_dice_t2: 0.0828, seg_t3: 0.2931, seg_dice_t3: 0.0744, total_t0: 0.5812, total_t1: 0.4503, total_t2: 0.3960, total_t3: 0.3676, total_t4: 0.3633, total: 2.7219, cam_bev_norm: 13.9663, sat_bev_norm: 11.0409, seg_sat: 0.2418, seg_dice_sat: 0.0613, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.2069, seg_dice_fused: 0.0535, cam_rel_mean: 0.2031, sat_rel_mean: 0.2102, cam_rel_min: 0.0019, sat_rel_min: 0.0022, grad_norm: 11.7311 2026-04-18 19:50:02,821 - mmdet - INFO - Iter [43550/55932] lr: 8.017e-06, eta: 8:05:07, time: 2.174, data_time: 0.098, memory: 34737, seg: 0.2851, seg_dice: 0.0709, seg_t0: 0.4102, seg_dice_t0: 0.1006, seg_t1: 0.3210, seg_dice_t1: 0.0749, seg_t2: 0.2881, seg_dice_t2: 0.0707, seg_t3: 0.2856, seg_dice_t3: 0.0703, total_t0: 0.5107, total_t1: 0.3959, total_t2: 0.3588, total_t3: 0.3559, total_t4: 0.3560, total: 2.5066, cam_bev_norm: 13.9711, sat_bev_norm: 11.0372, seg_sat: 0.2251, seg_dice_sat: 0.0536, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1800, seg_fused: 0.2009, seg_dice_fused: 0.0496, cam_rel_mean: 0.1863, sat_rel_mean: 0.2065, cam_rel_min: 0.0039, sat_rel_min: 0.0022, grad_norm: 12.3158 2026-04-18 19:51:50,520 - mmdet - INFO - Iter [43600/55932] lr: 7.974e-06, eta: 8:03:07, time: 2.154, data_time: 0.095, memory: 34737, seg: 0.2753, seg_dice: 0.0647, seg_t0: 0.4094, seg_dice_t0: 0.1066, seg_t1: 0.3169, seg_dice_t1: 0.0762, seg_t2: 0.2918, seg_dice_t2: 0.0704, seg_t3: 0.2787, seg_dice_t3: 0.0693, total_t0: 0.5160, total_t1: 0.3931, total_t2: 0.3621, total_t3: 0.3481, total_t4: 0.3399, total: 2.4484, cam_bev_norm: 13.9740, sat_bev_norm: 11.0699, seg_sat: 0.2182, seg_dice_sat: 0.0481, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.1829, seg_dice_fused: 0.0400, cam_rel_mean: 0.2051, sat_rel_mean: 0.2116, cam_rel_min: 0.0015, sat_rel_min: 0.0022, grad_norm: 12.7392 2026-04-18 19:53:38,964 - mmdet - INFO - Iter [43650/55932] lr: 7.932e-06, eta: 8:01:07, time: 2.169, data_time: 0.100, memory: 34737, seg: 0.3162, seg_dice: 0.0792, seg_t0: 0.4350, seg_dice_t0: 0.1143, seg_t1: 0.3307, seg_dice_t1: 0.0812, seg_t2: 0.3047, seg_dice_t2: 0.0783, seg_t3: 0.2972, seg_dice_t3: 0.0746, total_t0: 0.5493, total_t1: 0.4119, total_t2: 0.3830, total_t3: 0.3718, total_t4: 0.3953, total: 2.6689, cam_bev_norm: 13.9438, sat_bev_norm: 11.0113, seg_sat: 0.2446, seg_dice_sat: 0.0616, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.2800, seg_fused: 0.1997, seg_dice_fused: 0.0517, cam_rel_mean: 0.2125, sat_rel_mean: 0.2139, cam_rel_min: 0.0005, sat_rel_min: 0.0015, grad_norm: 13.6285 2026-04-18 19:55:26,501 - mmdet - INFO - Iter [43700/55932] lr: 7.889e-06, eta: 7:59:06, time: 2.150, data_time: 0.100, memory: 34737, seg: 0.2838, seg_dice: 0.0714, seg_t0: 0.4350, seg_dice_t0: 0.1162, seg_t1: 0.3138, seg_dice_t1: 0.0812, seg_t2: 0.2775, seg_dice_t2: 0.0770, seg_t3: 0.2736, seg_dice_t3: 0.0769, total_t0: 0.5512, total_t1: 0.3950, total_t2: 0.3545, total_t3: 0.3505, total_t4: 0.3552, total: 2.5387, cam_bev_norm: 13.9784, sat_bev_norm: 11.1120, seg_sat: 0.2343, seg_dice_sat: 0.0575, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.1931, seg_dice_fused: 0.0472, cam_rel_mean: 0.1885, sat_rel_mean: 0.2138, cam_rel_min: 0.0034, sat_rel_min: 0.0007, grad_norm: 13.1209 2026-04-18 19:57:13,771 - mmdet - INFO - Iter [43750/55932] lr: 7.847e-06, eta: 7:57:06, time: 2.146, data_time: 0.095, memory: 34737, seg: 0.2535, seg_dice: 0.0667, seg_t0: 0.4211, seg_dice_t0: 0.1083, seg_t1: 0.3011, seg_dice_t1: 0.0782, seg_t2: 0.2650, seg_dice_t2: 0.0608, seg_t3: 0.2555, seg_dice_t3: 0.0602, total_t0: 0.5295, total_t1: 0.3793, total_t2: 0.3258, total_t3: 0.3157, total_t4: 0.3202, total: 2.3498, cam_bev_norm: 14.1088, sat_bev_norm: 11.1903, seg_sat: 0.2144, seg_dice_sat: 0.0487, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0400, seg_fused: 0.1736, seg_dice_fused: 0.0426, cam_rel_mean: 0.2071, sat_rel_mean: 0.2267, cam_rel_min: 0.0024, sat_rel_min: 0.0007, grad_norm: 12.3906 2026-04-18 19:59:01,479 - mmdet - INFO - Iter [43800/55932] lr: 7.805e-06, eta: 7:55:06, time: 2.154, data_time: 0.095, memory: 34737, seg: 0.2652, seg_dice: 0.0643, seg_t0: 0.4493, seg_dice_t0: 0.1154, seg_t1: 0.3425, seg_dice_t1: 0.0870, seg_t2: 0.3043, seg_dice_t2: 0.0749, seg_t3: 0.2721, seg_dice_t3: 0.0663, total_t0: 0.5646, total_t1: 0.4295, total_t2: 0.3793, total_t3: 0.3383, total_t4: 0.3294, total: 2.5448, cam_bev_norm: 13.9817, sat_bev_norm: 11.1012, seg_sat: 0.2245, seg_dice_sat: 0.0520, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.1850, seg_dice_fused: 0.0421, cam_rel_mean: 0.2005, sat_rel_mean: 0.2117, cam_rel_min: 0.0019, sat_rel_min: 0.0015, grad_norm: 12.0948 2026-04-18 20:00:48,888 - mmdet - INFO - Iter [43850/55932] lr: 7.763e-06, eta: 7:53:06, time: 2.148, data_time: 0.093, memory: 34737, seg: 0.2546, seg_dice: 0.0563, seg_t0: 0.4496, seg_dice_t0: 0.1096, seg_t1: 0.3135, seg_dice_t1: 0.0784, seg_t2: 0.2818, seg_dice_t2: 0.0627, seg_t3: 0.2674, seg_dice_t3: 0.0599, total_t0: 0.5593, total_t1: 0.3919, total_t2: 0.3444, total_t3: 0.3272, total_t4: 0.3109, total: 2.4370, cam_bev_norm: 14.0062, sat_bev_norm: 11.0580, seg_sat: 0.2296, seg_dice_sat: 0.0479, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2600, seg_fused: 0.1868, seg_dice_fused: 0.0390, cam_rel_mean: 0.2119, sat_rel_mean: 0.2108, cam_rel_min: 0.0010, sat_rel_min: 0.0022, grad_norm: 12.9565 2026-04-18 20:02:35,988 - mmdet - INFO - Iter [43900/55932] lr: 7.721e-06, eta: 7:51:05, time: 2.142, data_time: 0.094, memory: 34737, seg: 0.2664, seg_dice: 0.0632, seg_t0: 0.4737, seg_dice_t0: 0.1308, seg_t1: 0.3271, seg_dice_t1: 0.0828, seg_t2: 0.2817, seg_dice_t2: 0.0719, seg_t3: 0.2661, seg_dice_t3: 0.0655, total_t0: 0.6045, total_t1: 0.4098, total_t2: 0.3536, total_t3: 0.3316, total_t4: 0.3297, total: 2.5680, cam_bev_norm: 13.9304, sat_bev_norm: 11.0268, seg_sat: 0.2442, seg_dice_sat: 0.0546, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.1956, seg_dice_fused: 0.0444, cam_rel_mean: 0.1828, sat_rel_mean: 0.2014, cam_rel_min: 0.0024, sat_rel_min: 0.0022, grad_norm: 12.3888 2026-04-18 20:04:24,286 - mmdet - INFO - Iter [43950/55932] lr: 7.679e-06, eta: 7:49:05, time: 2.166, data_time: 0.096, memory: 34737, seg: 0.2792, seg_dice: 0.0759, seg_t0: 0.4526, seg_dice_t0: 0.1103, seg_t1: 0.3326, seg_dice_t1: 0.0820, seg_t2: 0.2935, seg_dice_t2: 0.0669, seg_t3: 0.2747, seg_dice_t3: 0.0679, total_t0: 0.5629, total_t1: 0.4146, total_t2: 0.3603, total_t3: 0.3426, total_t4: 0.3552, total: 2.5694, cam_bev_norm: 14.0494, sat_bev_norm: 11.0925, seg_sat: 0.2270, seg_dice_sat: 0.0606, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.1928, seg_dice_fused: 0.0534, cam_rel_mean: 0.2004, sat_rel_mean: 0.2133, cam_rel_min: 0.0024, sat_rel_min: 0.0029, grad_norm: 14.2735 2026-04-18 20:06:11,372 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 20:06:11,373 - mmdet - INFO - Iter [44000/55932] lr: 7.638e-06, eta: 7:47:05, time: 2.142, data_time: 0.092, memory: 34737, seg: 0.2835, seg_dice: 0.0688, seg_t0: 0.4479, seg_dice_t0: 0.1210, seg_t1: 0.3213, seg_dice_t1: 0.0818, seg_t2: 0.2931, seg_dice_t2: 0.0722, seg_t3: 0.2801, seg_dice_t3: 0.0675, total_t0: 0.5689, total_t1: 0.4031, total_t2: 0.3653, total_t3: 0.3477, total_t4: 0.3523, total: 2.5393, cam_bev_norm: 13.9904, sat_bev_norm: 11.0698, seg_sat: 0.2174, seg_dice_sat: 0.0501, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1800, seg_fused: 0.1911, seg_dice_fused: 0.0434, cam_rel_mean: 0.1811, sat_rel_mean: 0.2122, cam_rel_min: 0.0044, sat_rel_min: 0.0007, grad_norm: 13.1374 2026-04-18 20:07:58,862 - mmdet - INFO - Iter [44050/55932] lr: 7.597e-06, eta: 7:45:05, time: 2.150, data_time: 0.100, memory: 34737, seg: 0.2677, seg_dice: 0.0662, seg_t0: 0.4114, seg_dice_t0: 0.1053, seg_t1: 0.2979, seg_dice_t1: 0.0749, seg_t2: 0.2761, seg_dice_t2: 0.0728, seg_t3: 0.2673, seg_dice_t3: 0.0656, total_t0: 0.5168, total_t1: 0.3728, total_t2: 0.3489, total_t3: 0.3329, total_t4: 0.3339, total: 2.3915, cam_bev_norm: 14.0975, sat_bev_norm: 11.1850, seg_sat: 0.2111, seg_dice_sat: 0.0470, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1200, seg_fused: 0.1860, seg_dice_fused: 0.0420, cam_rel_mean: 0.1951, sat_rel_mean: 0.2280, cam_rel_min: 0.0044, sat_rel_min: 0.0015, grad_norm: 11.9371 2026-04-18 20:09:46,529 - mmdet - INFO - Iter [44100/55932] lr: 7.555e-06, eta: 7:43:05, time: 2.153, data_time: 0.095, memory: 34737, seg: 0.2651, seg_dice: 0.0664, seg_t0: 0.4829, seg_dice_t0: 0.1215, seg_t1: 0.3400, seg_dice_t1: 0.0848, seg_t2: 0.2884, seg_dice_t2: 0.0717, seg_t3: 0.2729, seg_dice_t3: 0.0653, total_t0: 0.6044, total_t1: 0.4248, total_t2: 0.3601, total_t3: 0.3383, total_t4: 0.3316, total: 2.5371, cam_bev_norm: 14.0478, sat_bev_norm: 11.1888, seg_sat: 0.2076, seg_dice_sat: 0.0469, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.1801, seg_dice_fused: 0.0434, cam_rel_mean: 0.1985, sat_rel_mean: 0.2238, cam_rel_min: 0.0029, sat_rel_min: 0.0007, grad_norm: 14.0550 2026-04-18 20:11:34,116 - mmdet - INFO - Iter [44150/55932] lr: 7.514e-06, eta: 7:41:05, time: 2.152, data_time: 0.096, memory: 34737, seg: 0.2682, seg_dice: 0.0652, seg_t0: 0.4392, seg_dice_t0: 0.1154, seg_t1: 0.3267, seg_dice_t1: 0.0859, seg_t2: 0.2819, seg_dice_t2: 0.0713, seg_t3: 0.2706, seg_dice_t3: 0.0674, total_t0: 0.5546, total_t1: 0.4126, total_t2: 0.3532, total_t3: 0.3381, total_t4: 0.3334, total: 2.5257, cam_bev_norm: 14.0141, sat_bev_norm: 11.0563, seg_sat: 0.2429, seg_dice_sat: 0.0534, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0400, seg_fused: 0.1938, seg_dice_fused: 0.0438, cam_rel_mean: 0.2012, sat_rel_mean: 0.2127, cam_rel_min: 0.0029, sat_rel_min: 0.0022, grad_norm: 11.7933 2026-04-18 20:13:22,935 - mmdet - INFO - Iter [44200/55932] lr: 7.473e-06, eta: 7:39:05, time: 2.176, data_time: 0.095, memory: 34737, seg: 0.2665, seg_dice: 0.0651, seg_t0: 0.3976, seg_dice_t0: 0.1013, seg_t1: 0.2966, seg_dice_t1: 0.0795, seg_t2: 0.2718, seg_dice_t2: 0.0672, seg_t3: 0.2523, seg_dice_t3: 0.0643, total_t0: 0.4989, total_t1: 0.3761, total_t2: 0.3390, total_t3: 0.3166, total_t4: 0.3316, total: 2.3737, cam_bev_norm: 13.9757, sat_bev_norm: 11.0853, seg_sat: 0.2210, seg_dice_sat: 0.0511, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.1944, seg_dice_fused: 0.0451, cam_rel_mean: 0.1819, sat_rel_mean: 0.2001, cam_rel_min: 0.0034, sat_rel_min: 0.0029, grad_norm: 14.0531 2026-04-18 20:15:10,433 - mmdet - INFO - Iter [44250/55932] lr: 7.433e-06, eta: 7:37:05, time: 2.150, data_time: 0.089, memory: 34737, seg: 0.2825, seg_dice: 0.0864, seg_t0: 0.4440, seg_dice_t0: 0.1270, seg_t1: 0.3180, seg_dice_t1: 0.0930, seg_t2: 0.2942, seg_dice_t2: 0.0859, seg_t3: 0.2934, seg_dice_t3: 0.0889, total_t0: 0.5710, total_t1: 0.4111, total_t2: 0.3802, total_t3: 0.3823, total_t4: 0.3689, total: 2.6540, cam_bev_norm: 14.0042, sat_bev_norm: 11.0285, seg_sat: 0.2262, seg_dice_sat: 0.0659, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.1907, seg_dice_fused: 0.0578, cam_rel_mean: 0.2014, sat_rel_mean: 0.2228, cam_rel_min: 0.0024, sat_rel_min: 0.0007, grad_norm: 13.6956 2026-04-18 20:16:57,838 - mmdet - INFO - Iter [44300/55932] lr: 7.392e-06, eta: 7:35:05, time: 2.147, data_time: 0.090, memory: 34737, seg: 0.2940, seg_dice: 0.0730, seg_t0: 0.4317, seg_dice_t0: 0.1101, seg_t1: 0.3266, seg_dice_t1: 0.0852, seg_t2: 0.2852, seg_dice_t2: 0.0718, seg_t3: 0.2837, seg_dice_t3: 0.0699, total_t0: 0.5418, total_t1: 0.4118, total_t2: 0.3570, total_t3: 0.3535, total_t4: 0.3671, total: 2.5679, cam_bev_norm: 13.9560, sat_bev_norm: 11.0809, seg_sat: 0.2320, seg_dice_sat: 0.0556, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2400, seg_fused: 0.2008, seg_dice_fused: 0.0484, cam_rel_mean: 0.1953, sat_rel_mean: 0.2076, cam_rel_min: 0.0024, sat_rel_min: 0.0022, grad_norm: 12.3692 2026-04-18 20:18:45,901 - mmdet - INFO - Iter [44350/55932] lr: 7.352e-06, eta: 7:33:05, time: 2.162, data_time: 0.091, memory: 34737, seg: 0.2817, seg_dice: 0.0735, seg_t0: 0.4248, seg_dice_t0: 0.1188, seg_t1: 0.3123, seg_dice_t1: 0.0901, seg_t2: 0.2879, seg_dice_t2: 0.0793, seg_t3: 0.2795, seg_dice_t3: 0.0750, total_t0: 0.5436, total_t1: 0.4025, total_t2: 0.3672, total_t3: 0.3546, total_t4: 0.3552, total: 2.5607, cam_bev_norm: 13.9371, sat_bev_norm: 10.9909, seg_sat: 0.2388, seg_dice_sat: 0.0579, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.1931, seg_dice_fused: 0.0479, cam_rel_mean: 0.2028, sat_rel_mean: 0.2071, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 12.7238 2026-04-18 20:20:33,888 - mmdet - INFO - Iter [44400/55932] lr: 7.311e-06, eta: 7:31:06, time: 2.160, data_time: 0.095, memory: 34737, seg: 0.2830, seg_dice: 0.0755, seg_t0: 0.4562, seg_dice_t0: 0.1174, seg_t1: 0.3465, seg_dice_t1: 0.0872, seg_t2: 0.3018, seg_dice_t2: 0.0715, seg_t3: 0.2780, seg_dice_t3: 0.0754, total_t0: 0.5736, total_t1: 0.4337, total_t2: 0.3733, total_t3: 0.3534, total_t4: 0.3585, total: 2.6124, cam_bev_norm: 13.9612, sat_bev_norm: 11.0580, seg_sat: 0.2252, seg_dice_sat: 0.0579, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1400, seg_fused: 0.1875, seg_dice_fused: 0.0494, cam_rel_mean: 0.1853, sat_rel_mean: 0.2180, cam_rel_min: 0.0039, sat_rel_min: 0.0000, grad_norm: 12.4381 2026-04-18 20:22:21,341 - mmdet - INFO - Iter [44450/55932] lr: 7.271e-06, eta: 7:29:06, time: 2.149, data_time: 0.097, memory: 34737, seg: 0.2674, seg_dice: 0.0748, seg_t0: 0.4131, seg_dice_t0: 0.1114, seg_t1: 0.3046, seg_dice_t1: 0.0805, seg_t2: 0.2641, seg_dice_t2: 0.0706, seg_t3: 0.2706, seg_dice_t3: 0.0702, total_t0: 0.5245, total_t1: 0.3851, total_t2: 0.3348, total_t3: 0.3408, total_t4: 0.3422, total: 2.4808, cam_bev_norm: 13.9680, sat_bev_norm: 11.0702, seg_sat: 0.2406, seg_dice_sat: 0.0649, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.1938, seg_dice_fused: 0.0541, cam_rel_mean: 0.1898, sat_rel_mean: 0.2104, cam_rel_min: 0.0024, sat_rel_min: 0.0015, grad_norm: 12.0204 2026-04-18 20:24:08,696 - mmdet - INFO - Iter [44500/55932] lr: 7.231e-06, eta: 7:27:06, time: 2.147, data_time: 0.096, memory: 34737, seg: 0.2740, seg_dice: 0.0667, seg_t0: 0.4481, seg_dice_t0: 0.1275, seg_t1: 0.3158, seg_dice_t1: 0.0882, seg_t2: 0.2838, seg_dice_t2: 0.0723, seg_t3: 0.2730, seg_dice_t3: 0.0716, total_t0: 0.5756, total_t1: 0.4039, total_t2: 0.3561, total_t3: 0.3447, total_t4: 0.3407, total: 2.5757, cam_bev_norm: 14.0159, sat_bev_norm: 11.0289, seg_sat: 0.2370, seg_dice_sat: 0.0645, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2800, seg_fused: 0.2031, seg_dice_fused: 0.0501, cam_rel_mean: 0.1976, sat_rel_mean: 0.2158, cam_rel_min: 0.0024, sat_rel_min: 0.0015, grad_norm: 13.4585 2026-04-18 20:25:56,351 - mmdet - INFO - Iter [44550/55932] lr: 7.191e-06, eta: 7:25:06, time: 2.152, data_time: 0.101, memory: 34737, seg: 0.2660, seg_dice: 0.0742, seg_t0: 0.4133, seg_dice_t0: 0.1132, seg_t1: 0.3243, seg_dice_t1: 0.0868, seg_t2: 0.2908, seg_dice_t2: 0.0777, seg_t3: 0.2694, seg_dice_t3: 0.0686, total_t0: 0.5265, total_t1: 0.4111, total_t2: 0.3685, total_t3: 0.3379, total_t4: 0.3402, total: 2.5011, cam_bev_norm: 14.0116, sat_bev_norm: 11.0693, seg_sat: 0.2292, seg_dice_sat: 0.0580, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.1822, seg_dice_fused: 0.0474, cam_rel_mean: 0.1984, sat_rel_mean: 0.2214, cam_rel_min: 0.0024, sat_rel_min: 0.0000, grad_norm: 13.2824 2026-04-18 20:27:44,273 - mmdet - INFO - Iter [44600/55932] lr: 7.151e-06, eta: 7:23:06, time: 2.159, data_time: 0.101, memory: 34737, seg: 0.2726, seg_dice: 0.0719, seg_t0: 0.4201, seg_dice_t0: 0.1148, seg_t1: 0.3225, seg_dice_t1: 0.0840, seg_t2: 0.2875, seg_dice_t2: 0.0763, seg_t3: 0.2747, seg_dice_t3: 0.0733, total_t0: 0.5349, total_t1: 0.4065, total_t2: 0.3638, total_t3: 0.3480, total_t4: 0.3445, total: 2.5191, cam_bev_norm: 14.0182, sat_bev_norm: 11.1147, seg_sat: 0.2224, seg_dice_sat: 0.0564, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.1923, seg_dice_fused: 0.0502, cam_rel_mean: 0.1990, sat_rel_mean: 0.2108, cam_rel_min: 0.0024, sat_rel_min: 0.0022, grad_norm: 13.5735 2026-04-18 20:29:31,329 - mmdet - INFO - Iter [44650/55932] lr: 7.112e-06, eta: 7:21:06, time: 2.141, data_time: 0.097, memory: 34737, seg: 0.2843, seg_dice: 0.0759, seg_t0: 0.4314, seg_dice_t0: 0.1217, seg_t1: 0.3325, seg_dice_t1: 0.0903, seg_t2: 0.2954, seg_dice_t2: 0.0817, seg_t3: 0.2848, seg_dice_t3: 0.0703, total_t0: 0.5531, total_t1: 0.4228, total_t2: 0.3772, total_t3: 0.3551, total_t4: 0.3602, total: 2.5941, cam_bev_norm: 14.0177, sat_bev_norm: 11.0873, seg_sat: 0.2352, seg_dice_sat: 0.0543, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.1912, seg_dice_fused: 0.0450, cam_rel_mean: 0.1919, sat_rel_mean: 0.2247, cam_rel_min: 0.0034, sat_rel_min: 0.0007, grad_norm: 11.6325 2026-04-18 20:31:18,903 - mmdet - INFO - Iter [44700/55932] lr: 7.072e-06, eta: 7:19:07, time: 2.151, data_time: 0.096, memory: 34737, seg: 0.2826, seg_dice: 0.0691, seg_t0: 0.4268, seg_dice_t0: 0.1069, seg_t1: 0.3229, seg_dice_t1: 0.0752, seg_t2: 0.2777, seg_dice_t2: 0.0636, seg_t3: 0.2739, seg_dice_t3: 0.0640, total_t0: 0.5338, total_t1: 0.3981, total_t2: 0.3413, total_t3: 0.3379, total_t4: 0.3518, total: 2.4956, cam_bev_norm: 14.0442, sat_bev_norm: 11.0522, seg_sat: 0.2371, seg_dice_sat: 0.0539, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.1959, seg_dice_fused: 0.0459, cam_rel_mean: 0.1993, sat_rel_mean: 0.2301, cam_rel_min: 0.0034, sat_rel_min: 0.0007, grad_norm: 13.4204 2026-04-18 20:33:07,079 - mmdet - INFO - Iter [44750/55932] lr: 7.033e-06, eta: 7:17:07, time: 2.163, data_time: 0.098, memory: 34737, seg: 0.2744, seg_dice: 0.0664, seg_t0: 0.4451, seg_dice_t0: 0.1185, seg_t1: 0.3146, seg_dice_t1: 0.0808, seg_t2: 0.2828, seg_dice_t2: 0.0696, seg_t3: 0.2664, seg_dice_t3: 0.0638, total_t0: 0.5636, total_t1: 0.3954, total_t2: 0.3524, total_t3: 0.3302, total_t4: 0.3407, total: 2.4676, cam_bev_norm: 14.0406, sat_bev_norm: 11.0889, seg_sat: 0.2101, seg_dice_sat: 0.0523, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.1797, seg_dice_fused: 0.0433, cam_rel_mean: 0.1981, sat_rel_mean: 0.2099, cam_rel_min: 0.0024, sat_rel_min: 0.0015, grad_norm: 12.8972 2026-04-18 20:34:55,393 - mmdet - INFO - Iter [44800/55932] lr: 6.994e-06, eta: 7:15:08, time: 2.166, data_time: 0.097, memory: 34737, seg: 0.2669, seg_dice: 0.0726, seg_t0: 0.4363, seg_dice_t0: 0.1109, seg_t1: 0.3192, seg_dice_t1: 0.0803, seg_t2: 0.2884, seg_dice_t2: 0.0739, seg_t3: 0.2719, seg_dice_t3: 0.0785, total_t0: 0.5472, total_t1: 0.3994, total_t2: 0.3623, total_t3: 0.3504, total_t4: 0.3395, total: 2.5479, cam_bev_norm: 13.9998, sat_bev_norm: 11.0870, seg_sat: 0.2401, seg_dice_sat: 0.0611, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.1968, seg_dice_fused: 0.0510, cam_rel_mean: 0.1893, sat_rel_mean: 0.2115, cam_rel_min: 0.0024, sat_rel_min: 0.0007, grad_norm: 11.9620 2026-04-18 20:36:42,656 - mmdet - INFO - Iter [44850/55932] lr: 6.955e-06, eta: 7:13:08, time: 2.145, data_time: 0.097, memory: 34737, seg: 0.2726, seg_dice: 0.0693, seg_t0: 0.4471, seg_dice_t0: 0.1204, seg_t1: 0.3208, seg_dice_t1: 0.0830, seg_t2: 0.2777, seg_dice_t2: 0.0723, seg_t3: 0.2673, seg_dice_t3: 0.0691, total_t0: 0.5675, total_t1: 0.4038, total_t2: 0.3500, total_t3: 0.3364, total_t4: 0.3419, total: 2.5376, cam_bev_norm: 14.0327, sat_bev_norm: 11.0339, seg_sat: 0.2424, seg_dice_sat: 0.0587, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1914, seg_dice_fused: 0.0455, cam_rel_mean: 0.2040, sat_rel_mean: 0.2199, cam_rel_min: 0.0020, sat_rel_min: 0.0007, grad_norm: 11.5070 2026-04-18 20:38:29,964 - mmdet - INFO - Iter [44900/55932] lr: 6.916e-06, eta: 7:11:08, time: 2.146, data_time: 0.098, memory: 34737, seg: 0.2469, seg_dice: 0.0594, seg_t0: 0.4366, seg_dice_t0: 0.1007, seg_t1: 0.3111, seg_dice_t1: 0.0767, seg_t2: 0.2737, seg_dice_t2: 0.0640, seg_t3: 0.2493, seg_dice_t3: 0.0615, total_t0: 0.5373, total_t1: 0.3877, total_t2: 0.3377, total_t3: 0.3108, total_t4: 0.3063, total: 2.3640, cam_bev_norm: 13.9967, sat_bev_norm: 11.0538, seg_sat: 0.2172, seg_dice_sat: 0.0498, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.1763, seg_dice_fused: 0.0408, cam_rel_mean: 0.2093, sat_rel_mean: 0.2186, cam_rel_min: 0.0020, sat_rel_min: 0.0015, grad_norm: 12.5340 2026-04-18 20:40:14,045 - mmdet - INFO - Iter [44950/55932] lr: 6.878e-06, eta: 7:09:08, time: 2.082, data_time: 0.082, memory: 34737, seg: 0.2820, seg_dice: 0.0685, seg_t0: 0.4356, seg_dice_t0: 0.1109, seg_t1: 0.3410, seg_dice_t1: 0.0893, seg_t2: 0.3032, seg_dice_t2: 0.0750, seg_t3: 0.2888, seg_dice_t3: 0.0672, total_t0: 0.5464, total_t1: 0.4304, total_t2: 0.3781, total_t3: 0.3560, total_t4: 0.3505, total: 2.5969, cam_bev_norm: 13.9473, sat_bev_norm: 11.0283, seg_sat: 0.2338, seg_dice_sat: 0.0563, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.1985, seg_dice_fused: 0.0468, cam_rel_mean: 0.1984, sat_rel_mean: 0.2177, cam_rel_min: 0.0029, sat_rel_min: 0.0007, grad_norm: 15.1168 2026-04-18 20:42:01,674 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 20:42:01,675 - mmdet - INFO - Iter [45000/55932] lr: 6.839e-06, eta: 7:07:08, time: 2.153, data_time: 0.087, memory: 34737, seg: 0.2856, seg_dice: 0.0654, seg_t0: 0.4839, seg_dice_t0: 0.1182, seg_t1: 0.3490, seg_dice_t1: 0.0885, seg_t2: 0.3105, seg_dice_t2: 0.0751, seg_t3: 0.2916, seg_dice_t3: 0.0651, total_t0: 0.6022, total_t1: 0.4375, total_t2: 0.3856, total_t3: 0.3567, total_t4: 0.3510, total: 2.6691, cam_bev_norm: 14.0229, sat_bev_norm: 11.0452, seg_sat: 0.2388, seg_dice_sat: 0.0551, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.1983, seg_dice_fused: 0.0439, cam_rel_mean: 0.2198, sat_rel_mean: 0.2171, cam_rel_min: 0.0010, sat_rel_min: 0.0022, grad_norm: 13.1579 2026-04-18 20:43:50,012 - mmdet - INFO - Iter [45050/55932] lr: 6.801e-06, eta: 7:05:09, time: 2.167, data_time: 0.097, memory: 34737, seg: 0.2762, seg_dice: 0.0667, seg_t0: 0.4736, seg_dice_t0: 0.1236, seg_t1: 0.3098, seg_dice_t1: 0.0841, seg_t2: 0.2789, seg_dice_t2: 0.0712, seg_t3: 0.2728, seg_dice_t3: 0.0680, total_t0: 0.5972, total_t1: 0.3939, total_t2: 0.3501, total_t3: 0.3407, total_t4: 0.3430, total: 2.5608, cam_bev_norm: 13.9780, sat_bev_norm: 11.0261, seg_sat: 0.2396, seg_dice_sat: 0.0528, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.0800, seg_fused: 0.1985, seg_dice_fused: 0.0451, cam_rel_mean: 0.1825, sat_rel_mean: 0.2107, cam_rel_min: 0.0044, sat_rel_min: 0.0015, grad_norm: 12.1493 2026-04-18 20:45:37,682 - mmdet - INFO - Iter [45100/55932] lr: 6.763e-06, eta: 7:03:09, time: 2.153, data_time: 0.094, memory: 34737, seg: 0.2698, seg_dice: 0.0655, seg_t0: 0.4102, seg_dice_t0: 0.1073, seg_t1: 0.2902, seg_dice_t1: 0.0692, seg_t2: 0.2674, seg_dice_t2: 0.0638, seg_t3: 0.2639, seg_dice_t3: 0.0662, total_t0: 0.5175, total_t1: 0.3594, total_t2: 0.3312, total_t3: 0.3301, total_t4: 0.3353, total: 2.3980, cam_bev_norm: 14.0488, sat_bev_norm: 11.1161, seg_sat: 0.2164, seg_dice_sat: 0.0510, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.2100, seg_dice_fused: 0.0470, cam_rel_mean: 0.1941, sat_rel_mean: 0.2017, cam_rel_min: 0.0029, sat_rel_min: 0.0037, grad_norm: 12.1709 2026-04-18 20:47:25,517 - mmdet - INFO - Iter [45150/55932] lr: 6.724e-06, eta: 7:01:10, time: 2.157, data_time: 0.092, memory: 34737, seg: 0.2837, seg_dice: 0.0738, seg_t0: 0.4170, seg_dice_t0: 0.1096, seg_t1: 0.3159, seg_dice_t1: 0.0840, seg_t2: 0.2928, seg_dice_t2: 0.0747, seg_t3: 0.2822, seg_dice_t3: 0.0727, total_t0: 0.5266, total_t1: 0.4000, total_t2: 0.3675, total_t3: 0.3549, total_t4: 0.3575, total: 2.5454, cam_bev_norm: 13.9705, sat_bev_norm: 11.0961, seg_sat: 0.2233, seg_dice_sat: 0.0599, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2000, seg_fused: 0.2008, seg_dice_fused: 0.0551, cam_rel_mean: 0.1881, sat_rel_mean: 0.2147, cam_rel_min: 0.0039, sat_rel_min: 0.0015, grad_norm: 13.0446 2026-04-18 20:49:14,417 - mmdet - INFO - Iter [45200/55932] lr: 6.687e-06, eta: 6:59:11, time: 2.178, data_time: 0.097, memory: 34737, seg: 0.2752, seg_dice: 0.0666, seg_t0: 0.4531, seg_dice_t0: 0.1191, seg_t1: 0.3418, seg_dice_t1: 0.0881, seg_t2: 0.2964, seg_dice_t2: 0.0722, seg_t3: 0.2827, seg_dice_t3: 0.0681, total_t0: 0.5723, total_t1: 0.4299, total_t2: 0.3686, total_t3: 0.3508, total_t4: 0.3419, total: 2.5890, cam_bev_norm: 13.9722, sat_bev_norm: 11.0626, seg_sat: 0.2320, seg_dice_sat: 0.0542, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0400, seg_fused: 0.1943, seg_dice_fused: 0.0452, cam_rel_mean: 0.2063, sat_rel_mean: 0.2074, cam_rel_min: 0.0015, sat_rel_min: 0.0022, grad_norm: 12.0830 2026-04-18 20:51:02,412 - mmdet - INFO - Iter [45250/55932] lr: 6.649e-06, eta: 6:57:11, time: 2.160, data_time: 0.098, memory: 34737, seg: 0.2608, seg_dice: 0.0643, seg_t0: 0.3968, seg_dice_t0: 0.1045, seg_t1: 0.2925, seg_dice_t1: 0.0717, seg_t2: 0.2554, seg_dice_t2: 0.0628, seg_t3: 0.2495, seg_dice_t3: 0.0637, total_t0: 0.5013, total_t1: 0.3643, total_t2: 0.3182, total_t3: 0.3132, total_t4: 0.3252, total: 2.3168, cam_bev_norm: 14.0259, sat_bev_norm: 11.1019, seg_sat: 0.2179, seg_dice_sat: 0.0475, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.1864, seg_dice_fused: 0.0428, cam_rel_mean: 0.1888, sat_rel_mean: 0.2015, cam_rel_min: 0.0034, sat_rel_min: 0.0029, grad_norm: 10.8808 2026-04-18 20:52:50,265 - mmdet - INFO - Iter [45300/55932] lr: 6.611e-06, eta: 6:55:12, time: 2.157, data_time: 0.097, memory: 34737, seg: 0.2697, seg_dice: 0.0659, seg_t0: 0.4357, seg_dice_t0: 0.1156, seg_t1: 0.3263, seg_dice_t1: 0.0799, seg_t2: 0.2860, seg_dice_t2: 0.0706, seg_t3: 0.2725, seg_dice_t3: 0.0673, total_t0: 0.5513, total_t1: 0.4062, total_t2: 0.3566, total_t3: 0.3398, total_t4: 0.3356, total: 2.4985, cam_bev_norm: 13.9675, sat_bev_norm: 11.0732, seg_sat: 0.2263, seg_dice_sat: 0.0525, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.1860, seg_dice_fused: 0.0441, cam_rel_mean: 0.2030, sat_rel_mean: 0.2176, cam_rel_min: 0.0015, sat_rel_min: 0.0007, grad_norm: 11.8587 2026-04-18 20:54:37,513 - mmdet - INFO - Iter [45350/55932] lr: 6.574e-06, eta: 6:53:12, time: 2.145, data_time: 0.096, memory: 34737, seg: 0.2640, seg_dice: 0.0700, seg_t0: 0.4270, seg_dice_t0: 0.1227, seg_t1: 0.3103, seg_dice_t1: 0.0858, seg_t2: 0.2728, seg_dice_t2: 0.0760, seg_t3: 0.2670, seg_dice_t3: 0.0675, total_t0: 0.5496, total_t1: 0.3962, total_t2: 0.3488, total_t3: 0.3345, total_t4: 0.3340, total: 2.5124, cam_bev_norm: 14.0277, sat_bev_norm: 11.0297, seg_sat: 0.2467, seg_dice_sat: 0.0616, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.3000, seg_fused: 0.1915, seg_dice_fused: 0.0494, cam_rel_mean: 0.1948, sat_rel_mean: 0.2179, cam_rel_min: 0.0024, sat_rel_min: 0.0007, grad_norm: 12.5742 2026-04-18 20:56:25,454 - mmdet - INFO - Iter [45400/55932] lr: 6.537e-06, eta: 6:51:13, time: 2.159, data_time: 0.099, memory: 34737, seg: 0.2750, seg_dice: 0.0666, seg_t0: 0.4650, seg_dice_t0: 0.1164, seg_t1: 0.3329, seg_dice_t1: 0.0837, seg_t2: 0.2912, seg_dice_t2: 0.0707, seg_t3: 0.2803, seg_dice_t3: 0.0702, total_t0: 0.5814, total_t1: 0.4166, total_t2: 0.3619, total_t3: 0.3505, total_t4: 0.3416, total: 2.5595, cam_bev_norm: 13.9982, sat_bev_norm: 11.1533, seg_sat: 0.2260, seg_dice_sat: 0.0520, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.1873, seg_dice_fused: 0.0422, cam_rel_mean: 0.2048, sat_rel_mean: 0.2198, cam_rel_min: 0.0024, sat_rel_min: 0.0015, grad_norm: 12.3770 2026-04-18 20:58:13,232 - mmdet - INFO - Iter [45450/55932] lr: 6.499e-06, eta: 6:49:14, time: 2.156, data_time: 0.096, memory: 34737, seg: 0.2566, seg_dice: 0.0637, seg_t0: 0.4421, seg_dice_t0: 0.1171, seg_t1: 0.3229, seg_dice_t1: 0.0861, seg_t2: 0.2804, seg_dice_t2: 0.0697, seg_t3: 0.2695, seg_dice_t3: 0.0708, total_t0: 0.5593, total_t1: 0.4090, total_t2: 0.3502, total_t3: 0.3403, total_t4: 0.3203, total: 2.4677, cam_bev_norm: 14.0371, sat_bev_norm: 11.1295, seg_sat: 0.2105, seg_dice_sat: 0.0519, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1400, seg_fused: 0.1815, seg_dice_fused: 0.0448, cam_rel_mean: 0.1954, sat_rel_mean: 0.2165, cam_rel_min: 0.0039, sat_rel_min: 0.0022, grad_norm: 11.8651 2026-04-18 21:00:01,253 - mmdet - INFO - Iter [45500/55932] lr: 6.462e-06, eta: 6:47:15, time: 2.160, data_time: 0.098, memory: 34737, seg: 0.2430, seg_dice: 0.0667, seg_t0: 0.4145, seg_dice_t0: 0.1129, seg_t1: 0.2955, seg_dice_t1: 0.0749, seg_t2: 0.2580, seg_dice_t2: 0.0678, seg_t3: 0.2518, seg_dice_t3: 0.0664, total_t0: 0.5273, total_t1: 0.3703, total_t2: 0.3259, total_t3: 0.3182, total_t4: 0.3098, total: 2.3172, cam_bev_norm: 14.0315, sat_bev_norm: 11.1597, seg_sat: 0.2007, seg_dice_sat: 0.0501, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.1723, seg_dice_fused: 0.0427, cam_rel_mean: 0.1922, sat_rel_mean: 0.2095, cam_rel_min: 0.0024, sat_rel_min: 0.0015, grad_norm: 11.8829 2026-04-18 21:01:48,636 - mmdet - INFO - Iter [45550/55932] lr: 6.426e-06, eta: 6:45:15, time: 2.147, data_time: 0.100, memory: 34737, seg: 0.2764, seg_dice: 0.0630, seg_t0: 0.4741, seg_dice_t0: 0.1136, seg_t1: 0.3276, seg_dice_t1: 0.0727, seg_t2: 0.2782, seg_dice_t2: 0.0621, seg_t3: 0.2705, seg_dice_t3: 0.0600, total_t0: 0.5877, total_t1: 0.4003, total_t2: 0.3403, total_t3: 0.3305, total_t4: 0.3394, total: 2.5160, cam_bev_norm: 14.0564, sat_bev_norm: 11.0817, seg_sat: 0.2258, seg_dice_sat: 0.0532, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.1951, seg_dice_fused: 0.0436, cam_rel_mean: 0.2039, sat_rel_mean: 0.2159, cam_rel_min: 0.0029, sat_rel_min: 0.0022, grad_norm: 13.7646 2026-04-18 21:03:36,422 - mmdet - INFO - Iter [45600/55932] lr: 6.389e-06, eta: 6:43:16, time: 2.156, data_time: 0.094, memory: 34737, seg: 0.2736, seg_dice: 0.0695, seg_t0: 0.4143, seg_dice_t0: 0.1157, seg_t1: 0.2952, seg_dice_t1: 0.0768, seg_t2: 0.2644, seg_dice_t2: 0.0681, seg_t3: 0.2705, seg_dice_t3: 0.0684, total_t0: 0.5300, total_t1: 0.3720, total_t2: 0.3325, total_t3: 0.3389, total_t4: 0.3431, total: 2.4097, cam_bev_norm: 13.9911, sat_bev_norm: 11.0972, seg_sat: 0.2109, seg_dice_sat: 0.0531, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.1826, seg_dice_fused: 0.0466, cam_rel_mean: 0.1909, sat_rel_mean: 0.2109, cam_rel_min: 0.0029, sat_rel_min: 0.0007, grad_norm: 11.3086 2026-04-18 21:05:25,197 - mmdet - INFO - Iter [45650/55932] lr: 6.353e-06, eta: 6:41:17, time: 2.175, data_time: 0.101, memory: 34737, seg: 0.2892, seg_dice: 0.0698, seg_t0: 0.4326, seg_dice_t0: 0.1100, seg_t1: 0.3276, seg_dice_t1: 0.0757, seg_t2: 0.2958, seg_dice_t2: 0.0673, seg_t3: 0.2892, seg_dice_t3: 0.0660, total_t0: 0.5426, total_t1: 0.4034, total_t2: 0.3630, total_t3: 0.3552, total_t4: 0.3589, total: 2.5661, cam_bev_norm: 13.9793, sat_bev_norm: 11.0802, seg_sat: 0.2376, seg_dice_sat: 0.0554, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.2029, seg_dice_fused: 0.0472, cam_rel_mean: 0.1992, sat_rel_mean: 0.2155, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 12.6200 2026-04-18 21:07:12,683 - mmdet - INFO - Iter [45700/55932] lr: 6.316e-06, eta: 6:39:18, time: 2.150, data_time: 0.089, memory: 34737, seg: 0.2623, seg_dice: 0.0656, seg_t0: 0.4709, seg_dice_t0: 0.1292, seg_t1: 0.3202, seg_dice_t1: 0.0839, seg_t2: 0.2786, seg_dice_t2: 0.0733, seg_t3: 0.2711, seg_dice_t3: 0.0715, total_t0: 0.6001, total_t1: 0.4041, total_t2: 0.3519, total_t3: 0.3426, total_t4: 0.3279, total: 2.5411, cam_bev_norm: 13.9839, sat_bev_norm: 11.1002, seg_sat: 0.2305, seg_dice_sat: 0.0542, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.1845, seg_dice_fused: 0.0452, cam_rel_mean: 0.1931, sat_rel_mean: 0.2221, cam_rel_min: 0.0029, sat_rel_min: 0.0000, grad_norm: 11.4043 2026-04-18 21:09:00,006 - mmdet - INFO - Iter [45750/55932] lr: 6.280e-06, eta: 6:37:19, time: 2.146, data_time: 0.097, memory: 34737, seg: 0.2704, seg_dice: 0.0718, seg_t0: 0.3766, seg_dice_t0: 0.1096, seg_t1: 0.2777, seg_dice_t1: 0.0769, seg_t2: 0.2571, seg_dice_t2: 0.0678, seg_t3: 0.2603, seg_dice_t3: 0.0666, total_t0: 0.4863, total_t1: 0.3546, total_t2: 0.3249, total_t3: 0.3269, total_t4: 0.3422, total: 2.3197, cam_bev_norm: 14.0603, sat_bev_norm: 11.1586, seg_sat: 0.2035, seg_dice_sat: 0.0566, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.1762, seg_dice_fused: 0.0487, cam_rel_mean: 0.2073, sat_rel_mean: 0.2179, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 13.4980 2026-04-18 21:10:47,559 - mmdet - INFO - Iter [45800/55932] lr: 6.244e-06, eta: 6:35:19, time: 2.151, data_time: 0.094, memory: 34737, seg: 0.2700, seg_dice: 0.0642, seg_t0: 0.4367, seg_dice_t0: 0.1046, seg_t1: 0.3126, seg_dice_t1: 0.0729, seg_t2: 0.2751, seg_dice_t2: 0.0648, seg_t3: 0.2626, seg_dice_t3: 0.0616, total_t0: 0.5413, total_t1: 0.3855, total_t2: 0.3399, total_t3: 0.3242, total_t4: 0.3342, total: 2.4403, cam_bev_norm: 14.0273, sat_bev_norm: 11.0886, seg_sat: 0.2205, seg_dice_sat: 0.0537, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.1953, seg_dice_fused: 0.0458, cam_rel_mean: 0.2126, sat_rel_mean: 0.2060, cam_rel_min: 0.0015, sat_rel_min: 0.0037, grad_norm: 12.0593 2026-04-18 21:12:35,301 - mmdet - INFO - Iter [45850/55932] lr: 6.208e-06, eta: 6:33:20, time: 2.155, data_time: 0.098, memory: 34737, seg: 0.2625, seg_dice: 0.0667, seg_t0: 0.4104, seg_dice_t0: 0.1103, seg_t1: 0.2934, seg_dice_t1: 0.0773, seg_t2: 0.2610, seg_dice_t2: 0.0648, seg_t3: 0.2528, seg_dice_t3: 0.0634, total_t0: 0.5207, total_t1: 0.3707, total_t2: 0.3258, total_t3: 0.3162, total_t4: 0.3292, total: 2.3658, cam_bev_norm: 14.0145, sat_bev_norm: 11.0660, seg_sat: 0.2194, seg_dice_sat: 0.0550, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0200, seg_fused: 0.1831, seg_dice_fused: 0.0457, cam_rel_mean: 0.2054, sat_rel_mean: 0.2077, cam_rel_min: 0.0020, sat_rel_min: 0.0022, grad_norm: 10.9996 2026-04-18 21:14:22,252 - mmdet - INFO - Iter [45900/55932] lr: 6.172e-06, eta: 6:31:21, time: 2.139, data_time: 0.098, memory: 34737, seg: 0.2767, seg_dice: 0.0754, seg_t0: 0.4676, seg_dice_t0: 0.1245, seg_t1: 0.3510, seg_dice_t1: 0.0891, seg_t2: 0.2960, seg_dice_t2: 0.0738, seg_t3: 0.2788, seg_dice_t3: 0.0761, total_t0: 0.5921, total_t1: 0.4401, total_t2: 0.3698, total_t3: 0.3548, total_t4: 0.3521, total: 2.6242, cam_bev_norm: 13.9707, sat_bev_norm: 11.1061, seg_sat: 0.2257, seg_dice_sat: 0.0592, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.1810, seg_dice_fused: 0.0494, cam_rel_mean: 0.2017, sat_rel_mean: 0.2169, cam_rel_min: 0.0015, sat_rel_min: 0.0000, grad_norm: 15.3770 2026-04-18 21:16:09,829 - mmdet - INFO - Iter [45950/55932] lr: 6.137e-06, eta: 6:29:22, time: 2.152, data_time: 0.091, memory: 34737, seg: 0.2721, seg_dice: 0.0716, seg_t0: 0.4413, seg_dice_t0: 0.1200, seg_t1: 0.3199, seg_dice_t1: 0.0887, seg_t2: 0.2784, seg_dice_t2: 0.0765, seg_t3: 0.2787, seg_dice_t3: 0.0728, total_t0: 0.5613, total_t1: 0.4086, total_t2: 0.3549, total_t3: 0.3515, total_t4: 0.3437, total: 2.5305, cam_bev_norm: 14.0056, sat_bev_norm: 11.0994, seg_sat: 0.2261, seg_dice_sat: 0.0580, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.1802, seg_dice_fused: 0.0463, cam_rel_mean: 0.1986, sat_rel_mean: 0.2177, cam_rel_min: 0.0025, sat_rel_min: 0.0000, grad_norm: 11.7254 2026-04-18 21:17:57,674 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 21:17:57,674 - mmdet - INFO - Iter [46000/55932] lr: 6.101e-06, eta: 6:27:23, time: 2.157, data_time: 0.099, memory: 34737, seg: 0.2624, seg_dice: 0.0697, seg_t0: 0.4262, seg_dice_t0: 0.1219, seg_t1: 0.3105, seg_dice_t1: 0.0867, seg_t2: 0.2735, seg_dice_t2: 0.0724, seg_t3: 0.2566, seg_dice_t3: 0.0687, total_t0: 0.5481, total_t1: 0.3972, total_t2: 0.3459, total_t3: 0.3253, total_t4: 0.3321, total: 2.4367, cam_bev_norm: 13.9181, sat_bev_norm: 11.1170, seg_sat: 0.2075, seg_dice_sat: 0.0505, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.0800, seg_fused: 0.1833, seg_dice_fused: 0.0468, cam_rel_mean: 0.1799, sat_rel_mean: 0.2057, cam_rel_min: 0.0039, sat_rel_min: 0.0015, grad_norm: 12.5922 2026-04-18 21:19:45,357 - mmdet - INFO - Iter [46050/55932] lr: 6.066e-06, eta: 6:25:24, time: 2.154, data_time: 0.096, memory: 34737, seg: 0.2628, seg_dice: 0.0741, seg_t0: 0.4223, seg_dice_t0: 0.1121, seg_t1: 0.3052, seg_dice_t1: 0.0734, seg_t2: 0.2668, seg_dice_t2: 0.0684, seg_t3: 0.2573, seg_dice_t3: 0.0670, total_t0: 0.5344, total_t1: 0.3785, total_t2: 0.3352, total_t3: 0.3243, total_t4: 0.3368, total: 2.4254, cam_bev_norm: 14.0032, sat_bev_norm: 11.0577, seg_sat: 0.2191, seg_dice_sat: 0.0558, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.1909, seg_dice_fused: 0.0504, cam_rel_mean: 0.1971, sat_rel_mean: 0.2118, cam_rel_min: 0.0029, sat_rel_min: 0.0030, grad_norm: 13.1440 2026-04-18 21:21:33,766 - mmdet - INFO - Iter [46100/55932] lr: 6.031e-06, eta: 6:23:25, time: 2.168, data_time: 0.096, memory: 34737, seg: 0.2867, seg_dice: 0.0791, seg_t0: 0.4193, seg_dice_t0: 0.1099, seg_t1: 0.3158, seg_dice_t1: 0.0822, seg_t2: 0.2837, seg_dice_t2: 0.0745, seg_t3: 0.2760, seg_dice_t3: 0.0750, total_t0: 0.5292, total_t1: 0.3980, total_t2: 0.3582, total_t3: 0.3510, total_t4: 0.3659, total: 2.5778, cam_bev_norm: 13.9176, sat_bev_norm: 11.0020, seg_sat: 0.2433, seg_dice_sat: 0.0658, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.2079, seg_dice_fused: 0.0586, cam_rel_mean: 0.1961, sat_rel_mean: 0.2075, cam_rel_min: 0.0025, sat_rel_min: 0.0030, grad_norm: 11.0882 2026-04-18 21:23:21,165 - mmdet - INFO - Iter [46150/55932] lr: 5.996e-06, eta: 6:21:26, time: 2.148, data_time: 0.093, memory: 34737, seg: 0.2506, seg_dice: 0.0634, seg_t0: 0.4288, seg_dice_t0: 0.1129, seg_t1: 0.3082, seg_dice_t1: 0.0777, seg_t2: 0.2634, seg_dice_t2: 0.0646, seg_t3: 0.2614, seg_dice_t3: 0.0630, total_t0: 0.5417, total_t1: 0.3858, total_t2: 0.3280, total_t3: 0.3243, total_t4: 0.3140, total: 2.4017, cam_bev_norm: 14.0119, sat_bev_norm: 11.0726, seg_sat: 0.2183, seg_dice_sat: 0.0561, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1000, seg_fused: 0.1863, seg_dice_fused: 0.0471, cam_rel_mean: 0.1886, sat_rel_mean: 0.2047, cam_rel_min: 0.0039, sat_rel_min: 0.0030, grad_norm: 13.2451 2026-04-18 21:25:08,800 - mmdet - INFO - Iter [46200/55932] lr: 5.961e-06, eta: 6:19:27, time: 2.153, data_time: 0.095, memory: 34737, seg: 0.2527, seg_dice: 0.0593, seg_t0: 0.4174, seg_dice_t0: 0.1108, seg_t1: 0.3089, seg_dice_t1: 0.0802, seg_t2: 0.2700, seg_dice_t2: 0.0688, seg_t3: 0.2607, seg_dice_t3: 0.0660, total_t0: 0.5282, total_t1: 0.3891, total_t2: 0.3388, total_t3: 0.3268, total_t4: 0.3120, total: 2.3755, cam_bev_norm: 14.0139, sat_bev_norm: 11.0724, seg_sat: 0.2145, seg_dice_sat: 0.0473, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1800, seg_fused: 0.1798, seg_dice_fused: 0.0389, cam_rel_mean: 0.2223, sat_rel_mean: 0.2184, cam_rel_min: 0.0005, sat_rel_min: 0.0022, grad_norm: 12.7181 2026-04-18 21:26:56,206 - mmdet - INFO - Iter [46250/55932] lr: 5.927e-06, eta: 6:17:28, time: 2.148, data_time: 0.095, memory: 34737, seg: 0.2553, seg_dice: 0.0681, seg_t0: 0.4071, seg_dice_t0: 0.1097, seg_t1: 0.2862, seg_dice_t1: 0.0778, seg_t2: 0.2558, seg_dice_t2: 0.0714, seg_t3: 0.2558, seg_dice_t3: 0.0680, total_t0: 0.5168, total_t1: 0.3640, total_t2: 0.3272, total_t3: 0.3238, total_t4: 0.3234, total: 2.3479, cam_bev_norm: 14.0258, sat_bev_norm: 11.1388, seg_sat: 0.2129, seg_dice_sat: 0.0557, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1778, seg_dice_fused: 0.0463, cam_rel_mean: 0.1980, sat_rel_mean: 0.2051, cam_rel_min: 0.0020, sat_rel_min: 0.0022, grad_norm: 11.2147 2026-04-18 21:28:43,447 - mmdet - INFO - Iter [46300/55932] lr: 5.892e-06, eta: 6:15:29, time: 2.145, data_time: 0.091, memory: 34737, seg: 0.2573, seg_dice: 0.0640, seg_t0: 0.4143, seg_dice_t0: 0.1064, seg_t1: 0.2791, seg_dice_t1: 0.0697, seg_t2: 0.2455, seg_dice_t2: 0.0591, seg_t3: 0.2587, seg_dice_t3: 0.0591, total_t0: 0.5207, total_t1: 0.3489, total_t2: 0.3047, total_t3: 0.3178, total_t4: 0.3212, total: 2.2704, cam_bev_norm: 14.0025, sat_bev_norm: 11.0580, seg_sat: 0.2042, seg_dice_sat: 0.0448, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.1711, seg_dice_fused: 0.0371, cam_rel_mean: 0.1983, sat_rel_mean: 0.2214, cam_rel_min: 0.0025, sat_rel_min: 0.0007, grad_norm: 10.9974 2026-04-18 21:30:31,400 - mmdet - INFO - Iter [46350/55932] lr: 5.858e-06, eta: 6:13:30, time: 2.159, data_time: 0.092, memory: 34737, seg: 0.2747, seg_dice: 0.0656, seg_t0: 0.4658, seg_dice_t0: 0.1232, seg_t1: 0.3297, seg_dice_t1: 0.0821, seg_t2: 0.2931, seg_dice_t2: 0.0744, seg_t3: 0.2791, seg_dice_t3: 0.0678, total_t0: 0.5890, total_t1: 0.4118, total_t2: 0.3675, total_t3: 0.3469, total_t4: 0.3403, total: 2.5862, cam_bev_norm: 13.9812, sat_bev_norm: 11.0901, seg_sat: 0.2306, seg_dice_sat: 0.0548, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.1985, seg_dice_fused: 0.0469, cam_rel_mean: 0.1848, sat_rel_mean: 0.2152, cam_rel_min: 0.0034, sat_rel_min: 0.0015, grad_norm: 11.4553 2026-04-18 21:32:19,068 - mmdet - INFO - Iter [46400/55932] lr: 5.824e-06, eta: 6:11:32, time: 2.154, data_time: 0.099, memory: 34737, seg: 0.2529, seg_dice: 0.0673, seg_t0: 0.4375, seg_dice_t0: 0.1168, seg_t1: 0.3153, seg_dice_t1: 0.0834, seg_t2: 0.2776, seg_dice_t2: 0.0668, seg_t3: 0.2547, seg_dice_t3: 0.0621, total_t0: 0.5543, total_t1: 0.3987, total_t2: 0.3444, total_t3: 0.3168, total_t4: 0.3202, total: 2.4178, cam_bev_norm: 13.9321, sat_bev_norm: 11.0490, seg_sat: 0.2106, seg_dice_sat: 0.0570, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 0.1712, seg_dice_fused: 0.0446, cam_rel_mean: 0.1965, sat_rel_mean: 0.2026, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 11.3798 2026-04-18 21:34:06,083 - mmdet - INFO - Iter [46450/55932] lr: 5.790e-06, eta: 6:09:33, time: 2.140, data_time: 0.096, memory: 34737, seg: 0.2787, seg_dice: 0.0719, seg_t0: 0.4174, seg_dice_t0: 0.1081, seg_t1: 0.3202, seg_dice_t1: 0.0860, seg_t2: 0.2763, seg_dice_t2: 0.0709, seg_t3: 0.2735, seg_dice_t3: 0.0726, total_t0: 0.5256, total_t1: 0.4062, total_t2: 0.3472, total_t3: 0.3461, total_t4: 0.3506, total: 2.4902, cam_bev_norm: 13.8898, sat_bev_norm: 11.0435, seg_sat: 0.2238, seg_dice_sat: 0.0541, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1600, seg_fused: 0.1903, seg_dice_fused: 0.0462, cam_rel_mean: 0.1785, sat_rel_mean: 0.2126, cam_rel_min: 0.0039, sat_rel_min: 0.0007, grad_norm: 13.0665 2026-04-18 21:35:53,497 - mmdet - INFO - Iter [46500/55932] lr: 5.756e-06, eta: 6:07:34, time: 2.148, data_time: 0.097, memory: 34737, seg: 0.2512, seg_dice: 0.0659, seg_t0: 0.3935, seg_dice_t0: 0.1095, seg_t1: 0.2847, seg_dice_t1: 0.0774, seg_t2: 0.2680, seg_dice_t2: 0.0765, seg_t3: 0.2549, seg_dice_t3: 0.0742, total_t0: 0.5030, total_t1: 0.3621, total_t2: 0.3445, total_t3: 0.3291, total_t4: 0.3171, total: 2.3388, cam_bev_norm: 13.9922, sat_bev_norm: 11.0992, seg_sat: 0.2043, seg_dice_sat: 0.0533, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.1798, seg_dice_fused: 0.0456, cam_rel_mean: 0.2039, sat_rel_mean: 0.2142, cam_rel_min: 0.0020, sat_rel_min: 0.0022, grad_norm: 11.3994 2026-04-18 21:37:41,972 - mmdet - INFO - Iter [46550/55932] lr: 5.723e-06, eta: 6:05:35, time: 2.170, data_time: 0.095, memory: 34737, seg: 0.2770, seg_dice: 0.0727, seg_t0: 0.4298, seg_dice_t0: 0.1139, seg_t1: 0.3143, seg_dice_t1: 0.0807, seg_t2: 0.2757, seg_dice_t2: 0.0740, seg_t3: 0.2684, seg_dice_t3: 0.0707, total_t0: 0.5437, total_t1: 0.3950, total_t2: 0.3496, total_t3: 0.3391, total_t4: 0.3497, total: 2.5232, cam_bev_norm: 13.9732, sat_bev_norm: 11.0407, seg_sat: 0.2361, seg_dice_sat: 0.0622, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.1946, seg_dice_fused: 0.0532, cam_rel_mean: 0.1967, sat_rel_mean: 0.2150, cam_rel_min: 0.0025, sat_rel_min: 0.0007, grad_norm: 11.5796 2026-04-18 21:39:29,216 - mmdet - INFO - Iter [46600/55932] lr: 5.689e-06, eta: 6:03:36, time: 2.145, data_time: 0.098, memory: 34737, seg: 0.2689, seg_dice: 0.0697, seg_t0: 0.4226, seg_dice_t0: 0.1057, seg_t1: 0.3116, seg_dice_t1: 0.0777, seg_t2: 0.2759, seg_dice_t2: 0.0703, seg_t3: 0.2604, seg_dice_t3: 0.0653, total_t0: 0.5283, total_t1: 0.3894, total_t2: 0.3462, total_t3: 0.3257, total_t4: 0.3386, total: 2.4836, cam_bev_norm: 13.9703, sat_bev_norm: 11.0464, seg_sat: 0.2384, seg_dice_sat: 0.0594, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.2058, seg_dice_fused: 0.0518, cam_rel_mean: 0.1852, sat_rel_mean: 0.2073, cam_rel_min: 0.0034, sat_rel_min: 0.0015, grad_norm: 12.6634 2026-04-18 21:39:50,305 - mmdet - INFO - Saving checkpoint at 46610 iterations 2026-04-18 21:49:43,356 - mmdet - INFO - +-----+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +-----+--------------+---------+----------+--------+ | IoU | 0.7917 | 0.6954 | 0.7134 | 0.7335 | +-----+--------------+---------+----------+--------+ 2026-04-18 21:49:43,356 - mmdet - INFO - mIoU = 0.7335 2026-04-18 21:49:59,240 - mmdet - INFO - +---------+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +---------+--------------+---------+----------+--------+ | IoU_cam | 0.6619 | 0.5862 | 0.6305 | 0.6262 | | IoU_sat | 0.7893 | 0.6739 | 0.6607 | 0.708 | +---------+--------------+---------+----------+--------+ 2026-04-18 21:49:59,241 - mmdet - INFO - mIoU_cam = 0.6262 2026-04-18 21:49:59,241 - mmdet - INFO - mIoU_sat = 0.7080 2026-04-18 21:50:25,676 - mmdet - INFO - Logged 8 GT vs Pred visualizations to wandb 2026-04-18 21:50:26,644 - mmdet - INFO - Iter(val) [3010] ped_crossing: 0.7917, divider: 0.6954, boundary: 0.7134, mIoU: 0.7335, mIoU_cam: 0.6262, ped_crossing_cam: 0.6619, divider_cam: 0.5862, boundary_cam: 0.6305, mIoU_sat: 0.7080, ped_crossing_sat: 0.7893, divider_sat: 0.6739, boundary_sat: 0.6607 2026-04-18 21:53:14,177 - mmdet - INFO - Iter [46650/55932] lr: 5.656e-06, eta: 6:04:36, time: 20.040, data_time: 17.992, memory: 34737, seg: 0.2568, seg_dice: 0.0634, seg_t0: 0.4169, seg_dice_t0: 0.1077, seg_t1: 0.3013, seg_dice_t1: 0.0757, seg_t2: 0.2702, seg_dice_t2: 0.0674, seg_t3: 0.2600, seg_dice_t3: 0.0624, total_t0: 0.5246, total_t1: 0.3770, total_t2: 0.3376, total_t3: 0.3224, total_t4: 0.3202, total: 2.3570, cam_bev_norm: 13.9848, sat_bev_norm: 11.0479, seg_sat: 0.2117, seg_dice_sat: 0.0492, mask_cam_zeroed: 0.1500, mask_cam_noised: 0.2750, seg_fused: 0.1746, seg_dice_fused: 0.0398, cam_rel_mean: 0.1886, sat_rel_mean: 0.2231, cam_rel_min: 0.0037, sat_rel_min: 0.0000, grad_norm: 11.6776 2026-04-18 21:55:01,354 - mmdet - INFO - Iter [46700/55932] lr: 5.623e-06, eta: 6:02:36, time: 2.144, data_time: 0.105, memory: 34737, seg: 0.2663, seg_dice: 0.0631, seg_t0: 0.4446, seg_dice_t0: 0.1091, seg_t1: 0.3227, seg_dice_t1: 0.0776, seg_t2: 0.2751, seg_dice_t2: 0.0648, seg_t3: 0.2626, seg_dice_t3: 0.0610, total_t0: 0.5538, total_t1: 0.4003, total_t2: 0.3399, total_t3: 0.3236, total_t4: 0.3294, total: 2.4008, cam_bev_norm: 13.9929, sat_bev_norm: 11.1304, seg_sat: 0.1988, seg_dice_sat: 0.0456, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.1698, seg_dice_fused: 0.0395, cam_rel_mean: 0.2057, sat_rel_mean: 0.2264, cam_rel_min: 0.0025, sat_rel_min: 0.0007, grad_norm: 11.7114 2026-04-18 21:56:49,045 - mmdet - INFO - Iter [46750/55932] lr: 5.590e-06, eta: 6:00:36, time: 2.154, data_time: 0.095, memory: 34737, seg: 0.2782, seg_dice: 0.0741, seg_t0: 0.4174, seg_dice_t0: 0.1119, seg_t1: 0.3136, seg_dice_t1: 0.0825, seg_t2: 0.2796, seg_dice_t2: 0.0750, seg_t3: 0.2692, seg_dice_t3: 0.0681, total_t0: 0.5292, total_t1: 0.3961, total_t2: 0.3546, total_t3: 0.3374, total_t4: 0.3523, total: 2.4650, cam_bev_norm: 13.9952, sat_bev_norm: 11.1599, seg_sat: 0.2117, seg_dice_sat: 0.0523, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.1850, seg_dice_fused: 0.0463, cam_rel_mean: 0.1995, sat_rel_mean: 0.2129, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 12.5261 2026-04-18 21:58:35,911 - mmdet - INFO - Iter [46800/55932] lr: 5.557e-06, eta: 5:58:36, time: 2.137, data_time: 0.103, memory: 34737, seg: 0.2433, seg_dice: 0.0564, seg_t0: 0.4391, seg_dice_t0: 0.1071, seg_t1: 0.3001, seg_dice_t1: 0.0711, seg_t2: 0.2534, seg_dice_t2: 0.0587, seg_t3: 0.2482, seg_dice_t3: 0.0575, total_t0: 0.5463, total_t1: 0.3712, total_t2: 0.3121, total_t3: 0.3057, total_t4: 0.2996, total: 2.2332, cam_bev_norm: 13.9145, sat_bev_norm: 11.0565, seg_sat: 0.1755, seg_dice_sat: 0.0389, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1600, seg_fused: 0.1506, seg_dice_fused: 0.0332, cam_rel_mean: 0.1844, sat_rel_mean: 0.2139, cam_rel_min: 0.0039, sat_rel_min: 0.0000, grad_norm: 12.8456 2026-04-18 22:00:21,934 - mmdet - INFO - Iter [46850/55932] lr: 5.524e-06, eta: 5:56:36, time: 2.120, data_time: 0.102, memory: 34737, seg: 0.2521, seg_dice: 0.0671, seg_t0: 0.4392, seg_dice_t0: 0.1093, seg_t1: 0.3095, seg_dice_t1: 0.0820, seg_t2: 0.2648, seg_dice_t2: 0.0719, seg_t3: 0.2604, seg_dice_t3: 0.0666, total_t0: 0.5486, total_t1: 0.3915, total_t2: 0.3367, total_t3: 0.3270, total_t4: 0.3192, total: 2.3916, cam_bev_norm: 14.0452, sat_bev_norm: 11.1178, seg_sat: 0.1961, seg_dice_sat: 0.0517, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.1745, seg_dice_fused: 0.0464, cam_rel_mean: 0.2048, sat_rel_mean: 0.2155, cam_rel_min: 0.0020, sat_rel_min: 0.0022, grad_norm: 11.1815 2026-04-18 22:02:07,196 - mmdet - INFO - Iter [46900/55932] lr: 5.492e-06, eta: 5:54:36, time: 2.105, data_time: 0.090, memory: 34737, seg: 0.2599, seg_dice: 0.0645, seg_t0: 0.4137, seg_dice_t0: 0.1028, seg_t1: 0.3003, seg_dice_t1: 0.0709, seg_t2: 0.2714, seg_dice_t2: 0.0663, seg_t3: 0.2627, seg_dice_t3: 0.0607, total_t0: 0.5165, total_t1: 0.3712, total_t2: 0.3377, total_t3: 0.3234, total_t4: 0.3243, total: 2.3274, cam_bev_norm: 13.9291, sat_bev_norm: 11.0538, seg_sat: 0.1966, seg_dice_sat: 0.0454, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.1705, seg_dice_fused: 0.0418, cam_rel_mean: 0.2031, sat_rel_mean: 0.2116, cam_rel_min: 0.0020, sat_rel_min: 0.0015, grad_norm: 11.6264 2026-04-18 22:03:52,357 - mmdet - INFO - Iter [46950/55932] lr: 5.460e-06, eta: 5:52:35, time: 2.103, data_time: 0.096, memory: 34737, seg: 0.2501, seg_dice: 0.0663, seg_t0: 0.4329, seg_dice_t0: 0.1108, seg_t1: 0.3130, seg_dice_t1: 0.0811, seg_t2: 0.2734, seg_dice_t2: 0.0712, seg_t3: 0.2566, seg_dice_t3: 0.0675, total_t0: 0.5436, total_t1: 0.3941, total_t2: 0.3446, total_t3: 0.3241, total_t4: 0.3164, total: 2.3754, cam_bev_norm: 13.9425, sat_bev_norm: 11.1022, seg_sat: 0.1940, seg_dice_sat: 0.0514, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.1634, seg_dice_fused: 0.0437, cam_rel_mean: 0.2044, sat_rel_mean: 0.2100, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 12.4924 2026-04-18 22:05:39,251 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 22:05:39,252 - mmdet - INFO - Iter [47000/55932] lr: 5.427e-06, eta: 5:50:35, time: 2.138, data_time: 0.102, memory: 34737, seg: 0.2649, seg_dice: 0.0628, seg_t0: 0.4477, seg_dice_t0: 0.1132, seg_t1: 0.3074, seg_dice_t1: 0.0755, seg_t2: 0.2833, seg_dice_t2: 0.0661, seg_t3: 0.2632, seg_dice_t3: 0.0622, total_t0: 0.5609, total_t1: 0.3829, total_t2: 0.3494, total_t3: 0.3254, total_t4: 0.3276, total: 2.3969, cam_bev_norm: 13.8862, sat_bev_norm: 11.0472, seg_sat: 0.1987, seg_dice_sat: 0.0449, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1693, seg_dice_fused: 0.0378, cam_rel_mean: 0.1929, sat_rel_mean: 0.2087, cam_rel_min: 0.0020, sat_rel_min: 0.0007, grad_norm: 11.7020 2026-04-18 22:07:25,634 - mmdet - INFO - Iter [47050/55932] lr: 5.395e-06, eta: 5:48:36, time: 2.128, data_time: 0.100, memory: 34737, seg: 0.2755, seg_dice: 0.0703, seg_t0: 0.4323, seg_dice_t0: 0.1226, seg_t1: 0.3175, seg_dice_t1: 0.0849, seg_t2: 0.2844, seg_dice_t2: 0.0734, seg_t3: 0.2663, seg_dice_t3: 0.0688, total_t0: 0.5549, total_t1: 0.4024, total_t2: 0.3579, total_t3: 0.3352, total_t4: 0.3458, total: 2.4827, cam_bev_norm: 13.9297, sat_bev_norm: 11.0731, seg_sat: 0.2072, seg_dice_sat: 0.0507, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.1836, seg_dice_fused: 0.0450, cam_rel_mean: 0.1954, sat_rel_mean: 0.2149, cam_rel_min: 0.0030, sat_rel_min: 0.0015, grad_norm: 11.9073 2026-04-18 22:09:12,132 - mmdet - INFO - Iter [47100/55932] lr: 5.364e-06, eta: 5:46:36, time: 2.130, data_time: 0.104, memory: 34737, seg: 0.2769, seg_dice: 0.0684, seg_t0: 0.4072, seg_dice_t0: 0.1013, seg_t1: 0.3050, seg_dice_t1: 0.0726, seg_t2: 0.2743, seg_dice_t2: 0.0651, seg_t3: 0.2669, seg_dice_t3: 0.0630, total_t0: 0.5085, total_t1: 0.3776, total_t2: 0.3394, total_t3: 0.3299, total_t4: 0.3453, total: 2.4095, cam_bev_norm: 13.9708, sat_bev_norm: 11.0528, seg_sat: 0.2186, seg_dice_sat: 0.0524, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1800, seg_fused: 0.1914, seg_dice_fused: 0.0463, cam_rel_mean: 0.1946, sat_rel_mean: 0.2188, cam_rel_min: 0.0030, sat_rel_min: 0.0007, grad_norm: 11.3112 2026-04-18 22:11:00,666 - mmdet - INFO - Iter [47150/55932] lr: 5.332e-06, eta: 5:44:36, time: 2.171, data_time: 0.108, memory: 34737, seg: 0.2561, seg_dice: 0.0696, seg_t0: 0.4219, seg_dice_t0: 0.1181, seg_t1: 0.3107, seg_dice_t1: 0.0852, seg_t2: 0.2738, seg_dice_t2: 0.0742, seg_t3: 0.2585, seg_dice_t3: 0.0703, total_t0: 0.5400, total_t1: 0.3959, total_t2: 0.3480, total_t3: 0.3288, total_t4: 0.3257, total: 2.4005, cam_bev_norm: 13.9188, sat_bev_norm: 11.1144, seg_sat: 0.1939, seg_dice_sat: 0.0516, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.1709, seg_dice_fused: 0.0456, cam_rel_mean: 0.1899, sat_rel_mean: 0.2107, cam_rel_min: 0.0025, sat_rel_min: 0.0007, grad_norm: 11.9900 2026-04-18 22:12:47,686 - mmdet - INFO - Iter [47200/55932] lr: 5.300e-06, eta: 5:42:37, time: 2.140, data_time: 0.096, memory: 34737, seg: 0.2623, seg_dice: 0.0633, seg_t0: 0.4170, seg_dice_t0: 0.1169, seg_t1: 0.2807, seg_dice_t1: 0.0696, seg_t2: 0.2653, seg_dice_t2: 0.0636, seg_t3: 0.2657, seg_dice_t3: 0.0630, total_t0: 0.5339, total_t1: 0.3503, total_t2: 0.3289, total_t3: 0.3287, total_t4: 0.3256, total: 2.3338, cam_bev_norm: 13.9843, sat_bev_norm: 11.1375, seg_sat: 0.1974, seg_dice_sat: 0.0435, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.1841, seg_dice_fused: 0.0414, cam_rel_mean: 0.2022, sat_rel_mean: 0.2030, cam_rel_min: 0.0020, sat_rel_min: 0.0045, grad_norm: 10.9034 2026-04-18 22:14:33,925 - mmdet - INFO - Iter [47250/55932] lr: 5.269e-06, eta: 5:40:37, time: 2.125, data_time: 0.103, memory: 34737, seg: 0.2546, seg_dice: 0.0551, seg_t0: 0.4258, seg_dice_t0: 0.1028, seg_t1: 0.2978, seg_dice_t1: 0.0672, seg_t2: 0.2691, seg_dice_t2: 0.0618, seg_t3: 0.2638, seg_dice_t3: 0.0562, total_t0: 0.5285, total_t1: 0.3650, total_t2: 0.3309, total_t3: 0.3200, total_t4: 0.3097, total: 2.2791, cam_bev_norm: 14.0411, sat_bev_norm: 11.1916, seg_sat: 0.1849, seg_dice_sat: 0.0391, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2600, seg_fused: 0.1667, seg_dice_fused: 0.0344, cam_rel_mean: 0.2072, sat_rel_mean: 0.2225, cam_rel_min: 0.0020, sat_rel_min: 0.0015, grad_norm: 11.5827 2026-04-18 22:16:19,975 - mmdet - INFO - Iter [47300/55932] lr: 5.238e-06, eta: 5:38:37, time: 2.121, data_time: 0.102, memory: 34737, seg: 0.2626, seg_dice: 0.0722, seg_t0: 0.4001, seg_dice_t0: 0.1096, seg_t1: 0.3047, seg_dice_t1: 0.0765, seg_t2: 0.2850, seg_dice_t2: 0.0708, seg_t3: 0.2723, seg_dice_t3: 0.0719, total_t0: 0.5098, total_t1: 0.3812, total_t2: 0.3558, total_t3: 0.3441, total_t4: 0.3348, total: 2.3946, cam_bev_norm: 14.0186, sat_bev_norm: 11.1735, seg_sat: 0.1878, seg_dice_sat: 0.0513, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.1782, seg_dice_fused: 0.0515, cam_rel_mean: 0.2086, sat_rel_mean: 0.2094, cam_rel_min: 0.0020, sat_rel_min: 0.0045, grad_norm: 10.4460 2026-04-18 22:18:06,217 - mmdet - INFO - Iter [47350/55932] lr: 5.207e-06, eta: 5:36:37, time: 2.125, data_time: 0.100, memory: 34737, seg: 0.2640, seg_dice: 0.0657, seg_t0: 0.4414, seg_dice_t0: 0.1206, seg_t1: 0.3273, seg_dice_t1: 0.0826, seg_t2: 0.2839, seg_dice_t2: 0.0709, seg_t3: 0.2731, seg_dice_t3: 0.0666, total_t0: 0.5620, total_t1: 0.4100, total_t2: 0.3548, total_t3: 0.3398, total_t4: 0.3297, total: 2.4552, cam_bev_norm: 14.0339, sat_bev_norm: 11.1260, seg_sat: 0.1935, seg_dice_sat: 0.0482, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1400, seg_fused: 0.1740, seg_dice_fused: 0.0433, cam_rel_mean: 0.2056, sat_rel_mean: 0.2215, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 14.4282 2026-04-18 22:19:52,431 - mmdet - INFO - Iter [47400/55932] lr: 5.176e-06, eta: 5:34:37, time: 2.124, data_time: 0.097, memory: 34737, seg: 0.2626, seg_dice: 0.0719, seg_t0: 0.4492, seg_dice_t0: 0.1266, seg_t1: 0.3171, seg_dice_t1: 0.0917, seg_t2: 0.2814, seg_dice_t2: 0.0793, seg_t3: 0.2670, seg_dice_t3: 0.0744, total_t0: 0.5758, total_t1: 0.4088, total_t2: 0.3608, total_t3: 0.3414, total_t4: 0.3345, total: 2.5026, cam_bev_norm: 13.9705, sat_bev_norm: 11.0961, seg_sat: 0.2019, seg_dice_sat: 0.0547, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.1771, seg_dice_fused: 0.0477, cam_rel_mean: 0.2103, sat_rel_mean: 0.2036, cam_rel_min: 0.0010, sat_rel_min: 0.0037, grad_norm: 13.0639 2026-04-18 22:21:38,531 - mmdet - INFO - Iter [47450/55932] lr: 5.145e-06, eta: 5:32:38, time: 2.121, data_time: 0.102, memory: 34737, seg: 0.2523, seg_dice: 0.0676, seg_t0: 0.4093, seg_dice_t0: 0.1138, seg_t1: 0.2973, seg_dice_t1: 0.0817, seg_t2: 0.2568, seg_dice_t2: 0.0681, seg_t3: 0.2525, seg_dice_t3: 0.0666, total_t0: 0.5231, total_t1: 0.3790, total_t2: 0.3249, total_t3: 0.3191, total_t4: 0.3198, total: 2.3365, cam_bev_norm: 13.9591, sat_bev_norm: 11.0776, seg_sat: 0.2048, seg_dice_sat: 0.0521, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.1691, seg_dice_fused: 0.0445, cam_rel_mean: 0.1988, sat_rel_mean: 0.2111, cam_rel_min: 0.0020, sat_rel_min: 0.0022, grad_norm: 11.0139 2026-04-18 22:23:23,708 - mmdet - INFO - Iter [47500/55932] lr: 5.115e-06, eta: 5:30:38, time: 2.104, data_time: 0.099, memory: 34737, seg: 0.2558, seg_dice: 0.0654, seg_t0: 0.4073, seg_dice_t0: 0.1094, seg_t1: 0.2914, seg_dice_t1: 0.0766, seg_t2: 0.2632, seg_dice_t2: 0.0700, seg_t3: 0.2527, seg_dice_t3: 0.0635, total_t0: 0.5166, total_t1: 0.3680, total_t2: 0.3332, total_t3: 0.3161, total_t4: 0.3213, total: 2.3241, cam_bev_norm: 13.9508, sat_bev_norm: 11.1307, seg_sat: 0.1992, seg_dice_sat: 0.0487, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.1765, seg_dice_fused: 0.0445, cam_rel_mean: 0.1999, sat_rel_mean: 0.2102, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 12.2517 2026-04-18 22:25:08,231 - mmdet - INFO - Iter [47550/55932] lr: 5.084e-06, eta: 5:28:38, time: 2.090, data_time: 0.090, memory: 34737, seg: 0.2556, seg_dice: 0.0621, seg_t0: 0.3995, seg_dice_t0: 0.1021, seg_t1: 0.2946, seg_dice_t1: 0.0732, seg_t2: 0.2642, seg_dice_t2: 0.0599, seg_t3: 0.2658, seg_dice_t3: 0.0648, total_t0: 0.5016, total_t1: 0.3678, total_t2: 0.3240, total_t3: 0.3306, total_t4: 0.3177, total: 2.2876, cam_bev_norm: 14.0448, sat_bev_norm: 11.1407, seg_sat: 0.1902, seg_dice_sat: 0.0424, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.1741, seg_dice_fused: 0.0392, cam_rel_mean: 0.2033, sat_rel_mean: 0.2166, cam_rel_min: 0.0030, sat_rel_min: 0.0022, grad_norm: 16.3428 2026-04-18 22:26:52,289 - mmdet - INFO - Iter [47600/55932] lr: 5.054e-06, eta: 5:26:38, time: 2.081, data_time: 0.090, memory: 34737, seg: 0.2598, seg_dice: 0.0655, seg_t0: 0.4348, seg_dice_t0: 0.1153, seg_t1: 0.3202, seg_dice_t1: 0.0819, seg_t2: 0.2867, seg_dice_t2: 0.0747, seg_t3: 0.2722, seg_dice_t3: 0.0719, total_t0: 0.5502, total_t1: 0.4022, total_t2: 0.3614, total_t3: 0.3441, total_t4: 0.3253, total: 2.4569, cam_bev_norm: 13.9349, sat_bev_norm: 11.0820, seg_sat: 0.2013, seg_dice_sat: 0.0489, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.1796, seg_dice_fused: 0.0439, cam_rel_mean: 0.2042, sat_rel_mean: 0.2012, cam_rel_min: 0.0020, sat_rel_min: 0.0037, grad_norm: 11.3875 2026-04-18 22:28:36,219 - mmdet - INFO - Iter [47650/55932] lr: 5.024e-06, eta: 5:24:38, time: 2.078, data_time: 0.091, memory: 34737, seg: 0.2560, seg_dice: 0.0653, seg_t0: 0.4341, seg_dice_t0: 0.1234, seg_t1: 0.2951, seg_dice_t1: 0.0749, seg_t2: 0.2555, seg_dice_t2: 0.0670, seg_t3: 0.2594, seg_dice_t3: 0.0620, total_t0: 0.5575, total_t1: 0.3700, total_t2: 0.3225, total_t3: 0.3214, total_t4: 0.3213, total: 2.3310, cam_bev_norm: 14.0324, sat_bev_norm: 11.1767, seg_sat: 0.1900, seg_dice_sat: 0.0415, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.1679, seg_dice_fused: 0.0387, cam_rel_mean: 0.2109, sat_rel_mean: 0.2240, cam_rel_min: 0.0010, sat_rel_min: 0.0007, grad_norm: 11.8112 2026-04-18 22:30:22,404 - mmdet - INFO - Iter [47700/55932] lr: 4.994e-06, eta: 5:22:38, time: 2.124, data_time: 0.090, memory: 34737, seg: 0.2512, seg_dice: 0.0703, seg_t0: 0.3822, seg_dice_t0: 0.1015, seg_t1: 0.2876, seg_dice_t1: 0.0784, seg_t2: 0.2574, seg_dice_t2: 0.0704, seg_t3: 0.2459, seg_dice_t3: 0.0688, total_t0: 0.4837, total_t1: 0.3660, total_t2: 0.3278, total_t3: 0.3147, total_t4: 0.3215, total: 2.2788, cam_bev_norm: 14.0049, sat_bev_norm: 11.1351, seg_sat: 0.1972, seg_dice_sat: 0.0532, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.1684, seg_dice_fused: 0.0462, cam_rel_mean: 0.2019, sat_rel_mean: 0.2130, cam_rel_min: 0.0020, sat_rel_min: 0.0022, grad_norm: 12.0822 2026-04-18 22:32:08,632 - mmdet - INFO - Iter [47750/55932] lr: 4.965e-06, eta: 5:20:39, time: 2.125, data_time: 0.093, memory: 34737, seg: 0.2485, seg_dice: 0.0656, seg_t0: 0.4065, seg_dice_t0: 0.1066, seg_t1: 0.2897, seg_dice_t1: 0.0726, seg_t2: 0.2577, seg_dice_t2: 0.0684, seg_t3: 0.2473, seg_dice_t3: 0.0674, total_t0: 0.5131, total_t1: 0.3623, total_t2: 0.3262, total_t3: 0.3148, total_t4: 0.3141, total: 2.2849, cam_bev_norm: 13.9242, sat_bev_norm: 11.0794, seg_sat: 0.1950, seg_dice_sat: 0.0468, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.0600, seg_fused: 0.1709, seg_dice_fused: 0.0417, cam_rel_mean: 0.1757, sat_rel_mean: 0.2046, cam_rel_min: 0.0049, sat_rel_min: 0.0022, grad_norm: 11.4072 2026-04-18 22:33:54,843 - mmdet - INFO - Iter [47800/55932] lr: 4.935e-06, eta: 5:18:39, time: 2.124, data_time: 0.102, memory: 34737, seg: 0.2855, seg_dice: 0.0725, seg_t0: 0.4356, seg_dice_t0: 0.1102, seg_t1: 0.3169, seg_dice_t1: 0.0785, seg_t2: 0.2927, seg_dice_t2: 0.0737, seg_t3: 0.2780, seg_dice_t3: 0.0714, total_t0: 0.5458, total_t1: 0.3954, total_t2: 0.3664, total_t3: 0.3494, total_t4: 0.3580, total: 2.4958, cam_bev_norm: 13.9571, sat_bev_norm: 11.1543, seg_sat: 0.2023, seg_dice_sat: 0.0512, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.1812, seg_dice_fused: 0.0459, cam_rel_mean: 0.1913, sat_rel_mean: 0.2063, cam_rel_min: 0.0030, sat_rel_min: 0.0022, grad_norm: 14.5743 2026-04-18 22:35:40,585 - mmdet - INFO - Iter [47850/55932] lr: 4.906e-06, eta: 5:16:40, time: 2.115, data_time: 0.097, memory: 34737, seg: 0.2576, seg_dice: 0.0712, seg_t0: 0.3865, seg_dice_t0: 0.1039, seg_t1: 0.2980, seg_dice_t1: 0.0798, seg_t2: 0.2685, seg_dice_t2: 0.0735, seg_t3: 0.2555, seg_dice_t3: 0.0693, total_t0: 0.4903, total_t1: 0.3777, total_t2: 0.3421, total_t3: 0.3248, total_t4: 0.3288, total: 2.3390, cam_bev_norm: 13.9623, sat_bev_norm: 11.1214, seg_sat: 0.1971, seg_dice_sat: 0.0516, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.1789, seg_dice_fused: 0.0478, cam_rel_mean: 0.2000, sat_rel_mean: 0.1933, cam_rel_min: 0.0015, sat_rel_min: 0.0052, grad_norm: 11.3373 2026-04-18 22:37:26,071 - mmdet - INFO - Iter [47900/55932] lr: 4.877e-06, eta: 5:14:40, time: 2.110, data_time: 0.095, memory: 34737, seg: 0.2600, seg_dice: 0.0666, seg_t0: 0.4047, seg_dice_t0: 0.1136, seg_t1: 0.2917, seg_dice_t1: 0.0756, seg_t2: 0.2658, seg_dice_t2: 0.0720, seg_t3: 0.2489, seg_dice_t3: 0.0645, total_t0: 0.5183, total_t1: 0.3674, total_t2: 0.3377, total_t3: 0.3134, total_t4: 0.3265, total: 2.3405, cam_bev_norm: 13.9975, sat_bev_norm: 11.1929, seg_sat: 0.1960, seg_dice_sat: 0.0484, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.2000, seg_fused: 0.1866, seg_dice_fused: 0.0461, cam_rel_mean: 0.1883, sat_rel_mean: 0.2117, cam_rel_min: 0.0044, sat_rel_min: 0.0030, grad_norm: 11.4697 2026-04-18 22:39:11,078 - mmdet - INFO - Iter [47950/55932] lr: 4.848e-06, eta: 5:12:41, time: 2.100, data_time: 0.093, memory: 34737, seg: 0.2536, seg_dice: 0.0734, seg_t0: 0.4163, seg_dice_t0: 0.1148, seg_t1: 0.3027, seg_dice_t1: 0.0909, seg_t2: 0.2650, seg_dice_t2: 0.0767, seg_t3: 0.2520, seg_dice_t3: 0.0747, total_t0: 0.5311, total_t1: 0.3936, total_t2: 0.3417, total_t3: 0.3267, total_t4: 0.3270, total: 2.3643, cam_bev_norm: 13.9704, sat_bev_norm: 11.1884, seg_sat: 0.1839, seg_dice_sat: 0.0511, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.1621, seg_dice_fused: 0.0472, cam_rel_mean: 0.1866, sat_rel_mean: 0.2103, cam_rel_min: 0.0035, sat_rel_min: 0.0015, grad_norm: 13.6498 2026-04-18 22:40:56,713 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 22:40:56,713 - mmdet - INFO - Iter [48000/55932] lr: 4.819e-06, eta: 5:10:41, time: 2.113, data_time: 0.098, memory: 34737, seg: 0.2480, seg_dice: 0.0612, seg_t0: 0.4093, seg_dice_t0: 0.1050, seg_t1: 0.2847, seg_dice_t1: 0.0721, seg_t2: 0.2450, seg_dice_t2: 0.0632, seg_t3: 0.2488, seg_dice_t3: 0.0590, total_t0: 0.5142, total_t1: 0.3567, total_t2: 0.3082, total_t3: 0.3079, total_t4: 0.3091, total: 2.2414, cam_bev_norm: 14.0132, sat_bev_norm: 11.0722, seg_sat: 0.1940, seg_dice_sat: 0.0459, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.1652, seg_dice_fused: 0.0400, cam_rel_mean: 0.2085, sat_rel_mean: 0.2153, cam_rel_min: 0.0015, sat_rel_min: 0.0022, grad_norm: 11.5343 2026-04-18 22:42:42,979 - mmdet - INFO - Iter [48050/55932] lr: 4.790e-06, eta: 5:08:42, time: 2.125, data_time: 0.094, memory: 34737, seg: 0.2557, seg_dice: 0.0701, seg_t0: 0.4217, seg_dice_t0: 0.1168, seg_t1: 0.3170, seg_dice_t1: 0.0821, seg_t2: 0.2847, seg_dice_t2: 0.0752, seg_t3: 0.2610, seg_dice_t3: 0.0648, total_t0: 0.5385, total_t1: 0.3991, total_t2: 0.3599, total_t3: 0.3258, total_t4: 0.3258, total: 2.4004, cam_bev_norm: 13.9123, sat_bev_norm: 11.0888, seg_sat: 0.1986, seg_dice_sat: 0.0530, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1800, seg_fused: 0.1575, seg_dice_fused: 0.0422, cam_rel_mean: 0.2027, sat_rel_mean: 0.2139, cam_rel_min: 0.0005, sat_rel_min: 0.0000, grad_norm: 12.7238 2026-04-18 22:44:28,015 - mmdet - INFO - Iter [48100/55932] lr: 4.762e-06, eta: 5:06:42, time: 2.101, data_time: 0.092, memory: 34737, seg: 0.2437, seg_dice: 0.0649, seg_t0: 0.3725, seg_dice_t0: 0.0998, seg_t1: 0.2593, seg_dice_t1: 0.0702, seg_t2: 0.2434, seg_dice_t2: 0.0643, seg_t3: 0.2411, seg_dice_t3: 0.0630, total_t0: 0.4723, total_t1: 0.3295, total_t2: 0.3076, total_t3: 0.3041, total_t4: 0.3087, total: 2.1795, cam_bev_norm: 14.0590, sat_bev_norm: 11.1706, seg_sat: 0.1946, seg_dice_sat: 0.0507, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1000, seg_fused: 0.1678, seg_dice_fused: 0.0443, cam_rel_mean: 0.2191, sat_rel_mean: 0.2167, cam_rel_min: 0.0005, sat_rel_min: 0.0022, grad_norm: 11.5337 2026-04-18 22:46:12,819 - mmdet - INFO - Iter [48150/55932] lr: 4.733e-06, eta: 5:04:43, time: 2.096, data_time: 0.092, memory: 34737, seg: 0.2649, seg_dice: 0.0666, seg_t0: 0.4487, seg_dice_t0: 0.1139, seg_t1: 0.3070, seg_dice_t1: 0.0737, seg_t2: 0.2725, seg_dice_t2: 0.0683, seg_t3: 0.2649, seg_dice_t3: 0.0678, total_t0: 0.5625, total_t1: 0.3807, total_t2: 0.3408, total_t3: 0.3327, total_t4: 0.3315, total: 2.4228, cam_bev_norm: 13.9952, sat_bev_norm: 11.1576, seg_sat: 0.2037, seg_dice_sat: 0.0463, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1800, seg_fused: 0.1818, seg_dice_fused: 0.0426, cam_rel_mean: 0.1891, sat_rel_mean: 0.2110, cam_rel_min: 0.0044, sat_rel_min: 0.0030, grad_norm: 12.3670 2026-04-18 22:47:58,290 - mmdet - INFO - Iter [48200/55932] lr: 4.705e-06, eta: 5:02:43, time: 2.109, data_time: 0.093, memory: 34737, seg: 0.2791, seg_dice: 0.0720, seg_t0: 0.4170, seg_dice_t0: 0.1118, seg_t1: 0.3003, seg_dice_t1: 0.0774, seg_t2: 0.2748, seg_dice_t2: 0.0692, seg_t3: 0.2644, seg_dice_t3: 0.0698, total_t0: 0.5288, total_t1: 0.3777, total_t2: 0.3440, total_t3: 0.3343, total_t4: 0.3511, total: 2.4237, cam_bev_norm: 14.0160, sat_bev_norm: 11.1495, seg_sat: 0.2026, seg_dice_sat: 0.0506, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.1873, seg_dice_fused: 0.0474, cam_rel_mean: 0.2008, sat_rel_mean: 0.2105, cam_rel_min: 0.0025, sat_rel_min: 0.0030, grad_norm: 16.1062 2026-04-18 22:49:43,787 - mmdet - INFO - Iter [48250/55932] lr: 4.677e-06, eta: 5:00:44, time: 2.111, data_time: 0.096, memory: 34737, seg: 0.2624, seg_dice: 0.0679, seg_t0: 0.4116, seg_dice_t0: 0.1076, seg_t1: 0.3016, seg_dice_t1: 0.0765, seg_t2: 0.2836, seg_dice_t2: 0.0719, seg_t3: 0.2663, seg_dice_t3: 0.0685, total_t0: 0.5192, total_t1: 0.3782, total_t2: 0.3555, total_t3: 0.3348, total_t4: 0.3303, total: 2.3782, cam_bev_norm: 13.9779, sat_bev_norm: 11.1370, seg_sat: 0.1953, seg_dice_sat: 0.0497, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.1710, seg_dice_fused: 0.0443, cam_rel_mean: 0.2025, sat_rel_mean: 0.2209, cam_rel_min: 0.0015, sat_rel_min: 0.0007, grad_norm: 11.3715 2026-04-18 22:51:29,428 - mmdet - INFO - Iter [48300/55932] lr: 4.650e-06, eta: 4:58:45, time: 2.113, data_time: 0.095, memory: 34737, seg: 0.2594, seg_dice: 0.0652, seg_t0: 0.3861, seg_dice_t0: 0.1095, seg_t1: 0.2869, seg_dice_t1: 0.0740, seg_t2: 0.2580, seg_dice_t2: 0.0640, seg_t3: 0.2473, seg_dice_t3: 0.0613, total_t0: 0.4955, total_t1: 0.3609, total_t2: 0.3219, total_t3: 0.3086, total_t4: 0.3246, total: 2.2476, cam_bev_norm: 13.9628, sat_bev_norm: 11.1763, seg_sat: 0.1843, seg_dice_sat: 0.0459, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1647, seg_dice_fused: 0.0412, cam_rel_mean: 0.2008, sat_rel_mean: 0.2051, cam_rel_min: 0.0020, sat_rel_min: 0.0022, grad_norm: 12.7387 2026-04-18 22:53:15,442 - mmdet - INFO - Iter [48350/55932] lr: 4.622e-06, eta: 4:56:45, time: 2.120, data_time: 0.093, memory: 34737, seg: 0.2781, seg_dice: 0.0634, seg_t0: 0.4231, seg_dice_t0: 0.1028, seg_t1: 0.3064, seg_dice_t1: 0.0770, seg_t2: 0.2743, seg_dice_t2: 0.0676, seg_t3: 0.2668, seg_dice_t3: 0.0628, total_t0: 0.5259, total_t1: 0.3834, total_t2: 0.3420, total_t3: 0.3296, total_t4: 0.3415, total: 2.3731, cam_bev_norm: 13.9709, sat_bev_norm: 11.1258, seg_sat: 0.1959, seg_dice_sat: 0.0450, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1600, seg_fused: 0.1722, seg_dice_fused: 0.0376, cam_rel_mean: 0.1887, sat_rel_mean: 0.2268, cam_rel_min: 0.0040, sat_rel_min: 0.0007, grad_norm: 13.3002 2026-04-18 22:55:01,128 - mmdet - INFO - Iter [48400/55932] lr: 4.594e-06, eta: 4:54:46, time: 2.114, data_time: 0.100, memory: 34737, seg: 0.2469, seg_dice: 0.0655, seg_t0: 0.4281, seg_dice_t0: 0.1096, seg_t1: 0.3065, seg_dice_t1: 0.0742, seg_t2: 0.2614, seg_dice_t2: 0.0658, seg_t3: 0.2520, seg_dice_t3: 0.0683, total_t0: 0.5377, total_t1: 0.3806, total_t2: 0.3273, total_t3: 0.3203, total_t4: 0.3125, total: 2.3679, cam_bev_norm: 13.9606, sat_bev_norm: 11.0376, seg_sat: 0.2126, seg_dice_sat: 0.0546, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.1768, seg_dice_fused: 0.0455, cam_rel_mean: 0.2089, sat_rel_mean: 0.2079, cam_rel_min: 0.0010, sat_rel_min: 0.0030, grad_norm: 12.4884 2026-04-18 22:56:48,056 - mmdet - INFO - Iter [48450/55932] lr: 4.567e-06, eta: 4:52:47, time: 2.139, data_time: 0.099, memory: 34737, seg: 0.2238, seg_dice: 0.0547, seg_t0: 0.4018, seg_dice_t0: 0.0989, seg_t1: 0.2691, seg_dice_t1: 0.0641, seg_t2: 0.2341, seg_dice_t2: 0.0564, seg_t3: 0.2295, seg_dice_t3: 0.0596, total_t0: 0.5007, total_t1: 0.3331, total_t2: 0.2905, total_t3: 0.2891, total_t4: 0.2785, total: 2.1176, cam_bev_norm: 13.9809, sat_bev_norm: 11.1693, seg_sat: 0.1862, seg_dice_sat: 0.0438, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.1578, seg_dice_fused: 0.0379, cam_rel_mean: 0.2028, sat_rel_mean: 0.2143, cam_rel_min: 0.0025, sat_rel_min: 0.0022, grad_norm: 10.9346 2026-04-18 22:58:33,218 - mmdet - INFO - Iter [48500/55932] lr: 4.540e-06, eta: 4:50:48, time: 2.103, data_time: 0.095, memory: 34737, seg: 0.2565, seg_dice: 0.0587, seg_t0: 0.4336, seg_dice_t0: 0.1076, seg_t1: 0.3173, seg_dice_t1: 0.0764, seg_t2: 0.2740, seg_dice_t2: 0.0627, seg_t3: 0.2611, seg_dice_t3: 0.0609, total_t0: 0.5412, total_t1: 0.3936, total_t2: 0.3367, total_t3: 0.3220, total_t4: 0.3151, total: 2.3582, cam_bev_norm: 13.9267, sat_bev_norm: 11.1038, seg_sat: 0.1998, seg_dice_sat: 0.0435, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.1701, seg_dice_fused: 0.0361, cam_rel_mean: 0.2064, sat_rel_mean: 0.2162, cam_rel_min: 0.0010, sat_rel_min: 0.0015, grad_norm: 12.0493 2026-04-18 23:00:19,431 - mmdet - INFO - Iter [48550/55932] lr: 4.513e-06, eta: 4:48:49, time: 2.124, data_time: 0.105, memory: 34737, seg: 0.2716, seg_dice: 0.0644, seg_t0: 0.4329, seg_dice_t0: 0.1052, seg_t1: 0.3066, seg_dice_t1: 0.0778, seg_t2: 0.2721, seg_dice_t2: 0.0683, seg_t3: 0.2671, seg_dice_t3: 0.0668, total_t0: 0.5381, total_t1: 0.3844, total_t2: 0.3404, total_t3: 0.3339, total_t4: 0.3360, total: 2.3925, cam_bev_norm: 13.9344, sat_bev_norm: 11.0681, seg_sat: 0.2018, seg_dice_sat: 0.0459, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.1722, seg_dice_fused: 0.0397, cam_rel_mean: 0.1945, sat_rel_mean: 0.2220, cam_rel_min: 0.0030, sat_rel_min: 0.0000, grad_norm: 12.2257 2026-04-18 23:02:04,809 - mmdet - INFO - Iter [48600/55932] lr: 4.486e-06, eta: 4:46:50, time: 2.107, data_time: 0.090, memory: 34737, seg: 0.2735, seg_dice: 0.0651, seg_t0: 0.4285, seg_dice_t0: 0.1182, seg_t1: 0.3100, seg_dice_t1: 0.0787, seg_t2: 0.2839, seg_dice_t2: 0.0705, seg_t3: 0.2749, seg_dice_t3: 0.0648, total_t0: 0.5467, total_t1: 0.3887, total_t2: 0.3544, total_t3: 0.3397, total_t4: 0.3386, total: 2.4403, cam_bev_norm: 13.9209, sat_bev_norm: 11.0798, seg_sat: 0.2054, seg_dice_sat: 0.0490, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1400, seg_fused: 0.1763, seg_dice_fused: 0.0415, cam_rel_mean: 0.1868, sat_rel_mean: 0.2180, cam_rel_min: 0.0035, sat_rel_min: 0.0000, grad_norm: 11.4047 2026-04-18 23:03:50,343 - mmdet - INFO - Iter [48650/55932] lr: 4.460e-06, eta: 4:44:50, time: 2.111, data_time: 0.097, memory: 34737, seg: 0.2487, seg_dice: 0.0613, seg_t0: 0.3999, seg_dice_t0: 0.1066, seg_t1: 0.2804, seg_dice_t1: 0.0699, seg_t2: 0.2546, seg_dice_t2: 0.0645, seg_t3: 0.2425, seg_dice_t3: 0.0631, total_t0: 0.5065, total_t1: 0.3502, total_t2: 0.3191, total_t3: 0.3056, total_t4: 0.3100, total: 2.2405, cam_bev_norm: 14.0183, sat_bev_norm: 11.1368, seg_sat: 0.1896, seg_dice_sat: 0.0477, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.1687, seg_dice_fused: 0.0431, cam_rel_mean: 0.2049, sat_rel_mean: 0.2070, cam_rel_min: 0.0025, sat_rel_min: 0.0037, grad_norm: 11.6509 2026-04-18 23:05:36,654 - mmdet - INFO - Iter [48700/55932] lr: 4.433e-06, eta: 4:42:51, time: 2.126, data_time: 0.101, memory: 34737, seg: 0.2723, seg_dice: 0.0733, seg_t0: 0.4556, seg_dice_t0: 0.1300, seg_t1: 0.3185, seg_dice_t1: 0.0915, seg_t2: 0.2849, seg_dice_t2: 0.0823, seg_t3: 0.2786, seg_dice_t3: 0.0748, total_t0: 0.5855, total_t1: 0.4100, total_t2: 0.3673, total_t3: 0.3534, total_t4: 0.3456, total: 2.5456, cam_bev_norm: 13.9573, sat_bev_norm: 11.1219, seg_sat: 0.2065, seg_dice_sat: 0.0541, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.2000, seg_fused: 0.1757, seg_dice_fused: 0.0475, cam_rel_mean: 0.2171, sat_rel_mean: 0.2201, cam_rel_min: 0.0005, sat_rel_min: 0.0007, grad_norm: 11.5729 2026-04-18 23:07:22,524 - mmdet - INFO - Iter [48750/55932] lr: 4.407e-06, eta: 4:40:52, time: 2.117, data_time: 0.102, memory: 34737, seg: 0.2637, seg_dice: 0.0623, seg_t0: 0.4297, seg_dice_t0: 0.1067, seg_t1: 0.2850, seg_dice_t1: 0.0753, seg_t2: 0.2634, seg_dice_t2: 0.0685, seg_t3: 0.2597, seg_dice_t3: 0.0642, total_t0: 0.5364, total_t1: 0.3602, total_t2: 0.3319, total_t3: 0.3239, total_t4: 0.3259, total: 2.3752, cam_bev_norm: 13.9597, sat_bev_norm: 11.0073, seg_sat: 0.2226, seg_dice_sat: 0.0521, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.1791, seg_dice_fused: 0.0431, cam_rel_mean: 0.2197, sat_rel_mean: 0.2212, cam_rel_min: 0.0010, sat_rel_min: 0.0015, grad_norm: 12.4462 2026-04-18 23:09:07,979 - mmdet - INFO - Iter [48800/55932] lr: 4.381e-06, eta: 4:38:53, time: 2.109, data_time: 0.096, memory: 34737, seg: 0.2677, seg_dice: 0.0713, seg_t0: 0.3945, seg_dice_t0: 0.1106, seg_t1: 0.2840, seg_dice_t1: 0.0782, seg_t2: 0.2695, seg_dice_t2: 0.0736, seg_t3: 0.2623, seg_dice_t3: 0.0700, total_t0: 0.5051, total_t1: 0.3622, total_t2: 0.3431, total_t3: 0.3323, total_t4: 0.3390, total: 2.3725, cam_bev_norm: 13.9183, sat_bev_norm: 11.0265, seg_sat: 0.2082, seg_dice_sat: 0.0561, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.2600, seg_fused: 0.1773, seg_dice_fused: 0.0492, cam_rel_mean: 0.2122, sat_rel_mean: 0.2120, cam_rel_min: 0.0005, sat_rel_min: 0.0015, grad_norm: 11.8198 2026-04-18 23:10:53,284 - mmdet - INFO - Iter [48850/55932] lr: 4.355e-06, eta: 4:36:54, time: 2.106, data_time: 0.096, memory: 34737, seg: 0.2754, seg_dice: 0.0702, seg_t0: 0.4201, seg_dice_t0: 0.1125, seg_t1: 0.3143, seg_dice_t1: 0.0787, seg_t2: 0.2827, seg_dice_t2: 0.0728, seg_t3: 0.2748, seg_dice_t3: 0.0672, total_t0: 0.5325, total_t1: 0.3930, total_t2: 0.3554, total_t3: 0.3420, total_t4: 0.3456, total: 2.4856, cam_bev_norm: 13.9037, sat_bev_norm: 11.0801, seg_sat: 0.2198, seg_dice_sat: 0.0507, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1400, seg_fused: 0.1999, seg_dice_fused: 0.0467, cam_rel_mean: 0.1791, sat_rel_mean: 0.2080, cam_rel_min: 0.0045, sat_rel_min: 0.0022, grad_norm: 11.8476 2026-04-18 23:12:38,124 - mmdet - INFO - Iter [48900/55932] lr: 4.329e-06, eta: 4:34:55, time: 2.097, data_time: 0.089, memory: 34737, seg: 0.2690, seg_dice: 0.0728, seg_t0: 0.4484, seg_dice_t0: 0.1148, seg_t1: 0.3343, seg_dice_t1: 0.0851, seg_t2: 0.2948, seg_dice_t2: 0.0762, seg_t3: 0.2887, seg_dice_t3: 0.0790, total_t0: 0.5631, total_t1: 0.4194, total_t2: 0.3710, total_t3: 0.3677, total_t4: 0.3418, total: 2.5796, cam_bev_norm: 13.9157, sat_bev_norm: 11.0865, seg_sat: 0.2186, seg_dice_sat: 0.0562, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1200, seg_fused: 0.1917, seg_dice_fused: 0.0499, cam_rel_mean: 0.1990, sat_rel_mean: 0.2092, cam_rel_min: 0.0020, sat_rel_min: 0.0015, grad_norm: 13.4174 2026-04-18 23:14:22,845 - mmdet - INFO - Iter [48950/55932] lr: 4.304e-06, eta: 4:32:56, time: 2.094, data_time: 0.086, memory: 34737, seg: 0.2560, seg_dice: 0.0618, seg_t0: 0.4343, seg_dice_t0: 0.1099, seg_t1: 0.3171, seg_dice_t1: 0.0766, seg_t2: 0.2646, seg_dice_t2: 0.0636, seg_t3: 0.2579, seg_dice_t3: 0.0686, total_t0: 0.5442, total_t1: 0.3937, total_t2: 0.3282, total_t3: 0.3266, total_t4: 0.3178, total: 2.3849, cam_bev_norm: 13.9177, sat_bev_norm: 11.0843, seg_sat: 0.2077, seg_dice_sat: 0.0443, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1823, seg_dice_fused: 0.0401, cam_rel_mean: 0.2031, sat_rel_mean: 0.1982, cam_rel_min: 0.0020, sat_rel_min: 0.0045, grad_norm: 14.4904 2026-04-18 23:16:09,085 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 23:16:09,086 - mmdet - INFO - Iter [49000/55932] lr: 4.278e-06, eta: 4:30:57, time: 2.124, data_time: 0.089, memory: 34737, seg: 0.2550, seg_dice: 0.0663, seg_t0: 0.3999, seg_dice_t0: 0.1006, seg_t1: 0.2904, seg_dice_t1: 0.0729, seg_t2: 0.2540, seg_dice_t2: 0.0636, seg_t3: 0.2405, seg_dice_t3: 0.0617, total_t0: 0.5005, total_t1: 0.3633, total_t2: 0.3176, total_t3: 0.3022, total_t4: 0.3213, total: 2.2979, cam_bev_norm: 14.0000, sat_bev_norm: 11.1158, seg_sat: 0.2140, seg_dice_sat: 0.0527, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.1810, seg_dice_fused: 0.0453, cam_rel_mean: 0.2094, sat_rel_mean: 0.2215, cam_rel_min: 0.0025, sat_rel_min: 0.0022, grad_norm: 10.9293 2026-04-18 23:17:55,488 - mmdet - INFO - Iter [49050/55932] lr: 4.253e-06, eta: 4:28:58, time: 2.129, data_time: 0.096, memory: 34737, seg: 0.2553, seg_dice: 0.0680, seg_t0: 0.4112, seg_dice_t0: 0.1160, seg_t1: 0.3140, seg_dice_t1: 0.0876, seg_t2: 0.2661, seg_dice_t2: 0.0692, seg_t3: 0.2585, seg_dice_t3: 0.0672, total_t0: 0.5272, total_t1: 0.4016, total_t2: 0.3353, total_t3: 0.3257, total_t4: 0.3233, total: 2.4114, cam_bev_norm: 13.9515, sat_bev_norm: 11.0886, seg_sat: 0.2189, seg_dice_sat: 0.0569, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.1746, seg_dice_fused: 0.0480, cam_rel_mean: 0.2076, sat_rel_mean: 0.2140, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 12.6971 2026-04-18 23:19:40,363 - mmdet - INFO - Iter [49100/55932] lr: 4.228e-06, eta: 4:26:59, time: 2.097, data_time: 0.096, memory: 34737, seg: 0.2489, seg_dice: 0.0669, seg_t0: 0.3847, seg_dice_t0: 0.1090, seg_t1: 0.2866, seg_dice_t1: 0.0850, seg_t2: 0.2577, seg_dice_t2: 0.0723, seg_t3: 0.2479, seg_dice_t3: 0.0673, total_t0: 0.4937, total_t1: 0.3716, total_t2: 0.3300, total_t3: 0.3152, total_t4: 0.3158, total: 2.2748, cam_bev_norm: 14.0139, sat_bev_norm: 11.1579, seg_sat: 0.1905, seg_dice_sat: 0.0505, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.2000, seg_fused: 0.1631, seg_dice_fused: 0.0445, cam_rel_mean: 0.1861, sat_rel_mean: 0.2189, cam_rel_min: 0.0035, sat_rel_min: 0.0000, grad_norm: 10.4445 2026-04-18 23:21:26,147 - mmdet - INFO - Iter [49150/55932] lr: 4.203e-06, eta: 4:25:01, time: 2.116, data_time: 0.096, memory: 34737, seg: 0.2430, seg_dice: 0.0640, seg_t0: 0.4192, seg_dice_t0: 0.1118, seg_t1: 0.3014, seg_dice_t1: 0.0812, seg_t2: 0.2687, seg_dice_t2: 0.0711, seg_t3: 0.2514, seg_dice_t3: 0.0661, total_t0: 0.5310, total_t1: 0.3826, total_t2: 0.3398, total_t3: 0.3175, total_t4: 0.3070, total: 2.3380, cam_bev_norm: 13.9555, sat_bev_norm: 11.0932, seg_sat: 0.1992, seg_dice_sat: 0.0520, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.1647, seg_dice_fused: 0.0440, cam_rel_mean: 0.1978, sat_rel_mean: 0.2149, cam_rel_min: 0.0020, sat_rel_min: 0.0000, grad_norm: 10.7541 2026-04-18 23:23:11,493 - mmdet - INFO - Iter [49200/55932] lr: 4.178e-06, eta: 4:23:02, time: 2.107, data_time: 0.090, memory: 34737, seg: 0.2510, seg_dice: 0.0599, seg_t0: 0.4057, seg_dice_t0: 0.1069, seg_t1: 0.3054, seg_dice_t1: 0.0765, seg_t2: 0.2751, seg_dice_t2: 0.0664, seg_t3: 0.2622, seg_dice_t3: 0.0624, total_t0: 0.5126, total_t1: 0.3819, total_t2: 0.3414, total_t3: 0.3246, total_t4: 0.3109, total: 2.3158, cam_bev_norm: 13.9712, sat_bev_norm: 11.1731, seg_sat: 0.1901, seg_dice_sat: 0.0442, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.1713, seg_dice_fused: 0.0388, cam_rel_mean: 0.1897, sat_rel_mean: 0.2056, cam_rel_min: 0.0030, sat_rel_min: 0.0022, grad_norm: 11.1091 2026-04-18 23:24:57,545 - mmdet - INFO - Iter [49250/55932] lr: 4.154e-06, eta: 4:21:03, time: 2.121, data_time: 0.096, memory: 34737, seg: 0.2596, seg_dice: 0.0690, seg_t0: 0.4248, seg_dice_t0: 0.1037, seg_t1: 0.2967, seg_dice_t1: 0.0751, seg_t2: 0.2619, seg_dice_t2: 0.0673, seg_t3: 0.2514, seg_dice_t3: 0.0697, total_t0: 0.5284, total_t1: 0.3718, total_t2: 0.3291, total_t3: 0.3210, total_t4: 0.3286, total: 2.3634, cam_bev_norm: 13.9334, sat_bev_norm: 11.0360, seg_sat: 0.2041, seg_dice_sat: 0.0544, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.1775, seg_dice_fused: 0.0483, cam_rel_mean: 0.1945, sat_rel_mean: 0.2164, cam_rel_min: 0.0030, sat_rel_min: 0.0015, grad_norm: 10.7877 2026-04-18 23:26:43,162 - mmdet - INFO - Iter [49300/55932] lr: 4.129e-06, eta: 4:19:04, time: 2.112, data_time: 0.095, memory: 34737, seg: 0.2554, seg_dice: 0.0656, seg_t0: 0.4286, seg_dice_t0: 0.1066, seg_t1: 0.3079, seg_dice_t1: 0.0791, seg_t2: 0.2642, seg_dice_t2: 0.0658, seg_t3: 0.2510, seg_dice_t3: 0.0634, total_t0: 0.5352, total_t1: 0.3870, total_t2: 0.3300, total_t3: 0.3144, total_t4: 0.3210, total: 2.3614, cam_bev_norm: 13.9346, sat_bev_norm: 11.0800, seg_sat: 0.2049, seg_dice_sat: 0.0522, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.1716, seg_dice_fused: 0.0450, cam_rel_mean: 0.2031, sat_rel_mean: 0.2130, cam_rel_min: 0.0015, sat_rel_min: 0.0007, grad_norm: 11.5385 2026-04-18 23:28:28,647 - mmdet - INFO - Iter [49350/55932] lr: 4.105e-06, eta: 4:17:06, time: 2.109, data_time: 0.092, memory: 34737, seg: 0.2579, seg_dice: 0.0682, seg_t0: 0.4047, seg_dice_t0: 0.1022, seg_t1: 0.2956, seg_dice_t1: 0.0704, seg_t2: 0.2544, seg_dice_t2: 0.0635, seg_t3: 0.2462, seg_dice_t3: 0.0641, total_t0: 0.5069, total_t1: 0.3660, total_t2: 0.3179, total_t3: 0.3103, total_t4: 0.3261, total: 2.2714, cam_bev_norm: 13.9415, sat_bev_norm: 11.0871, seg_sat: 0.1902, seg_dice_sat: 0.0498, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0400, seg_fused: 0.1605, seg_dice_fused: 0.0437, cam_rel_mean: 0.2082, sat_rel_mean: 0.2144, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 12.1227 2026-04-18 23:30:13,563 - mmdet - INFO - Iter [49400/55932] lr: 4.081e-06, eta: 4:15:07, time: 2.098, data_time: 0.093, memory: 34737, seg: 0.2572, seg_dice: 0.0604, seg_t0: 0.4346, seg_dice_t0: 0.1114, seg_t1: 0.3106, seg_dice_t1: 0.0733, seg_t2: 0.2720, seg_dice_t2: 0.0647, seg_t3: 0.2616, seg_dice_t3: 0.0635, total_t0: 0.5460, total_t1: 0.3839, total_t2: 0.3367, total_t3: 0.3251, total_t4: 0.3176, total: 2.3624, cam_bev_norm: 13.9575, sat_bev_norm: 11.0858, seg_sat: 0.1983, seg_dice_sat: 0.0447, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2000, seg_fused: 0.1709, seg_dice_fused: 0.0393, cam_rel_mean: 0.2071, sat_rel_mean: 0.2132, cam_rel_min: 0.0015, sat_rel_min: 0.0022, grad_norm: 13.1988 2026-04-18 23:31:58,273 - mmdet - INFO - Iter [49450/55932] lr: 4.057e-06, eta: 4:13:08, time: 2.094, data_time: 0.092, memory: 34737, seg: 0.2566, seg_dice: 0.0627, seg_t0: 0.4094, seg_dice_t0: 0.1013, seg_t1: 0.3004, seg_dice_t1: 0.0707, seg_t2: 0.2599, seg_dice_t2: 0.0613, seg_t3: 0.2553, seg_dice_t3: 0.0601, total_t0: 0.5107, total_t1: 0.3711, total_t2: 0.3212, total_t3: 0.3155, total_t4: 0.3194, total: 2.3019, cam_bev_norm: 14.0049, sat_bev_norm: 11.1123, seg_sat: 0.2052, seg_dice_sat: 0.0454, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.1733, seg_dice_fused: 0.0402, cam_rel_mean: 0.2087, sat_rel_mean: 0.2217, cam_rel_min: 0.0025, sat_rel_min: 0.0022, grad_norm: 11.4789 2026-04-18 23:33:43,549 - mmdet - INFO - Iter [49500/55932] lr: 4.034e-06, eta: 4:11:09, time: 2.106, data_time: 0.094, memory: 34737, seg: 0.2604, seg_dice: 0.0680, seg_t0: 0.4353, seg_dice_t0: 0.1224, seg_t1: 0.3112, seg_dice_t1: 0.0813, seg_t2: 0.2771, seg_dice_t2: 0.0725, seg_t3: 0.2575, seg_dice_t3: 0.0677, total_t0: 0.5577, total_t1: 0.3925, total_t2: 0.3496, total_t3: 0.3252, total_t4: 0.3283, total: 2.4343, cam_bev_norm: 13.8703, sat_bev_norm: 11.0871, seg_sat: 0.2060, seg_dice_sat: 0.0503, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.0800, seg_fused: 0.1790, seg_dice_fused: 0.0457, cam_rel_mean: 0.1847, sat_rel_mean: 0.2087, cam_rel_min: 0.0045, sat_rel_min: 0.0022, grad_norm: 12.0953 2026-04-18 23:35:29,511 - mmdet - INFO - Iter [49550/55932] lr: 4.010e-06, eta: 4:09:11, time: 2.119, data_time: 0.101, memory: 34737, seg: 0.2563, seg_dice: 0.0695, seg_t0: 0.4074, seg_dice_t0: 0.1047, seg_t1: 0.2980, seg_dice_t1: 0.0710, seg_t2: 0.2596, seg_dice_t2: 0.0644, seg_t3: 0.2490, seg_dice_t3: 0.0630, total_t0: 0.5120, total_t1: 0.3690, total_t2: 0.3240, total_t3: 0.3120, total_t4: 0.3258, total: 2.3265, cam_bev_norm: 13.9544, sat_bev_norm: 11.2007, seg_sat: 0.2016, seg_dice_sat: 0.0519, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1815, seg_dice_fused: 0.0487, cam_rel_mean: 0.2041, sat_rel_mean: 0.2066, cam_rel_min: 0.0020, sat_rel_min: 0.0037, grad_norm: 11.6903 2026-04-18 23:37:14,939 - mmdet - INFO - Iter [49600/55932] lr: 3.987e-06, eta: 4:07:12, time: 2.109, data_time: 0.092, memory: 34737, seg: 0.2544, seg_dice: 0.0662, seg_t0: 0.4251, seg_dice_t0: 0.1102, seg_t1: 0.2885, seg_dice_t1: 0.0733, seg_t2: 0.2577, seg_dice_t2: 0.0681, seg_t3: 0.2495, seg_dice_t3: 0.0679, total_t0: 0.5354, total_t1: 0.3618, total_t2: 0.3257, total_t3: 0.3174, total_t4: 0.3206, total: 2.3275, cam_bev_norm: 13.8549, sat_bev_norm: 11.0774, seg_sat: 0.2015, seg_dice_sat: 0.0493, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1000, seg_fused: 0.1726, seg_dice_fused: 0.0432, cam_rel_mean: 0.1868, sat_rel_mean: 0.2110, cam_rel_min: 0.0040, sat_rel_min: 0.0015, grad_norm: 11.3187 2026-04-18 23:39:00,177 - mmdet - INFO - Iter [49650/55932] lr: 3.964e-06, eta: 4:05:13, time: 2.105, data_time: 0.094, memory: 34737, seg: 0.2590, seg_dice: 0.0631, seg_t0: 0.4116, seg_dice_t0: 0.1021, seg_t1: 0.3032, seg_dice_t1: 0.0760, seg_t2: 0.2806, seg_dice_t2: 0.0674, seg_t3: 0.2620, seg_dice_t3: 0.0638, total_t0: 0.5137, total_t1: 0.3792, total_t2: 0.3481, total_t3: 0.3257, total_t4: 0.3221, total: 2.3559, cam_bev_norm: 13.9163, sat_bev_norm: 11.1197, seg_sat: 0.2020, seg_dice_sat: 0.0494, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.1735, seg_dice_fused: 0.0422, cam_rel_mean: 0.1877, sat_rel_mean: 0.2118, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 12.1897 2026-04-18 23:40:44,319 - mmdet - INFO - Iter [49700/55932] lr: 3.941e-06, eta: 4:03:15, time: 2.083, data_time: 0.089, memory: 34737, seg: 0.2687, seg_dice: 0.0653, seg_t0: 0.4289, seg_dice_t0: 0.1117, seg_t1: 0.3204, seg_dice_t1: 0.0805, seg_t2: 0.2797, seg_dice_t2: 0.0664, seg_t3: 0.2701, seg_dice_t3: 0.0669, total_t0: 0.5406, total_t1: 0.4009, total_t2: 0.3462, total_t3: 0.3370, total_t4: 0.3339, total: 2.4560, cam_bev_norm: 13.8961, sat_bev_norm: 11.1016, seg_sat: 0.2129, seg_dice_sat: 0.0486, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1200, seg_fused: 0.1919, seg_dice_fused: 0.0440, cam_rel_mean: 0.1809, sat_rel_mean: 0.2051, cam_rel_min: 0.0045, sat_rel_min: 0.0022, grad_norm: 12.0236 2026-04-18 23:42:29,730 - mmdet - INFO - Iter [49750/55932] lr: 3.918e-06, eta: 4:01:16, time: 2.108, data_time: 0.091, memory: 34737, seg: 0.2648, seg_dice: 0.0577, seg_t0: 0.4194, seg_dice_t0: 0.1023, seg_t1: 0.2952, seg_dice_t1: 0.0710, seg_t2: 0.2651, seg_dice_t2: 0.0637, seg_t3: 0.2605, seg_dice_t3: 0.0626, total_t0: 0.5217, total_t1: 0.3662, total_t2: 0.3288, total_t3: 0.3231, total_t4: 0.3225, total: 2.2968, cam_bev_norm: 13.9988, sat_bev_norm: 11.2058, seg_sat: 0.1946, seg_dice_sat: 0.0397, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1000, seg_fused: 0.1662, seg_dice_fused: 0.0341, cam_rel_mean: 0.2250, sat_rel_mean: 0.2326, cam_rel_min: 0.0005, sat_rel_min: 0.0007, grad_norm: 10.4516 2026-04-18 23:44:16,786 - mmdet - INFO - Iter [49800/55932] lr: 3.895e-06, eta: 3:59:18, time: 2.141, data_time: 0.094, memory: 34737, seg: 0.2736, seg_dice: 0.0720, seg_t0: 0.4104, seg_dice_t0: 0.1008, seg_t1: 0.3187, seg_dice_t1: 0.0788, seg_t2: 0.2796, seg_dice_t2: 0.0717, seg_t3: 0.2613, seg_dice_t3: 0.0668, total_t0: 0.5112, total_t1: 0.3975, total_t2: 0.3514, total_t3: 0.3281, total_t4: 0.3456, total: 2.4190, cam_bev_norm: 13.9657, sat_bev_norm: 11.0964, seg_sat: 0.2029, seg_dice_sat: 0.0523, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2200, seg_fused: 0.1806, seg_dice_fused: 0.0494, cam_rel_mean: 0.2180, sat_rel_mean: 0.2249, cam_rel_min: 0.0010, sat_rel_min: 0.0015, grad_norm: 11.1614 2026-04-18 23:46:02,961 - mmdet - INFO - Iter [49850/55932] lr: 3.873e-06, eta: 3:57:19, time: 2.123, data_time: 0.101, memory: 34737, seg: 0.2484, seg_dice: 0.0747, seg_t0: 0.4082, seg_dice_t0: 0.1160, seg_t1: 0.3041, seg_dice_t1: 0.0841, seg_t2: 0.2722, seg_dice_t2: 0.0838, seg_t3: 0.2537, seg_dice_t3: 0.0743, total_t0: 0.5242, total_t1: 0.3882, total_t2: 0.3561, total_t3: 0.3280, total_t4: 0.3231, total: 2.3897, cam_bev_norm: 13.8720, sat_bev_norm: 11.0422, seg_sat: 0.1964, seg_dice_sat: 0.0580, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.1639, seg_dice_fused: 0.0517, cam_rel_mean: 0.1989, sat_rel_mean: 0.2028, cam_rel_min: 0.0010, sat_rel_min: 0.0015, grad_norm: 10.8900 2026-04-18 23:47:48,137 - mmdet - INFO - Iter [49900/55932] lr: 3.851e-06, eta: 3:55:21, time: 2.103, data_time: 0.093, memory: 34737, seg: 0.2616, seg_dice: 0.0659, seg_t0: 0.4019, seg_dice_t0: 0.0989, seg_t1: 0.2843, seg_dice_t1: 0.0712, seg_t2: 0.2572, seg_dice_t2: 0.0615, seg_t3: 0.2482, seg_dice_t3: 0.0620, total_t0: 0.5008, total_t1: 0.3555, total_t2: 0.3187, total_t3: 0.3101, total_t4: 0.3275, total: 2.3002, cam_bev_norm: 13.9780, sat_bev_norm: 11.0350, seg_sat: 0.2119, seg_dice_sat: 0.0548, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.1749, seg_dice_fused: 0.0459, cam_rel_mean: 0.1968, sat_rel_mean: 0.2324, cam_rel_min: 0.0035, sat_rel_min: 0.0000, grad_norm: 11.3048 2026-04-18 23:49:32,205 - mmdet - INFO - Iter [49950/55932] lr: 3.828e-06, eta: 3:53:22, time: 2.081, data_time: 0.088, memory: 34737, seg: 0.2528, seg_dice: 0.0638, seg_t0: 0.4060, seg_dice_t0: 0.1102, seg_t1: 0.2890, seg_dice_t1: 0.0728, seg_t2: 0.2673, seg_dice_t2: 0.0718, seg_t3: 0.2564, seg_dice_t3: 0.0642, total_t0: 0.5162, total_t1: 0.3619, total_t2: 0.3391, total_t3: 0.3206, total_t4: 0.3166, total: 2.3264, cam_bev_norm: 13.9511, sat_bev_norm: 11.1256, seg_sat: 0.1987, seg_dice_sat: 0.0487, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0600, seg_fused: 0.1805, seg_dice_fused: 0.0441, cam_rel_mean: 0.2053, sat_rel_mean: 0.2088, cam_rel_min: 0.0025, sat_rel_min: 0.0030, grad_norm: 11.0986 2026-04-18 23:51:17,419 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-18 23:51:17,420 - mmdet - INFO - Iter [50000/55932] lr: 3.807e-06, eta: 3:51:24, time: 2.104, data_time: 0.093, memory: 34737, seg: 0.2589, seg_dice: 0.0690, seg_t0: 0.4400, seg_dice_t0: 0.1068, seg_t1: 0.3199, seg_dice_t1: 0.0780, seg_t2: 0.2727, seg_dice_t2: 0.0693, seg_t3: 0.2548, seg_dice_t3: 0.0638, total_t0: 0.5468, total_t1: 0.3979, total_t2: 0.3420, total_t3: 0.3186, total_t4: 0.3279, total: 2.4288, cam_bev_norm: 13.9325, sat_bev_norm: 11.0773, seg_sat: 0.2099, seg_dice_sat: 0.0538, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.1826, seg_dice_fused: 0.0493, cam_rel_mean: 0.1999, sat_rel_mean: 0.2034, cam_rel_min: 0.0030, sat_rel_min: 0.0030, grad_norm: 10.9301 2026-04-18 23:53:03,604 - mmdet - INFO - Iter [50050/55932] lr: 3.785e-06, eta: 3:49:26, time: 2.124, data_time: 0.095, memory: 34737, seg: 0.2511, seg_dice: 0.0620, seg_t0: 0.4120, seg_dice_t0: 0.1075, seg_t1: 0.2957, seg_dice_t1: 0.0750, seg_t2: 0.2578, seg_dice_t2: 0.0645, seg_t3: 0.2575, seg_dice_t3: 0.0649, total_t0: 0.5195, total_t1: 0.3707, total_t2: 0.3223, total_t3: 0.3224, total_t4: 0.3130, total: 2.3023, cam_bev_norm: 13.8876, sat_bev_norm: 11.0696, seg_sat: 0.1958, seg_dice_sat: 0.0490, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0600, seg_fused: 0.1677, seg_dice_fused: 0.0420, cam_rel_mean: 0.1903, sat_rel_mean: 0.2065, cam_rel_min: 0.0035, sat_rel_min: 0.0022, grad_norm: 11.4850 2026-04-18 23:54:49,518 - mmdet - INFO - Iter [50100/55932] lr: 3.763e-06, eta: 3:47:27, time: 2.118, data_time: 0.100, memory: 34737, seg: 0.2884, seg_dice: 0.0657, seg_t0: 0.4387, seg_dice_t0: 0.1158, seg_t1: 0.3313, seg_dice_t1: 0.0837, seg_t2: 0.2981, seg_dice_t2: 0.0688, seg_t3: 0.2879, seg_dice_t3: 0.0647, total_t0: 0.5545, total_t1: 0.4150, total_t2: 0.3669, total_t3: 0.3527, total_t4: 0.3541, total: 2.5343, cam_bev_norm: 13.9578, sat_bev_norm: 11.0331, seg_sat: 0.2195, seg_dice_sat: 0.0484, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.1842, seg_dice_fused: 0.0389, cam_rel_mean: 0.2055, sat_rel_mean: 0.2217, cam_rel_min: 0.0020, sat_rel_min: 0.0007, grad_norm: 15.5907 2026-04-18 23:56:34,902 - mmdet - INFO - Iter [50150/55932] lr: 3.742e-06, eta: 3:45:29, time: 2.108, data_time: 0.094, memory: 34737, seg: 0.2527, seg_dice: 0.0611, seg_t0: 0.4071, seg_dice_t0: 0.1070, seg_t1: 0.3145, seg_dice_t1: 0.0800, seg_t2: 0.2649, seg_dice_t2: 0.0667, seg_t3: 0.2550, seg_dice_t3: 0.0622, total_t0: 0.5141, total_t1: 0.3945, total_t2: 0.3316, total_t3: 0.3172, total_t4: 0.3138, total: 2.3230, cam_bev_norm: 13.9204, sat_bev_norm: 11.1032, seg_sat: 0.1990, seg_dice_sat: 0.0462, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1000, seg_fused: 0.1673, seg_dice_fused: 0.0392, cam_rel_mean: 0.1907, sat_rel_mean: 0.2252, cam_rel_min: 0.0040, sat_rel_min: 0.0000, grad_norm: 10.5808 2026-04-18 23:58:20,071 - mmdet - INFO - Iter [50200/55932] lr: 3.721e-06, eta: 3:43:31, time: 2.104, data_time: 0.094, memory: 34737, seg: 0.2551, seg_dice: 0.0653, seg_t0: 0.4197, seg_dice_t0: 0.1064, seg_t1: 0.2919, seg_dice_t1: 0.0686, seg_t2: 0.2616, seg_dice_t2: 0.0635, seg_t3: 0.2496, seg_dice_t3: 0.0628, total_t0: 0.5261, total_t1: 0.3606, total_t2: 0.3251, total_t3: 0.3124, total_t4: 0.3204, total: 2.3317, cam_bev_norm: 13.8720, sat_bev_norm: 11.0730, seg_sat: 0.2135, seg_dice_sat: 0.0497, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1810, seg_dice_fused: 0.0429, cam_rel_mean: 0.2064, sat_rel_mean: 0.2187, cam_rel_min: 0.0020, sat_rel_min: 0.0007, grad_norm: 10.6491 2026-04-19 00:00:04,889 - mmdet - INFO - Iter [50250/55932] lr: 3.700e-06, eta: 3:41:32, time: 2.096, data_time: 0.089, memory: 34737, seg: 0.2387, seg_dice: 0.0636, seg_t0: 0.4163, seg_dice_t0: 0.1141, seg_t1: 0.3006, seg_dice_t1: 0.0782, seg_t2: 0.2634, seg_dice_t2: 0.0694, seg_t3: 0.2449, seg_dice_t3: 0.0654, total_t0: 0.5304, total_t1: 0.3788, total_t2: 0.3328, total_t3: 0.3103, total_t4: 0.3023, total: 2.2940, cam_bev_norm: 13.9041, sat_bev_norm: 11.1160, seg_sat: 0.1904, seg_dice_sat: 0.0497, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.1570, seg_dice_fused: 0.0422, cam_rel_mean: 0.1971, sat_rel_mean: 0.2039, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 10.8914 2026-04-19 00:01:50,311 - mmdet - INFO - Iter [50300/55932] lr: 3.679e-06, eta: 3:39:34, time: 2.109, data_time: 0.101, memory: 34737, seg: 0.2471, seg_dice: 0.0583, seg_t0: 0.4165, seg_dice_t0: 0.1042, seg_t1: 0.2923, seg_dice_t1: 0.0726, seg_t2: 0.2474, seg_dice_t2: 0.0605, seg_t3: 0.2444, seg_dice_t3: 0.0576, total_t0: 0.5206, total_t1: 0.3649, total_t2: 0.3079, total_t3: 0.3020, total_t4: 0.3054, total: 2.2282, cam_bev_norm: 14.0092, sat_bev_norm: 11.1169, seg_sat: 0.1862, seg_dice_sat: 0.0423, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.1624, seg_dice_fused: 0.0364, cam_rel_mean: 0.2015, sat_rel_mean: 0.2235, cam_rel_min: 0.0025, sat_rel_min: 0.0007, grad_norm: 11.1596 2026-04-19 00:03:37,418 - mmdet - INFO - Iter [50350/55932] lr: 3.658e-06, eta: 3:37:36, time: 2.142, data_time: 0.098, memory: 34737, seg: 0.2881, seg_dice: 0.0721, seg_t0: 0.4951, seg_dice_t0: 0.1248, seg_t1: 0.3419, seg_dice_t1: 0.0844, seg_t2: 0.3000, seg_dice_t2: 0.0748, seg_t3: 0.2867, seg_dice_t3: 0.0707, total_t0: 0.6199, total_t1: 0.4263, total_t2: 0.3748, total_t3: 0.3574, total_t4: 0.3602, total: 2.6865, cam_bev_norm: 13.9349, sat_bev_norm: 11.0695, seg_sat: 0.2269, seg_dice_sat: 0.0547, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2400, seg_fused: 0.2155, seg_dice_fused: 0.0509, cam_rel_mean: 0.1955, sat_rel_mean: 0.2060, cam_rel_min: 0.0030, sat_rel_min: 0.0045, grad_norm: 12.3163 2026-04-19 00:05:23,278 - mmdet - INFO - Iter [50400/55932] lr: 3.638e-06, eta: 3:35:38, time: 2.117, data_time: 0.087, memory: 34737, seg: 0.2380, seg_dice: 0.0622, seg_t0: 0.4155, seg_dice_t0: 0.1092, seg_t1: 0.3046, seg_dice_t1: 0.0777, seg_t2: 0.2619, seg_dice_t2: 0.0693, seg_t3: 0.2466, seg_dice_t3: 0.0635, total_t0: 0.5247, total_t1: 0.3823, total_t2: 0.3312, total_t3: 0.3100, total_t4: 0.3002, total: 2.2927, cam_bev_norm: 13.9139, sat_bev_norm: 11.1139, seg_sat: 0.1948, seg_dice_sat: 0.0474, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.1615, seg_dice_fused: 0.0404, cam_rel_mean: 0.1964, sat_rel_mean: 0.2171, cam_rel_min: 0.0020, sat_rel_min: 0.0000, grad_norm: 13.1206 2026-04-19 00:07:08,743 - mmdet - INFO - Iter [50450/55932] lr: 3.617e-06, eta: 3:33:39, time: 2.109, data_time: 0.097, memory: 34737, seg: 0.2276, seg_dice: 0.0615, seg_t0: 0.3811, seg_dice_t0: 0.1059, seg_t1: 0.2733, seg_dice_t1: 0.0731, seg_t2: 0.2342, seg_dice_t2: 0.0630, seg_t3: 0.2261, seg_dice_t3: 0.0617, total_t0: 0.4869, total_t1: 0.3464, total_t2: 0.2972, total_t3: 0.2877, total_t4: 0.2891, total: 2.1478, cam_bev_norm: 13.9700, sat_bev_norm: 11.1456, seg_sat: 0.1793, seg_dice_sat: 0.0480, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.1681, seg_dice_fused: 0.0451, cam_rel_mean: 0.1866, sat_rel_mean: 0.1953, cam_rel_min: 0.0035, sat_rel_min: 0.0037, grad_norm: 11.0509 2026-04-19 00:08:53,881 - mmdet - INFO - Iter [50500/55932] lr: 3.597e-06, eta: 3:31:41, time: 2.103, data_time: 0.094, memory: 34737, seg: 0.2451, seg_dice: 0.0622, seg_t0: 0.4158, seg_dice_t0: 0.1013, seg_t1: 0.3048, seg_dice_t1: 0.0734, seg_t2: 0.2675, seg_dice_t2: 0.0658, seg_t3: 0.2488, seg_dice_t3: 0.0601, total_t0: 0.5170, total_t1: 0.3782, total_t2: 0.3333, total_t3: 0.3089, total_t4: 0.3072, total: 2.2932, cam_bev_norm: 13.9245, sat_bev_norm: 11.1015, seg_sat: 0.1901, seg_dice_sat: 0.0458, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.0200, seg_fused: 0.1706, seg_dice_fused: 0.0420, cam_rel_mean: 0.1942, sat_rel_mean: 0.2056, cam_rel_min: 0.0035, sat_rel_min: 0.0030, grad_norm: 11.0248 2026-04-19 00:10:39,362 - mmdet - INFO - Iter [50550/55932] lr: 3.577e-06, eta: 3:29:43, time: 2.110, data_time: 0.101, memory: 34737, seg: 0.2569, seg_dice: 0.0615, seg_t0: 0.3947, seg_dice_t0: 0.0984, seg_t1: 0.2932, seg_dice_t1: 0.0708, seg_t2: 0.2573, seg_dice_t2: 0.0608, seg_t3: 0.2461, seg_dice_t3: 0.0613, total_t0: 0.4931, total_t1: 0.3640, total_t2: 0.3181, total_t3: 0.3074, total_t4: 0.3184, total: 2.2770, cam_bev_norm: 13.9709, sat_bev_norm: 11.1341, seg_sat: 0.2000, seg_dice_sat: 0.0503, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0400, seg_fused: 0.1823, seg_dice_fused: 0.0434, cam_rel_mean: 0.1932, sat_rel_mean: 0.1920, cam_rel_min: 0.0025, sat_rel_min: 0.0052, grad_norm: 11.5825 2026-04-19 00:12:25,568 - mmdet - INFO - Iter [50600/55932] lr: 3.558e-06, eta: 3:27:45, time: 2.124, data_time: 0.098, memory: 34737, seg: 0.2494, seg_dice: 0.0573, seg_t0: 0.4224, seg_dice_t0: 0.1050, seg_t1: 0.2990, seg_dice_t1: 0.0786, seg_t2: 0.2559, seg_dice_t2: 0.0633, seg_t3: 0.2473, seg_dice_t3: 0.0574, total_t0: 0.5273, total_t1: 0.3776, total_t2: 0.3192, total_t3: 0.3046, total_t4: 0.3067, total: 2.2673, cam_bev_norm: 13.9692, sat_bev_norm: 11.1046, seg_sat: 0.1840, seg_dice_sat: 0.0405, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.1706, seg_dice_fused: 0.0367, cam_rel_mean: 0.1919, sat_rel_mean: 0.2072, cam_rel_min: 0.0030, sat_rel_min: 0.0030, grad_norm: 10.8721 2026-04-19 00:14:11,581 - mmdet - INFO - Iter [50650/55932] lr: 3.538e-06, eta: 3:25:47, time: 2.120, data_time: 0.095, memory: 34737, seg: 0.2334, seg_dice: 0.0621, seg_t0: 0.4195, seg_dice_t0: 0.1161, seg_t1: 0.2863, seg_dice_t1: 0.0831, seg_t2: 0.2486, seg_dice_t2: 0.0726, seg_t3: 0.2424, seg_dice_t3: 0.0713, total_t0: 0.5356, total_t1: 0.3694, total_t2: 0.3212, total_t3: 0.3137, total_t4: 0.2955, total: 2.2614, cam_bev_norm: 13.9476, sat_bev_norm: 11.1016, seg_sat: 0.1844, seg_dice_sat: 0.0461, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1600, seg_fused: 0.1554, seg_dice_fused: 0.0400, cam_rel_mean: 0.2072, sat_rel_mean: 0.2139, cam_rel_min: 0.0010, sat_rel_min: 0.0015, grad_norm: 11.2103 2026-04-19 00:15:57,277 - mmdet - INFO - Iter [50700/55932] lr: 3.519e-06, eta: 3:23:49, time: 2.114, data_time: 0.102, memory: 34737, seg: 0.2330, seg_dice: 0.0564, seg_t0: 0.3857, seg_dice_t0: 0.0934, seg_t1: 0.2948, seg_dice_t1: 0.0714, seg_t2: 0.2430, seg_dice_t2: 0.0587, seg_t3: 0.2322, seg_dice_t3: 0.0556, total_t0: 0.4791, total_t1: 0.3663, total_t2: 0.3017, total_t3: 0.2878, total_t4: 0.2894, total: 2.1595, cam_bev_norm: 13.9320, sat_bev_norm: 11.0966, seg_sat: 0.1887, seg_dice_sat: 0.0455, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.1616, seg_dice_fused: 0.0393, cam_rel_mean: 0.1939, sat_rel_mean: 0.2153, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 11.2115 2026-04-19 00:17:42,381 - mmdet - INFO - Iter [50750/55932] lr: 3.499e-06, eta: 3:21:51, time: 2.102, data_time: 0.095, memory: 34737, seg: 0.2496, seg_dice: 0.0709, seg_t0: 0.4065, seg_dice_t0: 0.1119, seg_t1: 0.2894, seg_dice_t1: 0.0777, seg_t2: 0.2588, seg_dice_t2: 0.0679, seg_t3: 0.2509, seg_dice_t3: 0.0633, total_t0: 0.5184, total_t1: 0.3670, total_t2: 0.3267, total_t3: 0.3142, total_t4: 0.3205, total: 2.3136, cam_bev_norm: 13.9469, sat_bev_norm: 11.1788, seg_sat: 0.2004, seg_dice_sat: 0.0534, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.1662, seg_dice_fused: 0.0468, cam_rel_mean: 0.2035, sat_rel_mean: 0.2188, cam_rel_min: 0.0020, sat_rel_min: 0.0007, grad_norm: 11.1531 2026-04-19 00:19:25,409 - mmdet - INFO - Iter [50800/55932] lr: 3.480e-06, eta: 3:19:53, time: 2.060, data_time: 0.089, memory: 34737, seg: 0.2584, seg_dice: 0.0642, seg_t0: 0.4383, seg_dice_t0: 0.1145, seg_t1: 0.3210, seg_dice_t1: 0.0824, seg_t2: 0.2762, seg_dice_t2: 0.0650, seg_t3: 0.2622, seg_dice_t3: 0.0616, total_t0: 0.5528, total_t1: 0.4034, total_t2: 0.3412, total_t3: 0.3238, total_t4: 0.3226, total: 2.3906, cam_bev_norm: 13.9299, sat_bev_norm: 11.1665, seg_sat: 0.1942, seg_dice_sat: 0.0435, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2200, seg_fused: 0.1715, seg_dice_fused: 0.0375, cam_rel_mean: 0.2018, sat_rel_mean: 0.2255, cam_rel_min: 0.0025, sat_rel_min: 0.0000, grad_norm: 11.2535 2026-04-19 00:21:13,328 - mmdet - INFO - Iter [50850/55932] lr: 3.461e-06, eta: 3:17:55, time: 2.159, data_time: 0.109, memory: 34737, seg: 0.2483, seg_dice: 0.0624, seg_t0: 0.3725, seg_dice_t0: 0.0998, seg_t1: 0.2776, seg_dice_t1: 0.0676, seg_t2: 0.2524, seg_dice_t2: 0.0583, seg_t3: 0.2419, seg_dice_t3: 0.0570, total_t0: 0.4723, total_t1: 0.3453, total_t2: 0.3108, total_t3: 0.2989, total_t4: 0.3107, total: 2.1960, cam_bev_norm: 13.9673, sat_bev_norm: 11.1421, seg_sat: 0.1967, seg_dice_sat: 0.0472, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.1733, seg_dice_fused: 0.0408, cam_rel_mean: 0.2039, sat_rel_mean: 0.2087, cam_rel_min: 0.0020, sat_rel_min: 0.0030, grad_norm: 10.3174 2026-04-19 00:22:59,852 - mmdet - INFO - Iter [50900/55932] lr: 3.443e-06, eta: 3:15:57, time: 2.130, data_time: 0.101, memory: 34737, seg: 0.2540, seg_dice: 0.0713, seg_t0: 0.4196, seg_dice_t0: 0.1128, seg_t1: 0.2942, seg_dice_t1: 0.0777, seg_t2: 0.2531, seg_dice_t2: 0.0730, seg_t3: 0.2467, seg_dice_t3: 0.0690, total_t0: 0.5324, total_t1: 0.3719, total_t2: 0.3261, total_t3: 0.3157, total_t4: 0.3252, total: 2.3478, cam_bev_norm: 13.9817, sat_bev_norm: 11.1442, seg_sat: 0.1992, seg_dice_sat: 0.0562, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1200, seg_fused: 0.1730, seg_dice_fused: 0.0481, cam_rel_mean: 0.1854, sat_rel_mean: 0.2133, cam_rel_min: 0.0040, sat_rel_min: 0.0015, grad_norm: 11.0829 2026-04-19 00:24:46,800 - mmdet - INFO - Iter [50950/55932] lr: 3.424e-06, eta: 3:13:59, time: 2.139, data_time: 0.103, memory: 34737, seg: 0.2367, seg_dice: 0.0581, seg_t0: 0.4168, seg_dice_t0: 0.1113, seg_t1: 0.2882, seg_dice_t1: 0.0759, seg_t2: 0.2486, seg_dice_t2: 0.0655, seg_t3: 0.2356, seg_dice_t3: 0.0591, total_t0: 0.5281, total_t1: 0.3641, total_t2: 0.3141, total_t3: 0.2947, total_t4: 0.2949, total: 2.2126, cam_bev_norm: 13.9627, sat_bev_norm: 11.1339, seg_sat: 0.1788, seg_dice_sat: 0.0437, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.1564, seg_dice_fused: 0.0378, cam_rel_mean: 0.1991, sat_rel_mean: 0.2069, cam_rel_min: 0.0025, sat_rel_min: 0.0023, grad_norm: 10.8225 2026-04-19 00:26:33,083 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-19 00:26:33,084 - mmdet - INFO - Iter [51000/55932] lr: 3.406e-06, eta: 3:12:01, time: 2.126, data_time: 0.103, memory: 34737, seg: 0.2557, seg_dice: 0.0653, seg_t0: 0.4061, seg_dice_t0: 0.1092, seg_t1: 0.2862, seg_dice_t1: 0.0779, seg_t2: 0.2533, seg_dice_t2: 0.0703, seg_t3: 0.2500, seg_dice_t3: 0.0640, total_t0: 0.5153, total_t1: 0.3641, total_t2: 0.3237, total_t3: 0.3140, total_t4: 0.3210, total: 2.3009, cam_bev_norm: 13.9449, sat_bev_norm: 11.0689, seg_sat: 0.2026, seg_dice_sat: 0.0493, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.1681, seg_dice_fused: 0.0430, cam_rel_mean: 0.2072, sat_rel_mean: 0.2230, cam_rel_min: 0.0020, sat_rel_min: 0.0007, grad_norm: 11.6363 2026-04-19 00:28:19,225 - mmdet - INFO - Iter [51050/55932] lr: 3.388e-06, eta: 3:10:04, time: 2.123, data_time: 0.103, memory: 34737, seg: 0.2335, seg_dice: 0.0587, seg_t0: 0.4090, seg_dice_t0: 0.1004, seg_t1: 0.2960, seg_dice_t1: 0.0747, seg_t2: 0.2574, seg_dice_t2: 0.0610, seg_t3: 0.2432, seg_dice_t3: 0.0577, total_t0: 0.5094, total_t1: 0.3706, total_t2: 0.3184, total_t3: 0.3009, total_t4: 0.2922, total: 2.2028, cam_bev_norm: 13.9551, sat_bev_norm: 11.1250, seg_sat: 0.1826, seg_dice_sat: 0.0413, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.1524, seg_dice_fused: 0.0350, cam_rel_mean: 0.2009, sat_rel_mean: 0.2233, cam_rel_min: 0.0020, sat_rel_min: 0.0000, grad_norm: 12.4070 2026-04-19 00:30:05,180 - mmdet - INFO - Iter [51100/55932] lr: 3.370e-06, eta: 3:08:06, time: 2.119, data_time: 0.100, memory: 34737, seg: 0.2575, seg_dice: 0.0632, seg_t0: 0.4167, seg_dice_t0: 0.1090, seg_t1: 0.2934, seg_dice_t1: 0.0766, seg_t2: 0.2561, seg_dice_t2: 0.0667, seg_t3: 0.2486, seg_dice_t3: 0.0620, total_t0: 0.5257, total_t1: 0.3700, total_t2: 0.3228, total_t3: 0.3106, total_t4: 0.3208, total: 2.3102, cam_bev_norm: 13.9601, sat_bev_norm: 11.1736, seg_sat: 0.1988, seg_dice_sat: 0.0483, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2200, seg_fused: 0.1711, seg_dice_fused: 0.0423, cam_rel_mean: 0.2017, sat_rel_mean: 0.2163, cam_rel_min: 0.0020, sat_rel_min: 0.0015, grad_norm: 10.9958 2026-04-19 00:31:52,740 - mmdet - INFO - Iter [51150/55932] lr: 3.352e-06, eta: 3:06:08, time: 2.151, data_time: 0.104, memory: 34737, seg: 0.2643, seg_dice: 0.0640, seg_t0: 0.4178, seg_dice_t0: 0.1037, seg_t1: 0.3155, seg_dice_t1: 0.0772, seg_t2: 0.2788, seg_dice_t2: 0.0655, seg_t3: 0.2644, seg_dice_t3: 0.0634, total_t0: 0.5215, total_t1: 0.3927, total_t2: 0.3443, total_t3: 0.3277, total_t4: 0.3282, total: 2.3509, cam_bev_norm: 13.9291, sat_bev_norm: 11.1370, seg_sat: 0.1919, seg_dice_sat: 0.0428, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.1644, seg_dice_fused: 0.0373, cam_rel_mean: 0.2101, sat_rel_mean: 0.2318, cam_rel_min: 0.0020, sat_rel_min: 0.0000, grad_norm: 11.2176 2026-04-19 00:33:39,779 - mmdet - INFO - Iter [51200/55932] lr: 3.334e-06, eta: 3:04:11, time: 2.140, data_time: 0.103, memory: 34737, seg: 0.2602, seg_dice: 0.0701, seg_t0: 0.4167, seg_dice_t0: 0.1139, seg_t1: 0.2940, seg_dice_t1: 0.0785, seg_t2: 0.2608, seg_dice_t2: 0.0718, seg_t3: 0.2554, seg_dice_t3: 0.0694, total_t0: 0.5306, total_t1: 0.3725, total_t2: 0.3326, total_t3: 0.3248, total_t4: 0.3303, total: 2.3512, cam_bev_norm: 13.8824, sat_bev_norm: 11.1247, seg_sat: 0.1941, seg_dice_sat: 0.0510, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.1694, seg_dice_fused: 0.0459, cam_rel_mean: 0.1996, sat_rel_mean: 0.2113, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 10.0878 2026-04-19 00:35:26,261 - mmdet - INFO - Iter [51250/55932] lr: 3.317e-06, eta: 3:02:13, time: 2.130, data_time: 0.103, memory: 34737, seg: 0.2375, seg_dice: 0.0609, seg_t0: 0.3693, seg_dice_t0: 0.1049, seg_t1: 0.2637, seg_dice_t1: 0.0734, seg_t2: 0.2389, seg_dice_t2: 0.0621, seg_t3: 0.2275, seg_dice_t3: 0.0616, total_t0: 0.4742, total_t1: 0.3371, total_t2: 0.3010, total_t3: 0.2891, total_t4: 0.2984, total: 2.1549, cam_bev_norm: 13.9524, sat_bev_norm: 11.0234, seg_sat: 0.2016, seg_dice_sat: 0.0487, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1600, seg_fused: 0.1638, seg_dice_fused: 0.0410, cam_rel_mean: 0.1990, sat_rel_mean: 0.2165, cam_rel_min: 0.0020, sat_rel_min: 0.0008, grad_norm: 12.1136 2026-04-19 00:38:42,380 - mmdet - INFO - Iter [51300/55932] lr: 3.300e-06, eta: 3:00:23, time: 3.922, data_time: 1.871, memory: 34737, seg: 0.2384, seg_dice: 0.0558, seg_t0: 0.4105, seg_dice_t0: 0.1037, seg_t1: 0.3037, seg_dice_t1: 0.0737, seg_t2: 0.2753, seg_dice_t2: 0.0633, seg_t3: 0.2494, seg_dice_t3: 0.0580, total_t0: 0.5142, total_t1: 0.3774, total_t2: 0.3385, total_t3: 0.3074, total_t4: 0.2942, total: 2.2453, cam_bev_norm: 13.9370, sat_bev_norm: 11.1259, seg_sat: 0.1812, seg_dice_sat: 0.0406, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.1569, seg_dice_fused: 0.0349, cam_rel_mean: 0.2030, sat_rel_mean: 0.2193, cam_rel_min: 0.0020, sat_rel_min: 0.0008, grad_norm: 11.6588 2026-04-19 00:40:28,849 - mmdet - INFO - Iter [51350/55932] lr: 3.283e-06, eta: 2:58:25, time: 2.129, data_time: 0.099, memory: 34737, seg: 0.2479, seg_dice: 0.0583, seg_t0: 0.4084, seg_dice_t0: 0.1079, seg_t1: 0.2933, seg_dice_t1: 0.0795, seg_t2: 0.2550, seg_dice_t2: 0.0679, seg_t3: 0.2410, seg_dice_t3: 0.0635, total_t0: 0.5163, total_t1: 0.3728, total_t2: 0.3229, total_t3: 0.3046, total_t4: 0.3062, total: 2.2454, cam_bev_norm: 13.8924, sat_bev_norm: 11.0835, seg_sat: 0.1774, seg_dice_sat: 0.0435, mask_cam_zeroed: 0.2200, mask_cam_noised: 0.1800, seg_fused: 0.1644, seg_dice_fused: 0.0375, cam_rel_mean: 0.1756, sat_rel_mean: 0.2190, cam_rel_min: 0.0055, sat_rel_min: 0.0008, grad_norm: 10.8738 2026-04-19 00:42:16,545 - mmdet - INFO - Iter [51400/55932] lr: 3.266e-06, eta: 2:56:28, time: 2.154, data_time: 0.102, memory: 34737, seg: 0.2605, seg_dice: 0.0670, seg_t0: 0.4299, seg_dice_t0: 0.1098, seg_t1: 0.3074, seg_dice_t1: 0.0813, seg_t2: 0.2802, seg_dice_t2: 0.0703, seg_t3: 0.2665, seg_dice_t3: 0.0687, total_t0: 0.5396, total_t1: 0.3887, total_t2: 0.3505, total_t3: 0.3353, total_t4: 0.3275, total: 2.3584, cam_bev_norm: 14.0061, sat_bev_norm: 11.2428, seg_sat: 0.1794, seg_dice_sat: 0.0428, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.1564, seg_dice_fused: 0.0381, cam_rel_mean: 0.2040, sat_rel_mean: 0.2365, cam_rel_min: 0.0025, sat_rel_min: 0.0000, grad_norm: 10.8990 2026-04-19 00:44:03,699 - mmdet - INFO - Iter [51450/55932] lr: 3.249e-06, eta: 2:54:30, time: 2.143, data_time: 0.104, memory: 34737, seg: 0.2494, seg_dice: 0.0664, seg_t0: 0.3889, seg_dice_t0: 0.1171, seg_t1: 0.2974, seg_dice_t1: 0.0926, seg_t2: 0.2529, seg_dice_t2: 0.0747, seg_t3: 0.2479, seg_dice_t3: 0.0668, total_t0: 0.5061, total_t1: 0.3901, total_t2: 0.3276, total_t3: 0.3147, total_t4: 0.3158, total: 2.2734, cam_bev_norm: 13.8939, sat_bev_norm: 11.0915, seg_sat: 0.1726, seg_dice_sat: 0.0464, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1400, seg_fused: 0.1572, seg_dice_fused: 0.0430, cam_rel_mean: 0.1818, sat_rel_mean: 0.2051, cam_rel_min: 0.0030, sat_rel_min: 0.0008, grad_norm: 11.3359 2026-04-19 00:45:50,097 - mmdet - INFO - Iter [51500/55932] lr: 3.232e-06, eta: 2:52:32, time: 2.128, data_time: 0.103, memory: 34737, seg: 0.2547, seg_dice: 0.0759, seg_t0: 0.4596, seg_dice_t0: 0.1203, seg_t1: 0.3067, seg_dice_t1: 0.0823, seg_t2: 0.2765, seg_dice_t2: 0.0695, seg_t3: 0.2539, seg_dice_t3: 0.0713, total_t0: 0.5799, total_t1: 0.3890, total_t2: 0.3460, total_t3: 0.3252, total_t4: 0.3306, total: 2.4122, cam_bev_norm: 13.9307, sat_bev_norm: 11.1362, seg_sat: 0.1813, seg_dice_sat: 0.0496, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.1614, seg_dice_fused: 0.0493, cam_rel_mean: 0.2056, sat_rel_mean: 0.2230, cam_rel_min: 0.0020, sat_rel_min: 0.0008, grad_norm: 12.9696 2026-04-19 00:47:36,420 - mmdet - INFO - Iter [51550/55932] lr: 3.216e-06, eta: 2:50:35, time: 2.126, data_time: 0.100, memory: 34737, seg: 0.2256, seg_dice: 0.0571, seg_t0: 0.4061, seg_dice_t0: 0.1069, seg_t1: 0.2910, seg_dice_t1: 0.0754, seg_t2: 0.2482, seg_dice_t2: 0.0613, seg_t3: 0.2299, seg_dice_t3: 0.0575, total_t0: 0.5130, total_t1: 0.3664, total_t2: 0.3096, total_t3: 0.2875, total_t4: 0.2826, total: 2.1400, cam_bev_norm: 13.9963, sat_bev_norm: 11.2461, seg_sat: 0.1667, seg_dice_sat: 0.0388, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1400, seg_fused: 0.1410, seg_dice_fused: 0.0345, cam_rel_mean: 0.2174, sat_rel_mean: 0.2186, cam_rel_min: 0.0005, sat_rel_min: 0.0015, grad_norm: 12.1598 2026-04-19 00:49:23,758 - mmdet - INFO - Iter [51600/55932] lr: 3.200e-06, eta: 2:48:37, time: 2.147, data_time: 0.107, memory: 34737, seg: 0.2543, seg_dice: 0.0643, seg_t0: 0.4171, seg_dice_t0: 0.1167, seg_t1: 0.2964, seg_dice_t1: 0.0764, seg_t2: 0.2621, seg_dice_t2: 0.0704, seg_t3: 0.2542, seg_dice_t3: 0.0669, total_t0: 0.5338, total_t1: 0.3728, total_t2: 0.3325, total_t3: 0.3211, total_t4: 0.3186, total: 2.3085, cam_bev_norm: 13.8949, sat_bev_norm: 11.0674, seg_sat: 0.1841, seg_dice_sat: 0.0456, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.1596, seg_dice_fused: 0.0403, cam_rel_mean: 0.1943, sat_rel_mean: 0.2091, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 11.8031 2026-04-19 00:51:10,357 - mmdet - INFO - Iter [51650/55932] lr: 3.184e-06, eta: 2:46:40, time: 2.132, data_time: 0.105, memory: 34737, seg: 0.2300, seg_dice: 0.0571, seg_t0: 0.4058, seg_dice_t0: 0.1029, seg_t1: 0.2888, seg_dice_t1: 0.0690, seg_t2: 0.2532, seg_dice_t2: 0.0668, seg_t3: 0.2316, seg_dice_t3: 0.0583, total_t0: 0.5086, total_t1: 0.3578, total_t2: 0.3200, total_t3: 0.2899, total_t4: 0.2870, total: 2.1510, cam_bev_norm: 13.9428, sat_bev_norm: 11.1586, seg_sat: 0.1654, seg_dice_sat: 0.0408, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1800, seg_fused: 0.1459, seg_dice_fused: 0.0356, cam_rel_mean: 0.1873, sat_rel_mean: 0.2259, cam_rel_min: 0.0040, sat_rel_min: 0.0000, grad_norm: 11.7208 2026-04-19 00:52:57,466 - mmdet - INFO - Iter [51700/55932] lr: 3.168e-06, eta: 2:44:42, time: 2.142, data_time: 0.101, memory: 34737, seg: 0.2511, seg_dice: 0.0634, seg_t0: 0.3942, seg_dice_t0: 0.1006, seg_t1: 0.2829, seg_dice_t1: 0.0706, seg_t2: 0.2464, seg_dice_t2: 0.0644, seg_t3: 0.2437, seg_dice_t3: 0.0625, total_t0: 0.4948, total_t1: 0.3535, total_t2: 0.3108, total_t3: 0.3063, total_t4: 0.3145, total: 2.1960, cam_bev_norm: 13.9418, sat_bev_norm: 11.1785, seg_sat: 0.1738, seg_dice_sat: 0.0422, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.1599, seg_dice_fused: 0.0402, cam_rel_mean: 0.2022, sat_rel_mean: 0.2184, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 10.3836 2026-04-19 00:54:44,007 - mmdet - INFO - Iter [51750/55932] lr: 3.153e-06, eta: 2:42:44, time: 2.131, data_time: 0.103, memory: 34737, seg: 0.2674, seg_dice: 0.0679, seg_t0: 0.4225, seg_dice_t0: 0.1169, seg_t1: 0.3152, seg_dice_t1: 0.0862, seg_t2: 0.2789, seg_dice_t2: 0.0698, seg_t3: 0.2720, seg_dice_t3: 0.0670, total_t0: 0.5394, total_t1: 0.4015, total_t2: 0.3487, total_t3: 0.3390, total_t4: 0.3353, total: 2.4214, cam_bev_norm: 13.8898, sat_bev_norm: 11.1384, seg_sat: 0.1943, seg_dice_sat: 0.0479, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 0.1724, seg_dice_fused: 0.0430, cam_rel_mean: 0.2048, sat_rel_mean: 0.2090, cam_rel_min: 0.0015, sat_rel_min: 0.0023, grad_norm: 10.8609 2026-04-19 00:56:33,371 - mmdet - INFO - Iter [51800/55932] lr: 3.137e-06, eta: 2:40:47, time: 2.187, data_time: 0.103, memory: 34737, seg: 0.2701, seg_dice: 0.0617, seg_t0: 0.4222, seg_dice_t0: 0.1039, seg_t1: 0.3180, seg_dice_t1: 0.0739, seg_t2: 0.2806, seg_dice_t2: 0.0638, seg_t3: 0.2716, seg_dice_t3: 0.0618, total_t0: 0.5261, total_t1: 0.3919, total_t2: 0.3444, total_t3: 0.3334, total_t4: 0.3318, total: 2.3871, cam_bev_norm: 13.9369, sat_bev_norm: 11.1008, seg_sat: 0.1901, seg_dice_sat: 0.0400, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.1890, seg_dice_fused: 0.0404, cam_rel_mean: 0.2022, sat_rel_mean: 0.1992, cam_rel_min: 0.0030, sat_rel_min: 0.0060, grad_norm: 10.6931 2026-04-19 00:58:19,931 - mmdet - INFO - Iter [51850/55932] lr: 3.122e-06, eta: 2:38:50, time: 2.131, data_time: 0.098, memory: 34737, seg: 0.2475, seg_dice: 0.0751, seg_t0: 0.4201, seg_dice_t0: 0.1138, seg_t1: 0.2931, seg_dice_t1: 0.0834, seg_t2: 0.2541, seg_dice_t2: 0.0736, seg_t3: 0.2469, seg_dice_t3: 0.0694, total_t0: 0.5338, total_t1: 0.3765, total_t2: 0.3277, total_t3: 0.3163, total_t4: 0.3225, total: 2.3415, cam_bev_norm: 13.9022, sat_bev_norm: 11.1202, seg_sat: 0.1794, seg_dice_sat: 0.0589, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.1707, seg_dice_fused: 0.0558, cam_rel_mean: 0.1959, sat_rel_mean: 0.1954, cam_rel_min: 0.0025, sat_rel_min: 0.0038, grad_norm: 11.1980 2026-04-19 01:00:06,349 - mmdet - INFO - Iter [51900/55932] lr: 3.107e-06, eta: 2:36:52, time: 2.128, data_time: 0.097, memory: 34737, seg: 0.2443, seg_dice: 0.0621, seg_t0: 0.4117, seg_dice_t0: 0.1153, seg_t1: 0.2926, seg_dice_t1: 0.0762, seg_t2: 0.2537, seg_dice_t2: 0.0659, seg_t3: 0.2340, seg_dice_t3: 0.0624, total_t0: 0.5271, total_t1: 0.3687, total_t2: 0.3196, total_t3: 0.2965, total_t4: 0.3064, total: 2.2317, cam_bev_norm: 13.9067, sat_bev_norm: 11.1326, seg_sat: 0.1717, seg_dice_sat: 0.0446, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1200, seg_fused: 0.1566, seg_dice_fused: 0.0406, cam_rel_mean: 0.1898, sat_rel_mean: 0.2155, cam_rel_min: 0.0035, sat_rel_min: 0.0008, grad_norm: 11.6256 2026-04-19 01:01:52,812 - mmdet - INFO - Iter [51950/55932] lr: 3.092e-06, eta: 2:34:54, time: 2.129, data_time: 0.101, memory: 34737, seg: 0.2610, seg_dice: 0.0679, seg_t0: 0.4348, seg_dice_t0: 0.1160, seg_t1: 0.3133, seg_dice_t1: 0.0804, seg_t2: 0.2736, seg_dice_t2: 0.0709, seg_t3: 0.2567, seg_dice_t3: 0.0660, total_t0: 0.5508, total_t1: 0.3937, total_t2: 0.3445, total_t3: 0.3228, total_t4: 0.3290, total: 2.3819, cam_bev_norm: 13.8992, sat_bev_norm: 11.0883, seg_sat: 0.1835, seg_dice_sat: 0.0468, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.2000, seg_fused: 0.1676, seg_dice_fused: 0.0432, cam_rel_mean: 0.1815, sat_rel_mean: 0.2179, cam_rel_min: 0.0045, sat_rel_min: 0.0008, grad_norm: 10.5673 2026-04-19 01:03:38,426 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-19 01:03:38,427 - mmdet - INFO - Iter [52000/55932] lr: 3.077e-06, eta: 2:32:57, time: 2.112, data_time: 0.096, memory: 34737, seg: 0.2445, seg_dice: 0.0592, seg_t0: 0.4236, seg_dice_t0: 0.1090, seg_t1: 0.2953, seg_dice_t1: 0.0767, seg_t2: 0.2587, seg_dice_t2: 0.0681, seg_t3: 0.2486, seg_dice_t3: 0.0618, total_t0: 0.5326, total_t1: 0.3720, total_t2: 0.3268, total_t3: 0.3104, total_t4: 0.3037, total: 2.2588, cam_bev_norm: 13.9067, sat_bev_norm: 11.1833, seg_sat: 0.1754, seg_dice_sat: 0.0409, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.1595, seg_dice_fused: 0.0375, cam_rel_mean: 0.1880, sat_rel_mean: 0.2107, cam_rel_min: 0.0030, sat_rel_min: 0.0015, grad_norm: 11.7860 2026-04-19 01:05:24,628 - mmdet - INFO - Iter [52050/55932] lr: 3.063e-06, eta: 2:30:59, time: 2.124, data_time: 0.101, memory: 34737, seg: 0.2427, seg_dice: 0.0593, seg_t0: 0.3799, seg_dice_t0: 0.0935, seg_t1: 0.2717, seg_dice_t1: 0.0665, seg_t2: 0.2482, seg_dice_t2: 0.0638, seg_t3: 0.2348, seg_dice_t3: 0.0571, total_t0: 0.4734, total_t1: 0.3382, total_t2: 0.3120, total_t3: 0.2918, total_t4: 0.3019, total: 2.1277, cam_bev_norm: 13.9628, sat_bev_norm: 11.1103, seg_sat: 0.1784, seg_dice_sat: 0.0409, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.1549, seg_dice_fused: 0.0362, cam_rel_mean: 0.2074, sat_rel_mean: 0.2193, cam_rel_min: 0.0020, sat_rel_min: 0.0015, grad_norm: 11.2999 2026-04-19 01:07:10,385 - mmdet - INFO - Iter [52100/55932] lr: 3.048e-06, eta: 2:29:02, time: 2.115, data_time: 0.096, memory: 34737, seg: 0.2672, seg_dice: 0.0727, seg_t0: 0.4531, seg_dice_t0: 0.1132, seg_t1: 0.3064, seg_dice_t1: 0.0810, seg_t2: 0.2722, seg_dice_t2: 0.0740, seg_t3: 0.2669, seg_dice_t3: 0.0699, total_t0: 0.5663, total_t1: 0.3874, total_t2: 0.3462, total_t3: 0.3368, total_t4: 0.3398, total: 2.4607, cam_bev_norm: 13.9585, sat_bev_norm: 11.0794, seg_sat: 0.2025, seg_dice_sat: 0.0554, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.1764, seg_dice_fused: 0.0498, cam_rel_mean: 0.2026, sat_rel_mean: 0.2133, cam_rel_min: 0.0030, sat_rel_min: 0.0030, grad_norm: 12.4079 2026-04-19 01:08:56,258 - mmdet - INFO - Iter [52150/55932] lr: 3.034e-06, eta: 2:27:04, time: 2.117, data_time: 0.098, memory: 34737, seg: 0.2552, seg_dice: 0.0721, seg_t0: 0.3914, seg_dice_t0: 0.1032, seg_t1: 0.2852, seg_dice_t1: 0.0745, seg_t2: 0.2581, seg_dice_t2: 0.0687, seg_t3: 0.2518, seg_dice_t3: 0.0675, total_t0: 0.4946, total_t1: 0.3597, total_t2: 0.3268, total_t3: 0.3193, total_t4: 0.3273, total: 2.2567, cam_bev_norm: 13.8350, sat_bev_norm: 11.1315, seg_sat: 0.1757, seg_dice_sat: 0.0490, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1800, seg_fused: 0.1572, seg_dice_fused: 0.0471, cam_rel_mean: 0.1971, sat_rel_mean: 0.2037, cam_rel_min: 0.0015, sat_rel_min: 0.0023, grad_norm: 11.1681 2026-04-19 01:10:42,066 - mmdet - INFO - Iter [52200/55932] lr: 3.020e-06, eta: 2:25:07, time: 2.116, data_time: 0.098, memory: 34737, seg: 0.2529, seg_dice: 0.0593, seg_t0: 0.4030, seg_dice_t0: 0.0987, seg_t1: 0.2942, seg_dice_t1: 0.0705, seg_t2: 0.2686, seg_dice_t2: 0.0660, seg_t3: 0.2521, seg_dice_t3: 0.0638, total_t0: 0.5017, total_t1: 0.3647, total_t2: 0.3346, total_t3: 0.3158, total_t4: 0.3122, total: 2.2612, cam_bev_norm: 13.9349, sat_bev_norm: 11.1309, seg_sat: 0.1851, seg_dice_sat: 0.0414, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.0800, seg_fused: 0.1681, seg_dice_fused: 0.0376, cam_rel_mean: 0.2056, sat_rel_mean: 0.2091, cam_rel_min: 0.0020, sat_rel_min: 0.0030, grad_norm: 14.4548 2026-04-19 01:12:28,061 - mmdet - INFO - Iter [52250/55932] lr: 3.006e-06, eta: 2:23:10, time: 2.120, data_time: 0.096, memory: 34737, seg: 0.2519, seg_dice: 0.0580, seg_t0: 0.4018, seg_dice_t0: 0.1003, seg_t1: 0.3044, seg_dice_t1: 0.0734, seg_t2: 0.2736, seg_dice_t2: 0.0611, seg_t3: 0.2541, seg_dice_t3: 0.0594, total_t0: 0.5021, total_t1: 0.3778, total_t2: 0.3347, total_t3: 0.3135, total_t4: 0.3099, total: 2.2803, cam_bev_norm: 13.9009, sat_bev_norm: 11.0952, seg_sat: 0.1867, seg_dice_sat: 0.0426, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.1740, seg_dice_fused: 0.0392, cam_rel_mean: 0.1993, sat_rel_mean: 0.2146, cam_rel_min: 0.0030, sat_rel_min: 0.0030, grad_norm: 11.7642 2026-04-19 01:14:13,521 - mmdet - INFO - Iter [52300/55932] lr: 2.993e-06, eta: 2:21:12, time: 2.109, data_time: 0.095, memory: 34737, seg: 0.2414, seg_dice: 0.0616, seg_t0: 0.3868, seg_dice_t0: 0.1001, seg_t1: 0.2661, seg_dice_t1: 0.0686, seg_t2: 0.2440, seg_dice_t2: 0.0577, seg_t3: 0.2477, seg_dice_t3: 0.0582, total_t0: 0.4869, total_t1: 0.3346, total_t2: 0.3017, total_t3: 0.3059, total_t4: 0.3030, total: 2.1426, cam_bev_norm: 13.9430, sat_bev_norm: 11.1218, seg_sat: 0.1732, seg_dice_sat: 0.0413, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.1559, seg_dice_fused: 0.0399, cam_rel_mean: 0.2062, sat_rel_mean: 0.2182, cam_rel_min: 0.0020, sat_rel_min: 0.0015, grad_norm: 12.1059 2026-04-19 01:15:59,564 - mmdet - INFO - Iter [52350/55932] lr: 2.979e-06, eta: 2:19:15, time: 2.121, data_time: 0.092, memory: 34737, seg: 0.2544, seg_dice: 0.0545, seg_t0: 0.3990, seg_dice_t0: 0.0983, seg_t1: 0.2797, seg_dice_t1: 0.0625, seg_t2: 0.2596, seg_dice_t2: 0.0582, seg_t3: 0.2522, seg_dice_t3: 0.0559, total_t0: 0.4972, total_t1: 0.3422, total_t2: 0.3178, total_t3: 0.3081, total_t4: 0.3089, total: 2.2121, cam_bev_norm: 13.9379, sat_bev_norm: 11.0489, seg_sat: 0.1940, seg_dice_sat: 0.0425, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.1669, seg_dice_fused: 0.0345, cam_rel_mean: 0.2103, sat_rel_mean: 0.2121, cam_rel_min: 0.0010, sat_rel_min: 0.0030, grad_norm: 12.5274 2026-04-19 01:17:45,657 - mmdet - INFO - Iter [52400/55932] lr: 2.966e-06, eta: 2:17:17, time: 2.122, data_time: 0.099, memory: 34737, seg: 0.2368, seg_dice: 0.0571, seg_t0: 0.3922, seg_dice_t0: 0.0923, seg_t1: 0.2896, seg_dice_t1: 0.0698, seg_t2: 0.2560, seg_dice_t2: 0.0595, seg_t3: 0.2480, seg_dice_t3: 0.0574, total_t0: 0.4846, total_t1: 0.3594, total_t2: 0.3155, total_t3: 0.3054, total_t4: 0.2939, total: 2.1784, cam_bev_norm: 13.9660, sat_bev_norm: 11.1635, seg_sat: 0.1729, seg_dice_sat: 0.0390, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1699, seg_dice_fused: 0.0381, cam_rel_mean: 0.2100, sat_rel_mean: 0.1985, cam_rel_min: 0.0020, sat_rel_min: 0.0060, grad_norm: 10.8460 2026-04-19 01:19:31,853 - mmdet - INFO - Iter [52450/55932] lr: 2.953e-06, eta: 2:15:20, time: 2.124, data_time: 0.092, memory: 34737, seg: 0.2369, seg_dice: 0.0621, seg_t0: 0.3549, seg_dice_t0: 0.0905, seg_t1: 0.2797, seg_dice_t1: 0.0673, seg_t2: 0.2458, seg_dice_t2: 0.0589, seg_t3: 0.2259, seg_dice_t3: 0.0554, total_t0: 0.4454, total_t1: 0.3470, total_t2: 0.3047, total_t3: 0.2813, total_t4: 0.2990, total: 2.0974, cam_bev_norm: 13.9319, sat_bev_norm: 11.0745, seg_sat: 0.1762, seg_dice_sat: 0.0462, mask_cam_zeroed: 0.2200, mask_cam_noised: 0.1800, seg_fused: 0.1558, seg_dice_fused: 0.0418, cam_rel_mean: 0.1816, sat_rel_mean: 0.2338, cam_rel_min: 0.0055, sat_rel_min: 0.0000, grad_norm: 10.0354 2026-04-19 01:21:17,656 - mmdet - INFO - Iter [52500/55932] lr: 2.940e-06, eta: 2:13:23, time: 2.116, data_time: 0.097, memory: 34737, seg: 0.2473, seg_dice: 0.0626, seg_t0: 0.3936, seg_dice_t0: 0.1031, seg_t1: 0.2778, seg_dice_t1: 0.0692, seg_t2: 0.2480, seg_dice_t2: 0.0600, seg_t3: 0.2422, seg_dice_t3: 0.0659, total_t0: 0.4967, total_t1: 0.3470, total_t2: 0.3080, total_t3: 0.3081, total_t4: 0.3099, total: 2.2061, cam_bev_norm: 13.9491, sat_bev_norm: 11.1162, seg_sat: 0.1838, seg_dice_sat: 0.0443, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1200, seg_fused: 0.1668, seg_dice_fused: 0.0414, cam_rel_mean: 0.1817, sat_rel_mean: 0.2113, cam_rel_min: 0.0040, sat_rel_min: 0.0023, grad_norm: 11.9536 2026-04-19 01:23:03,362 - mmdet - INFO - Iter [52550/55932] lr: 2.927e-06, eta: 2:11:26, time: 2.115, data_time: 0.096, memory: 34737, seg: 0.2408, seg_dice: 0.0665, seg_t0: 0.3849, seg_dice_t0: 0.1057, seg_t1: 0.2822, seg_dice_t1: 0.0795, seg_t2: 0.2474, seg_dice_t2: 0.0656, seg_t3: 0.2417, seg_dice_t3: 0.0624, total_t0: 0.4906, total_t1: 0.3617, total_t2: 0.3129, total_t3: 0.3041, total_t4: 0.3073, total: 2.2032, cam_bev_norm: 13.9182, sat_bev_norm: 11.1256, seg_sat: 0.1798, seg_dice_sat: 0.0488, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1547, seg_dice_fused: 0.0434, cam_rel_mean: 0.2013, sat_rel_mean: 0.2208, cam_rel_min: 0.0020, sat_rel_min: 0.0000, grad_norm: 10.7596 2026-04-19 01:24:49,029 - mmdet - INFO - Iter [52600/55932] lr: 2.915e-06, eta: 2:09:28, time: 2.113, data_time: 0.096, memory: 34737, seg: 0.2364, seg_dice: 0.0591, seg_t0: 0.3856, seg_dice_t0: 0.0975, seg_t1: 0.2873, seg_dice_t1: 0.0690, seg_t2: 0.2534, seg_dice_t2: 0.0602, seg_t3: 0.2487, seg_dice_t3: 0.0599, total_t0: 0.4831, total_t1: 0.3563, total_t2: 0.3136, total_t3: 0.3086, total_t4: 0.2955, total: 2.1760, cam_bev_norm: 13.9189, sat_bev_norm: 11.0919, seg_sat: 0.1781, seg_dice_sat: 0.0426, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.1594, seg_dice_fused: 0.0390, cam_rel_mean: 0.2109, sat_rel_mean: 0.2154, cam_rel_min: 0.0015, sat_rel_min: 0.0030, grad_norm: 11.2628 2026-04-19 01:26:34,178 - mmdet - INFO - Iter [52650/55932] lr: 2.903e-06, eta: 2:07:31, time: 2.102, data_time: 0.089, memory: 34737, seg: 0.2659, seg_dice: 0.0642, seg_t0: 0.4073, seg_dice_t0: 0.0992, seg_t1: 0.2890, seg_dice_t1: 0.0724, seg_t2: 0.2656, seg_dice_t2: 0.0641, seg_t3: 0.2691, seg_dice_t3: 0.0647, total_t0: 0.5065, total_t1: 0.3614, total_t2: 0.3298, total_t3: 0.3338, total_t4: 0.3301, total: 2.2835, cam_bev_norm: 13.8787, sat_bev_norm: 11.1347, seg_sat: 0.1830, seg_dice_sat: 0.0398, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.1616, seg_dice_fused: 0.0375, cam_rel_mean: 0.2060, sat_rel_mean: 0.2250, cam_rel_min: 0.0015, sat_rel_min: 0.0000, grad_norm: 11.0685 2026-04-19 01:28:19,924 - mmdet - INFO - Iter [52700/55932] lr: 2.891e-06, eta: 2:05:34, time: 2.115, data_time: 0.093, memory: 34737, seg: 0.2703, seg_dice: 0.0626, seg_t0: 0.4019, seg_dice_t0: 0.1065, seg_t1: 0.3046, seg_dice_t1: 0.0749, seg_t2: 0.2692, seg_dice_t2: 0.0669, seg_t3: 0.2652, seg_dice_t3: 0.0625, total_t0: 0.5084, total_t1: 0.3796, total_t2: 0.3361, total_t3: 0.3277, total_t4: 0.3330, total: 2.3292, cam_bev_norm: 13.8954, sat_bev_norm: 11.0916, seg_sat: 0.1888, seg_dice_sat: 0.0430, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1600, seg_fused: 0.1735, seg_dice_fused: 0.0392, cam_rel_mean: 0.1827, sat_rel_mean: 0.2163, cam_rel_min: 0.0040, sat_rel_min: 0.0015, grad_norm: 12.3106 2026-04-19 01:30:05,446 - mmdet - INFO - Iter [52750/55932] lr: 2.879e-06, eta: 2:03:37, time: 2.110, data_time: 0.098, memory: 34737, seg: 0.2469, seg_dice: 0.0603, seg_t0: 0.3603, seg_dice_t0: 0.0873, seg_t1: 0.2611, seg_dice_t1: 0.0613, seg_t2: 0.2463, seg_dice_t2: 0.0572, seg_t3: 0.2450, seg_dice_t3: 0.0572, total_t0: 0.4476, total_t1: 0.3223, total_t2: 0.3035, total_t3: 0.3023, total_t4: 0.3073, total: 2.1165, cam_bev_norm: 13.9169, sat_bev_norm: 11.1127, seg_sat: 0.1842, seg_dice_sat: 0.0401, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2000, seg_fused: 0.1720, seg_dice_fused: 0.0372, cam_rel_mean: 0.1900, sat_rel_mean: 0.2137, cam_rel_min: 0.0040, sat_rel_min: 0.0023, grad_norm: 11.0387 2026-04-19 01:31:51,131 - mmdet - INFO - Iter [52800/55932] lr: 2.867e-06, eta: 2:01:39, time: 2.114, data_time: 0.096, memory: 34737, seg: 0.2607, seg_dice: 0.0617, seg_t0: 0.4138, seg_dice_t0: 0.1011, seg_t1: 0.3191, seg_dice_t1: 0.0764, seg_t2: 0.2819, seg_dice_t2: 0.0690, seg_t3: 0.2718, seg_dice_t3: 0.0655, total_t0: 0.5149, total_t1: 0.3955, total_t2: 0.3510, total_t3: 0.3373, total_t4: 0.3224, total: 2.3689, cam_bev_norm: 13.9175, sat_bev_norm: 11.0974, seg_sat: 0.1920, seg_dice_sat: 0.0451, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.1697, seg_dice_fused: 0.0412, cam_rel_mean: 0.2061, sat_rel_mean: 0.2172, cam_rel_min: 0.0020, sat_rel_min: 0.0023, grad_norm: 11.3144 2026-04-19 01:33:36,478 - mmdet - INFO - Iter [52850/55932] lr: 2.855e-06, eta: 1:59:42, time: 2.107, data_time: 0.096, memory: 34737, seg: 0.2460, seg_dice: 0.0620, seg_t0: 0.3935, seg_dice_t0: 0.1025, seg_t1: 0.2767, seg_dice_t1: 0.0698, seg_t2: 0.2563, seg_dice_t2: 0.0663, seg_t3: 0.2463, seg_dice_t3: 0.0620, total_t0: 0.4960, total_t1: 0.3465, total_t2: 0.3226, total_t3: 0.3083, total_t4: 0.3079, total: 2.1989, cam_bev_norm: 13.9942, sat_bev_norm: 11.1686, seg_sat: 0.1707, seg_dice_sat: 0.0404, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.1671, seg_dice_fused: 0.0394, cam_rel_mean: 0.2081, sat_rel_mean: 0.2107, cam_rel_min: 0.0025, sat_rel_min: 0.0038, grad_norm: 11.0499 2026-04-19 01:35:22,619 - mmdet - INFO - Iter [52900/55932] lr: 2.844e-06, eta: 1:57:45, time: 2.123, data_time: 0.099, memory: 34737, seg: 0.2619, seg_dice: 0.0599, seg_t0: 0.4267, seg_dice_t0: 0.1084, seg_t1: 0.3086, seg_dice_t1: 0.0757, seg_t2: 0.2831, seg_dice_t2: 0.0657, seg_t3: 0.2696, seg_dice_t3: 0.0604, total_t0: 0.5351, total_t1: 0.3843, total_t2: 0.3488, total_t3: 0.3300, total_t4: 0.3218, total: 2.3778, cam_bev_norm: 13.8763, sat_bev_norm: 11.0953, seg_sat: 0.1973, seg_dice_sat: 0.0415, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1000, seg_fused: 0.1806, seg_dice_fused: 0.0385, cam_rel_mean: 0.1919, sat_rel_mean: 0.2069, cam_rel_min: 0.0035, sat_rel_min: 0.0030, grad_norm: 10.7657 2026-04-19 01:37:08,463 - mmdet - INFO - Iter [52950/55932] lr: 2.833e-06, eta: 1:55:48, time: 2.117, data_time: 0.098, memory: 34737, seg: 0.2622, seg_dice: 0.0626, seg_t0: 0.3783, seg_dice_t0: 0.0952, seg_t1: 0.2767, seg_dice_t1: 0.0684, seg_t2: 0.2594, seg_dice_t2: 0.0642, seg_t3: 0.2536, seg_dice_t3: 0.0651, total_t0: 0.4735, total_t1: 0.3451, total_t2: 0.3236, total_t3: 0.3187, total_t4: 0.3247, total: 2.2037, cam_bev_norm: 13.9776, sat_bev_norm: 11.1273, seg_sat: 0.1789, seg_dice_sat: 0.0409, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.1605, seg_dice_fused: 0.0378, cam_rel_mean: 0.2190, sat_rel_mean: 0.2260, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 12.6882 2026-04-19 01:38:53,728 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-19 01:38:53,729 - mmdet - INFO - Iter [53000/55932] lr: 2.822e-06, eta: 1:53:51, time: 2.105, data_time: 0.099, memory: 34737, seg: 0.2566, seg_dice: 0.0598, seg_t0: 0.4327, seg_dice_t0: 0.1125, seg_t1: 0.3094, seg_dice_t1: 0.0762, seg_t2: 0.2683, seg_dice_t2: 0.0699, seg_t3: 0.2552, seg_dice_t3: 0.0614, total_t0: 0.5452, total_t1: 0.3856, total_t2: 0.3382, total_t3: 0.3167, total_t4: 0.3164, total: 2.3172, cam_bev_norm: 13.9415, sat_bev_norm: 11.2005, seg_sat: 0.1784, seg_dice_sat: 0.0403, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1200, seg_fused: 0.1610, seg_dice_fused: 0.0353, cam_rel_mean: 0.2208, sat_rel_mean: 0.2189, cam_rel_min: 0.0005, sat_rel_min: 0.0015, grad_norm: 12.7440 2026-04-19 01:40:39,558 - mmdet - INFO - Iter [53050/55932] lr: 2.811e-06, eta: 1:51:54, time: 2.117, data_time: 0.097, memory: 34737, seg: 0.2610, seg_dice: 0.0655, seg_t0: 0.4008, seg_dice_t0: 0.0950, seg_t1: 0.3060, seg_dice_t1: 0.0736, seg_t2: 0.2704, seg_dice_t2: 0.0633, seg_t3: 0.2534, seg_dice_t3: 0.0629, total_t0: 0.4958, total_t1: 0.3796, total_t2: 0.3337, total_t3: 0.3163, total_t4: 0.3265, total: 2.3064, cam_bev_norm: 13.9311, sat_bev_norm: 11.1014, seg_sat: 0.1975, seg_dice_sat: 0.0443, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.1709, seg_dice_fused: 0.0418, cam_rel_mean: 0.2103, sat_rel_mean: 0.2212, cam_rel_min: 0.0020, sat_rel_min: 0.0015, grad_norm: 10.9868 2026-04-19 01:42:25,447 - mmdet - INFO - Iter [53100/55932] lr: 2.800e-06, eta: 1:49:57, time: 2.118, data_time: 0.103, memory: 34737, seg: 0.2646, seg_dice: 0.0629, seg_t0: 0.4088, seg_dice_t0: 0.1015, seg_t1: 0.3108, seg_dice_t1: 0.0738, seg_t2: 0.2790, seg_dice_t2: 0.0644, seg_t3: 0.2638, seg_dice_t3: 0.0607, total_t0: 0.5103, total_t1: 0.3846, total_t2: 0.3435, total_t3: 0.3245, total_t4: 0.3275, total: 2.3206, cam_bev_norm: 13.9207, sat_bev_norm: 11.1398, seg_sat: 0.1836, seg_dice_sat: 0.0416, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.1677, seg_dice_fused: 0.0374, cam_rel_mean: 0.2040, sat_rel_mean: 0.2191, cam_rel_min: 0.0020, sat_rel_min: 0.0023, grad_norm: 10.7288 2026-04-19 01:44:11,600 - mmdet - INFO - Iter [53150/55932] lr: 2.790e-06, eta: 1:48:00, time: 2.123, data_time: 0.095, memory: 34737, seg: 0.2474, seg_dice: 0.0705, seg_t0: 0.3877, seg_dice_t0: 0.1159, seg_t1: 0.2884, seg_dice_t1: 0.0768, seg_t2: 0.2493, seg_dice_t2: 0.0670, seg_t3: 0.2430, seg_dice_t3: 0.0637, total_t0: 0.5037, total_t1: 0.3652, total_t2: 0.3163, total_t3: 0.3067, total_t4: 0.3180, total: 2.2403, cam_bev_norm: 13.8627, sat_bev_norm: 11.0884, seg_sat: 0.1817, seg_dice_sat: 0.0489, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2400, seg_fused: 0.1589, seg_dice_fused: 0.0408, cam_rel_mean: 0.1958, sat_rel_mean: 0.2084, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 10.4871 2026-04-19 01:45:58,123 - mmdet - INFO - Iter [53200/55932] lr: 2.779e-06, eta: 1:46:03, time: 2.130, data_time: 0.101, memory: 34737, seg: 0.2386, seg_dice: 0.0633, seg_t0: 0.4009, seg_dice_t0: 0.1107, seg_t1: 0.2778, seg_dice_t1: 0.0752, seg_t2: 0.2471, seg_dice_t2: 0.0696, seg_t3: 0.2463, seg_dice_t3: 0.0646, total_t0: 0.5115, total_t1: 0.3530, total_t2: 0.3167, total_t3: 0.3110, total_t4: 0.3019, total: 2.2127, cam_bev_norm: 13.8927, sat_bev_norm: 11.1228, seg_sat: 0.1752, seg_dice_sat: 0.0445, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.0800, seg_fused: 0.1588, seg_dice_fused: 0.0400, cam_rel_mean: 0.1769, sat_rel_mean: 0.2123, cam_rel_min: 0.0045, sat_rel_min: 0.0008, grad_norm: 11.4523 2026-04-19 01:47:43,839 - mmdet - INFO - Iter [53250/55932] lr: 2.769e-06, eta: 1:44:06, time: 2.114, data_time: 0.096, memory: 34737, seg: 0.2653, seg_dice: 0.0681, seg_t0: 0.4203, seg_dice_t0: 0.1098, seg_t1: 0.3079, seg_dice_t1: 0.0829, seg_t2: 0.2686, seg_dice_t2: 0.0658, seg_t3: 0.2600, seg_dice_t3: 0.0655, total_t0: 0.5301, total_t1: 0.3908, total_t2: 0.3344, total_t3: 0.3255, total_t4: 0.3334, total: 2.3585, cam_bev_norm: 13.8808, sat_bev_norm: 11.0728, seg_sat: 0.1915, seg_dice_sat: 0.0471, mask_cam_zeroed: 0.2000, mask_cam_noised: 0.0800, seg_fused: 0.1655, seg_dice_fused: 0.0401, cam_rel_mean: 0.1781, sat_rel_mean: 0.2140, cam_rel_min: 0.0050, sat_rel_min: 0.0000, grad_norm: 11.4155 2026-04-19 01:49:29,194 - mmdet - INFO - Iter [53300/55932] lr: 2.759e-06, eta: 1:42:09, time: 2.107, data_time: 0.094, memory: 34737, seg: 0.2303, seg_dice: 0.0617, seg_t0: 0.3936, seg_dice_t0: 0.1067, seg_t1: 0.2859, seg_dice_t1: 0.0729, seg_t2: 0.2415, seg_dice_t2: 0.0638, seg_t3: 0.2385, seg_dice_t3: 0.0649, total_t0: 0.5003, total_t1: 0.3589, total_t2: 0.3053, total_t3: 0.3034, total_t4: 0.2920, total: 2.1812, cam_bev_norm: 13.9799, sat_bev_norm: 11.2022, seg_sat: 0.1705, seg_dice_sat: 0.0478, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.1587, seg_dice_fused: 0.0443, cam_rel_mean: 0.2016, sat_rel_mean: 0.1987, cam_rel_min: 0.0015, sat_rel_min: 0.0030, grad_norm: 11.6958 2026-04-19 01:51:14,500 - mmdet - INFO - Iter [53350/55932] lr: 2.750e-06, eta: 1:40:12, time: 2.106, data_time: 0.096, memory: 34737, seg: 0.2400, seg_dice: 0.0542, seg_t0: 0.4027, seg_dice_t0: 0.1052, seg_t1: 0.2818, seg_dice_t1: 0.0711, seg_t2: 0.2557, seg_dice_t2: 0.0619, seg_t3: 0.2485, seg_dice_t3: 0.0569, total_t0: 0.5079, total_t1: 0.3529, total_t2: 0.3176, total_t3: 0.3053, total_t4: 0.2942, total: 2.1827, cam_bev_norm: 13.9616, sat_bev_norm: 11.1789, seg_sat: 0.1752, seg_dice_sat: 0.0372, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.1587, seg_dice_fused: 0.0337, cam_rel_mean: 0.2076, sat_rel_mean: 0.2190, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 11.8677 2026-04-19 01:52:59,938 - mmdet - INFO - Iter [53400/55932] lr: 2.740e-06, eta: 1:38:15, time: 2.109, data_time: 0.094, memory: 34737, seg: 0.2411, seg_dice: 0.0606, seg_t0: 0.4099, seg_dice_t0: 0.1073, seg_t1: 0.2933, seg_dice_t1: 0.0785, seg_t2: 0.2576, seg_dice_t2: 0.0630, seg_t3: 0.2439, seg_dice_t3: 0.0597, total_t0: 0.5172, total_t1: 0.3719, total_t2: 0.3206, total_t3: 0.3036, total_t4: 0.3016, total: 2.2352, cam_bev_norm: 13.8975, sat_bev_norm: 11.1501, seg_sat: 0.1754, seg_dice_sat: 0.0397, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.1666, seg_dice_fused: 0.0385, cam_rel_mean: 0.1878, sat_rel_mean: 0.2050, cam_rel_min: 0.0030, sat_rel_min: 0.0030, grad_norm: 10.7619 2026-04-19 01:54:46,080 - mmdet - INFO - Iter [53450/55932] lr: 2.731e-06, eta: 1:36:18, time: 2.122, data_time: 0.092, memory: 34737, seg: 0.2554, seg_dice: 0.0648, seg_t0: 0.4042, seg_dice_t0: 0.1046, seg_t1: 0.2825, seg_dice_t1: 0.0757, seg_t2: 0.2541, seg_dice_t2: 0.0652, seg_t3: 0.2526, seg_dice_t3: 0.0646, total_t0: 0.5088, total_t1: 0.3583, total_t2: 0.3193, total_t3: 0.3172, total_t4: 0.3202, total: 2.2255, cam_bev_norm: 13.8153, sat_bev_norm: 11.1286, seg_sat: 0.1680, seg_dice_sat: 0.0429, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1516, seg_dice_fused: 0.0393, cam_rel_mean: 0.1927, sat_rel_mean: 0.2043, cam_rel_min: 0.0020, sat_rel_min: 0.0023, grad_norm: 11.2048 2026-04-19 01:56:31,143 - mmdet - INFO - Iter [53500/55932] lr: 2.721e-06, eta: 1:34:21, time: 2.102, data_time: 0.093, memory: 34737, seg: 0.2325, seg_dice: 0.0589, seg_t0: 0.3961, seg_dice_t0: 0.1104, seg_t1: 0.2884, seg_dice_t1: 0.0792, seg_t2: 0.2557, seg_dice_t2: 0.0668, seg_t3: 0.2402, seg_dice_t3: 0.0598, total_t0: 0.5065, total_t1: 0.3677, total_t2: 0.3225, total_t3: 0.3000, total_t4: 0.2915, total: 2.1922, cam_bev_norm: 13.9503, sat_bev_norm: 11.2112, seg_sat: 0.1670, seg_dice_sat: 0.0418, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.1577, seg_dice_fused: 0.0376, cam_rel_mean: 0.2005, sat_rel_mean: 0.2113, cam_rel_min: 0.0030, sat_rel_min: 0.0030, grad_norm: 11.0607 2026-04-19 01:58:16,478 - mmdet - INFO - Iter [53550/55932] lr: 2.712e-06, eta: 1:32:24, time: 2.106, data_time: 0.095, memory: 34737, seg: 0.2370, seg_dice: 0.0580, seg_t0: 0.3822, seg_dice_t0: 0.0983, seg_t1: 0.2729, seg_dice_t1: 0.0661, seg_t2: 0.2416, seg_dice_t2: 0.0591, seg_t3: 0.2376, seg_dice_t3: 0.0595, total_t0: 0.4805, total_t1: 0.3389, total_t2: 0.3007, total_t3: 0.2971, total_t4: 0.2950, total: 2.1275, cam_bev_norm: 13.9070, sat_bev_norm: 11.1461, seg_sat: 0.1784, seg_dice_sat: 0.0410, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.0800, seg_fused: 0.1590, seg_dice_fused: 0.0368, cam_rel_mean: 0.1981, sat_rel_mean: 0.2056, cam_rel_min: 0.0025, sat_rel_min: 0.0030, grad_norm: 10.7310 2026-04-19 02:00:02,608 - mmdet - INFO - Iter [53600/55932] lr: 2.704e-06, eta: 1:30:27, time: 2.123, data_time: 0.097, memory: 34737, seg: 0.2465, seg_dice: 0.0616, seg_t0: 0.4200, seg_dice_t0: 0.1062, seg_t1: 0.3107, seg_dice_t1: 0.0751, seg_t2: 0.2753, seg_dice_t2: 0.0664, seg_t3: 0.2501, seg_dice_t3: 0.0619, total_t0: 0.5262, total_t1: 0.3859, total_t2: 0.3417, total_t3: 0.3120, total_t4: 0.3082, total: 2.3086, cam_bev_norm: 13.9230, sat_bev_norm: 11.1209, seg_sat: 0.1844, seg_dice_sat: 0.0476, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.1617, seg_dice_fused: 0.0410, cam_rel_mean: 0.1886, sat_rel_mean: 0.2140, cam_rel_min: 0.0030, sat_rel_min: 0.0015, grad_norm: 11.4023 2026-04-19 02:01:47,892 - mmdet - INFO - Iter [53650/55932] lr: 2.695e-06, eta: 1:28:30, time: 2.106, data_time: 0.099, memory: 34737, seg: 0.2482, seg_dice: 0.0542, seg_t0: 0.3994, seg_dice_t0: 0.0998, seg_t1: 0.2829, seg_dice_t1: 0.0629, seg_t2: 0.2601, seg_dice_t2: 0.0553, seg_t3: 0.2462, seg_dice_t3: 0.0539, total_t0: 0.4992, total_t1: 0.3458, total_t2: 0.3154, total_t3: 0.3002, total_t4: 0.3023, total: 2.1999, cam_bev_norm: 13.9464, sat_bev_norm: 11.0867, seg_sat: 0.1904, seg_dice_sat: 0.0382, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.1734, seg_dice_fused: 0.0351, cam_rel_mean: 0.2073, sat_rel_mean: 0.2128, cam_rel_min: 0.0025, sat_rel_min: 0.0038, grad_norm: 16.9448 2026-04-19 02:03:33,319 - mmdet - INFO - Iter [53700/55932] lr: 2.687e-06, eta: 1:26:34, time: 2.109, data_time: 0.096, memory: 34737, seg: 0.2298, seg_dice: 0.0592, seg_t0: 0.3737, seg_dice_t0: 0.1009, seg_t1: 0.2673, seg_dice_t1: 0.0706, seg_t2: 0.2451, seg_dice_t2: 0.0675, seg_t3: 0.2454, seg_dice_t3: 0.0613, total_t0: 0.4746, total_t1: 0.3379, total_t2: 0.3127, total_t3: 0.3067, total_t4: 0.2890, total: 2.1354, cam_bev_norm: 13.9341, sat_bev_norm: 11.2014, seg_sat: 0.1702, seg_dice_sat: 0.0437, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0400, seg_fused: 0.1589, seg_dice_fused: 0.0417, cam_rel_mean: 0.1947, sat_rel_mean: 0.2046, cam_rel_min: 0.0030, sat_rel_min: 0.0030, grad_norm: 11.1436 2026-04-19 02:05:17,394 - mmdet - INFO - Iter [53750/55932] lr: 2.678e-06, eta: 1:24:37, time: 2.082, data_time: 0.091, memory: 34737, seg: 0.2277, seg_dice: 0.0574, seg_t0: 0.4014, seg_dice_t0: 0.1070, seg_t1: 0.2609, seg_dice_t1: 0.0686, seg_t2: 0.2405, seg_dice_t2: 0.0632, seg_t3: 0.2299, seg_dice_t3: 0.0591, total_t0: 0.5084, total_t1: 0.3295, total_t2: 0.3037, total_t3: 0.2890, total_t4: 0.2851, total: 2.1136, cam_bev_norm: 13.9852, sat_bev_norm: 11.1453, seg_sat: 0.1657, seg_dice_sat: 0.0406, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1000, seg_fused: 0.1535, seg_dice_fused: 0.0381, cam_rel_mean: 0.2133, sat_rel_mean: 0.2188, cam_rel_min: 0.0020, sat_rel_min: 0.0023, grad_norm: 11.4292 2026-04-19 02:07:01,132 - mmdet - INFO - Iter [53800/55932] lr: 2.670e-06, eta: 1:22:40, time: 2.075, data_time: 0.093, memory: 34737, seg: 0.2490, seg_dice: 0.0572, seg_t0: 0.3894, seg_dice_t0: 0.0977, seg_t1: 0.2880, seg_dice_t1: 0.0681, seg_t2: 0.2573, seg_dice_t2: 0.0615, seg_t3: 0.2523, seg_dice_t3: 0.0562, total_t0: 0.4871, total_t1: 0.3561, total_t2: 0.3189, total_t3: 0.3085, total_t4: 0.3063, total: 2.2022, cam_bev_norm: 13.9206, sat_bev_norm: 11.1152, seg_sat: 0.1861, seg_dice_sat: 0.0402, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.1635, seg_dice_fused: 0.0355, cam_rel_mean: 0.2117, sat_rel_mean: 0.2249, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 11.5302 2026-04-19 02:08:46,918 - mmdet - INFO - Iter [53850/55932] lr: 2.662e-06, eta: 1:20:43, time: 2.116, data_time: 0.094, memory: 34737, seg: 0.2383, seg_dice: 0.0556, seg_t0: 0.4041, seg_dice_t0: 0.1015, seg_t1: 0.2967, seg_dice_t1: 0.0753, seg_t2: 0.2553, seg_dice_t2: 0.0611, seg_t3: 0.2280, seg_dice_t3: 0.0556, total_t0: 0.5056, total_t1: 0.3720, total_t2: 0.3165, total_t3: 0.2836, total_t4: 0.2939, total: 2.2087, cam_bev_norm: 13.9267, sat_bev_norm: 11.1393, seg_sat: 0.1840, seg_dice_sat: 0.0396, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.1757, seg_dice_fused: 0.0378, cam_rel_mean: 0.1910, sat_rel_mean: 0.2003, cam_rel_min: 0.0030, sat_rel_min: 0.0038, grad_norm: 10.9420 2026-04-19 02:10:32,408 - mmdet - INFO - Iter [53900/55932] lr: 2.655e-06, eta: 1:18:46, time: 2.110, data_time: 0.097, memory: 34737, seg: 0.2416, seg_dice: 0.0574, seg_t0: 0.4185, seg_dice_t0: 0.0995, seg_t1: 0.2859, seg_dice_t1: 0.0652, seg_t2: 0.2504, seg_dice_t2: 0.0626, seg_t3: 0.2407, seg_dice_t3: 0.0563, total_t0: 0.5180, total_t1: 0.3511, total_t2: 0.3130, total_t3: 0.2970, total_t4: 0.2989, total: 2.1809, cam_bev_norm: 14.0011, sat_bev_norm: 11.2676, seg_sat: 0.1724, seg_dice_sat: 0.0408, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1530, seg_dice_fused: 0.0367, cam_rel_mean: 0.2161, sat_rel_mean: 0.2317, cam_rel_min: 0.0020, sat_rel_min: 0.0008, grad_norm: 12.8463 2026-04-19 02:12:17,874 - mmdet - INFO - Iter [53950/55932] lr: 2.647e-06, eta: 1:16:50, time: 2.110, data_time: 0.092, memory: 34737, seg: 0.2398, seg_dice: 0.0611, seg_t0: 0.3941, seg_dice_t0: 0.1140, seg_t1: 0.2852, seg_dice_t1: 0.0813, seg_t2: 0.2532, seg_dice_t2: 0.0700, seg_t3: 0.2402, seg_dice_t3: 0.0618, total_t0: 0.5082, total_t1: 0.3666, total_t2: 0.3232, total_t3: 0.3019, total_t4: 0.3009, total: 2.2082, cam_bev_norm: 13.8603, sat_bev_norm: 11.0837, seg_sat: 0.1770, seg_dice_sat: 0.0415, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.1519, seg_dice_fused: 0.0371, cam_rel_mean: 0.1974, sat_rel_mean: 0.2057, cam_rel_min: 0.0015, sat_rel_min: 0.0023, grad_norm: 11.5792 2026-04-19 02:14:03,359 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-19 02:14:03,360 - mmdet - INFO - Iter [54000/55932] lr: 2.640e-06, eta: 1:14:53, time: 2.110, data_time: 0.090, memory: 34737, seg: 0.2522, seg_dice: 0.0552, seg_t0: 0.3966, seg_dice_t0: 0.0957, seg_t1: 0.3035, seg_dice_t1: 0.0699, seg_t2: 0.2695, seg_dice_t2: 0.0636, seg_t3: 0.2491, seg_dice_t3: 0.0558, total_t0: 0.4923, total_t1: 0.3734, total_t2: 0.3331, total_t3: 0.3049, total_t4: 0.3074, total: 2.2577, cam_bev_norm: 13.9374, sat_bev_norm: 11.0993, seg_sat: 0.1953, seg_dice_sat: 0.0425, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2200, seg_fused: 0.1725, seg_dice_fused: 0.0363, cam_rel_mean: 0.2091, sat_rel_mean: 0.2162, cam_rel_min: 0.0015, sat_rel_min: 0.0023, grad_norm: 13.4088 2026-04-19 02:15:49,354 - mmdet - INFO - Iter [54050/55932] lr: 2.633e-06, eta: 1:12:56, time: 2.120, data_time: 0.093, memory: 34737, seg: 0.2306, seg_dice: 0.0645, seg_t0: 0.3853, seg_dice_t0: 0.1074, seg_t1: 0.2722, seg_dice_t1: 0.0812, seg_t2: 0.2400, seg_dice_t2: 0.0709, seg_t3: 0.2283, seg_dice_t3: 0.0689, total_t0: 0.4928, total_t1: 0.3534, total_t2: 0.3109, total_t3: 0.2972, total_t4: 0.2952, total: 2.1870, cam_bev_norm: 13.9203, sat_bev_norm: 11.1575, seg_sat: 0.1795, seg_dice_sat: 0.0489, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1000, seg_fused: 0.1635, seg_dice_fused: 0.0457, cam_rel_mean: 0.1988, sat_rel_mean: 0.2048, cam_rel_min: 0.0025, sat_rel_min: 0.0038, grad_norm: 10.1649 2026-04-19 02:17:34,795 - mmdet - INFO - Iter [54100/55932] lr: 2.626e-06, eta: 1:11:00, time: 2.109, data_time: 0.098, memory: 34737, seg: 0.2307, seg_dice: 0.0540, seg_t0: 0.4020, seg_dice_t0: 0.0985, seg_t1: 0.2695, seg_dice_t1: 0.0612, seg_t2: 0.2425, seg_dice_t2: 0.0568, seg_t3: 0.2351, seg_dice_t3: 0.0539, total_t0: 0.5005, total_t1: 0.3307, total_t2: 0.2993, total_t3: 0.2889, total_t4: 0.2847, total: 2.1280, cam_bev_norm: 13.9740, sat_bev_norm: 11.1574, seg_sat: 0.1790, seg_dice_sat: 0.0388, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.0600, seg_fused: 0.1690, seg_dice_fused: 0.0371, cam_rel_mean: 0.1903, sat_rel_mean: 0.2163, cam_rel_min: 0.0045, sat_rel_min: 0.0030, grad_norm: 11.7969 2026-04-19 02:19:20,390 - mmdet - INFO - Iter [54150/55932] lr: 2.619e-06, eta: 1:09:03, time: 2.112, data_time: 0.099, memory: 34737, seg: 0.2459, seg_dice: 0.0658, seg_t0: 0.3970, seg_dice_t0: 0.1026, seg_t1: 0.2970, seg_dice_t1: 0.0736, seg_t2: 0.2589, seg_dice_t2: 0.0670, seg_t3: 0.2494, seg_dice_t3: 0.0621, total_t0: 0.4996, total_t1: 0.3706, total_t2: 0.3259, total_t3: 0.3116, total_t4: 0.3117, total: 2.2400, cam_bev_norm: 13.9227, sat_bev_norm: 11.1380, seg_sat: 0.1751, seg_dice_sat: 0.0440, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1000, seg_fused: 0.1606, seg_dice_fused: 0.0410, cam_rel_mean: 0.2070, sat_rel_mean: 0.2008, cam_rel_min: 0.0015, sat_rel_min: 0.0038, grad_norm: 10.8842 2026-04-19 02:21:04,795 - mmdet - INFO - Iter [54200/55932] lr: 2.612e-06, eta: 1:07:06, time: 2.088, data_time: 0.089, memory: 34737, seg: 0.2469, seg_dice: 0.0595, seg_t0: 0.4573, seg_dice_t0: 0.1107, seg_t1: 0.2961, seg_dice_t1: 0.0736, seg_t2: 0.2690, seg_dice_t2: 0.0670, seg_t3: 0.2534, seg_dice_t3: 0.0608, total_t0: 0.5680, total_t1: 0.3697, total_t2: 0.3359, total_t3: 0.3142, total_t4: 0.3064, total: 2.3174, cam_bev_norm: 13.8659, sat_bev_norm: 11.1395, seg_sat: 0.1833, seg_dice_sat: 0.0456, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.3200, seg_fused: 0.1565, seg_dice_fused: 0.0377, cam_rel_mean: 0.2108, sat_rel_mean: 0.2197, cam_rel_min: 0.0005, sat_rel_min: 0.0008, grad_norm: 11.6083 2026-04-19 02:22:50,055 - mmdet - INFO - Iter [54250/55932] lr: 2.606e-06, eta: 1:05:10, time: 2.105, data_time: 0.093, memory: 34737, seg: 0.2362, seg_dice: 0.0661, seg_t0: 0.3639, seg_dice_t0: 0.0964, seg_t1: 0.2680, seg_dice_t1: 0.0740, seg_t2: 0.2422, seg_dice_t2: 0.0673, seg_t3: 0.2363, seg_dice_t3: 0.0655, total_t0: 0.4603, total_t1: 0.3420, total_t2: 0.3095, total_t3: 0.3018, total_t4: 0.3023, total: 2.1503, cam_bev_norm: 13.8901, sat_bev_norm: 11.0873, seg_sat: 0.1843, seg_dice_sat: 0.0496, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.1564, seg_dice_fused: 0.0441, cam_rel_mean: 0.1913, sat_rel_mean: 0.2165, cam_rel_min: 0.0030, sat_rel_min: 0.0000, grad_norm: 10.4615 2026-04-19 02:24:35,605 - mmdet - INFO - Iter [54300/55932] lr: 2.600e-06, eta: 1:03:13, time: 2.111, data_time: 0.101, memory: 34737, seg: 0.2449, seg_dice: 0.0636, seg_t0: 0.4071, seg_dice_t0: 0.1000, seg_t1: 0.2768, seg_dice_t1: 0.0676, seg_t2: 0.2495, seg_dice_t2: 0.0642, seg_t3: 0.2387, seg_dice_t3: 0.0615, total_t0: 0.5071, total_t1: 0.3444, total_t2: 0.3137, total_t3: 0.3002, total_t4: 0.3085, total: 2.2057, cam_bev_norm: 13.8672, sat_bev_norm: 11.0679, seg_sat: 0.1828, seg_dice_sat: 0.0465, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.1400, seg_fused: 0.1617, seg_dice_fused: 0.0407, cam_rel_mean: 0.2010, sat_rel_mean: 0.2040, cam_rel_min: 0.0010, sat_rel_min: 0.0023, grad_norm: 11.9651 2026-04-19 02:26:21,121 - mmdet - INFO - Iter [54350/55932] lr: 2.594e-06, eta: 1:01:17, time: 2.110, data_time: 0.094, memory: 34737, seg: 0.2350, seg_dice: 0.0601, seg_t0: 0.3773, seg_dice_t0: 0.0991, seg_t1: 0.2750, seg_dice_t1: 0.0707, seg_t2: 0.2501, seg_dice_t2: 0.0607, seg_t3: 0.2331, seg_dice_t3: 0.0573, total_t0: 0.4765, total_t1: 0.3457, total_t2: 0.3107, total_t3: 0.2904, total_t4: 0.2950, total: 2.1334, cam_bev_norm: 13.8996, sat_bev_norm: 11.1029, seg_sat: 0.1754, seg_dice_sat: 0.0437, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.1561, seg_dice_fused: 0.0399, cam_rel_mean: 0.1944, sat_rel_mean: 0.2091, cam_rel_min: 0.0030, sat_rel_min: 0.0023, grad_norm: 10.5951 2026-04-19 02:28:06,491 - mmdet - INFO - Iter [54400/55932] lr: 2.588e-06, eta: 0:59:20, time: 2.108, data_time: 0.095, memory: 34737, seg: 0.2511, seg_dice: 0.0672, seg_t0: 0.4269, seg_dice_t0: 0.1089, seg_t1: 0.2933, seg_dice_t1: 0.0711, seg_t2: 0.2653, seg_dice_t2: 0.0665, seg_t3: 0.2566, seg_dice_t3: 0.0653, total_t0: 0.5358, total_t1: 0.3645, total_t2: 0.3318, total_t3: 0.3218, total_t4: 0.3183, total: 2.3298, cam_bev_norm: 13.8557, sat_bev_norm: 11.1529, seg_sat: 0.1905, seg_dice_sat: 0.0488, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1400, seg_fused: 0.1718, seg_dice_fused: 0.0465, cam_rel_mean: 0.1856, sat_rel_mean: 0.2096, cam_rel_min: 0.0040, sat_rel_min: 0.0023, grad_norm: 12.8318 2026-04-19 02:29:52,053 - mmdet - INFO - Iter [54450/55932] lr: 2.582e-06, eta: 0:57:24, time: 2.111, data_time: 0.099, memory: 34737, seg: 0.2365, seg_dice: 0.0634, seg_t0: 0.4022, seg_dice_t0: 0.1062, seg_t1: 0.2896, seg_dice_t1: 0.0720, seg_t2: 0.2535, seg_dice_t2: 0.0624, seg_t3: 0.2446, seg_dice_t3: 0.0666, total_t0: 0.5084, total_t1: 0.3617, total_t2: 0.3158, total_t3: 0.3111, total_t4: 0.2998, total: 2.2176, cam_bev_norm: 13.8634, sat_bev_norm: 11.1557, seg_sat: 0.1747, seg_dice_sat: 0.0438, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.2000, seg_fused: 0.1615, seg_dice_fused: 0.0408, cam_rel_mean: 0.1944, sat_rel_mean: 0.1934, cam_rel_min: 0.0025, sat_rel_min: 0.0053, grad_norm: 11.0770 2026-04-19 02:31:37,294 - mmdet - INFO - Iter [54500/55932] lr: 2.577e-06, eta: 0:55:27, time: 2.105, data_time: 0.094, memory: 34737, seg: 0.2549, seg_dice: 0.0627, seg_t0: 0.4182, seg_dice_t0: 0.1087, seg_t1: 0.3109, seg_dice_t1: 0.0789, seg_t2: 0.2682, seg_dice_t2: 0.0687, seg_t3: 0.2557, seg_dice_t3: 0.0650, total_t0: 0.5269, total_t1: 0.3898, total_t2: 0.3369, total_t3: 0.3208, total_t4: 0.3176, total: 2.3414, cam_bev_norm: 13.9129, sat_bev_norm: 11.0772, seg_sat: 0.1917, seg_dice_sat: 0.0471, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1800, seg_fused: 0.1687, seg_dice_fused: 0.0419, cam_rel_mean: 0.2078, sat_rel_mean: 0.2246, cam_rel_min: 0.0025, sat_rel_min: 0.0015, grad_norm: 10.8405 2026-04-19 02:33:24,392 - mmdet - INFO - Iter [54550/55932] lr: 2.572e-06, eta: 0:53:31, time: 2.142, data_time: 0.093, memory: 34737, seg: 0.2421, seg_dice: 0.0631, seg_t0: 0.3674, seg_dice_t0: 0.0994, seg_t1: 0.2620, seg_dice_t1: 0.0701, seg_t2: 0.2414, seg_dice_t2: 0.0674, seg_t3: 0.2392, seg_dice_t3: 0.0620, total_t0: 0.4668, total_t1: 0.3321, total_t2: 0.3088, total_t3: 0.3012, total_t4: 0.3052, total: 2.1546, cam_bev_norm: 13.8412, sat_bev_norm: 11.0324, seg_sat: 0.1810, seg_dice_sat: 0.0477, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.1677, seg_dice_fused: 0.0442, cam_rel_mean: 0.1879, sat_rel_mean: 0.1932, cam_rel_min: 0.0030, sat_rel_min: 0.0038, grad_norm: 13.7354 2026-04-19 02:35:09,980 - mmdet - INFO - Iter [54600/55932] lr: 2.567e-06, eta: 0:51:34, time: 2.112, data_time: 0.096, memory: 34737, seg: 0.2485, seg_dice: 0.0659, seg_t0: 0.3926, seg_dice_t0: 0.0977, seg_t1: 0.2910, seg_dice_t1: 0.0716, seg_t2: 0.2677, seg_dice_t2: 0.0683, seg_t3: 0.2477, seg_dice_t3: 0.0686, total_t0: 0.4902, total_t1: 0.3626, total_t2: 0.3359, total_t3: 0.3163, total_t4: 0.3144, total: 2.2626, cam_bev_norm: 13.9302, sat_bev_norm: 11.1512, seg_sat: 0.1860, seg_dice_sat: 0.0476, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1200, seg_fused: 0.1656, seg_dice_fused: 0.0440, cam_rel_mean: 0.1955, sat_rel_mean: 0.2052, cam_rel_min: 0.0025, sat_rel_min: 0.0023, grad_norm: 10.8718 2026-04-19 02:36:55,711 - mmdet - INFO - Iter [54650/55932] lr: 2.562e-06, eta: 0:49:38, time: 2.115, data_time: 0.096, memory: 34737, seg: 0.2427, seg_dice: 0.0543, seg_t0: 0.3770, seg_dice_t0: 0.0896, seg_t1: 0.2757, seg_dice_t1: 0.0652, seg_t2: 0.2586, seg_dice_t2: 0.0599, seg_t3: 0.2503, seg_dice_t3: 0.0557, total_t0: 0.4665, total_t1: 0.3409, total_t2: 0.3186, total_t3: 0.3060, total_t4: 0.2970, total: 2.1430, cam_bev_norm: 13.9948, sat_bev_norm: 11.2373, seg_sat: 0.1811, seg_dice_sat: 0.0373, mask_cam_zeroed: 0.1400, mask_cam_noised: 0.1600, seg_fused: 0.1617, seg_dice_fused: 0.0339, cam_rel_mean: 0.1977, sat_rel_mean: 0.2222, cam_rel_min: 0.0035, sat_rel_min: 0.0023, grad_norm: 11.7331 2026-04-19 02:38:40,915 - mmdet - INFO - Iter [54700/55932] lr: 2.557e-06, eta: 0:47:42, time: 2.104, data_time: 0.096, memory: 34737, seg: 0.2419, seg_dice: 0.0643, seg_t0: 0.3836, seg_dice_t0: 0.1060, seg_t1: 0.2784, seg_dice_t1: 0.0764, seg_t2: 0.2401, seg_dice_t2: 0.0645, seg_t3: 0.2363, seg_dice_t3: 0.0608, total_t0: 0.4896, total_t1: 0.3548, total_t2: 0.3047, total_t3: 0.2971, total_t4: 0.3062, total: 2.1723, cam_bev_norm: 13.8592, sat_bev_norm: 11.1226, seg_sat: 0.1758, seg_dice_sat: 0.0438, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.1605, seg_dice_fused: 0.0397, cam_rel_mean: 0.1878, sat_rel_mean: 0.2025, cam_rel_min: 0.0030, sat_rel_min: 0.0023, grad_norm: 10.3439 2026-04-19 02:40:26,131 - mmdet - INFO - Iter [54750/55932] lr: 2.552e-06, eta: 0:45:45, time: 2.104, data_time: 0.092, memory: 34737, seg: 0.2592, seg_dice: 0.0689, seg_t0: 0.3861, seg_dice_t0: 0.0972, seg_t1: 0.2948, seg_dice_t1: 0.0706, seg_t2: 0.2586, seg_dice_t2: 0.0634, seg_t3: 0.2580, seg_dice_t3: 0.0625, total_t0: 0.4833, total_t1: 0.3655, total_t2: 0.3219, total_t3: 0.3205, total_t4: 0.3281, total: 2.2517, cam_bev_norm: 13.9074, sat_bev_norm: 11.1401, seg_sat: 0.1855, seg_dice_sat: 0.0462, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1600, seg_fused: 0.1603, seg_dice_fused: 0.0404, cam_rel_mean: 0.2186, sat_rel_mean: 0.2185, cam_rel_min: 0.0005, sat_rel_min: 0.0015, grad_norm: 11.6144 2026-04-19 02:42:11,982 - mmdet - INFO - Iter [54800/55932] lr: 2.548e-06, eta: 0:43:49, time: 2.117, data_time: 0.099, memory: 34737, seg: 0.2607, seg_dice: 0.0644, seg_t0: 0.3836, seg_dice_t0: 0.0989, seg_t1: 0.2796, seg_dice_t1: 0.0722, seg_t2: 0.2490, seg_dice_t2: 0.0611, seg_t3: 0.2534, seg_dice_t3: 0.0613, total_t0: 0.4825, total_t1: 0.3517, total_t2: 0.3101, total_t3: 0.3147, total_t4: 0.3252, total: 2.2225, cam_bev_norm: 13.8992, sat_bev_norm: 11.1686, seg_sat: 0.1803, seg_dice_sat: 0.0430, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1000, seg_fused: 0.1734, seg_dice_fused: 0.0415, cam_rel_mean: 0.1939, sat_rel_mean: 0.2029, cam_rel_min: 0.0030, sat_rel_min: 0.0038, grad_norm: 12.5498 2026-04-19 02:43:58,117 - mmdet - INFO - Iter [54850/55932] lr: 2.544e-06, eta: 0:41:52, time: 2.123, data_time: 0.100, memory: 34737, seg: 0.2545, seg_dice: 0.0596, seg_t0: 0.3955, seg_dice_t0: 0.1004, seg_t1: 0.2952, seg_dice_t1: 0.0700, seg_t2: 0.2655, seg_dice_t2: 0.0615, seg_t3: 0.2517, seg_dice_t3: 0.0602, total_t0: 0.4959, total_t1: 0.3652, total_t2: 0.3270, total_t3: 0.3118, total_t4: 0.3141, total: 2.2479, cam_bev_norm: 13.8293, sat_bev_norm: 11.0874, seg_sat: 0.1881, seg_dice_sat: 0.0418, mask_cam_zeroed: 0.1000, mask_cam_noised: 0.1600, seg_fused: 0.1669, seg_dice_fused: 0.0371, cam_rel_mean: 0.1923, sat_rel_mean: 0.2088, cam_rel_min: 0.0025, sat_rel_min: 0.0008, grad_norm: 13.5631 2026-04-19 02:45:43,459 - mmdet - INFO - Iter [54900/55932] lr: 2.540e-06, eta: 0:39:56, time: 2.107, data_time: 0.093, memory: 34737, seg: 0.2574, seg_dice: 0.0636, seg_t0: 0.4197, seg_dice_t0: 0.1086, seg_t1: 0.2928, seg_dice_t1: 0.0699, seg_t2: 0.2580, seg_dice_t2: 0.0644, seg_t3: 0.2517, seg_dice_t3: 0.0597, total_t0: 0.5283, total_t1: 0.3627, total_t2: 0.3224, total_t3: 0.3113, total_t4: 0.3211, total: 2.2887, cam_bev_norm: 13.9330, sat_bev_norm: 11.1324, seg_sat: 0.1841, seg_dice_sat: 0.0455, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2200, seg_fused: 0.1712, seg_dice_fused: 0.0422, cam_rel_mean: 0.2133, sat_rel_mean: 0.2137, cam_rel_min: 0.0010, sat_rel_min: 0.0023, grad_norm: 12.9297 2026-04-19 02:47:29,132 - mmdet - INFO - Iter [54950/55932] lr: 2.536e-06, eta: 0:38:00, time: 2.113, data_time: 0.093, memory: 34737, seg: 0.2554, seg_dice: 0.0641, seg_t0: 0.4202, seg_dice_t0: 0.1094, seg_t1: 0.3069, seg_dice_t1: 0.0853, seg_t2: 0.2667, seg_dice_t2: 0.0695, seg_t3: 0.2529, seg_dice_t3: 0.0630, total_t0: 0.5296, total_t1: 0.3922, total_t2: 0.3362, total_t3: 0.3159, total_t4: 0.3195, total: 2.3324, cam_bev_norm: 13.8629, sat_bev_norm: 11.0976, seg_sat: 0.1921, seg_dice_sat: 0.0452, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1800, seg_fused: 0.1629, seg_dice_fused: 0.0388, cam_rel_mean: 0.1972, sat_rel_mean: 0.2113, cam_rel_min: 0.0020, sat_rel_min: 0.0023, grad_norm: 12.6255 2026-04-19 02:49:14,818 - mmdet - INFO - Exp name: satmaptracker_pixelgate_stage1_full.py 2026-04-19 02:49:14,819 - mmdet - INFO - Iter [55000/55932] lr: 2.533e-06, eta: 0:36:04, time: 2.113, data_time: 0.096, memory: 34737, seg: 0.2556, seg_dice: 0.0628, seg_t0: 0.3999, seg_dice_t0: 0.1050, seg_t1: 0.2944, seg_dice_t1: 0.0706, seg_t2: 0.2641, seg_dice_t2: 0.0623, seg_t3: 0.2564, seg_dice_t3: 0.0594, total_t0: 0.5050, total_t1: 0.3650, total_t2: 0.3265, total_t3: 0.3158, total_t4: 0.3184, total: 2.2664, cam_bev_norm: 13.8799, sat_bev_norm: 11.1382, seg_sat: 0.1885, seg_dice_sat: 0.0445, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2000, seg_fused: 0.1643, seg_dice_fused: 0.0385, cam_rel_mean: 0.2055, sat_rel_mean: 0.2147, cam_rel_min: 0.0020, sat_rel_min: 0.0023, grad_norm: 15.4318 2026-04-19 02:51:01,412 - mmdet - INFO - Iter [55050/55932] lr: 2.529e-06, eta: 0:34:07, time: 2.132, data_time: 0.100, memory: 34737, seg: 0.2429, seg_dice: 0.0590, seg_t0: 0.4191, seg_dice_t0: 0.0995, seg_t1: 0.3012, seg_dice_t1: 0.0714, seg_t2: 0.2598, seg_dice_t2: 0.0618, seg_t3: 0.2478, seg_dice_t3: 0.0597, total_t0: 0.5186, total_t1: 0.3727, total_t2: 0.3216, total_t3: 0.3076, total_t4: 0.3019, total: 2.2307, cam_bev_norm: 13.9152, sat_bev_norm: 11.1832, seg_sat: 0.1694, seg_dice_sat: 0.0392, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.1623, seg_dice_fused: 0.0375, cam_rel_mean: 0.1953, sat_rel_mean: 0.2051, cam_rel_min: 0.0030, sat_rel_min: 0.0038, grad_norm: 11.5235 2026-04-19 02:52:47,753 - mmdet - INFO - Iter [55100/55932] lr: 2.526e-06, eta: 0:32:11, time: 2.127, data_time: 0.101, memory: 34737, seg: 0.2444, seg_dice: 0.0632, seg_t0: 0.4380, seg_dice_t0: 0.1139, seg_t1: 0.2909, seg_dice_t1: 0.0796, seg_t2: 0.2579, seg_dice_t2: 0.0670, seg_t3: 0.2492, seg_dice_t3: 0.0668, total_t0: 0.5519, total_t1: 0.3705, total_t2: 0.3249, total_t3: 0.3159, total_t4: 0.3077, total: 2.3028, cam_bev_norm: 13.9056, sat_bev_norm: 11.1359, seg_sat: 0.1762, seg_dice_sat: 0.0458, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.1000, seg_fused: 0.1663, seg_dice_fused: 0.0435, cam_rel_mean: 0.1797, sat_rel_mean: 0.2085, cam_rel_min: 0.0045, sat_rel_min: 0.0030, grad_norm: 12.0148 2026-04-19 02:54:33,514 - mmdet - INFO - Iter [55150/55932] lr: 2.523e-06, eta: 0:30:15, time: 2.115, data_time: 0.093, memory: 34737, seg: 0.2375, seg_dice: 0.0673, seg_t0: 0.3961, seg_dice_t0: 0.1059, seg_t1: 0.2776, seg_dice_t1: 0.0737, seg_t2: 0.2542, seg_dice_t2: 0.0683, seg_t3: 0.2383, seg_dice_t3: 0.0666, total_t0: 0.5020, total_t1: 0.3514, total_t2: 0.3224, total_t3: 0.3050, total_t4: 0.3048, total: 2.2498, cam_bev_norm: 13.8471, sat_bev_norm: 11.0150, seg_sat: 0.1883, seg_dice_sat: 0.0548, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.2600, seg_fused: 0.1710, seg_dice_fused: 0.0502, cam_rel_mean: 0.1805, sat_rel_mean: 0.2069, cam_rel_min: 0.0040, sat_rel_min: 0.0008, grad_norm: 10.6530 2026-04-19 02:56:20,636 - mmdet - INFO - Iter [55200/55932] lr: 2.520e-06, eta: 0:28:19, time: 2.143, data_time: 0.101, memory: 34737, seg: 0.2352, seg_dice: 0.0544, seg_t0: 0.4049, seg_dice_t0: 0.1101, seg_t1: 0.2741, seg_dice_t1: 0.0645, seg_t2: 0.2397, seg_dice_t2: 0.0575, seg_t3: 0.2230, seg_dice_t3: 0.0532, total_t0: 0.5151, total_t1: 0.3385, total_t2: 0.2972, total_t3: 0.2762, total_t4: 0.2896, total: 2.1294, cam_bev_norm: 13.8987, sat_bev_norm: 11.1268, seg_sat: 0.1821, seg_dice_sat: 0.0397, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1200, seg_fused: 0.1564, seg_dice_fused: 0.0346, cam_rel_mean: 0.1895, sat_rel_mean: 0.2101, cam_rel_min: 0.0030, sat_rel_min: 0.0015, grad_norm: 11.6236 2026-04-19 02:58:07,015 - mmdet - INFO - Iter [55250/55932] lr: 2.517e-06, eta: 0:26:22, time: 2.128, data_time: 0.100, memory: 34737, seg: 0.2421, seg_dice: 0.0553, seg_t0: 0.3915, seg_dice_t0: 0.1117, seg_t1: 0.2828, seg_dice_t1: 0.0724, seg_t2: 0.2444, seg_dice_t2: 0.0619, seg_t3: 0.2455, seg_dice_t3: 0.0598, total_t0: 0.5032, total_t1: 0.3552, total_t2: 0.3064, total_t3: 0.3054, total_t4: 0.2974, total: 2.1813, cam_bev_norm: 13.9591, sat_bev_norm: 11.1916, seg_sat: 0.1784, seg_dice_sat: 0.0384, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.0800, seg_fused: 0.1616, seg_dice_fused: 0.0353, cam_rel_mean: 0.2015, sat_rel_mean: 0.2166, cam_rel_min: 0.0030, sat_rel_min: 0.0030, grad_norm: 11.6774 2026-04-19 02:59:53,519 - mmdet - INFO - Iter [55300/55932] lr: 2.515e-06, eta: 0:24:26, time: 2.130, data_time: 0.100, memory: 34737, seg: 0.2663, seg_dice: 0.0656, seg_t0: 0.4157, seg_dice_t0: 0.1115, seg_t1: 0.3129, seg_dice_t1: 0.0802, seg_t2: 0.2616, seg_dice_t2: 0.0671, seg_t3: 0.2621, seg_dice_t3: 0.0648, total_t0: 0.5272, total_t1: 0.3932, total_t2: 0.3288, total_t3: 0.3270, total_t4: 0.3319, total: 2.3926, cam_bev_norm: 13.9135, sat_bev_norm: 11.0624, seg_sat: 0.2023, seg_dice_sat: 0.0504, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.2000, seg_fused: 0.1855, seg_dice_fused: 0.0464, cam_rel_mean: 0.1918, sat_rel_mean: 0.2039, cam_rel_min: 0.0030, sat_rel_min: 0.0038, grad_norm: 11.7749 2026-04-19 03:01:39,732 - mmdet - INFO - Iter [55350/55932] lr: 2.513e-06, eta: 0:22:30, time: 2.124, data_time: 0.097, memory: 34737, seg: 0.2375, seg_dice: 0.0673, seg_t0: 0.3812, seg_dice_t0: 0.1003, seg_t1: 0.2774, seg_dice_t1: 0.0699, seg_t2: 0.2432, seg_dice_t2: 0.0691, seg_t3: 0.2370, seg_dice_t3: 0.0690, total_t0: 0.4815, total_t1: 0.3473, total_t2: 0.3123, total_t3: 0.3060, total_t4: 0.3048, total: 2.2033, cam_bev_norm: 13.9532, sat_bev_norm: 11.1495, seg_sat: 0.1868, seg_dice_sat: 0.0506, mask_cam_zeroed: 0.0400, mask_cam_noised: 0.2000, seg_fused: 0.1680, seg_dice_fused: 0.0461, cam_rel_mean: 0.2095, sat_rel_mean: 0.2032, cam_rel_min: 0.0010, sat_rel_min: 0.0038, grad_norm: 11.5860 2026-04-19 03:03:25,651 - mmdet - INFO - Iter [55400/55932] lr: 2.511e-06, eta: 0:20:34, time: 2.118, data_time: 0.096, memory: 34737, seg: 0.2312, seg_dice: 0.0605, seg_t0: 0.4006, seg_dice_t0: 0.1036, seg_t1: 0.2996, seg_dice_t1: 0.0748, seg_t2: 0.2341, seg_dice_t2: 0.0605, seg_t3: 0.2245, seg_dice_t3: 0.0601, total_t0: 0.5041, total_t1: 0.3744, total_t2: 0.2946, total_t3: 0.2845, total_t4: 0.2917, total: 2.1461, cam_bev_norm: 13.9318, sat_bev_norm: 11.2266, seg_sat: 0.1710, seg_dice_sat: 0.0422, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1400, seg_fused: 0.1470, seg_dice_fused: 0.0366, cam_rel_mean: 0.1970, sat_rel_mean: 0.2132, cam_rel_min: 0.0015, sat_rel_min: 0.0000, grad_norm: 12.5861 2026-04-19 03:05:11,372 - mmdet - INFO - Iter [55450/55932] lr: 2.509e-06, eta: 0:18:38, time: 2.114, data_time: 0.097, memory: 34737, seg: 0.2582, seg_dice: 0.0691, seg_t0: 0.4029, seg_dice_t0: 0.1125, seg_t1: 0.2892, seg_dice_t1: 0.0834, seg_t2: 0.2656, seg_dice_t2: 0.0715, seg_t3: 0.2668, seg_dice_t3: 0.0715, total_t0: 0.5154, total_t1: 0.3727, total_t2: 0.3371, total_t3: 0.3383, total_t4: 0.3273, total: 2.3514, cam_bev_norm: 13.8295, sat_bev_norm: 11.0317, seg_sat: 0.1912, seg_dice_sat: 0.0523, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.0800, seg_fused: 0.1691, seg_dice_fused: 0.0481, cam_rel_mean: 0.2013, sat_rel_mean: 0.2040, cam_rel_min: 0.0015, sat_rel_min: 0.0023, grad_norm: 11.1360 2026-04-19 03:06:56,992 - mmdet - INFO - Iter [55500/55932] lr: 2.507e-06, eta: 0:16:42, time: 2.112, data_time: 0.094, memory: 34737, seg: 0.2368, seg_dice: 0.0613, seg_t0: 0.4083, seg_dice_t0: 0.1109, seg_t1: 0.3072, seg_dice_t1: 0.0811, seg_t2: 0.2497, seg_dice_t2: 0.0660, seg_t3: 0.2382, seg_dice_t3: 0.0619, total_t0: 0.5192, total_t1: 0.3884, total_t2: 0.3157, total_t3: 0.3001, total_t4: 0.2981, total: 2.2401, cam_bev_norm: 13.9218, sat_bev_norm: 11.1433, seg_sat: 0.1774, seg_dice_sat: 0.0410, mask_cam_zeroed: 0.1800, mask_cam_noised: 0.2000, seg_fused: 0.1612, seg_dice_fused: 0.0390, cam_rel_mean: 0.1850, sat_rel_mean: 0.2218, cam_rel_min: 0.0045, sat_rel_min: 0.0008, grad_norm: 11.6116 2026-04-19 03:08:42,848 - mmdet - INFO - Iter [55550/55932] lr: 2.505e-06, eta: 0:14:46, time: 2.117, data_time: 0.098, memory: 34737, seg: 0.2348, seg_dice: 0.0613, seg_t0: 0.3510, seg_dice_t0: 0.0967, seg_t1: 0.2478, seg_dice_t1: 0.0683, seg_t2: 0.2259, seg_dice_t2: 0.0628, seg_t3: 0.2246, seg_dice_t3: 0.0625, total_t0: 0.4477, total_t1: 0.3161, total_t2: 0.2887, total_t3: 0.2871, total_t4: 0.2961, total: 2.0422, cam_bev_norm: 13.9133, sat_bev_norm: 11.1274, seg_sat: 0.1695, seg_dice_sat: 0.0432, mask_cam_zeroed: 0.0200, mask_cam_noised: 0.1200, seg_fused: 0.1540, seg_dice_fused: 0.0398, cam_rel_mean: 0.2093, sat_rel_mean: 0.2052, cam_rel_min: 0.0005, sat_rel_min: 0.0023, grad_norm: 10.8731 2026-04-19 03:10:28,339 - mmdet - INFO - Iter [55600/55932] lr: 2.504e-06, eta: 0:12:50, time: 2.110, data_time: 0.101, memory: 34737, seg: 0.2569, seg_dice: 0.0598, seg_t0: 0.3865, seg_dice_t0: 0.0962, seg_t1: 0.2838, seg_dice_t1: 0.0699, seg_t2: 0.2653, seg_dice_t2: 0.0606, seg_t3: 0.2487, seg_dice_t3: 0.0574, total_t0: 0.4827, total_t1: 0.3537, total_t2: 0.3259, total_t3: 0.3061, total_t4: 0.3167, total: 2.2236, cam_bev_norm: 13.9305, sat_bev_norm: 11.1407, seg_sat: 0.1909, seg_dice_sat: 0.0424, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1600, seg_fused: 0.1677, seg_dice_fused: 0.0375, cam_rel_mean: 0.2087, sat_rel_mean: 0.2230, cam_rel_min: 0.0015, sat_rel_min: 0.0008, grad_norm: 11.7734 2026-04-19 03:12:14,368 - mmdet - INFO - Iter [55650/55932] lr: 2.503e-06, eta: 0:10:54, time: 2.120, data_time: 0.094, memory: 34737, seg: 0.2421, seg_dice: 0.0623, seg_t0: 0.4294, seg_dice_t0: 0.1144, seg_t1: 0.3097, seg_dice_t1: 0.0799, seg_t2: 0.2657, seg_dice_t2: 0.0673, seg_t3: 0.2529, seg_dice_t3: 0.0643, total_t0: 0.5438, total_t1: 0.3896, total_t2: 0.3331, total_t3: 0.3171, total_t4: 0.3045, total: 2.3139, cam_bev_norm: 13.8925, sat_bev_norm: 11.1377, seg_sat: 0.1762, seg_dice_sat: 0.0453, mask_cam_zeroed: 0.1200, mask_cam_noised: 0.1600, seg_fused: 0.1622, seg_dice_fused: 0.0421, cam_rel_mean: 0.1844, sat_rel_mean: 0.2083, cam_rel_min: 0.0030, sat_rel_min: 0.0015, grad_norm: 12.5376 2026-04-19 03:13:59,471 - mmdet - INFO - Iter [55700/55932] lr: 2.502e-06, eta: 0:08:58, time: 2.102, data_time: 0.092, memory: 34737, seg: 0.2508, seg_dice: 0.0578, seg_t0: 0.4020, seg_dice_t0: 0.0933, seg_t1: 0.2915, seg_dice_t1: 0.0654, seg_t2: 0.2636, seg_dice_t2: 0.0601, seg_t3: 0.2453, seg_dice_t3: 0.0596, total_t0: 0.4953, total_t1: 0.3569, total_t2: 0.3236, total_t3: 0.3050, total_t4: 0.3086, total: 2.1969, cam_bev_norm: 14.0005, sat_bev_norm: 11.2456, seg_sat: 0.1768, seg_dice_sat: 0.0367, mask_cam_zeroed: 0.1600, mask_cam_noised: 0.1600, seg_fused: 0.1604, seg_dice_fused: 0.0336, cam_rel_mean: 0.1985, sat_rel_mean: 0.2329, cam_rel_min: 0.0040, sat_rel_min: 0.0015, grad_norm: 11.6073 2026-04-19 03:15:45,004 - mmdet - INFO - Iter [55750/55932] lr: 2.501e-06, eta: 0:07:02, time: 2.110, data_time: 0.096, memory: 34737, seg: 0.2540, seg_dice: 0.0578, seg_t0: 0.4017, seg_dice_t0: 0.1011, seg_t1: 0.3018, seg_dice_t1: 0.0726, seg_t2: 0.2649, seg_dice_t2: 0.0641, seg_t3: 0.2506, seg_dice_t3: 0.0581, total_t0: 0.5028, total_t1: 0.3744, total_t2: 0.3291, total_t3: 0.3087, total_t4: 0.3118, total: 2.2493, cam_bev_norm: 13.8970, sat_bev_norm: 11.1342, seg_sat: 0.1829, seg_dice_sat: 0.0396, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.1400, seg_fused: 0.1644, seg_dice_fused: 0.0355, cam_rel_mean: 0.1985, sat_rel_mean: 0.2184, cam_rel_min: 0.0020, sat_rel_min: 0.0008, grad_norm: 10.5700 2026-04-19 03:17:30,621 - mmdet - INFO - Iter [55800/55932] lr: 2.501e-06, eta: 0:05:06, time: 2.113, data_time: 0.097, memory: 34737, seg: 0.2517, seg_dice: 0.0584, seg_t0: 0.4646, seg_dice_t0: 0.1131, seg_t1: 0.3159, seg_dice_t1: 0.0791, seg_t2: 0.2703, seg_dice_t2: 0.0610, seg_t3: 0.2501, seg_dice_t3: 0.0578, total_t0: 0.5776, total_t1: 0.3950, total_t2: 0.3312, total_t3: 0.3079, total_t4: 0.3101, total: 2.3474, cam_bev_norm: 13.9118, sat_bev_norm: 11.1448, seg_sat: 0.1869, seg_dice_sat: 0.0397, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.1200, seg_fused: 0.1646, seg_dice_fused: 0.0345, cam_rel_mean: 0.2065, sat_rel_mean: 0.2080, cam_rel_min: 0.0015, sat_rel_min: 0.0030, grad_norm: 12.0163 2026-04-19 03:19:16,204 - mmdet - INFO - Iter [55850/55932] lr: 2.500e-06, eta: 0:03:10, time: 2.112, data_time: 0.097, memory: 34737, seg: 0.2476, seg_dice: 0.0587, seg_t0: 0.3952, seg_dice_t0: 0.0962, seg_t1: 0.2871, seg_dice_t1: 0.0676, seg_t2: 0.2537, seg_dice_t2: 0.0606, seg_t3: 0.2476, seg_dice_t3: 0.0604, total_t0: 0.4913, total_t1: 0.3547, total_t2: 0.3143, total_t3: 0.3079, total_t4: 0.3063, total: 2.2126, cam_bev_norm: 13.9325, sat_bev_norm: 11.1663, seg_sat: 0.1890, seg_dice_sat: 0.0421, mask_cam_zeroed: 0.0600, mask_cam_noised: 0.2800, seg_fused: 0.1694, seg_dice_fused: 0.0375, cam_rel_mean: 0.2111, sat_rel_mean: 0.2229, cam_rel_min: 0.0015, sat_rel_min: 0.0015, grad_norm: 12.1014 2026-04-19 03:21:01,577 - mmdet - INFO - Iter [55900/55932] lr: 2.500e-06, eta: 0:01:14, time: 2.107, data_time: 0.092, memory: 34737, seg: 0.2446, seg_dice: 0.0654, seg_t0: 0.3828, seg_dice_t0: 0.1110, seg_t1: 0.2716, seg_dice_t1: 0.0806, seg_t2: 0.2509, seg_dice_t2: 0.0704, seg_t3: 0.2399, seg_dice_t3: 0.0609, total_t0: 0.4939, total_t1: 0.3522, total_t2: 0.3212, total_t3: 0.3008, total_t4: 0.3100, total: 2.1948, cam_bev_norm: 13.9225, sat_bev_norm: 11.1333, seg_sat: 0.1747, seg_dice_sat: 0.0462, mask_cam_zeroed: 0.0800, mask_cam_noised: 0.2400, seg_fused: 0.1539, seg_dice_fused: 0.0419, cam_rel_mean: 0.1996, sat_rel_mean: 0.2181, cam_rel_min: 0.0020, sat_rel_min: 0.0008, grad_norm: 11.1181 2026-04-19 03:22:09,366 - mmdet - INFO - Saving checkpoint at 55932 iterations 2026-04-19 03:33:23,416 - mmdet - INFO - +-----+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +-----+--------------+---------+----------+--------+ | IoU | 0.7936 | 0.7004 | 0.7146 | 0.7362 | +-----+--------------+---------+----------+--------+ 2026-04-19 03:33:23,417 - mmdet - INFO - mIoU = 0.7362 2026-04-19 03:33:45,641 - mmdet - INFO - +---------+--------------+---------+----------+--------+ | | ped_crossing | divider | boundary | mean | +---------+--------------+---------+----------+--------+ | IoU_cam | 0.6658 | 0.5938 | 0.6322 | 0.6306 | | IoU_sat | 0.7871 | 0.6776 | 0.6671 | 0.7106 | +---------+--------------+---------+----------+--------+ 2026-04-19 03:33:45,642 - mmdet - INFO - mIoU_cam = 0.6306 2026-04-19 03:33:45,642 - mmdet - INFO - mIoU_sat = 0.7106 2026-04-19 03:34:19,800 - mmdet - INFO - Logged 8 GT vs Pred visualizations to wandb 2026-04-19 03:34:20,766 - mmdet - INFO - Iter(val) [3010] ped_crossing: 0.7936, divider: 0.7004, boundary: 0.7146, mIoU: 0.7362, mIoU_cam: 0.6306, ped_crossing_cam: 0.6658, divider_cam: 0.5938, boundary_cam: 0.6322, mIoU_sat: 0.7106, ped_crossing_sat: 0.7871, divider_sat: 0.6776, boundary_sat: 0.6671